def setUpClass(cls):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc', 'lidapy.LocalCommunicationProxy')
config.set_param('rate_in_hz', '10')
lidapy.init(config=config, process_name='test')
def __init__(self):
print "initializing"
pygame.init()
self.screen = self.make_screen()
self.screenrect = self.screen.get_rect()
resources.images = resources.load_all_images()
pygame.display.set_icon(resources.images.icon)
self.submenu = game_submenu(self, self.screenrect)
self.submenu.draw_all(self.screen)
pygame.display.flip()
self.tochangeto = ''
self.run = True
lidapy.init(process_name='Environment')
self.image_topic = lidapy.Topic('images', msg_type=CompressedImage, queue_size=1)
self.action_topic = lidapy.Topic('actions', queue_size=1)
self.mainloop()
def setUpClass(cls):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc', 'lidapy.LocalCommunicationProxy')
config.set_param('rate_in_hz', 10)
lidapy.init(config=config, process_name='test')
def setUp(self):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc_proxy', 'lidapy.RosCommunicationProxy')
self._var = lidapy.init(process_name='test')
def setUpClass(cls):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc_proxy', 'lidapy.RosCommunicationProxy')
lidapy.init(process_name='test')
if not action:
action = STOP
wheel_cmd = WheelCommand()
wheel_cmd.angle = action.angle
wheel_cmd.force = action.direction * float(
lidapy.get_param('wheel_force', section='action_execution'))
ACTUATOR.send(wheel_cmd)
# Sleep to let wheel command execution occur for the expected duration before
# changing commands
sleep(action.duration)
# Initialize the lidapy framework
lidapy.init(Config(file_path=argv[1], use_param_service=True),
log_level=lidapy.LOG_LEVEL_DEBUG)
processes = [
LIDAProcess('action_execution',
[Task('action_execution', execute_action)]),
LIDAProcess('action_selection',
[Task('action_selector', determine_action)]),
LIDAProcess('stuck_detector', [Task('stuck_detector', detect_stuck)]),
LIDAProcess('path_detection', [Task('path_detector', detect_path)])
]
for p in processes:
p.start()
sleep(1)
return 0 <= move < 9 and self._board.is_blank(move)
def update(self):
if self._is_end():
pain_topics[self._board.looser].send(PAIN)
self._turn = self._board.winner
self._board.reset()
if self._turn == PLAYER1:
move = self._player1(), PLAYER1
else:
move = self._player2(
), PLAYER2 # receive_action should be bound to an instance
if self.move_possible(move[0]) and self._turn == move[1]:
if self._make_move(move[0]):
self._turn = PLAYER2 if self._turn == PLAYER1 else PLAYER1
lidapy.loginfo(self.board_string())
print('running')
if __name__ == '__main__':
agent_config = Config()
agent_config.set_param('rate_in_hz', 1)
lidapy.init(config=agent_config)
ox_env = OXPlayerEnvironment()
ox_env.start()
#! /usr/bin/env python
import random
from sys import argv
from lidapy import Config
from lidapy import LIDAThread
from lidapy import Topic
from lidapy import init, loginfo
# Shared Talker/Listener Topic
topic = Topic('tl_topic')
# Method invoked by talker
def talk():
topic.send(str(random.randint(0, 1000000)))
# Method invoked by listener
def listen():
loginfo('Received message: {}'.format(topic.receive()))
# Initialize the lidapy framework
init(config=Config(argv[1]), process_name='talker_listener')
LIDAThread(name='talker', callback=talk).start()
LIDAThread(name='listener', callback=listen).start()
def setUp(self):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc_proxy', 'lidapy.RosCommunicationProxy')
self._var = lidapy.init(process_name='test')
def setUpClass(cls):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc_proxy', 'lidapy.RosCommunicationProxy')
lidapy.init(process_name='test')
def execute_action():
action = SELECTED_ACTIONS.receive(timeout=0.25)
if not action:
action = STOP
wheel_cmd = WheelCommand()
wheel_cmd.angle = action.angle
wheel_cmd.force = action.direction * float(lidapy.get_param('wheel_force', section='action_execution'))
ACTUATOR.send(wheel_cmd)
# Sleep to let wheel command execution occur for the expected duration before
# changing commands
sleep(action.duration)
# Initialize the lidapy framework
lidapy.init(Config(file_path=argv[1], use_param_service=True), log_level=lidapy.LOG_LEVEL_DEBUG)
processes = [
LIDAProcess('action_execution', [Task('action_execution', execute_action)]),
LIDAProcess('action_selection', [Task('action_selector', determine_action)]),
LIDAProcess('stuck_detector', [Task('stuck_detector', detect_stuck)]),
LIDAProcess('path_detection', [Task('path_detector', detect_path)])
]
for p in processes:
p.start()
sleep(1)
#! /usr/bin/env python
from PIL import Image
from StringIO import StringIO
from sys import argv
import lidapy
from lidapy import LIDAThread, Config
from sensor_msgs.msg import CompressedImage
image_topic = lidapy.Topic('images', msg_type=CompressedImage)
def receive_image():
msg = image_topic.receive() # type: CompressedImage
if msg:
# TODO: Create the pixel layer from this image's data
image = Image.open(StringIO(msg.data))
# Initialize the lidapy framework
lidapy.init(config=Config(argv[1]), process_name='sensory_memory')
LIDAThread(name='sensory_memory', callback=receive_image).start()
def setUpClass(cls):
config = Config()
config.set_param('logger', 'lidapy.ConsoleLogger')
config.set_param('ipc', 'lidapy.LocalCommunicationProxy')
lidapy.init(config=config)
