def test_SaveSessionFile(self):
options = AnObject()
options.server = self.host
options.username = self.user
options.password = self.password
options.savesessionfile = self.sessionFile
sessionOptions = SessionOptions(options)
session = Session(sessionOptions)
session.Login()
stub = session.stub
session.Logout()
# Make sure session file exists and readable by user only
if sys.platform == "win32":
# Windows os.stat().st_mode always returns og rw
# TODO: Use some other way to test
pass
else:
st = os.stat(options.savesessionfile)
if (st.st_mode & (stat.S_IRWXG | stat.S_IRWXO)) != 0:
raise Exception("Session file is world readable!!!")
# Should remain authenticated after logout
self.AuthenticatedAction(stub)
# Close this session
del session
# Test session file is usable
options = AnObject()
options.sessionfile = self.sessionFile
self.LoginLogout(options, skipLogoutTest=True)
def testSessionEncode(self):
transaction = Transaction()
session = Session(transaction, 'test')
self.assertEqual(session.sessionEncode('myurl'), 'myurl?_SID_=test')
self.assertEqual(
session.sessionEncode('http://localhost/Webware/Servlet?a=1&b=2'),
'http://localhost/Webware/Servlet?a=1&b=2&_SID_=test')
def __init__(self, credentials):
self.credentials = credentials
self.queue = RequestQueue(request_limit=600)
self.session = Session(self.credentials, self.queue)
self.all_endpoints = {
'ticket': {
'plural': 'tickets',
'singular': 'ticket'
},
'organization': {
'plural': 'organizations',
'singular': 'organization'
},
'requester': {
'plural': 'users',
'singular': 'user'
},
'user': {
'plural': 'users',
'singular': 'user'
},
'assignee': {
'plural': 'users',
'singular': 'user'
}
}
self.object_cache = BasicCache()
self.tickets = Endpoint('ticket', self)
self.organizations = Endpoint('organization', self)
self.users = Endpoint('user', self)
def start_session(self):
if self.active_session == None:
self.active_session = Session(self)
self.active_session.start()
self.sessions.append(self.active_session)
else:
print("This subject already runs a time")
def get_timetable(school, user, password):
# App4 Timetable Url with school identifier
url = "http://{}.app4.ws/portal/timetable.php".format(school)
# Creates a browser. Then opens the Timetable Url which leads to a login page
br = mechanicalsoup.StatefulBrowser()
br.open(url)
# Log in using user and password
br.select_form(nr=0)
br["txtLoginUserID"] = user
br["txtLoginPassword"] = password
br.submit_selected()
# With Permission reopens the Timetable page
br.open(url)
# Makes a soup of the pages html
page = br.get_current_page()
# Gets everyday's html
daysRaw = page.find_all('td', {"width": '18%'})
# Empty Container to be populated with day objects
timetable = []
for day in daysRaw:
# Variables with Day args
day_name = day.find_all("td", {"class": re.compile("^ttdark")})[0].string.extract()
day_id = daysRaw.index(day)+1
# Appends a Day Object and Passes an empty list to be populated bt Session Objects, day_name and day_id
timetable.append(Day([], day_name, day_id))
# List with all day's sessions html
sessions = day.find_all("td", {"class": re.compile("^tt")})
# Iterates through all sessions appending a Session object to each Day object
for session in sessions:
# If session is a session continue
if len(session.find_all("td")) > 0:
# Variables with Session args
session_number = int(session.find_all("td")[0].string.extract())
session_code = session.find_all("td")[1].find_all("span")[0].string.extract()
# List of teacher, room and time
session_periph = session.find_all("td")[1].find_all("span")[1].get_text("|").split("|")
# Appends a Session Object to current day (i.e, days[-1])
# Checks if it is not an empty session (e.g, Lunch, Community Service)
if len(session_periph) > 2:
timetable[-1].append(
Session(
session_number,
session_code,
session_periph[0],
str(session_periph[1]).strip(),
session_periph[2]
)
)
# If it is an empty session do not pass a teacher or room
else:
timetable[-1].append(
Session(
session_number,
session_code,
session_periph[0],
None,
None
)
)
return timetable
def run(self):
world = World(self.sizeOfWorldGrid, self.sizeOfWorldGrid)
robby = Robby()
curGeneration = None
random.seed()
for _iGen in range(self.noOfGenerations):
curGeneration = self.createNextGeneration(curGeneration)
for iChrom in range(curGeneration.getSize()):
curChromosome = curGeneration.getChromosomeAt(iChrom)
for iSession in range(self.noOfSessionsPerChromosome):
session = Session(curGeneration.getNo(), curChromosome,
iSession, world, robby,
self.noOfSessionsPerChromosome,
self.noOfActionsPerSession)
session.run(self.updateListener)
curChromosome.updateAvgFitness(session)
self.updateListener.updateChromosome(curChromosome)
curGeneration.updateMaxAvgFitness(
curChromosome.getAvgFitness())
self.updateListener.updateGeneration(curGeneration)
def create_bike(x, y, bias=None, kernels=None, epochs=5):
# Start my custom stuff
d = Dense(x, 1)
d2 = Dense(d, 1)
d3 = Dense(d2, 1)
# Assign Kernel matrix to weights
if kernels is not None:
print 'k'
d.W = kernels[0]
#d2.W = kernels[1]
d.b = bias[0]
#d2.b = bias[1]
relu = ReLu()
sess = Session()
sess.add_node(d)
sess.add_node(ReLu())
'''
sess.add_node(d2)
sess.add_node(ReLu())
sess.add_node(d3)
sess.add_node(relu)
'''
sess.add_node(subtr(d3, y))
sess.add_node(MeanSqrError(d3))
print '\n'
return sess
def click_generate_query_plans(self):
print("generate query plans")
if not self.plaintextedit_query1.toPlainText().strip(
) or not self.plaintextedit_query2.toPlainText().strip():
self.pop_up_message("Please ensure both box has SQL query")
return
if not self.connection:
self.pop_up_message("Please connect to PostgesSQL server first.")
return
try:
self.session = Session(self.connection,
self.plaintextedit_query1.toPlainText(),
self.plaintextedit_query2.toPlainText())
except psycopg2.Error as e:
self.show_error_message(e.pgerror)
self.click_connect(True)
return
self.query_one_button.setEnabled(True)
self.query_two_button.setEnabled(True)
self.plaintextedit_queryplan1.setPlainText(
str(json.dumps(self.session.query_one_qep_raw)))
self.plaintextedit_queryplan2.setPlainText(
str(json.dumps(self.session.query_two_qep_raw)))
query_one_explanation_list = vocalizer2.textVersion(
self.session.query_one_qep_root_node)
query_two_explanation_list = vocalizer2.textVersion(
self.session.query_two_qep_root_node)
self.query_one_explanation.setPlainText(
"\n".join(query_one_explanation_list))
self.query_two_explaination.setPlainText(
"\n".join(query_two_explanation_list))
def openSession(self):
session = Session()
session.exec()
if session.ret:
if session.new:
self.onBtnLoadRef()
else:
print(session.sel)
def testInsert(self):
sdao = SessionDAO()
session = Session()
session.startDate = '2009-10-10'
session.lastUpdate = '2009-10-10'
session.source.id = self.sourceId
session.file.id = self.fileId
session.address.id = self.addressId
sid = sdao.insert(session)
assert sid != -1, 'error inserting session'
def AuthPage(svc, rduri, cid, name, pw, state, resptype, scope):
clients = clientdb.ClientDB()
try:
# check client_id valid
client = clients.find_client(cid)
if client is None:
raise AuthClientError()
# check redirect_uri match client_id
if not client.check_redirect_uri(rduri):
raise AuthClientError()
# check client_id may use response_type
if not client.check_response_type(resptype):
raise AuthError(rduri, 'invalid_client')
user = UserManager.LoadUser(name)
if (user == None):
raise AuthError(rduri, 'access_denied')
if not scope:
scopes = client.get_scopes()
else:
scopes = scope.split(' ')
for one_scope in scopes:
if not client.check_scope(one_scope):
raise AuthError(rduri, 'invalid_scope')
if (user.Authorize(pw)):
session = Session(user, svc.client_address[0], scopes=scopes)
session.RecordLogin(True)
if resptype == "code":
# give session, so other info may be recorded
code = Auth.RecordSession(session, cid)
target_uri = "%s?code=%s" % (rduri, code)
if state:
target_uri += "&state=%s" % state
elif resptype == "token":
token = session.GetID()
target_uri = "%s?access_token=%s&token_type=session&expires_in=%d&scope=%s" % (
rduri, token, Config.SESSION_TIMEOUT_SECONDS,
' '.join(scopes))
if state:
target_uri += "&state=%s" % state
else:
raise AuthError(rduri, 'unsupported_response_type')
svc.send_response(302)
svc.send_header('Location', target_uri)
svc.send_header('Content-Length', 0)
svc.end_headers()
svc.wfile.flush()
else:
raise AuthError(rduri, 'access_denied')
finally:
clients.close()
def __init__(self, host, username, pwd):
CLIHandler.__init__(self)
opts = Values({
'server' : host,
'portnumber' : 443,
'username' : username,
'password' : pwd
})
sessionOptions = SessionOptions(opts)
self.session = Session(sessionOptions)
self.session.Login()
def do_HEAD(self, method='get', postData={}):
self.session = Session.load(Session.determineKey(self))
self.processingRequest()
try:
self.buildResponse(method, postData)
self.sendHead()
except Redirect as r:
self.responseCode = 302
self.response = ''
self.sendHead(additionalHeaders={'Location': r.target})
def do_HEAD(self, method = 'get', postData = {}):
self.session = Session.load(Session.determineKey(self))
self.processingRequest()
try:
self.buildResponse(method, postData)
self.sendHead()
except Redirect as r:
self.responseCode = 302
self.response = ''
self.sendHead(additionalHeaders = {'Location': r.target})
def testTimeout(self):
transaction = Transaction()
session = Session(transaction, 'test')
self.assertEqual(session.timeout(), 3600)
session.setTimeout(3700)
self.assertEqual(session.timeout(), 3700)
session.invalidate()
self.assertEqual(session.timeout(), 0)
def testIsNew(self):
transaction = Transaction()
session = Session(transaction, 'test')
self.assertIs(session.isNew(), True)
session.awake(transaction)
self.assertIs(session.isNew(), True)
session.awake(transaction)
self.assertIs(session.isNew(), False)
def initSession(self, phone, AESKey):
print "Core.initSession called"
if self.session == None or self.session.authStatus == Constants.AUTHSTATUS_IDLE: #self.yowsupStarted==0 and
self.yowsupStarted = 1
if self.session == None:
self.session = Session(self, phone, AESKey)
self.session.getAuthData()
self.signalsInterface.registerListener("disconnected",
self.onDisconnected)
self.session.login()
else:
print "\nPretty sure yowsup is already started."
def getHeatMapSessions(self,_json=True):
_h = []
_e = []
_t = []
_nSessions = 0
_x = 0
for _folder in reversed(os.listdir(self._dataFolder)):
for _device in self.devices:
if _device in _folder: #get only the folders from his/her device
_file = self._dataFolder + _folder
_d = Session(_file)
_mdata = _d.getMetaDataOnly()
_avgHR = _mdata["session"]["statistics"]["HR_avg"]
_avgEDA = _mdata["session"]["statistics"]["EDA_avg"]
_avgTEMP = _mdata["session"]["statistics"]["TEMP_avg"]
_HM_HR= {}
_HM_EDA= {}
_HM_TEMP= {}
if(_avgHR > 90):
_HM_HR["sessionId"] = _folder
_HM_HR["date"] = int(_folder[:-7])
_HM_HR["value"] = 60 + _x #silly hack to get links on the heatmap
else:
_HM_HR["sessionId"] = _folder
_HM_HR["date"] = int(_folder[:-7])
_HM_HR["value"] = 2 + _x
print _HM_HR
_h.append(_HM_HR)
if(_avgEDA > 5):
_HM_EDA["sessionId"] = _folder
_HM_EDA["date"] = int(_folder[:-7])
_HM_EDA["value"] = 60 + _x
else:
_HM_EDA["sessionId"] = _folder
_HM_EDA["date"] = int(_folder[:-7])
_HM_EDA["value"] = 2+ _x
_e.append(_HM_EDA)
if(_avgTEMP > 37.5):
_HM_TEMP["sessionId"] = _folder
_HM_TEMP["date"] = int(_folder[:-7])
_HM_TEMP["value"] = 60+ _x
else:
_HM_TEMP["sessionId"] = _folder
_HM_TEMP["date"] = int(_folder[:-7])
_HM_TEMP["value"] = 2+ _x
_t.append(_HM_TEMP)
_x +=1
if(_json):
return [json.dumps(_h),json.dumps(_e),json.dumps(_t)]
else:
return [_HM_HR,_HM_EDA,_HM_TEMP]
def LoginLogout(self, options, skipLogoutTest=False):
# Get session
sessionOptions = SessionOptions(options)
session = Session(sessionOptions)
# Login, do something and then logout
stub = session.stub
# Not need. Auto login when getting stub:
# session.Login()
self.AuthenticatedAction(stub)
session.Logout()
if not skipLogoutTest:
self.FailIfRemainAuthenticated(stub)
def MainMenu():
toke = Request.Headers.get("X-Plex-Token", "")
if toke:
session_id = Hash.MD5(toke) #Hash by token to create user session.
else:
session_id = Hash.MD5(str(Datetime.Now()))
if session_id in sessions: # Prior session started, continue
sesh = sessions[session_id]
else: # Create a new session
sesh = Session(session_id=session_id)
sessions[session_id] = sesh
RemoveOldSessions()
return sesh.SMainMenu()
def HandleLogin(svc, username, passwd):
user = UserManager.LoadUser(username)
if (user == None):
raise Unauthorized('Login failed')
if (user.Authorize(passwd)):
session = Session(user, svc.client_address[0])
ret = {}
ret['session'] = session.GetID()
svc.writedata(json.dumps(ret))
else:
raise Unauthorized('Login failed')
def start_session():
global start_session_signal
global first_req_of_session
global current_session
current_session = Session()
current_session.speaker_id = 'Mohammad'
start_session_signal = True
print(bcolors.FAIL + "*************NEW SESSION****************" +
bcolors.ENDC)
log_time("__________ Session Started __________")
first_req_of_session = True
while (start_session_signal == True):
pass
return
def createSessionCallback(self, request):
print(" [.] createSession(%s)" % request)
try:
sessionName, boardSize, username = request.split(":")
except ValueError:
return "FAIL", ""
session = Session(self, sessionName, username, int(boardSize))
self.sessions[sessionName] = session
session.tryAddPlayer(username)
response = "CREATED:" + sessionName
# First argument is sent to only the sender. The second one is broadcasted globally.
return response, ""
def testCreationAndAccessTime(self):
transaction = Transaction()
session = Session(transaction, 'test')
t = session.creationTime()
self.assertIsInstance(t, float)
self.assertEqual(session.creationTime(), session.lastAccessTime())
session = Session(transaction, 'test2')
self.assertGreaterEqual(session.creationTime(), t)
def start_session():
global start_session_signal
global first_req_of_session
global current_session
global nlp
current_session = Session(nlp)
current_session.speaker_id = 'Mohammad'
start_session_signal = True
print(bcolors.FAIL + "*************NEW SESSION****************" +
bcolors.ENDC)
first_req_of_session = True
idle_state_end_pipe.write_to_pipe("s")
while (start_session_signal == True):
pass
return
def doTests(self,_json=True):
#create a new session and call check to the last 5 sessions
_results = []
_resultJson = {"device_id":self.device,"tests":[]}
for _x,_s in enumerate(self._sessions):
_se = Session(_s)
_res = _se.checkSessionStatus()
_results.append(_res)
_resultJson["tests"].append(_res)
if _x == 4:
break
if(_json):
return json.dumps(_resultJson)
else:
return _results
def main():
from Session import Session
session = Session('z3nbe',
'*****@*****.**',
token='ExYtkWBYio2KwTedfZ1zgDABL4KPZC8mUUau6iwu')
memberships = session.groups.get_all()
print([membership.name for membership in memberships])
def Login(self):
username = input("用户名(或注册y or n)>>>:").strip()
pawd = ""
if username == "y" or username == "Y":
self.setRegister()
self.Login()
else:
pawd = input("password>>>:").strip()
with open(self.__DB_User, "rb") as f:
if os.path.getsize(self.__DB_User) == 0:
read = {}
else:
read = pickle.loads(f.read())
if username in read:
if Common().Jem_hash(pawd, read[username]["password"]):
session = Session()["username"] = username
if session:
print("登录成功")
return True
else:
print("登录失败:A")
return False
else:
print("登录失败:B")
return False
else:
print("用户不存在")
return False
def control_connection(conn, client_addr):
print("Connection attempt from" + str(client_addr))
is_correct_authentication, username = check_authentication(conn)
conn.sendall(bytes(str(is_correct_authentication) + "\r\n", 'utf-8'))
if is_correct_authentication:
print("[" + username + "] connected!")
current_session = Session(os.getcwd(), username)
sessions[conn] = current_session
while True:
command_line = receive_message(conn)
command = command_line.split(" ")[0]
command_args = command_line.split(" ")[1:]
if command == "close" or command == "quit":
print("[" + username + "] disconnected!")
sessions.pop(conn)
conn.close()
break
else:
manage_command_line(command, command_args, conn)
else:
print("[" + username + "] failed on authentication")
conn.close()
def create_session(self, session_id, model_key):
if session_id in self._SESSION_MAP:
raise ValueError("session_id %d has already been created" %
(session_id))
if model_key not in MODELS:
raise ValueError(
"%s is not a valid model, check the keys in models.json" %
(model_key))
worker = self._WORKER_POOL.get(
) # this will block until we have a free one
port = get_free_tcp_port()
MODELS[model_key].update({"gpu_id": worker["gpu_id"], "port": port})
if worker["type"] == "local":
gpu_id = worker["gpu_id"]
process = self._spawn_local_worker(**MODELS[model_key])
model = PytorchUNet(MODELS[model_key]["fn"], gpu_id,
MODELS[model_key]["inputShape"])
session = Session(session_id, model)
self._SESSION_MAP[session_id] = session
self._SESSION_INFO[session_id] = {
"worker": worker,
"process": process
}
LOGGER.info("Created a local worker for (%s) on GPU %d" %
(session_id, gpu_id))
elif worker["type"] == "remote":
raise NotImplementedError("Remote workers aren't implemented yet")
else:
raise ValueError("Worker type %s isn't recognized" %
(worker["type"]))
def testDirectAccess(self):
transaction = Transaction()
session = Session(transaction, 'test')
with self.assertRaises(KeyError):
session['a'] # pylint: disable=pointless-statement
self.assertNotIn('a', session)
session['a'] = 'foo'
self.assertEqual(session['a'], 'foo')
self.assertIn('a', session)
self.assertEqual(session.value('a'), 'foo')
self.assertTrue(session.hasValue('a'))
del session['a']
with self.assertRaises(KeyError):
session['a'] # pylint: disable=pointless-statement
self.assertNotIn('a', session)
self.assertFalse(session.hasValue('a'))
def testUniqueIds(self):
transaction = Transaction()
identifiers = set()
for _count in range(3):
session = Session(transaction)
identifier = session.identifier()
self.assertIsInstance(identifier, str)
self.assertEqual(len(identifier), 47)
parts = identifier.split('-')
self.assertEqual(len(parts), 2)
self.assertEqual(len(parts[0]), 14)
self.assertEqual(len(parts[1]), 32)
self.assertTrue(parts[0].isdigit())
self.assertTrue(all(c in '0123456789abcdef' for c in parts[1]))
self.assertNotIn(identifier, identifiers)
identifiers.add(identifier)
def __init__(self, parent=None, callback=None):
"""
@summary: Create new authentication dialog.
@param parent: GtkWindow parent.
"""
super(AuthDialog, self).__init__()
self.__session__ = Session()
super(AuthDialog, self).set_title(self.__trans__("Google Authentication"))
super(AuthDialog, self).set_flags(gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT)
super(AuthDialog, self).add_buttons(gtk.STOCK_OK, gtk.RESPONSE_OK)
super(AuthDialog, self).set_transient_for(parent)
if (parent != None):
super(AuthDialog, self).set_position(gtk.WIN_POS_CENTER_ON_PARENT)
else:
super(AuthDialog, self).set_position(gtk.WIN_POS_CENTER)
# Add signals
super(AuthDialog, self).connect("response", self.__closeEvent__)
super(AuthDialog, self).set_size_request(self.__DEFAULT_WINDOW_WIDTH__, self.__DEFAULT_WINDOW_HEIGHT__)
self.__initUI__()
self.__callback__ = callback
def extractSessions(source, filename=None):
Sessons = Utils.File.readCSV(source)
tmp = {}
logs = []
print('...start to extract data')
for row in Sessons:
try:
tmpLog = Log(row)
tmpLog.setType(setTypeOfLogs(tmpLog.Message))
logs.append(tmpLog)
except BaseException as e:
print e
pass
Sessions = {}
for log in logs:
id = log.getId()
if id in Sessions:
Sessions[id].update(log)
else:
Sessions[id] = Session(id)
Sessions[id].update(log)
print('...start to calc features')
for x in Sessions:
Sessions[x].calcFeature()
if filename != None:
print('...start to save session to {0}'.format(filename))
with open(filename, 'w') as f:
json.dump(Sessions, f, default=lambda x: x.__dict__)
print('...finish')
return json.loads(json.dumps(Sessions, default=lambda x: x.__dict__))
def getSessions(self,_json=True):
_availableSessions = {"sessions":[],"count":0}
_nSessions = 0
for _folder in reversed(os.listdir(self._dataFolder)):
for _device in self.devices:
if _device in _folder: #get only the folders from his/her device
_file = self._dataFolder + _folder
_d = Session(_file)
_availableSessions["sessions"].append(_d.getMetaDataOnly())
_nSessions += 1
_availableSessions["count"] = _nSessions
if(_json):
return json.dumps(_availableSessions)
else:
return _availableSessions
def test_SessionFile(self):
session = self.GetValidRootSession()
stub = session.stub
# Do not logout from stub yet
# Save lwp cookie
session._SaveCookieFile(self.sessionFile, stub.cookie)
# Load cookie
options = AnObject()
options.sessionfile = self.sessionFile
sessionOptions = SessionOptions(options)
session2 = Session(sessionOptions)
# Check the session is valid
self.AuthenticatedAction(session2.stub)
# Now we can logout
stub = session.stub
stub2 = session2.stub
session.Logout(force=True)
# Make sure both stub are invalid
self.FailIfRemainAuthenticated(stub)
self.FailIfRemainAuthenticated(stub2)
def read_db(db):
# Clears timetable so it can be overwritten
timetable = []
# Loops over timetable every day and
for day in db.all():
# Creates a local empty lsit to be populated with database session
sessions = []
# Appends a Session to current day passing session number, code, teacher, room, time
for session in day['sessions']:
sessions.append(Session(
session['number'],
session['code'],
session['teacher'],
session['room'],
session['time']
))
# Appends a Day object passing session, day_name, day_id
timetable.append(
Day(
sessions,
day['day_name'],
day['day_id']
)
)
return timetable
def login(cls, para):
if not checkPara(para, ['version', 'did', ('type', lambda x: x in [cls.DEVICE_TYPE, cls.FB_TYPE])]):
return Error.INVALID_PARAM
version = para['version']
did = para['did']
if para['type'] == cls.DEVICE_TYPE:
(uid, is_new) = Login.device_login(did)
else:
if para['fb_id'] in para['frd_list']:
return Error.INVALID_PARAM
(uid, is_new) = Login.fb_login(did, para['fb_id'], para['fb_name'], para['frd_list'])
sid = Session.gen_session(uid)
ret = {'uid': uid, 'sid': sid}
user_info = User(uid).get(['coin', 'level', 'exp', 'name'], True)
user_info['exp'] /= 100
ret.update(user_info)
if version < Config.LATEST_VERSION:
ret['update'] = Config.PKG_URL
User(uid).login_time = int(time.time())
if 'ip' in para:
g = cls.GEO.city(para['ip'])
Location.update(uid, g['country_code'], g['region'])
return ret
def __init__(self,name,attrs={},logger=None,logpath='./'):
self.sutname=name
self.attrs=attrs
command = attrs.get('CMD')
if not attrs.get('TIMEOUT'):
self.attrs.update({'TIMEOUT':int(30)})
else:
self.attrs.update({'TIMEOUT':int(attrs.get('TIMEOUT'))})
#spawn.__init__(self, command, args, timeout, maxread, searchwindowsize, logfile, cwd, env, ignore_sighup)
import os
log = os.path.abspath(logpath)
log= '%s%s%s'%(log,os.path.sep,'%s.log'%name)
if self.attrs.get('LOGIN'):
from common import csvstring2array
self.loginstep= csvstring2array(self.attrs['LOGIN'])
self.seslog = open(log, "wb")
CSession.__init__(self, name, attrs,logger, logpath)
def button_click(self):
global configWin
global session
global myapp
global mail
pop3Name=str(configWin.ui.lineEdit.text())
smtpName=str(configWin.ui.lineEdit_2.text())
userName=str(self.ui.lineEdit.text())
passwd=str(self.ui.lineEdit_2.text())
session=Session([pop3Name, smtpName, userName, passwd])
resultcode=session.sessionLogin()
if resultcode==0:
lastaccount=[pop3Name, smtpName, userName, passwd]
init.writein(lastaccount)
mail=MyMail(session)
myapp = MyMailBox()
myapp.show()
myapp.ui.menubar.addMenu(lastaccount[2]).addAction(myapp.ui.logout)
self.close()
def initSession(self, phone, AESKey):
print "Core.initSession called"
if self.session == None or self.session.authStatus == Constants.AUTHSTATUS_IDLE: #self.yowsupStarted==0 and
self.yowsupStarted = 1
if self.session == None:
self.session = Session(self, phone, AESKey)
self.session.getAuthData()
self.signalsInterface.registerListener("disconnected", self.onDisconnected)
self.session.login()
else:
print "\nPretty sure yowsup is already started."
def lock(self, type=Constants.LockType_Shared):
"""Contextmanager yielding a session to a locked machine.
Machine must be registered."""
session = Session.create()
with VirtualBoxException.ExceptionHandler():
self.getIMachine().lockMachine(session.getISession(), type)
try:
session._setMachine(VirtualMachine(session.getIMachine()))
yield session
finally:
session.unlockMachine(wait=True)
def __init__(self, credentials):
self.credentials = credentials
self.queue = RequestQueue(request_limit=600)
self.session = Session(self.credentials, self.queue)
self.all_endpoints = {'ticket':{'plural':'tickets', 'singular':'ticket'},
'organization':{'plural':'organizations', 'singular':'organization'},
'requester': {'plural':'users','singular':'user'},
'user': {'plural':'users','singular':'user'},
'assignee': {'plural':'users','singular':'user'}}
self.object_cache = BasicCache()
self.tickets = Endpoint('ticket', self)
self.organizations = Endpoint('organization', self)
self.users = Endpoint('user', self)
def folderAdd(self, folderObject):
"""
each time one adds a new FileWalker object it triggers
a new session that is stored using the unique FileWalker
name
"""
if isinstance(folderObject, FileWalker):
# clone list of classes and create new
thisSession = Session(folderObject.name, folderObject.path, self.classes)
# iterate over all files
thisSession.addFiles(folderObject)
# append the completed session to the list
self.sessions.append(thisSession)
print "add Folder: %s" % folderObject.name
else:
return NotImplemented
return True
def validate(self, name, pwd):
cur = self._conn.cursor()
cur.execute("""
SELECT users.id as id
,users.name as name
,auth.hash as pass
FROM users
,auth
WHERE users.id = auth.user_id
and users.name = '""" + name + """'
and auth.hash = '""" + pwd + """'
""")
numrows = cur.rowcount
assert numrows in {0, 1}
if numrows == 0:
return None
row = cur.fetchone()
sess = Session()
sess.set(row[0], row[1], 9999)
return sess
def powerOn(self, type="gui", env=""):
"""Spawns a new process that executes a virtual machine.
This is spawning a "remote session" in VirtualBox terms."""
# TODO: Add a wait argument
if not self.isRegistered():
raise VirtualBoxException.VirtualBoxInvalidVMStateException(
"VM is not registered")
with VirtualBoxException.ExceptionHandler():
iMachine = self.getIMachine()
session = Session.create()
iprogress = iMachine.launchVMProcess(session.getISession(),
type, env)
progress = Progress(iprogress)
progress.waitForCompletion()
session.unlockMachine()
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array',
MarkerArray)
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self._undo_function = None
self.responses = {
Command.TEST_MICROPHONE: Response(Interaction.empty_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.RELAX_RIGHT_ARM: Response(self.relax_arm, 0),
Command.RELAX_LEFT_ARM: Response(self.relax_arm, 1),
Command.OPEN_RIGHT_HAND: Response(self.open_hand, 0),
Command.OPEN_LEFT_HAND: Response(self.open_hand, 1),
Command.CLOSE_RIGHT_HAND: Response(self.close_hand, 0),
Command.CLOSE_LEFT_HAND: Response(self.close_hand, 1),
Command.STOP_EXECUTION: Response(self.stop_execution, None),
Command.UNDO: Response(self.undo, None),
Command.DELETE_ALL_STEPS: Response(self.delete_all_steps, None),
Command.DELETE_LAST_STEP: Response(self.delete_last_step, None),
Command.REPEAT_LAST_STEP: Response(self.repeat_step, None),
Command.FREEZE_RIGHT_ARM: Response(self.freeze_arm, 0),
Command.FREEZE_LEFT_ARM: Response(self.freeze_arm, 1),
Command.CREATE_NEW_ACTION: Response(self.create_action, None),
Command.EXECUTE_ACTION: Response(self.execute_action, None),
Command.NEXT_ACTION: Response(self.next_action, None),
Command.PREV_ACTION: Response(self.previous_action, None),
Command.SAVE_POSE: Response(self.save_step, None),
Command.RECORD_OBJECT_POSE: Response(
self.record_object_pose, None),
Command.START_RECORDING_MOTION: Response(
self.start_recording, False),
Command.START_RECORDING_RELATIVE_MOTION: Response(
self.start_recording, True),
Command.STOP_RECORDING_MOTION: Response(self.stop_recording, None)
}
rospy.loginfo('Interaction initialized.')
def find(self, id):
self.cursor.execute("""SELECT * FROM """+self.tablename+""" WHERE id = %s""", (id,))
rs = self.cursor.fetchall()
session = Session()
if not rs:
return None
for row in rs:
session.id = row[0]
session.startDate = row[1]
session.lastUpdate = row[2]
session.downloaded = row[3]
session.uploaded = row[4]
session.source.id = row[5]
session.file.id = row[6]
session.address.id = row[7]
session.kind = row[8]
return session
def __addSession(self, address, param, sessionId, monitor):
status = SessionStatus()
status.setId(sessionId)
status.setProtocol(self.protocol)
status.setParam(param)
status.setAddress(address)
self.IDs.append(sessionId)
imp = SessionFactory.createSession(self.protocol)
self.lockForSessions.acquire()
session = Session(imp, status)
status.setSession(session)
session.registerObserver(self)#SessionGroup as the observer of session.
session.registerMonitor(monitor)
session.init()
self.sessions.append(session)
self.actionsComposite.addAction(session)
self.lockForSessions.release()
class TestSequence(unittest.TestCase):
def setUp(self):
class1 = FileClass('documents', ['.pdf', '.doc'])
class2 = FileClass('C-code', ['.c', '.h', '.py'])
self.session = Session('testSession', './', [class1, class2])
pass
def tearDown(self):
pass
def test_constructor(self):
self.assertEqual(2, len(self.session.classes))
print self.session
def test_addingFiles(self):
self.folder = FileWalker('AimValley TITAN', '/Users/bastian/Jobb/Transmode/R21-EDU/Software/AIMVALLEY-Titan-R1_03_00-LD3.0-20121119/av-Titan-r1_03_00-ld3.0-121119')
self.assertTrue(self.session.addFiles(self.folder))
print self.session
def api(request):
try:
para = json.loads(request.body)
Log.info('Request: %s' % (log_kv(para)))
cmd = para['cmd']
if cmd in API_ROUTER:
processPara(para)
if cmd == 'login':
if request.META.has_key('HTTP_X_REAL_IP'):
para['ip'] = request.META['HTTP_X_REAL_IP']
else:
para['ip'] = request.META['REMOTE_ADDR']
if cmd != 'verify_purchase' and para['version'] < Config.MIN_VERSION:
Log.info('unsupported version: %d' % para['version'])
return HttpResponse(genResponse(Error.VERSION_TOO_LOW))
if cmd != 'login' and cmd != 'verify_purchase':
if not Session.is_valid(para['uid'], para['sid']):
Log.error('session invalid')
return HttpResponse(genResponse(Error.INVALID_SESSION))
ret = API_ROUTER[cmd](para)
response = genResponse(ret, para['uid'])
Log.info('Request: %s, Response: %s' % (para, response))
return HttpResponse(response, content_type="application/json")
else:
Log.error('unknown cmd')
return HttpResponse(genResponse(Error.UNKNOWN_CMD))
except Exception, e:
traceback.print_exc()
Log.error(traceback.format_exc())
return HttpResponseServerError("Unknown error: %s" % str(e))
def findBySourceFileAddress(self, sourceId, fileId, addressId):
query = "SELECT * FROM %s WHERE source_id = %s and file_id = %s and address_id = %s " % (self.tablename, sourceId, fileId, addressId)
logging.debug(query)
self.cursor.execute(query)
rs = self.cursor.fetchall()
if not rs:
return None
session = Session()
for row in rs:
session.id = row[0]
session.startDate = row[1]
session.lastUpdate = row[2]
session.downloaded = row[3]
session.uploaded = row[4]
session.source.id = row[5]
session.file.id = row[6]
session.address.id = row[7]
session.kind = row[8]
return session
class Wrapper:
def __init__(self, credentials):
self.credentials = credentials
self.queue = RequestQueue(request_limit=600)
self.session = Session(self.credentials, self.queue)
self.all_endpoints = {'ticket':{'plural':'tickets', 'singular':'ticket'},
'organization':{'plural':'organizations', 'singular':'organization'},
'requester': {'plural':'users','singular':'user'},
'user': {'plural':'users','singular':'user'},
'assignee': {'plural':'users','singular':'user'}}
self.object_cache = BasicCache()
self.tickets = Endpoint('ticket', self)
self.organizations = Endpoint('organization', self)
self.users = Endpoint('user', self)
def get_all(self, member, fetch=False):
singular = self.all_endpoints[member]['singular']
plural = self.all_endpoints[member]['plural']
responses = self.session.get_all(plural)
objects = itertools.chain.from_iterable(((zenContainer(self, singular, item['id'], data=item) for item in response.json()[plural]) for response in responses))
if(fetch):
objects = list(objects)
return objects
def get(self, member, object_id, cache=True):
singular = self.all_endpoints[member]['singular']
plural = self.all_endpoints[member]['plural']
endpoint = '{}/{}'.format(self.plural, object_id)
if not cache:
self.expire_cache(endpoint)
new_obj = self.object_cache.get(endpoint)
if new_obj:
return new_obj
return zenContainer(self, singular, object_id)
def expire_cache(endpoint):
cache_url = self.credentials.create_url(endpoint)
self.queue.cache.delete(cache_url)
self.object_cache.delete(endpoint)
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array', MarkerArray)
self._demo_state = None
self._is_busy = True
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self.responses = {
Command.TEST_MICROPHONE: Response(self.default_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.TAKE_TOOL: Response(self.take_tool, 0),
Command.RELEASE_TOOL: Response(self.release_tool, 0),
Command.START_RECORDING: Response(self.start_recording, None),
Command.STOP_RECORDING: Response(self.stop_recording, None),
Command.REPLAY_DEMONSTRATION: Response(self.replay_demonstration, None)
Command.DETECT_SURFACE: Response(self.detect_surface, None)
}
rospy.loginfo('Will wait until arms ready to respond.')
while ((self.arms.get_ee_state(0) is None) or
(self.arms.get_ee_state(1) is None)):
time.sleep(0.1)
rospy.loginfo('Starting to move to the initial pose.')
# TODO: Make it possible to take with either hand
self._move_to_arm_pose('take', 0)
self._move_to_arm_pose('away', 1)
self._wait_for_arms()
self._demo_state = DemoState.READY_TO_TAKE
Response.say(RobotSpeech.HAND_TOOL_REQUEST)
Response.perform_gaze_action(GazeGoal.GLANCE_RIGHT_EE)
self._is_busy = False
rospy.loginfo('Interaction initialized.')
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array',
MarkerArray)
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self._undo_function = None
self.responses = {
Command.TEST_MICROPHONE: Response(Interaction.empty_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.NEW_DEMONSTRATION: Response(self.create_action, None),
Command.TAKE_TOOL: Response(self.take_tool, 0),
Command.RELEASE_TOOL: Response(self.open_hand, 0),
Command.DETECT_SURFACE: Response(self.record_object_pose, None),
Command.START_RECORDING: Response(self.start_recording, None),
Command.STOP_RECORDING: Response(self.stop_recording, None),
Command.REPLAY_DEMONSTRATION: Response(self.execute_action, None),
Command.SAVE_ARM_POSE: Response(self.save_arm_pose, None)
}
rospy.loginfo('Will wait until arms ready to respond.')
while ((self.arms.get_ee_state(0) is None) or
(self.arms.get_ee_state(1) is None)):
time.sleep(0.1)
rospy.loginfo('Starting to move to the initial pose.')
self._move_to_arm_pose('initial', 0)
self._move_to_arm_pose('initial', 1)
rospy.loginfo('Interaction initialized.')
class Interaction:
'''Finite state machine for the human interaction'''
_is_programming = True
_is_recording_motion = False
_arm_trajectory = None
_trajectory_start_time = None
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array',
MarkerArray)
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self._undo_function = None
self.responses = {
Command.TEST_MICROPHONE: Response(Interaction.empty_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.NEW_DEMONSTRATION: Response(self.create_action, None),
Command.TAKE_TOOL: Response(self.take_tool, 0),
Command.RELEASE_TOOL: Response(self.open_hand, 0),
Command.DETECT_SURFACE: Response(self.record_object_pose, None),
Command.START_RECORDING: Response(self.start_recording, None),
Command.STOP_RECORDING: Response(self.stop_recording, None),
Command.REPLAY_DEMONSTRATION: Response(self.execute_action, None),
Command.SAVE_ARM_POSE: Response(self.save_arm_pose, None)
}
rospy.loginfo('Will wait until arms ready to respond.')
while ((self.arms.get_ee_state(0) is None) or
(self.arms.get_ee_state(1) is None)):
time.sleep(0.1)
rospy.loginfo('Starting to move to the initial pose.')
self._move_to_arm_pose('initial', 0)
self._move_to_arm_pose('initial', 1)
rospy.loginfo('Interaction initialized.')
def load_known_arm_poses(self):
'''This loads important poses from the hard drive'''
# TODO
pass
def open_hand(self, arm_index):
'''Opens gripper on the indicated side'''
if self.arms.set_gripper_state(arm_index, GripperState.OPEN):
speech_response = Response.open_responses[arm_index]
if (Interaction._is_programming and self.session.n_actions() > 0):
self.save_gripper_step(arm_index, GripperState.OPEN)
speech_response = (speech_response + ' ' +
RobotSpeech.STEP_RECORDED)
return [speech_response, Response.glance_actions[arm_index]]
else:
return [Response.already_open_responses[arm_index],
Response.glance_actions[arm_index]]
def take_tool(self, arm_index):
self.close_hand(arm_index)
self._move_to_arm_pose('initial', arm_index)
def close_hand(self, arm_index):
'''Closes gripper on the indicated side'''
if Arms.set_gripper_state(arm_index, GripperState.CLOSED):
speech_response = Response.close_responses[arm_index]
return [speech_response, Response.glance_actions[arm_index]]
else:
return [Response.already_closed_responses[arm_index],
Response.glance_actions[arm_index]]
def relax_arm(self, arm_index):
'''Relaxes arm on the indicated side'''
if self.arms.set_arm_mode(arm_index, ArmMode.RELEASE):
return [Response.release_responses[arm_index],
Response.glance_actions[arm_index]]
else:
return [Response.already_released_responses[arm_index],
Response.glance_actions[arm_index]]
def freeze_arm(self, arm_index):
'''Stiffens arm on the indicated side'''
if self.arms.set_arm_mode(arm_index, ArmMode.HOLD):
return [Response.hold_responses[arm_index],
Response.glance_actions[arm_index]]
else:
return [Response.already_holding_responses[arm_index],
Response.glance_actions[arm_index]]
def edit_action(self, dummy=None):
'''Goes back to edit mode'''
if (self.session.n_actions() > 0):
if (Interaction._is_programming):
return [RobotSpeech.ALREADY_EDITING, GazeGoal.SHAKE]
else:
Interaction._is_programming = True
return [RobotSpeech.SWITCH_TO_EDIT_MODE, GazeGoal.NOD]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def save_action(self, dummy=None):
'''Goes out of edit mode'''
self.session.save_current_action()
Interaction._is_programming = False
return [RobotSpeech.ACTION_SAVED + ' ' +
str(self.session.current_action_index), GazeGoal.NOD]
def create_action(self, dummy=None):
'''Creates a new empty action'''
self._move_to_arm_pose('take', 0)
self.world.clear_all_objects()
self.session.new_action()
Interaction._is_programming = True
return [RobotSpeech.SKILL_CREATED + ' ' +
str(self.session.current_action_index), GazeGoal.NOD]
def next_action(self, dummy=None):
'''Switches to next action'''
if (self.session.n_actions() > 0):
if self.session.next_action(self.world.get_frame_list()):
return [RobotSpeech.SWITCH_SKILL + ' ' +
str(self.session.current_action_index), GazeGoal.NOD]
else:
return [RobotSpeech.ERROR_NEXT_SKILL + ' ' +
str(self.session.current_action_index), GazeGoal.SHAKE]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def previous_action(self, dummy=None):
'''Switches to previous action'''
if (self.session.n_actions() > 0):
if self.session.previous_action(self.world.get_frame_list()):
return [RobotSpeech.SWITCH_SKILL + ' ' +
str(self.session.current_action_index), GazeGoal.NOD]
else:
return [RobotSpeech.ERROR_PREV_SKILL + ' ' +
str(self.session.current_action_index), GazeGoal.SHAKE]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def delete_all_steps(self, dummy=None):
'''Deletes all steps in the current action'''
if (self.session.n_actions() > 0):
if (Interaction._is_programming):
if self.session.n_frames() > 0:
self.session.clear_current_action()
self._undo_function = self._resume_all_steps
return [RobotSpeech.SKILL_CLEARED, GazeGoal.NOD]
else:
return [RobotSpeech.SKILL_EMPTY, None]
else:
return ['Action ' + str(self.session.current_action_index) +
RobotSpeech.ERROR_NOT_IN_EDIT, GazeGoal.SHAKE]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def _resume_all_steps(self):
'''Resumes all steps after clearing'''
self.session.undo_clear()
return [RobotSpeech.ALL_POSES_RESUMED, GazeGoal.NOD]
def _resume_last_step(self):
'''Resumes last step after deleting'''
self.session.resume_deleted_step()
return [RobotSpeech.POSE_RESUMED, GazeGoal.NOD]
def stop_execution(self, dummy=None):
'''Stops ongoing execution'''
if (self.arms.is_executing()):
self.arms.stop_execution()
return [RobotSpeech.STOPPING_EXECUTION, GazeGoal.NOD]
else:
return [RobotSpeech.ERROR_NO_EXECUTION, GazeGoal.SHAKE]
def save_gripper_step(self, arm_index, gripper_state):
'''Saves an action step that involves a gripper state change'''
if (self.session.n_actions() > 0):
if (Interaction._is_programming):
states = self._get_arm_states()
step = ActionStep()
step.type = ActionStep.ARM_TARGET
step.armTarget = ArmTarget(states[0], states[1], 0.2, 0.2)
actions = [self.arms.get_gripper_state(0),
self.arms.get_gripper_state(1)]
actions[arm_index] = gripper_state
step.gripperAction = GripperAction(actions[0], actions[1])
self.session.add_step_to_action(step,
self.world.get_frame_list())
def start_recording(self, dummy=None):
'''Starts recording continuous motion'''
if (self.session.n_actions() > 0):
if (Interaction._is_programming):
if (not Interaction._is_recording_motion):
Interaction._is_recording_motion = True
Interaction._arm_trajectory = ArmTrajectory()
Interaction._trajectory_start_time = rospy.Time.now()
if self.session.n_frames() > 0:
self.session.clear_current_action()
return [RobotSpeech.STARTED_RECORDING_MOTION,
GazeGoal.NOD]
else:
return [RobotSpeech.ALREADY_RECORDING_MOTION,
GazeGoal.SHAKE]
else:
return ['Action ' + str(self.session.current_action_index) +
RobotSpeech.ERROR_NOT_IN_EDIT, GazeGoal.SHAKE]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def stop_recording(self, dummy=None):
'''Stops recording continuous motion'''
if (Interaction._is_recording_motion):
Interaction._is_recording_motion = False
traj_step = ActionStep()
traj_step.type = ActionStep.ARM_TRAJECTORY
waited_time = Interaction._arm_trajectory.timing[0]
for i in range(len(Interaction._arm_trajectory.timing)):
Interaction._arm_trajectory.timing[i] -= waited_time
Interaction._arm_trajectory.timing[i] += rospy.Duration(0.1)
'''If motion was relative, record transformed pose'''
traj_step.armTrajectory = ArmTrajectory(
Interaction._arm_trajectory.rArm[:],
Interaction._arm_trajectory.lArm[:],
Interaction._arm_trajectory.timing[:],
Interaction._arm_trajectory.rRefFrame,
Interaction._arm_trajectory.lRefFrame,
Interaction._arm_trajectory.rRefFrameObject,
Interaction._arm_trajectory.lRefFrameObject)
traj_step.gripperAction = GripperAction(
self.arms.get_gripper_state(0),
self.arms.get_gripper_state(1))
self.session.add_step_to_action(traj_step,
self.world.get_frame_list())
Interaction._arm_trajectory = None
Interaction._trajectory_start_time = None
return [RobotSpeech.STOPPED_RECORDING_MOTION + ' ' +
RobotSpeech.STEP_RECORDED, GazeGoal.NOD]
else:
return [RobotSpeech.MOTION_NOT_RECORDING, GazeGoal.SHAKE]
def _fix_trajectory_ref(self):
'''Makes the reference frame of continuous trajectories uniform'''
(r_ref, _), (_, r_ref_obj) = self._find_dominant_ref(
Interaction._arm_trajectory.rArm)
(l_ref, _), (_, l_ref_obj) = self._find_dominant_ref(
Interaction._arm_trajectory.lArm)
for i in range(len(Interaction._arm_trajectory.timing)):
Interaction._arm_trajectory.rArm[i] = World.convert_ref_frame(
Interaction._arm_trajectory.rArm[i],
r_ref, r_ref_obj)
Interaction._arm_trajectory.lArm[i] = World.convert_ref_frame(
Interaction._arm_trajectory.lArm[i],
l_ref, l_ref_obj)
Interaction._arm_trajectory.rRefFrame = r_ref
Interaction._arm_trajectory.rRefFrameObject = r_ref_obj
Interaction._arm_trajectory.lRefFrame = l_ref
Interaction._arm_trajectory.lRefFrameObject = l_ref_obj
def _find_dominant_ref(self, arm_traj):
'''Finds the most dominant reference frame
in a continuous trajectory'''
def addEnt(dic, ent):
key = (ent.refFrame, ent.refFrameObject.name)
if (key in dic):
dic[key] = (1 + dic[key][0], dic[key][1])
else:
dic[key] = (1, ent.refFrameObject)
return dic
cnt = reduce(addEnt, arm_traj, {})
return reduce(lambda a, b: a if a[1][0] > b[1][0] else b, cnt.items())
def _save_arm_to_trajectory(self):
'''Saves current arm state into continuous trajectory'''
if (Interaction._arm_trajectory != None):
states = self._get_arm_states()
Interaction._arm_trajectory.rArm.append(states[0])
Interaction._arm_trajectory.lArm.append(states[1])
Interaction._arm_trajectory.timing.append(
rospy.Time.now() - Interaction._trajectory_start_time)
def _move_to_arm_pose(self, pose_name, arm_index):
'''Moves the robot's arm to a pre-specified arm pose'''
action = self.session.pose_set[pose_name]
if action is None:
rospy.logwarn('Arm pose does not exist:' + pose_name)
else:
step = action.get_step(0)
if arm_index == 0:
self.arms.start_move_to_pose(step.armTarget.rArm, 0)
self.arms.set_gripper_state(0, step.gripperAction.rGripper)
else:
self.arms.start_move_to_pose(step.armTarget.lArm, 1)
self.arms.set_gripper_state(1, step.gripperAction.lGripper)
rospy.loginfo('Moved arm ' + str(arm_index) + ' to pose ' + pose_name)
def save_arm_pose(self, dummy=None):
'''Saves current arm state as an action step'''
states = self._get_arm_states()
step = ActionStep()
step.type = ActionStep.ARM_TARGET
step.armTarget = ArmTarget(states[0], states[1], 0.2, 0.2)
step.gripperAction = GripperAction(
self.arms.get_gripper_state(0),
self.arms.get_gripper_state(1))
self.session.save_arm_pose(step, self.world.get_frame_list())
return [RobotSpeech.STEP_RECORDED, GazeGoal.NOD]
def _get_arm_states(self):
'''Returns the current arms states in the right format'''
abs_ee_poses = [Arms.get_ee_state(0),
Arms.get_ee_state(1)]
joint_poses = [Arms.get_joint_state(0),
Arms.get_joint_state(1)]
states = [None, None]
for arm_index in [0, 1]:
nearest_obj = self.world.get_nearest_object(
abs_ee_poses[arm_index])
if (nearest_obj == None):
states[arm_index] = ArmState(ArmState.ROBOT_BASE,
abs_ee_poses[arm_index],
joint_poses[arm_index], Object())
else:
# Relative
rel_ee_pose = World.transform(
abs_ee_poses[arm_index],
'base_link', nearest_obj.name)
states[arm_index] = ArmState(ArmState.OBJECT,
rel_ee_pose,
joint_poses[arm_index], nearest_obj)
return states
def execute_action(self, dummy=None):
'''Starts the execution of the current action'''
if (self.session.n_actions() > 0):
if (self.session.n_frames() > 0):
self.session.save_current_action()
action = self.session.get_current_action()
if (action.is_object_required()):
if (self.world.update_object_pose()):
self.session.get_current_action().update_objects(
self.world.get_frame_list())
self.arms.start_execution(action)
else:
return [RobotSpeech.OBJECT_NOT_DETECTED,
GazeGoal.SHAKE]
else:
self.arms.start_execution(action)
return [RobotSpeech.START_EXECUTION + ' ' +
str(self.session.current_action_index), None]
else:
return [RobotSpeech.EXECUTION_ERROR_NOPOSES + ' ' +
str(self.session.current_action_index), GazeGoal.SHAKE]
else:
return [RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE]
def speech_command_cb(self, command):
'''Callback for when a speech command is receieved'''
if command.command in self.responses.keys():
rospy.loginfo('\033[32m Calling response for command ' +
command.command + '\033[0m')
response = self.responses[command.command]
if (not self.arms.is_executing()):
if (self._undo_function != None):
response.respond()
self._undo_function = None
else:
response.respond()
else:
if command.command == Command.STOP_EXECUTION:
response.respond()
else:
rospy.logwarn('Ignoring speech command during execution: '
+ command.command)
else:
switch_command = 'SWITCH_TO_ACTION'
if (switch_command in command.command):
action_no = command.command[
len(switch_command):len(command.command)]
action_no = int(action_no)
if (self.session.n_actions() > 0):
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(Interaction.empty_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
else:
response = Response(Interaction.empty_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
def gui_command_cb(self, command):
'''Callback for when a GUI command is received'''
if (not self.arms.is_executing()):
if (self.session.n_actions() > 0):
if (command.command == GuiCommand.SWITCH_TO_ACTION):
action_no = command.param
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(Interaction.empty_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
response.respond()
elif (command.command == GuiCommand.SELECT_ACTION_STEP):
step_no = command.param
self.session.select_action_step(step_no)
rospy.loginfo('Selected action step ' + str(step_no))
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
else:
response = Response(Interaction.empty_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('Ignoring GUI command during execution: ' +
command.command)
def update(self):
'''General update for the main loop'''
self.arms.update()
if (self.arms.status != ExecutionStatus.NOT_EXECUTING):
if (self.arms.status != ExecutionStatus.EXECUTING):
self._end_execution()
if (Interaction._is_recording_motion):
self._save_arm_to_trajectory()
is_world_changed = self.world.update()
if (self.session.n_actions() > 0):
action = self.session.get_current_action()
action.update_viz()
r_target = action.get_requested_targets(0)
if (r_target != None):
self.arms.start_move_to_pose(r_target, 0)
action.reset_targets(0)
l_target = action.get_requested_targets(1)
if (l_target != None):
self.arms.start_move_to_pose(l_target, 1)
action.reset_targets(1)
action.delete_requested_steps()
states = self._get_arm_states()
action.change_requested_steps(states[0], states[1])
if (is_world_changed):
rospy.loginfo('The world has changed.')
self.session.get_current_action().update_objects(
self.world.get_frame_list())
time.sleep(0.1)
def _end_execution(self):
'''Responses for when the action execution ends'''
if (self.arms.status == ExecutionStatus.SUCCEEDED):
Response.say(RobotSpeech.EXECUTION_ENDED)
Response.perform_gaze_action(GazeGoal.NOD)
elif (self.arms.status == ExecutionStatus.PREEMPTED):
Response.say(RobotSpeech.EXECUTION_PREEMPTED)
Response.perform_gaze_action(GazeGoal.SHAKE)
else:
Response.say(RobotSpeech.EXECUTION_ERROR_NOIK)
Response.perform_gaze_action(GazeGoal.SHAKE)
self.arms.status = ExecutionStatus.NOT_EXECUTING
def record_object_pose(self, dummy=None):
'''Makes the robot look for a table and objects'''
if (self.world.update_object_pose()):
if (self.session.n_actions() > 0):
self.session.get_current_action().update_objects(
self.world.get_frame_list())
return [RobotSpeech.START_STATE_RECORDED, GazeGoal.NOD]
else:
return [RobotSpeech.OBJECT_NOT_DETECTED, GazeGoal.SHAKE]
def save_experiment_state(self):
'''Saves session state'''
self.session.save_current_action()
@staticmethod
def empty_response(responses):
'''Default response to speech commands'''
return responses
def getDataFromSession(self,session,signalType,_json=True): _file = self._dataFolder +session _d = Session(_file) return _d.getData(signalType,_json)
def __init__(self):
self._session = Session()
class MasterController(object):
#import header and footer
HEADER = open("header.html", "r").read()
FOOTER = open("footer.html", "r").read()
URL_BASE = '/~kou/3132GroupProject'
_session = None
def __init__(self):
self._session = Session()
def markup(self, posts):
markup = ''
markup += '<div id="wrap2">'
markup += '<img border="0" src="' + self.URL_BASE + '/gglogo.png" alt="gogeo logo" width="250" height="125">'
markup += '<img border="0" src="' + self.URL_BASE + '/banner.png" alt="banner" width="1000" height="125">'
markup += '</div>'
markup += '</br >'
markup += '<div id="wrap">'
markup += '<h3> Geo-Location </h3>'
markup += '<div id="map">'
markup += '</div>'
markup += '</div>'
markup += '<div id="wrap4">'
print self._session._cookie
if self._session.getState():
markup += '<form action="' + self.URL_BASE + '/post/create" method="GET" class="post-form">'
markup += '<p>'
markup += '<label for="post">Post</label><br />'
markup += '<textarea name="post" rows="5" cols="80"></textarea><br />'
markup += '<input type="submit" value="Post" class="post-form-submit"/>'
markup += '</p>'
markup += '<input type="hidden" name="user_id" value="' + self._session._user_id + '"/>'
markup += '</form>'
markup += '<div class="post-form-links"><a href="' + self.URL_BASE + '/user/logout">Logout</a></div>'
else:
markup += '<form action="' + self.URL_BASE + '/user/login" method="POST" class="login-form">'
markup += '<p>'
markup += '<label for="user_name">User Name</label><br />'
markup += '<input name="user_name" />'
markup += '</p>'
markup += '<p>'
markup += '<label for="password">Password</label><br />'
markup += '<input type="password" name="password" />'
markup += '</p>'
markup += '<input type="submit" value="Login" class="login-form-submit"/>'
markup += '</p>'
markup += '</form>'
for post_id in posts:
markup += '<div class="post-wrapper">'
markup += '<span class="post-author">Author: '
markup += posts[post_id]['user_id']
markup += '</span>'
markup += '<span class="post-location" data-lat="' + posts[post_id]['lat'] + '" data-lng="' + posts[post_id]['lng'] + '">'
markup += 'lat: ' + posts[post_id]['lat'] + ' lng: ' + posts[post_id]['lng']
markup += '</span>'
markup += '<div class="post-content">'
markup += posts[post_id]['post']
markup += '</div>'
markup += '<span class="post-date"><em>' + posts[post_id]['created_at'] + '</em></span>'
markup += '</div>'
markup += '<div class="post-links">'
if self._session._role == 'admin':
markup += '<a href="' + self.URL_BASE + '/post/delete?post_id=' + str(post_id) + '">Delete this post</a>'
markup += '</div>'
markup += '<div class="comments_wrapper">'
if posts[post_id]['comments']:
markup += '<h4>Comments:</h4>'
for comment_id in posts[post_id]['comments']:
markup += '<div class="comment-wrapper">'
markup += '<p>' + posts[post_id]['comments'][comment_id]['comment'] + '</p>'
if self._session.getState():
markup += '<div class="comment-form">'
markup += '<form action="' + self.URL_BASE + '/comment/create" method="POST">'
markup += '<p>'
markup += '<label for="comment">Comment</label><br />'
markup += '<textarea name="comment" rows="3" cols="50"></textarea><br />'
markup += '<input type="submit" value="Comment" class="comment-form-submit"/>'
markup += '</p>'
markup += '<input type="hidden" name="post_id" value="' + str(post_id) + '"/>'
markup += '<input type="hidden" name="user_id" value="' + self._session._user_id + '"/>'
markup += '</form>'
#check permissions and add delete, comment, and edit links here
# markup += '</div>'
markup += '<hr />'
markup += '</div>'
return markup
#!/usr/bin/env python3
from Session import Session
from getpass import getpass
s = Session.login('*****@*****.**', getpass())
s.resume()
s.listen()