def set_menu(ser, mSerial):
mymenu = Menu_function(ser)
while 1:
menu_num = input(
"请选择：1 设置CAN波特率 2 设置透传波特率 3 清空过滤器 4 初始化 5 测试CAN波特率 6 退出\r\n")
menu_num = menu_num.replace('\r', '').replace('\n', '').strip()
if menu_num == '1':
print(" ", mymenu.set_baud())
elif menu_num == '2':
print(" ", mymenu.set_uart())
elif menu_num == '3':
print(" ", mymenu.clear_filter())
elif menu_num == '4':
print(" ", mymenu.init_sniffer())
elif menu_num == '5':
print(" ", mymenu.scan_can_baud(mSerial))
getch = _Getch()
while 1:
ch = getch()
if ord(ch) == ord('q'):
mSerial.stop_recv()
break
elif ord(ch) == ord('a'):
mSerial.stop_recv()
print(" ", mymenu.auto_set_can_baud(0))
mSerial.start_recv()
elif ord(ch) == ord('s'):
mSerial.stop_recv()
print(" ", mymenu.auto_set_can_baud(1))
mSerial.start_recv()
del getch
else:
break
opt_mus[:, t], opt_Sigmas[:, :, t] = ekf_update(
arm.dynamics,
lambda x: arm.observe(s, x=x),
Q,
R,
opt_mus[:, t - 1],
opt_Sigmas[:, :, t - 1],
opt_ctrls[:, t - 1],
None,
)
arm.draw_trajectory(opt_X, opt_mus, opt_Sigmas, color=np.array((0.0, 1.0, 0.0, 0.2)))
drawRobot = opt_X
getch = _Getch._Getch()
t = 0
while True:
c = getch()
print c
if c == "x":
break
elif ord(c) == 3 or ord(c) == 4:
exit(0)
elif c == "n":
print "drawRobot = X"
drawRobot = X
elif c == "m":
drawRobot = opt_states
elif c == "," or c == "<":
t = t - 1
global direction, wasDisplayed if wasDisplayed: if newDirection != direction and (newDirection.x != -direction.x or newDirection.y != -direction.y): direction = newDirection wasDisplayed = False if __name__ == "__main__": setTarget() move() # Use Keyboard Arrows from _Getch import _Getch getch = _Getch() print "To end the game press <q>" while running: try: key = ord(getch()) if key == 27: #ESC key = ord(getch()) if key == 91: key = ord(getch()) if key == 65: #Up arrow changeDirection(DIR_U) #setPixel(0,1,True) if key == 66: #Down arrow changeDirection(DIR_D) #setPixel(0,1,False) elif key == 67: #right arrow
opt_ctrls = np.mat(opt_ctrls)
for t in xrange(1, T):
opt_X[:, t] = localizer.dynamics(opt_X[:, t - 1], opt_ctrls[:, t - 1])
opt_mus[:, t], opt_Sigmas[:, :, t] = ekf_update(
localizer.dynamics, lambda x: localizer.observe(s, x=x), Q, R,
opt_mus[:, t - 1], opt_Sigmas[:, :, t - 1], opt_ctrls[:, t - 1], None)
localizer.draw_trajectory(opt_X,
opt_mus,
opt_Sigmas,
color=np.array((0.0, 1.0, 0.0, 0.2)))
drawRobot = opt_X
getch = _Getch._Getch()
t = 0
while True:
c = getch()
print c
if c == 'x':
break
elif ord(c) == 3 or ord(c) == 4:
exit(0)
elif c == 'n':
print 'drawRobot = X'
drawRobot = X
elif c == 'm':
drawRobot = opt_X
elif c == ',' or c == '<':
t = t - 1
global direction, wasDisplayed
if wasDisplayed:
if newDirection != direction and (newDirection.x != -direction.x
or newDirection.y != -direction.y):
direction = newDirection
wasDisplayed = False
if __name__ == "__main__":
setTarget()
move()
# Use Keyboard Arrows
from _Getch import _Getch
getch = _Getch()
print "To end the game press <q>"
while running:
try:
key = ord(getch())
if key == 27: #ESC
key = ord(getch())
if key == 91:
key = ord(getch())
if key == 65: #Up arrow
changeDirection(DIR_U)
#setPixel(0,1,True)
if key == 66: #Down arrow
changeDirection(DIR_D)
#setPixel(0,1,False)
elif key == 67: #right arrow
def get_cmd_input():
'''本函数完成接收用户的输入并返回输入的字符，支持tab搜索已有命令，tab循环显示搜索结果，上下键浏览历史命令'''
from _Getch import _Getch
getch = _Getch()
cmd = ""
search_res = [] # 用于存储搜索结果
search_res_num = 0 # 搜索到的项数
display_num = 0 # 用于指示当前tab后显示的搜索结果的索引；当输入一个tab后清0
sys.stdout.write(config.prompt_header) # 显示提示头
ch = getch()
while ch != config.cmd_end: # enter键完成命令输入结束符可在config中配置
if ch == "\t": # tab键
if display_num == 0: # 若没搜索过就重新搜索
search_res_num, search_res = fuzzy_search(
config.cmd_name_list, cmd) # 模糊搜索cmd的项
# 显示搜索到的第search_res_num个，并设置到cmd
if search_res_num > 0: # 搜索到的结果大于0才重新显示，否则不修改cmd和显示
if search_res_num <= display_num:
display_num = 0 # 若达到最后一个就回到0重新开始显示
del_display(cmd) # 删除原显示字符
cmd = search_res[display_num] # 更改cmd
sys.stdout.write(cmd)
display_num = display_num + 1 # 自增一，准备下次tab显示的位置，即使没搜索到也自增一，防止下次连续tab再次搜索
else:
search_res = [] # 输入非tab后清除之前的搜索结果
search_res_num = 0
display_num = 0 # 并且清除显示位置
# print "\b" + ch, # 这样行末始终有一个空格，改用下面的sys.stdout.write
if ch == "\b": # 删除键
if len(cmd) > 0:
sys.stdout.write("\b" + " " + "\b") # 删除显示，用空格覆盖要删除的字符
cmd = cmd[0:-1] # 从cmd中删除最后一个字符
elif ord(ch) == 224: # 上下左右键
ch = getch()
# print ord(ch)
if ord(ch) == 72: # 上键
# print u"上键"
if len(cmd_history) > 0: # 有历史命令才能处理
cmd_history.insert(0, cmd) # 把当前命令放入命令历史首
del_display(cmd) # 清除显示
cmd = cmd_history.pop(-1) # 从cmd_history末尾取出前一条历史命令
sys.stdout.write(cmd) # 显示前一条历史命令
elif ord(ch) == 80: # 下键
# print u"下键"
if len(cmd_history) > 0: # 有历史命令才能处理
cmd_history.append(cmd) # 把当前命令放入命令历史尾
del_display(cmd) # 清除显示
cmd = cmd_history.pop(0) # 从cmd_history首取出相对最旧一条历史命令
sys.stdout.write(cmd) # 显示最旧一条历史命令
# elif ord(ch) == 75: # 左键。暂不处理
# print u"左键"
# sys.stdout.write("\b")
# elif ord(ch) == 77: # 右键。暂不处理
# print u"右键"
# sys.stdout.write(chr(0x27)) # 输入右移ASCII，39(0x27)有错
else: # 其它按键输出打印并存入cmd
sys.stdout.write(ch)
cmd = cmd + ch
ch = getch()
# print ord(ch)
cmd_history.append(cmd) # 存入命令历史尾
# print search_res_num # 显示最后输入的tab键次数
print "\n", # 输出换行，方便之后输出其它信息
return cmd