def start_round(sock, team_id):
game = Game(sock, team_id)
game.register()
with open("log.txt", "a+") as f:
f.write("success register")
while True:
game.receive_msg()
msg_name = game.get_msg_name()
if msg_name == "round":
game.round_start()
control = Control(team_id, game.our_tank_id, game.maps, game.data)
# 操作函数
for tank_id in game.our_tank_id:
control.move(tank_id, "up")
control.fire(tank_id, "up", 0)
control.send_msg(sock)
game.round_clear()
elif msg_name == "leg_start":
game.leg_start()
elif msg_name == MSG_NAME_LEG_END:
print(game.data["msg_data"])
game.leg_clear()
elif msg_name == MSG_NAME_GAME_OVER:
print("Game Over ...")
break
def loadPoseFile(fileName):
poses = {}
#should use the g.pandaPath ? -Michael reed s10
file = findCSV(fileName)
if file is not None:
fileLoader = open(file, "r")
contents = fileLoader.read().split("\n")
for line in contents[1:]:
data = line.split(",")
if len(data) >= 5:
poseName = data[0].strip()
jointName = data[1].strip()
jointHpr = SHPR(float(data[2].lstrip("(")), float(data[3]),
float(data[4].rstrip(")")))
if not poses.has_key(poseName):
poses[poseName] = {}
poses[poseName][jointName] = jointHpr
fileLoader.close()
result = {}
for pose, dict in poses.iteritems():
result[pose] = Control(dict)
return result
print "File " + fileName + " not found."
exit()
def start_round(sock, team_id):
game = Game(sock, team_id)
game.register()
with open("log.txt", "a+") as f:
f.write("success register")
while True:
game.receive_msg()
msg_name = game.get_msg_name()
if msg_name == "round":
game.round_start()
control = Control(team_id, game.our_tank_id, game.maps, game.data)
strategy = Strategy(game)
# 操作函数
game.set_tank_msg()
try:
# AI_zx.start_zx(game,control)
new_start.start_5_28(game, control, strategy)
except Exception as e:
log.log("start:")
log.log(e)
control.send_msg(sock)
game.round_clear()
elif msg_name == "leg_start":
game.leg_start()
elif msg_name == MSG_NAME_LEG_END:
print(game.data["msg_data"])
game.leg_clear()
elif msg_name == MSG_NAME_GAME_OVER:
print("Game Over ...")
break
def initControl():
'''
Initialize our controller with the qube job.
'''
control = Control.Control(qb.jobobj())
return control
def main(argv):
parser = argparse.ArgumentParser(description='RoboRinth Robot Explorer')
parser.add_argument('--host',
type=str,
help='host of the mqtt broker to connect',
default="192.168.0.200")
parser.add_argument('--port',
type=int,
default=1883,
help='port of the mqtt broker to connect')
parser.add_argument('--roboName',
type=str,
default="robo-01",
help='Robot MQTT topic/name to connect')
parser.add_argument('--clientId',
type=str,
default="",
help='MQTT client connection id')
parser.add_argument(
'--log',
type=str,
choices=["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"],
default="INFO",
help='Loglevel ')
args = parser.parse_args()
_initializeLogging(args.log)
logger.debug("Main started")
# Setup mqtt client
client = MqttClient(args.host, args.port, args.clientId)
client.startAsync()
time.sleep(2)
# Test code for MapMatcher
roboName = args.roboName
roboDriver = RoboDriver(roboName)
client.subscribeTopics(roboName + '/notification/#')
client.addMessageHandler(roboDriver.getMqttHandlerList())
roboDriver.setMqttClient(client)
mapMatcher = MapMatcher()
mapMatcher.registerRobotDriver(roboName, roboDriver)
robots = {}
robots[roboName] = Control(roboName, mapMatcher, roboDriver)
robots[roboName].start()
# End test code
input("\n\nPress Enter to abort...\n\n")
# Terminate
client.stop()
logger.debug("Terminate")
def __init__(self):
self.tcp_flag = False
self.led = Led()
self.adc = ADS7830()
self.servo = Servo()
self.buzzer = Buzzer()
self.control = Control()
self.sonic = Ultrasonic()
self.control.Thread_conditiona.start()
class Main:
m_Download_Data = Download_Data()
m_Fromat_Data = Fromat_Data()
m_Control = Control()
m_Save_Biodata = Save_Biodata()
m_show = show()
def __init__(self, name):
self.name = name
# init control as it is independent of the state of planning while interacting and needed to build behaviors
self.control = Control()
self.planning = None
self.defaultSocialProfile = SocialProfile("Default", ComposedBehavior(self.control, []), 30.0, [])
self.defaultCreativityProfile = CreativityProfile("Default", 5, {}, StoryArcBehaviorType.MIRROR, 5.0, {}, StoryArcBehaviorType.MIRROR, 5.0, {}, StoryArcBehaviorType.MIRROR)
self.defaultGeneralProfile = self.generateGeneralProfile("Default", Color(rgb=(0.1 ,0.1 ,0.1)), 1.0)
def __init__(self, dimension, master=None):
Frame.__init__(self, master)
self.master.title('Tediumrobo')
self.pack()
self.create_label(master)
self.control = Control.Control(dimension)
self.my_label = Label()
self.my_label.pack()
self.contents = StringVar()
self.contents.set(self.control.refresh())
self.my_label["textvariable"] = self.contents
def LogicAnalyzer():
controler = Control()
Infodoc.addWidget(controler)
global probes
probes = controler.getProbes()
#Add plot Widgets to Docks
probe1.addWidget(probes[0])
probe2.addWidget(probes[1])
probe3.addWidget(probes[2])
probe4.addWidget(probes[3])
def launch_game(self):
"""
Launch the game
"""
self.window = pygame.display.set_mode((300, 400))
land = ld.Land(self.window)
land.background()
maps = land.map()
control = Control(maps[0], maps[1], self.window)
if control == None:
pygame.display.quit()
while pygame.event.wait().type != pygame.QUIT:
pass
def Main():
targetFPS = 60
pygame.init()
screen = pygame.display.set_mode(View.WindowSize) #make window
running = True
clock = pygame.time.Clock() #keeps framerate synced
try: #in case of error, close app
Model.Initialize()
View.Initialize(screen)
while running: #main loop
for event in pygame.event.get(
): #check if red X is pressed to close app
if event.type == pygame.QUIT:
running = False
inputState = Control.Control(
) #get the current input state from controller
#mainly gets key presses but can also be mouse position if necessary
Model.player.controller.PlayerInput(inputState)
deltaTime = clock.get_time() / 1000
Model.Model(deltaTime) #updates game logic
#passes in the new input and time since last frame in seconds
View.View(screen, deltaTime) #update visuals
clock.tick(targetFPS) #wait for next frame
except Exception as e: #close app on exception
pygame.quit()
raise e
pygame.quit() #quit app
def __init__(self, parent, path, rvizPath, node):
super(MainWidget, self).__init__(parent)
self.parent = parent
self.path = path
self.node = node
self.rvizPath = rvizPath
self.btn1 = QPushButton("modal dialog", clicked=self.on_btn1_clicked)
self.btn1.setMaximumWidth(87)
self.btn2 = QPushButton("modal dialog", clicked=self.on_btn2_clicked)
self.btn2.setMaximumWidth(87)
self.btn3 = QPushButton("modal dialog", clicked=self.on_btn3_clicked)
self.btn3.setMaximumWidth(87)
self.btn1.setDisabled(True)
self.btn2.setDisabled(True)
self.btn3.setDisabled(True)
self.setWindowTitle('ROS Control Panel')
# if not self.isFullScreen():
# self.showMaximized()
self.resize(1280, 720)
self.setWindowIcon(QIcon(''.join([self.path, '/source/icon.jpg'])))
self.ros = Control(self.node)
self.InitRviz(self.rvizPath)
# -*- coding: utf-8 -*-
"""Main function for Daily Generator App
This Module defines main function for Daily Generator App.
"""
import Control
if __name__ == '__main__':
control = Control.Control()
control.start()
def __init__(self):
self.servo = Servo()
self.control = Control()
self.servo.setServoAngle(15, 90)
# Digital OUT
TPR_pin = 6
Heater_pin = 7
Stirrer_pin = 8
Lift_pin = 9
Lift2_pin = 10
Crusher_pin = 11
Cleaning_Pump_pin = 12
Circulator_pin = 13
Cooling_Fan_pin = 13
Pump_pin = 13
#---SET SX1509----------------------------------------------------------
addr = 0x3e
sx = SX1509.SX1509(addr)
ctl = Control.Control(sx)
#=======================================================================
#---GET Temperature-----------------------------------------------------
def get_temp():
'''
heater temperature = top_temp = internal_temp
stirrer temperature = bottom_temp = external_temp
'''
global avg_bottom_temp, avg_top_temp
global arr_count
global bottom_temp_arr, top_temp_arr
top_temp = round(sensor1.readTempC(), 1)
import Control
piezas_maquina = [[2, 3, 1], [2, 1, 2, 3], [3, 1, 2], [2, 3, 1, 2], [3, 2]]
piezas_tiempo = [[2, 2, 1], [0.5, 2, 0.5, 2.5], [1.5, 2.5, 1], [1, 2.5, 3, 1],
[0.5, 2]]
control = Control.Control(piezas_maquina, piezas_tiempo)
control.algoritmo()
a = 2
piezas_maquina = [[], [], [], [], []]
from Control import *
import time
import BrickPi_thread
el, er = Engine.Engine('A'), Engine.Engine('B')
thread = BrickPi_thread.BrickPi_Thread([el, er])
thread.on()
control = Control(el, er)
for i in range(100):
control.drive(1, 1, 0.1)
time.sleep(0.1)
def control(driver, timee, email):
response = Control.Control(driver, timee, email).sayfaKontrol()
if response == "successful":
driver.quit()
sys.exit()
def main():
time.sleep(0.1)
#control class
control = Control()
#initail serail
nano = serial.Serial("/dev/ttyACM0", 9600)
font = cv2.FONT_HERSHEY_SIMPLEX
offset = [0, 0, 0, 0, 0]
Images = []
N_SLICES = 5 # 4
frame_count = 0
frame_rate = 0
nano_info = 0
control_data = 0
for q in range(N_SLICES):
Images.append(Image())
blnKNNTrainingSuccessful = DetectChars.loadKNNDataAndTrainKNN(
) # attempt KNN training
if blnKNNTrainingSuccessful == False: # if KNN training was not successful
print(
"\nerror: KNN traning was not successful\n") # show error message
return # and exit program
# end if
cap = cv2.VideoCapture(
"nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720,format=(string)I420, framerate=(fraction)30/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink"
)
while True:
if not cap.isOpened():
return
if (nano.inWaiting()):
nano_info = nano.readline()
if frame_count == 0:
start_time = time.time()
frame_count = frame_count + 1
ret, imgOriginalScene = cap.read()
img = imgOriginalScene.copy()
# cv2.imshow('debug',imgOriginalScene)
if imgOriginalScene is None: # if image was not read successfully
print("\nerror: image not read from file \n\n"
) # print error message to std out
os.system("pause") # pause so user can see error message
return # and exit program
# track recognition
###########################################################################################
else:
SlicePart(imgOriginalScene, Images, N_SLICES)
for i in range(N_SLICES):
offset[i] = Images[i].dir - 1
control_data = control.update(offset)
print(control_data)
nano.write(bytes(control_data, 'UTF-8'))
if frame_count == 15:
frame_rate = round(frame_count / (time.time() - start_time), 3)
#print information
print(nano_info, " fps= ", frame_rate)
nano_info = ""
##########################################################################################
listOfPossiblePlates = DetectPlates.detectPlatesInScene(
img) # detect plates
listOfPossiblePlates = DetectChars.detectCharsInPlates(
listOfPossiblePlates) # detect chars in plates
#cv2.imshow("imgOriginalScene", imgOriginalScene) # show scene image
if len(listOfPossiblePlates) == 0: # if no plates were found
print("\nno license plates were detected\n"
) # inform user no plates were found
else: # else
# if we get in here list of possible plates has at leat one plate
# sort the list of possible plates in DESCENDING order (most number of chars to least number of chars)
listOfPossiblePlates.sort(
key=lambda possiblePlate: len(possiblePlate.strChars),
reverse=True)
# suppose the plate with the most recognized chars (the first plate in sorted by string length descending order) is the actual plate
licPlate = listOfPossiblePlates[0]
#cv2.imshow("imgPlate", licPlate.imgPlate) # show crop of plate and threshold of plate
#cv2.imshow("imgThresh", licPlate.imgThresh)
if len(licPlate.strChars
) == 0: # if no chars were found in the plate
print("\nno characters were detected\n\n") # show message
# end if
drawRedRectangleAroundPlate(
imgOriginalScene, licPlate) # draw red rectangle around plate
print("\nlicense plate read from image = " + licPlate.strChars +
"\n") # write license plate text to std out
print("----------------------------------------")
#######################################################################################################
if len(licPlate.strChars) >= 3:
if (
licPlate.strChars == "ST0P"
): # && licPlate.strChars[1] == 'T' && licPlate.strChars[2] == '0' && licPlate.strChars[3] == 'P'):
if (nano.inWaiting()):
nano_info = nano.readline()
# print('f**k') # check
nano.write(bytes("r200000\n", 'UTF-8'))
nano_info = ""
######################################################################################################
writeLicensePlateCharsOnImage(
imgOriginalScene,
licPlate) # write license plate text on the image
#cv2.imshow("imgOriginalScene", imgOriginalScene) # re-show scene image
cv2.imwrite("imgOriginalScene.png",
imgOriginalScene) # write image out to file
# end if else
#cv2.waitKey(0) # hold windows open until user presses a key
return
def Main(SONG_INFO):
#all the background and font of the words
background = pygame.image.load('image/Main.jpg').convert()
Start_button = pygame.image.load('image/Start_button.png').convert_alpha()
Control_Button = pygame.image.load(
'image/Control_Button.png').convert_alpha()
High_Score_Button = pygame.image.load(
'image/High_Score_Button.png').convert_alpha()
ACCEPT = pygame.image.load('image/ACCEPT.png').convert_alpha()
ACCEPT_ON = pygame.image.load('image/ACCEPT_ON.png').convert_alpha()
pygame.display.set_caption('MEGA MUSIC KEY-BUSTER')
WORD = pygame.font.SysFont("none", 50)
WORD2 = pygame.font.SysFont("none", 30)
#this will randomly creat a mission, player will have 50% chance of reciving a mission
MISSION = random.randint(0, 1)
#blit the background
screen.blit(background, (0, 0))
#Up dates the screen
pygame.display.flip()
#delay
pygame.time.delay(500)
#Main loop
while True:
#Get the event of the screen
events = pygame.event.get()
for e in events:
#if the user click quit
if e.type == QUIT:
#import def and from def, it will exit pygame and sys
Exit_Pygame.EXIT()
#get the position of mouse
pos = pygame.mouse.get_pos()
butt = pygame.mouse.get_pressed()
x = pos[0]
y = pos[1]
#if the mouse is within the mouse
if x > 267 and x < 437 and y > 464 and y < 634:
#blit the image onto the screen
screen.blit(Start_button, (252, 450))
#if the button is pressed down
if butt[0] == 1:
#goes to next page
Def.NORMAL(SONG_INFO)
########## EVERYTHING IS THE SAME, EXCEPT for the location and page ############
elif x > 64 and x < 236 and y > 464 and y < 634 and (
butt[0] == 0 or butt[0] == 1):
screen.blit(Control_Button, (52, 450))
if butt[0] == 1:
total = Control.Control(SONG_INFO)
elif x > 466 and x < 634 and y > 464 and y < 634 and (
butt[0] == 0 or butt[0] == 1):
screen.blit(High_Score_Button, (452, 450))
if butt[0] == 1:
SCORE_DISPLAY.SCORE_DISPLAY(SONG_INFO)
elif x > 514 and x < 685 and y > 218 and y < 383 and MISSION == 0:
screen.blit(ACCEPT_ON, (500, 200))
if butt[0] == 1:
Def.RANDOM_MISSION(SONG_INFO)
else:
# blit the background
screen.blit(background, (0, 0))
#if the mission is 0, this will show up
if MISSION == 0:
#display the message
MISSION_NAME = 'New Challenge, do you accept?'
#blit the message
screen.blit(
WORD2.render(MISSION_NAME, 1, THECOLORS["red"]),
(10, 280))
#Blit the image ACCEPT
screen.blit(ACCEPT, (500, 200))
#said welcome to the name that player has entered
NAME = 'Welcome DJ ' + SONG_INFO[0]
#gives the current score
SCORE = 'Your current EXP is: ' + str(SONG_INFO[1])
#info
Info = 'If you dont know the keys, go to control'
#blit the word and name
screen.blit(WORD.render(Info, 1, THECOLORS["green"]), (10, 400))
screen.blit(WORD.render(NAME, 1, THECOLORS["green"]), (220, 100))
screen.blit(WORD.render(SCORE, 1, THECOLORS["green"]), (220, 150))
#update the screen
pygame.display.flip()
import check
from Control import *
##### 변수 설정 부분 #####
DATA_PATH = "./data/"
HOST = '127.0.0.1'
TCP_FORWARDED_HOST = '1.tcp.jp.ngrok.io:25327'
PORT = 8000
url = "https://kakaoi-newtone-openapi.kakao.com/v1/recognize"
key = 'my key'
headers = {
"Content-Type": "application/octet-stream",
"X-DSS-Service": "DICTATION",
"Authorization": "KakaoAK " + key,
}
control = Control()
###########################
def threaded(client_socket, addr):
print('Connected by :', addr[0], ':', addr[1])
# 클라이언트가 접속을 끊을 때 까지 반복합니다.
data_transferred = 0
count = 0
while True:
try:
data = client_socket.recv(1024)
import Control as ctl
from models import particle_swarm as ps
from models import simulated_annealing as sa
if __name__ == "__main__":
# El siguiente objeto, contiene el pipeline principal para:
# Crear y cargar la base de datos
# Transormar los datos a un formato adecuado de trabajo
# Calcular las rutas de todas las fuerzas de ventas de manera secuencial
objControl = ctl.Control()
objControl.CargarBase()
objControl.Transform()
objControl.CalcularRutasPar(ps.ParticleSwarm, objControl.dict_Hiper_PS)
objControl.grafo_Ejecucion.compute()
objControl.CalcularRutasSeq(sa.SimulatedAnnealing, objControl.dict_Hiper_SA)
#Import everything in the control module,
#including functions, classes, variables, and more.
from Control import *
#Creating object 'control' of 'Control' class.
c = Control()
#example:
#data=['CMD_MOVE', '1', '0', '25', '10', '0']
#Move command:'CMD_MOVE'
#Gait Mode: "1"
#Moving direction: x='0',y='25'
#Delay:'10'
#Action Mode : '0' Angleless turn
#Move forward in action mode 1 and gait mode 1
for i in range(3):
data = ['CMD_MOVE', '1', '0', '35', '10', '0']
c.run(data)
#Move right in action mode 1 and gait mode 1
for i in range(3):
data = ['CMD_MOVE', '1', '35', '0', '10', '0']
c.run(data)
#Move backward in action mode 2 and gait mode 2
for i in range(3):
data = ['CMD_MOVE', '2', '0', '-35', '10', '10']
c.run(data)
#Move right in action mode 2 and gait mode 2
for i in range(3):
except KeyboardInterrupt:
tornado.ioloop.IOLoop.instance().stop()
logger.debug("User interrupt (main)")
interrupted = True
logger.debug("Main terminated with interrupt = " + str(interrupted))
return interrupted
# This is the main application to be called to run the whole robot
if __name__ == '__main__':
logger.debug("Starting control thread")
logger.debug("Starting senor thread")
s = Sense.Sense()
s.start()
c = Control.Control(s)
c.start()
v = Vision.Vision()
v.start()
while (1):
logger.info("Starting web server")
interrupted = main()
if (interrupted == True):
break
# Signal termination
logger.info("User interrupt")
s.terminate()
c.terminate()
v.terminate()
logger.debug("Main loop finished (__main__")
# Wait for actual termination (if needed)
import sys
import Control, Vista
from PyQt5.QtWidgets import QApplication
from PyQt5.QtCore import QFile, QTextStream
from PyQt5 import QtCore, QtGui
# creamos la aplicación
app = QApplication(sys.argv)
file = QFile("stylesheet.qss")
file.open(QFile.ReadOnly | QFile.Text)
stream = QTextStream(file)
app.setStyleSheet(stream.readAll())
app_icon = QtGui.QIcon()
app_icon.addFile('icon.png', QtCore.QSize(256, 256))
app.setWindowIcon(app_icon)
#creamos el controlador
ctr = Control.Control()
#creamos la ventana
view = Vista.Vista(ctr)
#asociamos la ventana al controlados
ctr.asignarVentana(view)
#mostramos todo
view.show()
sys.exit(app.exec_())
