def load_click(self):
filename = QtGui.QFileDialog.getOpenFileName(self,
"Select a file with parameters",
"supervisors",
"XML files (*.xml)")
if filename is not None:
reader = XMLReader(filename, 'parameters')
cache = self.contents.get_xmlstruct()
try:
self.contents.use_xmlstruct(reader.read())
except Exception as e:
QtGui.QMessageBox.critical(self,"Loading parameters failed",str(e))
self.contents.use_xmlstruct(cache)
def get_obstacles(file):
"""
get obstacle's coordinates from world file
file: the world file
"""
xml = XMLReader(file, 'parameters')
vertexs_list = []
for item in xml.read():
points = []
temp = []
if item[0] == 'obstacle':
pose = item[1][0]
geometry = item[1][1]
y, x, theta = pose[1][0][1], pose[1][1][1], pose[1][2][1]
for point in geometry[1]:
point_y, point_x = point[1][0][1], point[1][1][1]
points.append([point_x, point_y])
origin = array([x,y])
origin = origin.reshape(2, 1)
A = array([[cos(theta), -sin(theta)], # rotation matrix
[sin(theta), cos(theta)]])
#print A.shape, 'A'
for x0 in points:
x0 = array(x0)
#print x0.shape
x0 = x0.reshape(2,1)
#print origin
vertexs = (dot(A, x0) + origin)
#print vertexs, round(vertexs[0],1),'\n'
temp.append((round(vertexs[0],1), round(vertexs[1],1)))
#print temp, 'temp'
vertexs_list.append(temp)
return vertexs_list
# pose is the bottom left corner
# origin = origin.reshape(2, 1)
# x0 = x0.reshape(2, 1)
# x0 = x0 - origin # assingment operator (-=) would modify original x0
# A = array([[cos(theta), -sin(theta)], # rotation matrix
# [sin(theta), cos(theta)]])
# return (dot(A, x0) + origin).ravel()
# return (dot(A, x0) + origin).ravel()
def get_obstacles(file):
xml = XMLReader(file, 'parameters')
vertexs_list = []
for item in xml.read():
points = []
temp = []
if item[0] == 'obstacle':
pose = item[1][0]
geometry = item[1][1]
y, x, theta = pose[1][0][1], pose[1][1][1], pose[1][2][1]
for point in geometry[1]:
point_y, point_x = point[1][0][1], point[1][1][1]
points.append([point_x, point_y])
origin = array([x, y])
origin = origin.reshape(2, 1)
A = array([
[cos(theta), -sin(theta)], # rotation matrix
[sin(theta), cos(theta)]
])
#print A.shape, 'A'
for x0 in points:
x0 = array(x0)
#print x0.shape
x0 = x0.reshape(2, 1)
#print origin
vertexs = (dot(A, x0) + origin)
#print vertexs, round(vertexs[0],1),'\n'
temp.append((round(vertexs[0], 1), round(vertexs[1], 1)))
#print temp, 'temp'
vertexs_list.append(temp)
return vertexs_list
# pose is the bottom left corner
# origin = origin.reshape(2, 1)
# x0 = x0.reshape(2, 1)
# x0 = x0 - origin # assingment operator (-=) would modify original x0
# A = array([[cos(theta), -sin(theta)], # rotation matrix
# [sin(theta), cos(theta)]])
# return (dot(A, x0) + origin).ravel()
# return (dot(A, x0) + origin).ravel()
def test_parse_parameters_legal(self):
parameters = XMLReader("../testfiles/parameters.xml",
"parameters").read()
assert parameters == {
'pid': {
'goal': {
'y': 10.0,
'x': 11.0
},
'angle': {
'theta': 0.7854
},
'velocity': {
'v': 0.1
},
('gains', 'soft'): {
'ki': 0.1,
'kp': 5.0,
'kd': 0.01
},
('gains', 'hard'): {
'ki': 0.1,
'kp': 5.0,
'kd': 0.01
}
}
}
def start_test(self, challenge):
vals = self.parseChallenge(challenge, {'dir': str})
if 'v' not in vals or 'dir' not in vals or 'theta' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
self.new_lap = True
self.lap_count = 1
self.testsuite.gui.start_testing()
self.testsuite.gui.register_event_handler(self)
from xmlreader import XMLReader
world = XMLReader("worlds/week6_test_{}.xml".format(vals['dir']),
'simulation').read()
i = 0
while world[i].type != 'robot':
i += 1
world[i].robot.pose.theta = vals['theta']
world[
i].supervisor.options = '{{"velocity":{}, "direction":"{}"}}'.format(
vals['v'], vals['dir'])
self.testsuite.gui.dockmanager.clear()
self.testsuite.gui.run_simulator_command('load_world', world)
self.testsuite.gui.run_simulator_command('add_plotable', self.dst20x)
self.testsuite.gui.run_simulator_command('add_plotable', self.dst20y)
self.testsuite.gui.run_simulation()
def load_click(self):
filename = QtGui.QFileDialog.getOpenFileName(
self, "Select a file with parameters", "supervisors",
"XML files (*.xml)")
if filename is not None:
reader = XMLReader(filename, 'parameters')
cache = self.contents.get_xmlstruct()
try:
self.contents.use_xmlstruct(reader.read())
except Exception as e:
#QtGui.QMessageBox.critical(self,"Loading parameters failed",str(e))
QtGui.QMessageBox.critical(
self, "Loading parameters failed",
"\n".join(format_exception(*sys.exc_info())))
self.contents.use_xmlstruct(cache)
def run(self):
"""
Its a thread main function.
Mainly, compares XML provided files.
Execution is synchronised using two semaphores.
"""
result = False
try:
logging.debug("Comparing => %s" %(self.name))
with Dispatcher.__semaphore:
result = XMLReader.compare(self.expectfile, self.resultfile)
except:
logging.debug("Unknown exception occured")
finally:
status = "[Pass]" if (result == True) else "[Fail]"
output = "{0:80} {1}".format(self.relfilename, status)
logging.info("%s" %(output))
# synchronisation locking
with Dispatcher.__lock:
if (result == True):
Dispatcher.__pass = Dispatcher.__pass + 1
Dispatcher.__total = Dispatcher.__total + 1
def test_validate_parameters_saved(self):
try:
import lxml
except ImportError:
return True
assert XMLReader("../testfiles/parameters_saved.xml",
"parameters").validate("../schemas/pid.rng") == True
def load(cls, filename, format):
"""
It loads and validates user settings.
Moreover, initialises file logger.
"""
try:
reader = XMLReader(filename)
#regression
loglevel = reader.find(r'loglevel')
cls.expecteddir = reader.find(r'expected')
cls.sourcedir = reader.find(r'source')
cls.resultdir = reader.find(r'result')
cls.logdir = reader.find(r'log')
# directories must exist
cls.path_exists(cls.expecteddir)
cls.path_exists(cls.sourcedir)
cls.path_exists(cls.logdir)
#cls.path_exists(cls.resultdir)
#sybase
cls.semaphore = int(reader.find(r'semaphore'))
cls.isql = reader.find(r'dbisql')
cls.uid = reader.find(r'uid')
cls.pwd = reader.find(r'pwd')
cls.dbf = reader.find(r'dbf')
cls.file_exists(cls.isql)
cls.file_exists(cls.dbf)
cls.exe = cls.isql + str(r' -c "UID=') + cls.uid \
+ str(r';PWD=') + cls.pwd + str(r';DBF=') + cls.dbf + str(r'" ')
cls.level = getattr(logging, loglevel.upper())
if not isinstance(cls.level, int):
raise Exception("Invalid log value")
fh = logging.FileHandler(str(r"{0}\regression.log".format(cls.logdir)), mode='w')
fh.setLevel(cls.level)
formatter = logging.Formatter(fmt=format[0], datefmt=format[1])
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
except Exception:# as e:
logging.debug("Exception occured while reading configuration")
raise
def test_baseline():
# TNG_set = fetch_20newsgroups(subset='all', remove=('headers', 'footers', 'quotes'), shuffle=True,
# random_state=42)
# ba = BaselineApproach(TNG_set['data'][:144])
# my_file = read_file('..\\data\\sample_texts', 'sample_text.txt')
# keyphrases = ba.returnSolutionforDoc(my_file)
# keyphrases = ba.returnSolution()
# print('Keyphrases selected from sample text: ', keyphrases)
xmlReader = XMLReader('../data/SemEval-2010', True)
dswa = xmlReader.readXML()
un_xml = BaselineApproach(dswa)
solution_xml = un_xml.returnSolution()
stats = evaluate_dataset(readJSONSolution(False), solution_xml)
print(solution_xml)
def test_validate_parameters_no_pid_goal(self):
try:
import lxml
except ImportError:
return True
assert XMLReader("../testfiles/no_pid_goal.xml",
"parameters").validate("../schemas/pid.rng") == False
def test_validate_simulation_too_few_obstacle_points(self):
try:
import lxml
except ImportError:
return True
assert XMLReader(
"../testfiles/too_few_points.xml",
"simulation").validate("../schemas/simulation.rng") == False
def test_validate_simulation_missing_obstacle_coordinate(self):
try:
import lxml
except ImportError:
return True
assert XMLReader(
"../testfiles/missing_obstacle_coord.xml",
"simulation").validate("../schemas/simulation.rng") == False
def test_validate_simulation_no_obstacle_geometry(self):
try:
import lxml
except ImportError:
return True
assert XMLReader(
"../testfiles/no_obstacle_geometry.xml",
"simulation").validate("../schemas/simulation.rng") == False
def test_validate_simulation_no_robot_supervisor(self):
try:
import lxml
except ImportError:
return True
assert XMLReader(
"../testfiles/no_robot_supervisor.xml",
"simulation").validate("../schemas/simulation.rng") == False
def test_validate_simulation_default(self):
try:
import lxml
except ImportError:
return True
assert XMLReader(
"../testfiles/settings.xml",
"simulation").validate("../schemas/simulation.rng") == True
def read_config(self, filename):
'''Load in the objects from the world XML file '''
self.log('Loading new world')
try:
world = XMLReader(filename, 'simulation').read()
except Exception as e:
raise Exception('[Simulator.read_config] Failed to parse ' + filename \
+ ': ' + str(e))
else:
self.load_world(world)
def test_parse_simulation_legal(self):
objects = XMLReader("../testfiles/settings.xml", "simulation").read()
assert objects[0] == \
('robot',
'Khepera3',
'khepera3.K3Supervisor',
(1.0, 1.0, 1.5708),
0xFFAACC)
assert objects[1] == \
('obstacle',
(1.0, 1.2, 0.0),
[(0.0, 0.0), (0.3, 0.0), (0.3, 0.3), (0.0, 0.3)],
None)
assert objects[2] == \
('obstacle',
(-0.5, 0.0, 0.7854),
[(0.0, 0.0), (0.3, 0.0), (0.3, 0.3), (0.0, 0.3)],
None)
assert objects[3] == \
('obstacle',
(0.65, 0.0, 0.7854),
[(0.0, 0.0), (0.3, 0.0), (0.3, 0.3), (0.0, 0.3)],
None)
assert objects[4] == \
('obstacle',
(0.2, 0.8, 0.0),
[(0.0, 0.0), (0.3, 0.0), (0.3, 0.3), (0.0, 0.3)],
None)
assert objects[5] == \
('obstacle',
(-1.0, -1.0, 0.0),
[(0.0, 0.0), (1.5, 0.0), (1.5, 0.3), (0.0, 0.3)],
None)
assert objects[6] == \
('obstacle',
(-1.6, -1.5, 0.0),
[(0.0, 0.0), (3.0, 0.0), (3.0, 0.1), (0.0, 0.1)],
None)
assert objects[7] == \
('obstacle',
(-1.5, -1.4, 1.5708),
[(0.0, 0.0), (3.0, 0.0), (3.0, 0.1), (0.0, 0.1)],
None)
assert objects[8] == \
('obstacle',
(1.5, -1.5, 1.5708),
[(0.0, 0.0), (3.0, 0.0), (3.0, 0.1), (0.0, 0.1)],
None)
assert objects[9] == \
('obstacle',
(-1.5, 1.5, 0.0),
[(0.0, 0.0), (3.0, 0.0), (3.0, 0.1), (0.0, 0.1)],
None)
def read_config(self, filename):
'''Load in the objects from the world XML file '''
self.log('reading initial configuration')
try:
self.__world = XMLReader(filename, 'simulation').read()
except Exception as e:
raise Exception('[Simulator.read_config] Failed to parse ' + filename \
+ ': ' + str(e))
else:
self.__supervisor_param_cache = None
self.__center_on_robot = False
self.__construct_world()
def read_config(self, filename):
'''Load in the objects from the world XML file '''
self.log('reading initial configuration')
try:
self.__world = XMLReader(filename, 'simulation').read()
except Exception as e:
raise Exception('[PCLoop.read_config] Failed to parse ' + filename \
+ ': ' + str(e))
else:
self.__supervisor_param_cache = None
self.__center_on_robot = False
if self.__robot is not None:
r = self.__robot
self.__robot = None
del r
del self.__supervisor
self.__supervisor = None
gc.collect(r)
print(gc.get_referrers(r))
self.__construct_world()
def test_write_parameters_legal(self):
parameters = {'pid': {
'goal': {'y': 10.0, 'x': 11.0},
'angle': {'theta': 0.7854},
'velocity': {'v': 0.1},
('gains', 'soft'): {'ki': 0.1, 'kp': 5.0, 'kd': 0.01},
('gains', 'hard'): {'ki': 0.1, 'kp': 5.0, 'kd': 0.01}
}
}
file_ = "tmp_removeme.xml"
try:
XMLWriter(file_, "parameters", parameters).write()
result = XMLReader(file_, "parameters").read()
assert result == parameters
finally:
# If the file was created (it exists), delete it
try:
with open(file_) as f:
f.close()
unlink(file_)
except IOError:
pass
def test_parse_simulation_no_robot_pose(self):
parser = XMLReader("../testfiles/no_robot_pose.xml", "simulation")
self.assertRaises(Exception, parser.read)
def test_parse_simulation_bad_robot_coordinate(self):
parser = XMLReader("../testfiles/bad_robot_coord.xml", "simulation")
self.assertRaises(Exception, parser.read)
def test_parse_simulation_missing_obstacle_coordinate(self):
parser = XMLReader("../testfiles/missing_obstacle_coord.xml",
"simulation")
self.assertRaises(Exception, parser.read)
def __init__(self, parent = None):
"""Creates a filter instance, allowing applications to set the
parent on instantiation."""
XMLReader.__init__(self)
self._parent = parent
def test_parse_simulation_too_few_obstacle_points(self):
parser = XMLReader("../testfiles/too_few_points.xml", "simulation")
self.assertRaises(Exception, parser.read)
def test_normal(self):
self.assertTrue(XMLReader.compare(r'Expected/foo.xml', r'Expected/foo.xml'))
self.assertFalse(XMLReader.compare(r'Expected/foo.xml', r'Expected/bar.xml'))
self.assertFalse(XMLReader.compare(r'Expected/foo.xml', r'Expected/foo_rowdel.xml'))
self.assertFalse(XMLReader.compare(r'Expected/bar.xml', r'Expected/bar_casechanged.xml'))
def test_invalid_file(self):
self.assertRaises(IOError,XMLReader,'ABCTEMP.xml')
self.assertRaises(AssertionError,XMLReader,'')
self.assertFalse(XMLReader.compare('/C/.xml',''))
self.assertFalse(XMLReader.compare('', '/C/.xml'))
def __init__(self, parent = None):
"""Creates a filter instance, allowing applications to set the
parent on instantiation."""
XMLReader.__init__(self)
self._parent = parent
def test_parse_simulation_no_obstacle_geometry(self):
parser = XMLReader("../testfiles/no_obstacle_geometry.xml",
"simulation")
self.assertRaises(Exception, parser.read)
