def __init__(self):
super(TestWindow, self).__init__()
self.__bus = Bus()
print self.__bus.get_name()
self.__bus.connect("disconnected", gtk.main_quit)
context_path = self.__bus.create_input_context("Test")
print context_path
self.__context = InputContext(self.__bus, context_path)
self.__context.set_capabilities(9)
self.__context.connect("commit-text", self.__commit_text_cb)
self.__context.connect("update-preedit-text",
self.__update_preedit_text_cb)
self.__context.connect("show-preedit-text",
self.__show_preedit_text_cb)
self.__context.connect("update-auxiliary-text",
self.__update_auxiliary_text_cb)
self.__context.connect("update-lookup-table",
self.__update_lookup_table_cb)
self.set_events(gtk.gdk.KEY_PRESS_MASK | gtk.gdk.KEY_RELEASE_MASK
| gtk.gdk.FOCUS_CHANGE_MASK)
self.connect("key-press-event", self.__key_press_event_cb)
self.connect("key-release-event", self.__key_release_event_cb)
self.connect("delete-event", gtk.main_quit)
self.connect("focus-in-event",
lambda *args: self.__context.focus_in())
self.connect("focus-out-event",
lambda *args: self.__context.focus_out())
self.show_all()
def query_stop(router_name, stop_id):
stoptype = request.args.get('stoptype', '0')
bus = Bus()
res = bus.query_stop(router_name, stoptype, stop_id)
return jsonify(res)
def __init__(self, debug):
""" Initialize the data members of the component. """
self.debug_info = debug
if self.debug_info is True:
print("[CPU] initializing...")
self.bus = Bus(debug)
self.register_table = {
# General purpose registers
"rax": 0,
"rbx": 0,
"rcx": 0,
"rdx": 0,
"r8": 0,
"r9": 0,
# Special purposee registers
"pc": 0,
"rsp": 0,
"rbp": 0,
"rip": 0,
"rflags": 0,
}
# Performance/timing variables
self.current_instr_size = 0
self.current_instr_cycles = 0
self.cpi = 0
###########################
if self.debug_info is True:
print("[CPU] finished initializing...")
def query_router(router_name):
direction = request.args.get('direction', '0')
router_name = router_name.encode('utf-8')
bus = Bus()
routers = bus.query_router(router_name, direction)
return jsonify(routers)
def query_router_details(router_name):
direction = request.args.get('direction', '0')
bus = Bus()
router_details = bus.query_router_details(router_name, direction)
return jsonify(router_details)
def get_stops(stop_type, number):
if stop_type not in ['up', 'down']:
return jsonify(Response(error=1, msg='stop type error').dumps())
bus = Bus(number=number, stop_type={'up': 0, 'down': 1}[stop_type])
bus.get_stations()
stops = bus.get_stops()
return jsonify(Response(error=0, msg='', data=stops).dumps())
def query_stop(router_name, stop_id):
direction = request.args.get('direction', '0')
bus = Bus()
res = bus.query_stop(router_name, direction, stop_id)
return jsonify(res)
def __init__(self, memory_size, virtual_memory_size, debug):
self.debug_info = debug
if self.debug_info is True:
print("[Memory] initializing...")
### Initialization code ###
self.virtual_memory = [None] * virtual_memory_size
self.memory = [None] * memory_size
self.page_table_register = None
self.bus = Bus(debug)
self.memory_size = memory_size
self.number_of_pages_loaded = 0
self.memory_used = 0
### Virtual Memory ###
# Assuming size of memory is
self.stack_address_used = 0x8000 # decrease as memory is used, stack
# grows up
self.const_stack_start = 0x8000
self.heap_address_used = 0 # increase as memory is used
self.const_heap_start = 0x4000
self.bss_address_used = 0 # increase as memory is used
self.const_bss_start = 0x2000
self.text_address_used = 0 # increase as memory is used
self.const_text_start = 0x1000
###########################
if self.debug_info is True:
print("[Memory] finished initializing...")
def test_bus_apply():
bus = Bus(4)
bus.line = [0, 1, 0, 1]
bus.apply([1, None, None, 0])
assert bus.line == [1, 1, 0, 0]
def _set_bus_list(self, passenger):
bus_list = []
for line in self._get_csv_list():
bus = Bus()
bus.bus_builder(line, passenger)
bus_list.append(bus)
self._bus_list = bus_list
def new_bus(bus: Bus):
print(bus)
bus.on_close().subscribe(
on_next=lambda x: print(f"CLOSE BUS {x}"),
on_error=lambda e: logging.exception(e)
)
def query_router_details(router_name):
stoptype = request.args.get('stoptype', '0')
bus = Bus()
router_details = bus.query_router_details(router_name, stoptype)
return jsonify(router_details)
def __init__(self):
super().__init__()
nes = Nes()
nes.load('roms/mario.nes')
# configure ppu
self._ppu_bus = Bus()
self._ppu_pattern = PatternTable()
self._ppu_pattern.load(nes.chr)
self._ppu_name = NameTable()
self._ppu_palette = PaletteTable()
self._ppu_bus.connect(self._ppu_pattern)
self._ppu_bus.connect(self._ppu_name)
self._ppu_bus.connect(self._ppu_palette)
self._ppu = Ppu(self._ppu_bus)
# configure cpu
self._cpu_ram = Ram()
self._pgr = PGRRom()
self._pgr.load(nes.pgr)
self._papu_ram = PAuExp()
self._cpu_bus = Bus()
self._cpu_bus.connect(self._pgr)
self._cpu_bus.connect(self._cpu_ram)
self._cpu_bus.connect(self._papu_ram)
self._cpu_bus.connect(self._ppu.get_register())
self._cpu = Cpu6502(self._cpu_bus)
self._cpu.reset()
self._ppu.set_request_nmi(self._cpu.request_nmi)
self._addr_map, self._code = self._cpu.decode(0x8000, 0xFF00)
self._font = pygame.font.SysFont('inconsolatan', 24)
self._cpu_running = False
self._cpu_time_last = 0
def __init__(self, cache_size, block_size, debug):
""" Initialize the cache component. """
self.debug_info = debug
if self.debug_info is True:
print("[Cache] initializing...")
### Initialization code ###
self.cache_size = cache_size
self.block_size = block_size
self.num_of_blocks_used = 0
self.max_number_of_blocks = int(self.cache_size / self.block_size)
self.cache = [Block()] * int(self.cache_size / self.block_size)
self.bus = Bus(self.debug_info)
###########################
#### Performance Stats ####
self.hits = 0
self.misses = 0
self.replacements = 0
###########################
if self.debug_info is True:
print("[Cache] finished initializing...")
print("[Cache] Max number of blocks '", self.max_number_of_blocks,
"'...")
class TestWindow(gtk.Window):
def __init__(self):
super(TestWindow, self).__init__()
self.__bus = Bus()
print self.__bus.get_name()
self.__bus.connect("disconnected", gtk.main_quit)
context_path = self.__bus.create_input_context("Test")
print context_path
self.__context = InputContext(self.__bus, context_path)
self.__context.set_capabilities(9)
self.__context.connect("commit-text", self.__commit_text_cb)
self.__context.connect("update-preedit-text",
self.__update_preedit_text_cb)
self.__context.connect("show-preedit-text",
self.__show_preedit_text_cb)
self.__context.connect("update-auxiliary-text",
self.__update_auxiliary_text_cb)
self.__context.connect("update-lookup-table",
self.__update_lookup_table_cb)
self.set_events(gtk.gdk.KEY_PRESS_MASK | gtk.gdk.KEY_RELEASE_MASK
| gtk.gdk.FOCUS_CHANGE_MASK)
self.connect("key-press-event", self.__key_press_event_cb)
self.connect("key-release-event", self.__key_release_event_cb)
self.connect("delete-event", gtk.main_quit)
self.connect("focus-in-event",
lambda *args: self.__context.focus_in())
self.connect("focus-out-event",
lambda *args: self.__context.focus_out())
self.show_all()
def __commit_text_cb(self, context, text):
print "commit-text:", text.text
def __update_preedit_text_cb(self, context, text, cursor_pos, visible):
print "preedit-text:", text.text, cursor_pos, visible
def __show_preedit_text_cb(self, context):
print "show-preedit-text"
def __hide_preedit_text_cb(self, context):
print "hide-preedit-text"
def __update_auxiliary_text_cb(self, context, text, visible):
print "auxiliary-text:", text.text, visible
def __update_lookup_table_cb(self, context, table, visible):
print "update-lookup-table:", visible
def __key_press_event_cb(self, widget, event):
self.__context.process_key_event(event.keyval, event.state)
def __key_release_event_cb(self, widget, event):
self.__context.process_key_event(
event.keyval, event.state | modifier.RELEASE_MASK)
def process_threaded(self, in_bus: Bus, out_bus: Bus, delay: float,
kill_thread: Event):
while not kill_thread.is_set():
sensor_vals = in_bus.read()
if sensor_vals is not None:
control_val = self.process(sensor_vals)
out_bus.write(control_val)
sleep(delay)
def distribute_initial_buses(self):
m = 2
n = self._stop_num // m
for bs in range(n - 1):
enter_link_no = (bs + 1) * m
bus = Bus(self._total_bus, self._stop_num)
bus.is_counted = False
self._total_bus += 1
self._link_list[enter_link_no].enter_bus(bus, 0)
self._total_bus_list.append(bus)
class Peer(object):
def __init__(self, share_path, host=None, port=None):
self.host, self.port = (host or ALL), (port or PORT)
self.db = dal.DB("sqlite://")
self.db.define_table("config", dal.Field("key", key=True), dal.Field("value"))
if "peerid" not in self.db.config:
self.db.config["peerid"] = hex(random.getrandbits(48))[2:14]
self.db.define_table(
"peers",
dal.Field("peerid"),
dal.Field(
"address",
serialize=lambda x: "%s:%i" % x,
convert=lambda x: tuple(f(a) for f, a in zip((str, int), x.rsplit(":", 1))),
),
dal.Field("ignore", default=False),
)
self.db.define_table("resources", dal.Field("path", key=True), dal.Field("age", int), dal.Field("real_path"))
if os.path.isdir(share_path) and share_path[-1] != "/":
share_path += "/"
for path in find(os.path.abspath(share_path)):
short_path = path[len(share_path) :]
print path, short_path
self.db.resources.insert(path=short_path, age=mod_time(os.stat(path)), real_path=path)
self.bus = Bus()
self.bus.connect(MessageType.HeardFromPeer, self.introduce)
self.bus.connect(MessageType.Request, self.notify)
self.bus.connect(MessageType.RemoteUpdate, self.remote_update)
self.public = Broadcaster(self.bus, self.db.config["peerid"], (self.host, self.port))
self.private = Whisperer(self.bus, (self.host, self.port))
def start(self):
self.bus.start()
self.public.start()
self.private.start()
def announce(self):
self.broadcaster.send("Hello?")
def remote_update(self, message):
if self.filter(message.path):
self.private.retrieve(message.address, message.path)
def introduce(self, message):
print message
self.db.peers.insert(**message)
def notify(self, message):
print message
self.public.send(self.db.resources[message.path].age)
def stop(self):
self.private.stop()
self.public.stop()
self.bus.stop()
def __init__(self, port, baud=1000000, show_packets=False):
Bus.__init__(self, show_packets)
self.serial_port = serial.Serial(port=port,
baudrate=baud,
timeout=0.1,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
xonxoff=False,
rtscts=False,
dsrdtr=False)
def __init__(self, port, baud=1000000, show=SHOW_NONE):
Bus.__init__(self, show)
self.serial_port = serial.Serial(port=port,
baudrate=baud,
timeout=0.1,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
xonxoff=False,
rtscts=False,
dsrdtr=False)
def get_hardware_config():
"""
Read some sort of easy to do configuration for how the hardware is setup. Return
an array that holds MCP23017 class instances.
"""
# instantiate the bus from the class file. The class file has the
# hw configuration specific to this installation.
busses=Bus()
#return chip1
return busses.get_bus_devices() # only return bus1, dev0
def get_hardware_config():
"""
Read some sort of easy to do configuration for how the hardware is setup. Return
an array that holds MCP23017 class instances.
"""
# instantiate the bus from the class file. The class file has the
# hw configuration specific to this installation.
busses = Bus()
#return chip1
return busses.get_bus_devices() # only return bus1, dev0
def __init__(self):
self.clk = None
self.bus = Bus(CPU.REG_WIDTH)
self.memory_register = WideRegister(4)
self.memory = Memory()
self.register_a = WideRegister(CPU.REG_WIDTH)
self.register_a_three_state = WideThreeState(CPU.REG_WIDTH)
self.register_b = WideRegister(CPU.REG_WIDTH)
self.register_b_three_state = WideThreeState(CPU.REG_WIDTH)
self.alu = Alu(CPU.REG_WIDTH)
self.out_register = WideRegister(CPU.REG_WIDTH)
self.display = NumDisplay(CPU.REG_WIDTH)
class TestWindow(gtk.Window):
def __init__(self):
super(TestWindow,self).__init__()
self.__bus = Bus()
print self.__bus.get_name()
self.__bus.connect("disconnected", gtk.main_quit)
context_path = self.__bus.create_input_context("Test")
print context_path
self.__context = InputContext(self.__bus, context_path)
self.__context.set_capabilities (9)
self.__context.connect("commit-text", self.__commit_text_cb)
self.__context.connect("update-preedit-text", self.__update_preedit_text_cb)
self.__context.connect("show-preedit-text", self.__show_preedit_text_cb)
self.__context.connect("update-auxiliary-text", self.__update_auxiliary_text_cb)
self.__context.connect("update-lookup-table", self.__update_lookup_table_cb)
self.set_events(gtk.gdk.KEY_PRESS_MASK | gtk.gdk.KEY_RELEASE_MASK | gtk.gdk.FOCUS_CHANGE_MASK)
self.connect("key-press-event", self.__key_press_event_cb)
self.connect("key-release-event", self.__key_release_event_cb)
self.connect("delete-event", gtk.main_quit)
self.connect("focus-in-event", lambda *args: self.__context.focus_in())
self.connect("focus-out-event", lambda *args: self.__context.focus_out())
self.show_all()
def __commit_text_cb(self, context, text):
print "commit-text:", text.text
def __update_preedit_text_cb(self, context, text, cursor_pos, visible):
print "preedit-text:", text.text, cursor_pos, visible
def __show_preedit_text_cb(self, context):
print "show-preedit-text"
def __hide_preedit_text_cb(self, context):
print "hide-preedit-text"
def __update_auxiliary_text_cb(self, context, text, visible):
print "auxiliary-text:", text.text, visible
def __update_lookup_table_cb(self, context, table, visible):
print "update-lookup-table:", visible
def __key_press_event_cb(self, widget, event):
self.__context.process_key_event(event.keyval, event.state)
def __key_release_event_cb(self, widget, event):
self.__context.process_key_event(event.keyval, event.state | modifier.RELEASE_MASK)
def poll():
os.system('setterm -cursor off')
interface = Bus()
device = interface.identify()
time.sleep(0.02)
while device['system'] == WB_DOWN:
device = interface.identify()
time.sleep(1)
if device['system'] == WB_AUTH:
interface.wavebird_init(device['id'])
try:
while 1:
device = interface.identify()
time.sleep(0.02)
status = interface.status(device['system'])
for field, values in BUTTON[device['system']].items():
for value in values:
if value.mask != 0xFF:
print("{}{}{} ".format(value.color if getattr(status, field) & value.mask else DGRAY, value.name, END), end='')
else:
print("{}{}:{:+03X}{} ".format(value.color, value.name, getattr(status, field), END), end='')
if 'slot' in device:
print("slot:{}".format(device['slot']), end='')
print("\r", end='')
time.sleep(0.02)
except KeyboardInterrupt:
pass
os.system('setterm -cursor on')
print("")
def __init__(self) -> None:
'''
Check for dat file, serializes all dag file DAG objects,
sets dags set class attribute
'''
signal.signal(signal.SIGINT, lambda x, y: sys.exit(0))
self.db = {}
self.dags = pqueue.PriorityQueue()
self.tsq = Queue()
self.lock = mt.Lock()
self.store_dags()
self.bus = Bus(self.lock, self.tsq, self.db, self.dags)
self.bus.start()
self.printdb()
self.seat_sections()
def main():
list = [
Vehicle(100, 200000, 4),
Bus(90, 350000, 45),
Vehicle(200, 300000, 8),
Bus(100, 300000, 40),
Vehicle(150, 250000, 2),
Bus(95, 400000, 35),
]
for x in list:
if not isinstance(x, Bus):
continue
print(f"{ x }\nFare: { fare(x) } $", end="\n\n")
def start(self):
last(self.cfg)
if self.cfg.channel not in self.channels:
self.channels.append(self.cfg.channel)
self.stopped.clear()
self.connected.clear()
self.joined.clear()
self.sock = None
self.doconnect(self.cfg.server, self.cfg.nick, int(self.cfg.port))
self.connected.wait()
Handler.start(self)
Output.start(self)
Bus.add(self)
if not self.keeprunning:
launch(self.keep)
self.wait()
def update_buses(self):
"""
Polls the API and creates and adds Bus objects to the current bus list. Puts the buses in the current list to
the previous bus list. Then sorts the current list by Bus ID.
"""
self.__prev = self.__buses
self.__buses = []
raw_bus_list = api.get_buses()
# raw_bus_list = api.get_buses_on_route(633)
for raw_bus in raw_bus_list:
id = raw_bus['id']
name = raw_bus['name']
route = raw_bus['route']
location = (raw_bus['lat'], raw_bus['lon'])
heading = raw_bus['heading']
speed = -1
last_stop = raw_bus['lastStop']
last_update = raw_bus['lastUpdate']
b = Bus(id, name=name, route=route, location=location, heading=heading, speed=speed,
last_stop=last_stop, last_update=last_update)
self.__buses.append(b)
self.__buses.sort(key=lambda x: x.get_id())
self.calculate_speeds()
def main():
""" Main Routine """
print("\n[.] Initializing parameters/settings for simulator...")
print("[.] Values in brackets represent reccommended/tested values.")
print("[.] Using untested values may result in unstable behavior.\n")
# Ask for parameters
user_debug = input("[?] Enable debugging information [No]: ")
debug = (user_debug == "Yes")
memory_size = input("[?] Size of main memory (bytes) [100]: ")
virtual_memory_size = input("[?] Size of virtual memory (bytes) [8000]: ")
cache_size = input("[?] Size of cache (bytes)[40]: ")
block_size = input("[?] Size of cache blocks (bytes)[4]: ")
page_size = input("[?] Size of disk pages (bytes)[32]: ")
table_size = input("[?] Number of TLB table entries (bytes)[10]: ")
# Initialize components with bus and debug flag
bus = Bus(debug)
cpu = CPU(debug)
cache = Cache(int(cache_size), int(block_size), debug)
tlb = TLB(int(table_size), debug)
memory = Memory(int(memory_size), int(virtual_memory_size), debug)
disk = Disk(int(page_size), debug)
# Initialize GUI
menu = GUI(bus, cpu, cache, tlb, memory, disk, debug)
menu.menu_loop()
def main(args):
readConfig(vars(args))
if args.debug:
level = logging.DEBUG
else:
level = logging.INFO
logstream = sys.stderr
try:
if args.logMain:
logstream = open(args.logMain, 'w')
except:
pass
logging.basicConfig(level=level, stream=logstream)
logging.debug(args)
ser = rs485.RS485(args.port, args.baudrate, timeout=0.2, writeTimeout=0.2)
bus = Bus(ser)
script = None
try:
if args.script:
script = open(args.script)
except Exception as e:
logging.warning("Unable to open script file (%s)" % str(e))
master = Master(bus, script)
master.loop()
return 0
def _startBuses(self):
for _ in range(2):
self._queuesOut.append(queue.Queue())
self._buses.append(
Bus("P" + str(0), self._chipNumber, self._queuesIn,
self._queuesOut[0], self._lock, self._mainwin,
self._guiQueues[1:3], self._gameMode))
self._buses.append(
Bus("P" + str(1), self._chipNumber, self._queuesIn,
self._queuesOut[1], self._lock, self._mainwin,
self._guiQueues[3:5], self._gameMode))
self._buses[0].start()
self._buses[1].start()
def __init__(self):
super(TestWindow,self).__init__()
self.__bus = Bus()
print self.__bus.get_name()
self.__bus.connect("disconnected", gtk.main_quit)
context_path = self.__bus.create_input_context("Test")
print context_path
self.__context = InputContext(self.__bus, context_path)
self.__context.set_capabilities (9)
self.__context.connect("commit-text", self.__commit_text_cb)
self.__context.connect("update-preedit-text", self.__update_preedit_text_cb)
self.__context.connect("show-preedit-text", self.__show_preedit_text_cb)
self.__context.connect("update-auxiliary-text", self.__update_auxiliary_text_cb)
self.__context.connect("update-lookup-table", self.__update_lookup_table_cb)
self.__context.connect("enabled", self.__enabled_cb)
self.__context.connect("disabled", self.__disabled_cb)
self.set_events(gtk.gdk.KEY_PRESS_MASK | gtk.gdk.KEY_RELEASE_MASK | gtk.gdk.FOCUS_CHANGE_MASK)
self.connect("key-press-event", self.__key_press_event_cb)
self.connect("key-release-event", self.__key_release_event_cb)
self.connect("delete-event", gtk.main_quit)
self.connect("focus-in-event", lambda *args: self.__context.focus_in())
self.connect("focus-out-event", lambda *args: self.__context.focus_out())
self.show_all()
def test_bus_arrived_and_everybody_got_on_the_bus(self):
lane = Lane()
stop = BusStop(lane, 30, 10)
line = BusLine([stop], 0, 500)
bus = Bus(line, 10, 10)
control.bus_stop(bus, stop)
self.assertEquals(bus.people_carried, 20)
self.assertEquals(stop.people, 0)
def test_bus_arrived_at_stop_at_full_capacity(self):
lane = Lane()
stop = BusStop(lane, 30, 10)
line = BusLine([stop], 0, 500)
bus = Bus(line, 10, 100)
control.bus_stop(bus, stop)
self.assertEquals(bus.people_carried, 100)
self.assertEquals(stop.people, 10)
def test_bus_arrived_and_people_were_left_at_stop(self):
lane = Lane()
stop = BusStop(lane, 30, 10)
line = BusLine([stop], 0, 500)
bus = Bus(line, 10, 93)
control.bus_stop(bus, stop)
self.assertEquals(bus.people_carried, 100)
self.assertEquals(stop.people, 3)
class TestPanel(PanelBase):
def __init__(self):
self.__bus = Bus()
self.__bus.connect("disconnected", gtk.main_quit)
super(TestPanel, self).__init__(self.__bus)
self.__bus.request_name(IBUS_SERVICE_PANEL, 0)
def focus_in(self, ic):
print "focus-in:", ic
context = InputContext(self.__bus, ic)
info = context.get_factory_info()
print "factory:", info.name
def focus_out(self, ic):
print "focus-out:", ic
def update_auxiliary_text(self, text, visible):
print "update-auxiliary-text:", text.text
def update_lookup_table(self, table, visible):
print "update-lookup-table", table
def changeShape(self,index):
print "changeShape"
tempoffset=self.offset
self.settings.shape=self.nameid[index][1]
self.bus=Bus(self.settings.shape,self.offset,self.backsb.value(),self.forwardsb.value())
self.busname=self.nameid[index][0]
self.showMessage("Monitoring "+self.busname+".\n Alert near "+self.bus.offsetToName(self.bus.busoffset))
self.update()
self.stopcb.clear()
for n in self.bus.waypointlist:
self.stopcb.addItem(n[0])
stopnamelist=[x[0] for x in self.bus.waypointlist]
self.stopcb.setCurrentIndex(stopnamelist.index(self.bus.offsetToName(tempoffset)))
def bus_data(self, route, sort=False):
"""Get list of timeframes of bus objects."""
# Initialize variables
bus_files = self._available_bus_files(route, sort=sort)
read_json = self._read_json
bus_data = []
for bus_file in bus_files:
bus_json = read_json(bus_file)
if bus_json is not None:
recv_time = self._date_from_file(bus_file)
buses = map(lambda x: Bus.from_json(x), bus_json["bus"])
timeframe = TimeFrame(recv_time, data=buses)
bus_data.append(timeframe)
return bus_data
def __init__(self, useLogger = False):
self.id = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
self.pose = [512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512]
self.nextPose = [512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512]
self.speed = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.interpolating = False
self.playing = False
self.servoCount = 12
self.lastFrame = pyb.millis()
self.port = UART_Port(1, 1000000)
self.bus = Bus(self.port, show=Bus.SHOW_PACKETS)
# Bus.SHOW_NONE
# Bus.SHOW_COMMANDS
# Bus.SHOW_PACKETS
if useLogger:
self.logger = Logger('sync_log.txt')
else:
self.logger = None
def __init__(self, username, username_password=None, realname=None, init_channels=None):
self._conn = None
self._write_conn = None
self._read_conn = None
self.username = username
self.username_password = username_password
if not realname:
self.realname = username
else:
self.realname = realname
self.bus = Bus()
self.plugins = Loader(self.bus)
self.plugins.load_plugins()
self.joined = False
if init_channels is None:
self._init_channels = []
else:
self._init_channels = init_channels
# pylint: disable=I0011,C0103
from event import Event
from bus import Bus
from listener import WeatherBot
# 1- Register listeners on the bus
bot_name = 'pyro'
zipcode = 94040
bus = Bus()
bus.register(WeatherBot(bot_name), Event.Types.message_created_event)
# 2- Let's create some events on the bus and see if our listeners pick them up
for i in range(4):
if i % 2 == 0:
print "throwing message_created_event"
bus.notify(Event(Event.Types.message_created_event, {"room_id":1, "data": "{} weather {}".format(bot_name, zipcode), "user_id": 123}))
else:
print "throwing user_joins_room"
bus.notify(Event(Event.Types.user_joins_room, {}))
def __init__(self):
self.__bus = Bus()
self.__bus.connect("disconnected", gtk.main_quit)
super(TestPanel, self).__init__(self.__bus)
self.__bus.request_name(IBUS_SERVICE_PANEL, 0)
def __init__(self):
self.bus=None
self.count=0
super(Window, self).__init__()
#need to catch timeout exceptions etc...
self.settings = QtCore.QSettings('busSettings.ini', QtCore.QSettings.IniFormat)
self.settings.setFallbacksEnabled(False) # File only, no fallback to registry or or.
# Initial window size/pos last saved if available
#self.resize(400, 300)
#self.setGeometry(200, 200,500*self.bus.xfactor,500)
self.resize(self.settings.value('size', QtCore.QSize(350, 500)))
self.move(self.settings.value('pos', QtCore.QPoint(200, 200)))
self.offset=int(self.settings.value('offset',89))
self.busname=(self.settings.value('bus',None))
self.setWindowTitle(u"busLocator map")
self.show()
#-------------------basic menu item------------------
self.settingAction = QtGui.QAction(u"setting", self,
triggered=self.showSettingWindow)
self.minimizeAction = QtGui.QAction(u"hide", self,
triggered=self.hide)
self.restoreAction = QtGui.QAction(u"show", self,
triggered=self.showNormal)
self.quitAction = QtGui.QAction(u"exit", self,
triggered=self.quitApplication)
#add menu
self.trayIconMenu = QtGui.QMenu(self)
self.trayIconMenu.addAction(self.restoreAction)
self.trayIconMenu.addAction(self.minimizeAction)
self.trayIconMenu.addAction(self.settingAction)
self.trayIconMenu.addAction(self.quitAction)
#self.trayIconMenu.clear()
#self.trayIconMenu.addAction(self.quitAction)
self.trayIcon = QtGui.QSystemTrayIcon(self)
self.trayIcon.setContextMenu(self.trayIconMenu)
#-------------------basic menu end------------------
#-------------------icon------------------
self.icon=QtGui.QIcon(":/images/bus.ico")
self.trayIcon.setIcon(self.icon)
#tooltip do not work on both ubuntu and win
#self.trayIcon.setToolTip("tooltip")
self.trayIcon.show()
self.trayIcon.activated.connect(
self.iconActivated)
self.nameid=Bus.getRouteIDs()
#self.nameid=Bus.getActiveRoute()
self.names=[x[0] for x in self.nameid]
self.nametoid=dict(self.nameid)
#print self.busname
#print self.nameid
self.backsb=QtGui.QSpinBox()
self.backsb.setRange(0,25)
self.backsb.valueChanged[int].connect(self.backChange)
self.backsb.setValue(int(self.settings.value('backward',10)))
self.forwardsb=QtGui.QSpinBox()
self.forwardsb.setRange(0,25)
self.forwardsb.valueChanged[int].connect(self.forwardChange)
self.forwardsb.setValue(int(self.settings.value('forward',10)))
self.sbGroup=QtGui.QWidget()
self.sblayout=QtGui.QHBoxLayout()
self.sblayout.setSpacing(0)
self.sblayout.addWidget(QtGui.QLabel("backward:"))
self.sblayout.addWidget(self.backsb)
self.sblayout.addWidget(QtGui.QLabel("forward:"))
self.sblayout.addWidget(self.forwardsb)
self.sbGroup.setLayout(self.sblayout)
self.settingwindow=QtGui.QWidget()
cb=QtGui.QComboBox()
self.stopcb=QtGui.QComboBox()
self.stopcb.currentIndexChanged.connect(self.changeOffset)
for n in self.names:
cb.addItem(n)
cb.currentIndexChanged.connect(self.changeShape)
if self.busname in self.nametoid:
ind=self.names.index(self.busname)
cb.setCurrentIndex(ind)
self.changeShape(ind)
toprow=QtGui.QGroupBox("Please select route")
toplayout=QtGui.QFormLayout()
toplayout.addRow(QtGui.QLabel("Route:"),cb)
toprow.setLayout(toplayout)
botrow=QtGui.QGroupBox("Route detail:")
botlayout=QtGui.QFormLayout()
botlayout.addRow(QtGui.QLabel("Stop to be alert:"),self.stopcb)
botlayout.addRow(QtGui.QLabel("Fine adjustment:"),self.sbGroup)
#botlayout.addRow([QtGui.QLabel("backward:"),self.backsb,QtGui.QLabel("forward:"),self.forwardsb])
botrow.setLayout(botlayout)
slayout=QtGui.QVBoxLayout()
slayout.addWidget(toprow)
slayout.addWidget(botrow)
self.settingwindow.setLayout(slayout)
self.settingwindow.setWindowTitle(u"busLocator Setting")
self.settingwindow.resize(self.settings.value('setsize',
QtCore.QSize(288,134)))
self.settingwindow.move(self.settings.value('setpos', QtCore.QPoint(566, 202)))
if self.busname not in self.nametoid:
self.settingwindow.show()
self.settingwindow.setFocus()
cb.setCurrentIndex(0)
self.changeShape(0)
else:
#self.bus=Bus(self.nametoid[self.busname],self.offset,self.backsb.value(),self.forwardsb.value())
#self.showMessage("Monitoring "+self.busname+".\n Alert near "+self.bus.offsetToName(self.bus.busoffset))
#if self.busname in self.nametoid:
stopnamelist=[x[0] for x in self.bus.waypointlist]
self.stopcb.setCurrentIndex(stopnamelist.index(self.bus.offsetToName(self.bus.busoffset)))
if len(self.bus.shape)!=0:
self.bus.locateBus()
self.mouse=None
self.timer=QtCore.QTimer()
self.timer.timeout.connect(self.doWork)
self.timer.start(8000)
from event import Event
from bus import Bus
from listener import WeatherBot
# 1- Register listeners on the bus
bus = Bus()
bus.register(WeatherBot(), Event.Types.message_created_event)
# 2- Let's create some events on the bus and see if our listeners pick them up
for i in range(4):
if i % 2 == 0:
print "throwing message_created_event"
bus.notify(Event(Event.Types.message_created_event, {"room_id":1, "data": "pyro weather 94301", "user_id": 123}))
else:
print "throwing user_joins_room"
bus.notify(Event(Event.Types.user_joins_room, {}))
class Window(QtGui.QWidget):
def drawBus(self,nx,ny,angle,qp):
ang=angle/180.*math.pi
angd=15
line=8
headx=+math.sin(ang)*line+nx
heady=-math.cos(ang)*line+ny
tailx=-math.sin(ang)*line+nx
taily=+math.cos(ang)*line+ny
wing1x=-math.sin(ang+angd+math.pi)*line+headx
wing1y=+math.cos(ang+angd+math.pi)*line+heady
wing2x=-math.sin(ang-angd+math.pi)*line+headx
wing2y=+math.cos(ang-angd+math.pi)*line+heady
qp.drawLine(headx,heady,tailx,taily)
qp.drawLine(headx,heady,wing1x,wing1y)
qp.drawLine(headx,heady,wing2x,wing2y)
def backChange(self,setvalue):
if self.bus!=None:
self.bus.backward=setvalue
self.update()
def forwardChange(self,setvalue):
if self.bus!=None:
self.bus.forward=setvalue
self.update()
def showSettingWindow(self):
self.settingwindow.show()
def quitApplication(self):
self.closeSaving()
QtGui.qApp.quit()
def closeSaving(self):
self.settings.setValue('size', self.size())
self.settings.setValue('pos', self.pos())
self.settings.setValue('setsize', self.settingwindow.size())
self.settings.setValue('setpos', self.settingwindow.pos())
if self.bus!=None:
self.settings.setValue('bus', self.busname)
self.settings.setValue('offset', self.bus.busoffset)
self.settings.setValue('backward', self.bus.backward)
self.settings.setValue('forward', self.bus.forward)
def closeEvent(self, e):
self.closeSaving()
e.accept()
def changeOffset(self,index):
self.bus.busoffset=self.bus.waypointlist[index][1]
self.offset=self.bus.busoffset
#self.showMessage("Monitoring "+self.busname+".\n Alert near "+self.bus.offsetToName(self.bus.busoffset))
self.update()
def changeShape(self,index):
print "changeShape"
tempoffset=self.offset
self.settings.shape=self.nameid[index][1]
self.bus=Bus(self.settings.shape,self.offset,self.backsb.value(),self.forwardsb.value())
self.busname=self.nameid[index][0]
self.showMessage("Monitoring "+self.busname+".\n Alert near "+self.bus.offsetToName(self.bus.busoffset))
self.update()
self.stopcb.clear()
for n in self.bus.waypointlist:
self.stopcb.addItem(n[0])
stopnamelist=[x[0] for x in self.bus.waypointlist]
self.stopcb.setCurrentIndex(stopnamelist.index(self.bus.offsetToName(tempoffset)))
def __init__(self):
self.bus=None
self.count=0
super(Window, self).__init__()
#need to catch timeout exceptions etc...
self.settings = QtCore.QSettings('busSettings.ini', QtCore.QSettings.IniFormat)
self.settings.setFallbacksEnabled(False) # File only, no fallback to registry or or.
# Initial window size/pos last saved if available
#self.resize(400, 300)
#self.setGeometry(200, 200,500*self.bus.xfactor,500)
self.resize(self.settings.value('size', QtCore.QSize(350, 500)))
self.move(self.settings.value('pos', QtCore.QPoint(200, 200)))
self.offset=int(self.settings.value('offset',89))
self.busname=(self.settings.value('bus',None))
self.setWindowTitle(u"busLocator map")
self.show()
#-------------------basic menu item------------------
self.settingAction = QtGui.QAction(u"setting", self,
triggered=self.showSettingWindow)
self.minimizeAction = QtGui.QAction(u"hide", self,
triggered=self.hide)
self.restoreAction = QtGui.QAction(u"show", self,
triggered=self.showNormal)
self.quitAction = QtGui.QAction(u"exit", self,
triggered=self.quitApplication)
#add menu
self.trayIconMenu = QtGui.QMenu(self)
self.trayIconMenu.addAction(self.restoreAction)
self.trayIconMenu.addAction(self.minimizeAction)
self.trayIconMenu.addAction(self.settingAction)
self.trayIconMenu.addAction(self.quitAction)
#self.trayIconMenu.clear()
#self.trayIconMenu.addAction(self.quitAction)
self.trayIcon = QtGui.QSystemTrayIcon(self)
self.trayIcon.setContextMenu(self.trayIconMenu)
#-------------------basic menu end------------------
#-------------------icon------------------
self.icon=QtGui.QIcon(":/images/bus.ico")
self.trayIcon.setIcon(self.icon)
#tooltip do not work on both ubuntu and win
#self.trayIcon.setToolTip("tooltip")
self.trayIcon.show()
self.trayIcon.activated.connect(
self.iconActivated)
self.nameid=Bus.getRouteIDs()
#self.nameid=Bus.getActiveRoute()
self.names=[x[0] for x in self.nameid]
self.nametoid=dict(self.nameid)
#print self.busname
#print self.nameid
self.backsb=QtGui.QSpinBox()
self.backsb.setRange(0,25)
self.backsb.valueChanged[int].connect(self.backChange)
self.backsb.setValue(int(self.settings.value('backward',10)))
self.forwardsb=QtGui.QSpinBox()
self.forwardsb.setRange(0,25)
self.forwardsb.valueChanged[int].connect(self.forwardChange)
self.forwardsb.setValue(int(self.settings.value('forward',10)))
self.sbGroup=QtGui.QWidget()
self.sblayout=QtGui.QHBoxLayout()
self.sblayout.setSpacing(0)
self.sblayout.addWidget(QtGui.QLabel("backward:"))
self.sblayout.addWidget(self.backsb)
self.sblayout.addWidget(QtGui.QLabel("forward:"))
self.sblayout.addWidget(self.forwardsb)
self.sbGroup.setLayout(self.sblayout)
self.settingwindow=QtGui.QWidget()
cb=QtGui.QComboBox()
self.stopcb=QtGui.QComboBox()
self.stopcb.currentIndexChanged.connect(self.changeOffset)
for n in self.names:
cb.addItem(n)
cb.currentIndexChanged.connect(self.changeShape)
if self.busname in self.nametoid:
ind=self.names.index(self.busname)
cb.setCurrentIndex(ind)
self.changeShape(ind)
toprow=QtGui.QGroupBox("Please select route")
toplayout=QtGui.QFormLayout()
toplayout.addRow(QtGui.QLabel("Route:"),cb)
toprow.setLayout(toplayout)
botrow=QtGui.QGroupBox("Route detail:")
botlayout=QtGui.QFormLayout()
botlayout.addRow(QtGui.QLabel("Stop to be alert:"),self.stopcb)
botlayout.addRow(QtGui.QLabel("Fine adjustment:"),self.sbGroup)
#botlayout.addRow([QtGui.QLabel("backward:"),self.backsb,QtGui.QLabel("forward:"),self.forwardsb])
botrow.setLayout(botlayout)
slayout=QtGui.QVBoxLayout()
slayout.addWidget(toprow)
slayout.addWidget(botrow)
self.settingwindow.setLayout(slayout)
self.settingwindow.setWindowTitle(u"busLocator Setting")
self.settingwindow.resize(self.settings.value('setsize',
QtCore.QSize(288,134)))
self.settingwindow.move(self.settings.value('setpos', QtCore.QPoint(566, 202)))
if self.busname not in self.nametoid:
self.settingwindow.show()
self.settingwindow.setFocus()
cb.setCurrentIndex(0)
self.changeShape(0)
else:
#self.bus=Bus(self.nametoid[self.busname],self.offset,self.backsb.value(),self.forwardsb.value())
#self.showMessage("Monitoring "+self.busname+".\n Alert near "+self.bus.offsetToName(self.bus.busoffset))
#if self.busname in self.nametoid:
stopnamelist=[x[0] for x in self.bus.waypointlist]
self.stopcb.setCurrentIndex(stopnamelist.index(self.bus.offsetToName(self.bus.busoffset)))
if len(self.bus.shape)!=0:
self.bus.locateBus()
self.mouse=None
self.timer=QtCore.QTimer()
self.timer.timeout.connect(self.doWork)
self.timer.start(8000)
def showMessage(self,message):
icon = QtGui.QSystemTrayIcon.MessageIcon()
#icon=QtGui.QSystemTrayIcon.Information
self.trayIcon.showMessage(
u'bus coming',message, icon,2000)
def mousePressEvent(self, event):
self.mouse=event.pos()
self.update()
def paintEvent(self,event):
qp=QtGui.QPainter()
qp.begin(self)
self.drawDetails(event,qp)
qp.end()
def drawDetails(self,event,qp):
if len(self.bus.shape)==0:
return
size=self.size()
w=size.width()
h=size.height()
wid=min(h,w/self.bus.xfactor)
margine=int(wid*0.05)
if self.mouse!=None:
t=self.mouse.toTuple()
qp.setPen(QtGui.QColor(168,34,3))
qp.setFont(QtGui.QFont('Decorative', 10))
qp.drawText(event.rect(), QtCore.Qt.AlignTop, "Offset: %s. Stop: %s"% (str(self.bus.scalemapLoopupWaypoint(margine,wid,t)),self.bus.scalemapLoopupStopName(margine,wid,t)))
monitorl=self.bus.busoffset-self.bus.backward
if monitorl<0:
monitorl+=len(self.bus.route)
monitorr=self.bus.busoffset+self.bus.forward
if monitorr>len(self.bus.route):
monitorr-=len(self.bus.route)
pen = QtGui.QPen(QtCore.Qt.black, 2, QtCore.Qt.SolidLine)
qp.setPen(pen)
for i in range(len(self.bus.route)-1):
if i>=monitorl and i<monitorr:
continue
if (i>=monitorl or i<monitorr ) and monitorl>monitorr:
continue
cordi=self.bus.route[i]
nx,ny=self.bus.scalemap(margine,wid,cordi)
cordi2=self.bus.route[i+1]
nx2,ny2=self.bus.scalemap(margine,wid,cordi2)
qp.drawLine(nx,ny,nx2,ny2)
#print nx,ny,nx2,ny2
pen = QtGui.QPen(QtCore.Qt.green, 2, QtCore.Qt.SolidLine)
qp.setPen(pen)
if monitorl<monitorr:
for i in range(monitorl,monitorr):
cordi=self.bus.route[i]
nx,ny=self.bus.scalemap(margine,wid,cordi)
cordi2=self.bus.route[i+1]
nx2,ny2=self.bus.scalemap(margine,wid,cordi2)
qp.drawLine(nx,ny,nx2,ny2)
else:
for i in range(0,monitorr):
cordi=self.bus.route[i]
nx,ny=self.bus.scalemap(margine,wid,cordi)
cordi2=self.bus.route[i+1]
nx2,ny2=self.bus.scalemap(margine,wid,cordi2)
qp.drawLine(nx,ny,nx2,ny2)
for i in range(monitorl,len(self.bus.route)-1):
cordi=self.bus.route[i]
nx,ny=self.bus.scalemap(margine,wid,cordi)
cordi2=self.bus.route[i+1]
nx2,ny2=self.bus.scalemap(margine,wid,cordi2)
qp.drawLine(nx,ny,nx2,ny2)
#print nx,ny,nx2,ny2
#dotpen = QtGui.QPen(QtCore.Qt.magenta, 5, QtCore.Qt.SolidLine)
#qp.setPen(dotpen)
#for cordi in self.bus.ol:
# nx,ny=self.bus.scalemap(margine,wid,self.bus.route[cordi])
# qp.drawPoint(nx,ny)
dotpen = QtGui.QPen(QtCore.Qt.blue, 6, QtCore.Qt.SolidLine)
qp.setPen(dotpen)
for cordi in self.bus.co:
nx,ny=self.bus.scalemap(margine,wid,cordi)
qp.drawPoint(nx,ny)
dotpen = QtGui.QPen(QtCore.Qt.red, 4, QtCore.Qt.SolidLine)
qp.setPen(dotpen)
for cordi in self.bus.buses:
#print nx,ny
nx,ny=self.bus.scalemap(margine,wid,cordi[:2])
self.drawBus(nx,ny,cordi[2],qp)
#qp.drawPoint(nx,ny)
def doWork(self):
if len(self.bus.shape)==0:
return
self.count+=1
info,wayp=self.bus.locateBus()
numbus=len(wayp)
self.menu=[]
self.trayIconMenu.clear()
for i in range(numbus):
menuitem= QtGui.QAction(info[i]+":"+str(wayp[i]), self)
self.trayIconMenu.addAction(menuitem)
if -self.bus.backward<wayp[i] and wayp[i]<self.bus.forward:
self.showMessage(str(wayp))
self.trayIconMenu.addAction(self.restoreAction)
self.trayIconMenu.addAction(self.minimizeAction)
self.trayIconMenu.addAction(self.settingAction)
self.trayIconMenu.addAction(self.quitAction)
self.update()
if self.count>3600/8:
self.quitApplication()
def iconActivated(self, reason):
if reason in (QtGui.QSystemTrayIcon.Trigger,
QtGui.QSystemTrayIcon.DoubleClick):
if self.isHidden():
self.showNormal()
else:
self.hide()
class BioloidController:
def __init__(self, useLogger = False):
self.id = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
self.pose = [512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512]
self.nextPose = [512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512]
self.speed = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.interpolating = False
self.playing = False
self.servoCount = 12
self.lastFrame = pyb.millis()
self.port = UART_Port(1, 1000000)
self.bus = Bus(self.port, show=Bus.SHOW_PACKETS)
# Bus.SHOW_NONE
# Bus.SHOW_COMMANDS
# Bus.SHOW_PACKETS
if useLogger:
self.logger = Logger('sync_log.txt')
else:
self.logger = None
# Load a pose into nextPose
def loadPose(self, poseArray):
for i in range(self.servoCount):
self.nextPose[i] = (poseArray[i]) # << BIOLOID_SHIFT)
#print ('loadPose[', self.id[i], '] = ', self.nextPose[i])
def isLogging(self):
return self.logger is not None
# read the current robot's pose
def readPose(self):
for i in range(self.servoCount):
self.pose[i] = (self.readTwoByteRegister(self.id[i], AX_GOAL_POSITION)) # << BIOLOID_SHIFT)
#print ('readPose[', self.id[i], '] = ', self.pose[i])
pyb.delay(25)
def writePose(self):
values = []
logging = self.isLogging()
if logging:
logValues = []
for i in range(self.servoCount):
poseValue = int(self.pose[i])
values.append(struct.pack('<H', poseValue))
if logging:
logValues.append(poseValue)
self.bus.sync_write(self.id, AX_GOAL_POSITION, values)
if logging:
self.logger.log(logValues)
def slowMoveServoTo(self, deviceId, targetPosition, speed = SLOW_SERVO_MOVE_SPEED, scanFunction = None):
oldSpeed = self.readTwoByteRegister(deviceId, AX_MOVING_SPEED)
currentPosition = self.readTwoByteRegister(deviceId, AX_PRESENT_POSITION)
self.writeTwoByteRegister(deviceId, AX_MOVING_SPEED, speed)
self.writeTwoByteRegister(deviceId, AX_GOAL_POSITION, targetPosition)
done = False
scanCount = 0
lastPosition = 0
startTime = pyb.millis()
while abs(currentPosition - targetPosition) > 5:
currentPosition = self.readTwoByteRegister(deviceId, AX_PRESENT_POSITION)
if scanFunction is not None:
if currentPosition != lastPosition:
scanCount += 1
lastPosition = currentPosition
scanFunction(currentPosition, scanCount)
pyb.delay(1)
self.writeTwoByteRegister(deviceId, AX_MOVING_SPEED, oldSpeed)
if scanFunction is not None:
scanFunction(targetPosition, scanCount + 1)
print("Elapsed Time: %d" % (pyb.millis() - startTime))
def rampServoTo(self, deviceId, targetPosition):
currentPosition = self.readTwoByteRegister(deviceId, AX_PRESENT_POSITION) # present position
if targetPosition > currentPosition:
stepDelta = 1
stepAccel = 2
comparison = lambda: targetPosition > (currentPosition + stepDelta)
else:
stepDelta = -1
stepAccel = -2
comparison = lambda: currentPosition > (targetPosition - stepDelta)
while comparison():
movePosition = currentPosition + stepDelta
stepDelta += stepAccel
self.setPosition(deviceId, movePosition)
currentPosition = self.readTwoByteRegister(deviceId, AX_PRESENT_POSITION) # present position
pyb.delay(25)
self.setPosition(deviceId, targetPosition)
def setPosition(self, deviceId, position):
self.writeTwoByteRegister(deviceId, AX_GOAL_POSITION, position)
def writeData(self, deviceId, controlTableIndex, byteData):
try:
result = self.bus.write(deviceId, controlTableIndex, byteData)
except BusError as ex:
if ex.get_error_code() == ErrorCode.CHECKSUM:
print ("CHECKSUM Error - retrying...")
return self.bus.write(deviceId, controlTableIndex, byteData)
raise
return result
def writeTwoByteRegister(self, deviceId, controlTableIndex, value):
return self.writeData(deviceId, controlTableIndex, struct.pack('<H', value))
def writeOneByteRegister(self, deviceId, controlTableIndex, value):
return self.writeData(deviceId, controlTableIndex, struct.pack('B', value))
def readTwoByteRegister(self, deviceId, controlTableIndex):
values = self.readData(deviceId, controlTableIndex, 2)
return struct.unpack('<H', values)[0]
def readOneByteRegister(self, deviceId, controlTableIndex):
values = self.readData(deviceId, controlTableIndex, 1)
return struct.unpack('B', values)[0]
def readData(self, deviceId, controlTableIndex, count):
try:
result = self.bus.read(deviceId, controlTableIndex, count)
except BusError as ex:
if ex.get_error_code() == ErrorCode.CHECKSUM:
print ("CHECKSUM Error - retrying...")
return self.bus.read(deviceId, controlTableIndex, count)
raise
return result
def interpolateSetup(self, time):
frames = (time / BIOLOID_FRAME_LENGTH) + 1
self.lastFrame = pyb.millis()
for i in range(self.servoCount):
if self.nextPose[i] > self.pose[i]:
self.speed[i] = (self.nextPose[i] - self.pose[i]) / frames + 1
else:
self.speed[i] = (self.pose[i] - self.nextPose[i]) / frames + 1
self.interpolating = True
def interpolateStep(self):
if not self.interpolating:
return
complete = self.servoCount
while (pyb.millis() - self.lastFrame < BIOLOID_FRAME_LENGTH):
pass
self.lastFrame = pyb.millis()
for i in range(self.servoCount):
diff = self.nextPose[i] - self.pose[i]
if diff == 0:
complete -= 1
else:
if diff > 0:
if diff < self.speed[i]:
self.pose[i] = self.nextPose[i]
complete -= 1
else:
self.pose[i] += self.speed[i]
else:
if (-diff) < self.speed[i]:
self.pose[i] = self.nextPose[i]
complete -= 1
else:
self.pose[i] -= self.speed[i]
if complete <= 0:
self.interpolating = False
self.writePose()
class Botter(object):
def __init__(self, username, username_password=None, realname=None, init_channels=None):
self._conn = None
self._write_conn = None
self._read_conn = None
self.username = username
self.username_password = username_password
if not realname:
self.realname = username
else:
self.realname = realname
self.bus = Bus()
self.plugins = Loader(self.bus)
self.plugins.load_plugins()
self.joined = False
if init_channels is None:
self._init_channels = []
else:
self._init_channels = init_channels
def connect(self, server, port):
LOG.info('Connect to %s:%s' % (server, port))
self._con_opts = (server, port)
self._conn = socket.create_connection((server, port))
self._conn.send("""PASS {uniquepass}\r\n
NICK {username}\r\n
USER {username} testbot testbot :{realname}\r\n""".format(uniquepass=uuid.uuid1().hex,
username=self.username,
realname=self.realname))
self._write_conn = self._conn.dup()
self._read_conn = self._conn.dup()
def pong(self, msg):
answer = msg.strip().split(':')[1]
self._write_conn.send('PONG %s\r\n' % answer)
def _parse_message(self, buf):
LOG.info('Start message parsing')
messages = []
for msg in buf.split('\r\n'):
msg = msg.strip()
if not msg:
continue
LOG.info('Parse: %s' % msg)
if msg.startswith('PING'):
self.pong(msg)
continue
if 'ERROR :Closing Link:' in msg:
self.connect(self._con_opts[0], self._con_opts[1])
return []
msg_opts = msg.split()
user_opts = msg_opts[0][1:].split('!')
if len(user_opts) > 1:
sender, user_ident = user_opts[0], user_opts[1]
else:
sender, user_ident = user_opts[0], None
receiver = msg_opts[2]
msg_type = msg_opts[1]
message = ' '.join(msg_opts[3:])[1:]
if msg_type == 'NOTICE' and receiver == 'AUTH' and message.startswith('*** You connected'):
for chan in self._init_channels:
self.join_channel(chan)
if msg_type == 'NOTICE' and sender == 'NickServ' and 'NickServ IDENTIFY' in message:
self.authorize()
continue
messages.append({'sender': sender,
'receiver': receiver,
'msg_type': msg_type,
'message': message,
'user_ident': user_ident})
return messages
def authorize(self):
LOG.info('Authorize in nickserv')
if self.username_password:
self.bus.send_out_message({'receiver':'NickServ',
'message': 'identify %s' % self.username_password})
def send_message(self, message):
if isinstance(message, list):
for m in message:
LOG.info('Send "%s" to "%s"' % (m['message'], m['receiver']))
self._write_conn.send('PRIVMSG %s :%s\r\n' % (m['receiver'], m['message']))
else:
LOG.info('Send "%s" to "%s"' % (message['message'], message['receiver']))
self._write_conn.send('PRIVMSG %s :%s\r\n' % (message['receiver'], message['message']))
def join_channel(self, channel):
LOG.info('Join to channel %s' % channel)
self.joined = True
if not channel.startswith('#'):
channel = '#' + channel
if len(channel.split(':')) > 1:
channel, password = channel.split(':')
self._write_conn.send('JOIN %s %s\r\n' % (channel, password))
else:
self._write_conn.send('JOIN %s\r\n' % channel)
def work(self):
"""Start Loader check bus to input messages"""
receive = gevent.spawn(self._start_recv)
sender = gevent.spawn(self._start_send)
while not self.joined:
gevent.sleep(1)
self.plugins.work()
gevent.joinall([ receive, sender ])
def _start_recv(self):
buf = ''
while True:
try:
msg = self._read_conn.recv(512)
except socket.error, e:
LOG.error('Can\'t send message: %s' % e)
if 'Broken pipe' in e:
LOG.info('Reconnect to server')
self.connect(self._con_opts[0], self._con_opts[1])
buf += msg
if len(msg) < 512 and msg.endswith('\r\n'):
messages = self._parse_message(buf)
buf = ''
if messages:
self.bus.send_in_message(messages)
gevent.sleep(0.1)
logger = logging.getLogger("simple_example")
logger.setLevel(logging.DEBUG)
# Create console handler and set level to debug
console_logger = logging.StreamHandler()
console_logger.setLevel(logging.DEBUG)
# Create formatter
formatter = logging.Formatter("%(asctime)s - %(name)s - %(levelname)s - %(message)s")
# Add formatter to console_logger
console_logger.setFormatter(formatter)
# Add console_logger to logger
logger.addHandler(console_logger)
app.logger.addHandler(logger)
# Create an event bus
bus = Bus()
sparklebot_name = 'Pyro'
sparklebot = SparkleBot(name=sparklebot_name, bus=bus)
# Register our new bot with the bus as a listener for
# any Event.Types.message_created_event that are emitted
bus.register(sparklebot, Event.Types.message_created_event)
# ====== END Server Start-up ======
# ====== Routes Definitions ======
# pylint: disable=I0011,C0103
from event import Event
from bus import Bus
from listener import SparkleBot
import os
import re
import urllib
import urllib2
from weather_api import WeatherAPI
# 1- Register listeners on the bus
bot_name = 'Pyro'
zipcode = 94040
bus = Bus()
bus.register(SparkleBot(bot_name, bus=bus, user_id=8), Event.Types.message_created_event)
# 2- Let's create some events on the bus and see if our listeners pick them up
num = 4
for i in range(num):
if i % num == 0:
print "throwing message_created_event - weather"
bus.notify(Event(Event.Types.message_created_event, {"room_id":1, "data": "{} weather {}".format(bot_name, zipcode), "user_id": 2, "user_name": "Anony Mouse"}))
elif i % num == 1:
print "throwing message_created_event - help"
bus.notify(Event(Event.Types.message_created_event, {"room_id":1, "data": "{} help".format(bot_name), "user_id": 2, "user_name": "Anony Mouse"}))
elif i % num == 2:
print "throwing message_created_event - story"
bus.notify(Event(Event.Types.message_created_event, {"room_id":1, "data": "{} story".format(bot_name), "user_id": 2, "user_name": "Anony Mouse"}))
else:
print "throwing user_joins_room_event"
bus.notify(Event(Event.Types.user_joins_room_event, {}))
#!/usr/bin/env python
#
# Write the memory pak's 32k SRAM from a binary file specified on the command line.
#
# --Micah Dowty <*****@*****.**>
#
from bus import Bus
import sys
b = Bus()
if b.probe() != "memory":
sys.exit(1)
f = open(sys.argv[1], "rb")
addr = 0x0000
while addr < 0x8000:
sys.stdout.write("\r0x%04X (%.02f%%)" % (addr, addr * 100.0 / 0x8000))
b.write(addr, f.read(32))
addr += 32
sys.stdout.write("\n")
### The End ###