def _run_jobs(self):
"""
Runs the control script with the selected json file
"""
self.is_controlling = True
with open(self.window.filename, "r", encoding='utf-8') as f:
events = Event.schema().load(json.load(f), many=True)
ctrlr = Controller(events, self.controller_terminate)
iterations = int(self.spinbox.get())
t = Thread(target=ctrlr.run, args=[iterations])
t.start()
def simulate(arm, traj, tf, dt_dyn, dt_control=None, u_inj=None):
"""
Inputs:
arm: arm object
traj: desired trajectory
tf: desired final simulation time
dt: desired dt for control
u_inj: control injection
"""
dynamics = Dynamics(arm, dt_dyn)
# dynamics = Dynamics(arm, dt_dyn, noise_torsion=[1e-3,0], noise_bending=[1e-3,0,0,0])
if dt_control is None:
dt_control = dt_dyn
else:
dt_control = max(np.floor(dt_control / dt_dyn) * dt_dyn, dt_dyn)
T = int(dt_control / dt_dyn)
dyn_reduced = Dynamics(arm, dt_control, n=arm.state.n)
controller = Controller(dyn_reduced)
state_list = []
control_list = []
t_steps = int(np.floor(tf / dt_dyn))
t_arr = np.linspace(0, tf, t_steps + 1)
for i, t in enumerate(t_arr):
print('Progress: {:.2f}%'.format(float(i) / (len(t_arr) - 1) * 100),
end='\r')
# mode = finiteStateMachine(y,wp)
# mode = 'none'
# mode = 'damping'
mode = 'mpc'
if i % T == 0:
j = i // T
if j not in u_inj:
wp = traj[:, j]
y = simulateMeasurements(arm)
u = controller.controlStep(y, wp, mode)
else:
u = {}
u['rot'] = u_inj[j]['rot']
u['lat'] = u_inj[j]['lat']
arm = dynamics.dynamicsStep(arm, u)
state_list.append(copy.copy(arm.state))
control_list.append(u)
return state_list, control_list, t_arr
def main():
"""Main function."""
# Create an instance of QApplication
pycalc = QApplication(sys.argv)
# Show the calculator's GUI
view = GUI()
view.show()
# Create instances of the model and the controller
Model = evaluateExpression
Controller(model=Model, view=view)
# Execute the calculator's main loop
sys.exit(pycalc.exec_())
def est_final_params(gt_observations):
# use dummy controller to run EM
num_w, num_q = gt_observations.shape
c = Controller(method=None, platform=None,
num_workers=num_w, num_questions=num_q)
params,_ = c.run_em(gt_observations)
d = params['difficulties']
s = params['skills']
parse.params_to_file('gold_params.csv',params)
return d,s
def Startup(self):
# Importing takes sometime, therefore it will be done
# while splash is being shown
from gui.frame import Frame
from control import Controller
from project import Project
self.main = Frame(None)
self.control = Controller(self.main)
self.fc = wx.FutureCall(1, self.ShowMain)
wx.FutureCall(1, parse_comand_line)
# Check for updates
from threading import Thread
p = Thread(target=utils.UpdateCheck, args=())
p.start()
def __init__(self, grid, astar, plan_and_drive):
# other classes
self.grid = grid
self.astar = astar
self.controller = Controller()
# visual display
self.fig, self.ax = plt.subplots()
if plan_and_drive:
self.display(False)
else:
self.display(True)
self.l = 0.1
self.wait = 0.01
# threshold distance goal/waypoint
self.threshold = 0.15
def main(screen):
app_log = startLog(LOGFILE)
screen.addstr(0, 0, 'Loading Nutmeg...')
screen.refresh()
with open('testuser-password', 'r') as passFile:
PASSWORD = passFile.read().strip()
HOMESERVER = 'lrizika.com'
USERNAME = '******'
ROOMNAME = '#test4:lrizika.com'
app_log.info('Building Controller...')
controller = Controller(screen,
HOMESERVER,
username=USERNAME,
password=PASSWORD)
inputController = InputController(controller)
controller.stateManager.joinRoom(ROOMNAME)
inputController.listen()
def main():
tf.compat.v1.disable_eager_execution()
# dataset
dset = Dataset(config)
dset.build()
config.vocab_size = len(dset.word2id)
config.pos_size = len(dset.pos2id)
config.ner_size = len(dset.ner2id)
config.dec_start_id = dset.word2id["_GOO"]
config.dec_end_id = dset.word2id["_EOS"]
config.pad_id = dset.pad_id
config.stop_words = dset.stop_words
model = LatentBow(config)
with tf.compat.v1.variable_scope(config.model_name):
model.build()
# controller
controller = Controller(config)
controller.train(model, dset)
def setUp(self) -> None:
self.controller = Controller()
self.controller.click_on_rel_pos(
self.controller.start_button_rel_coord)
await websocket.send(json.dumps(web_config))
async def consumer_handler(websocket, path):
logger.info("Client connected")
await send_web_config(websocket)
async for message in websocket:
logger.info("Message received: {}".format(message))
try:
data = json.loads(message)
controller.parse(data)
except ValueError:
logger.warning("Message could not be parsed")
__name__ = "start"
# logging
FORMAT = "%(asctime)s - %(name)s - %(levelname)s - %(message)s"
logging.basicConfig(filename='app.log', filemode='a', format=FORMAT, level=logging.INFO)
logger = logging.getLogger(__name__)
logger.info("Application started")
# configuration
CONFIG_PATH = "config.json"
controller = Controller(CONFIG_PATH)
web_config = controller.get_webconfig()
# websocket
start_server = websockets.serve(consumer_handler, "0.0.0.0", 6789)
asyncio.get_event_loop().run_until_complete(start_server)
asyncio.get_event_loop().run_forever()
help='List of hosts')
parser.add_argument('--clear',
required=False,
type=int,
help='Clear control backup file')
args = parser.parse_args()
if (args.clear == 1):
# Remove control layer data
try:
os.remove(args.control)
except:
pass
controller = Controller(args.control)
hosts = []
#hosts = [("172.17.0.2", 18861), ("172.17.0.3", 18861)] # IP,PORT TUPLE
for host in args.hosts:
hosts.append((host, args.port))
hasActiveHost = controller.generateNodes(hosts)
if (not hasActiveHost):
exit(0)
k = Thread(target=t, args=(controller, ))
k.start()
print(f"Mounting {args.real} on {args.virtual}")
FUSE(Passthrough(controller, args.real),
from threading import Thread
import os
import socket
from control import Controller
from time import sleep
ip = (([
ip for ip in socket.gethostbyname_ex(socket.gethostname())[2]
if not ip.startswith("127.")
] or [[(s.connect(("8.8.8.8", 53)), s.getsockname()[0], s.close())
for s in [socket.socket(socket.AF_INET, socket.SOCK_DGRAM)]][0][1]]) +
["no IP found"])[0]
app = Flask(__name__)
api = Api(app)
socketio = SocketIO(app, cors_allowed_origins="*")
controller = Controller()
x = 0
y = 0
connectedCount = 0
controller.Setup()
def control():
print("is here")
global x, y, controller
while True:
controller.set(x, y)
sleep(0.01)
thread = Thread(target=control)
# Django specific settings
import os
os.environ.setdefault("DJANGO_SETTINGS_MODULE", "settings")
# Ensure settings are read
from django.core.wsgi import get_wsgi_application
application = get_wsgi_application()
from control import Controller
inst = Controller()
@author: Leon Bonde Larsen
This is a quick test of the algorithm developed to generate s-curves in a system
with varying setpoints. Most implementations are based on systems where the entire
curve can be calculated on beforehand, but this is not possible in a system where
the setpoint varies over time.
The actual ode implemented in C++ is an exact copy of the code running in this
simulation.
Being just an internal test, the settings are placed in the init method on the
Controller class. The controller is based on the constant jerk principle leading
to linear accelerations and second order velocities.
In the current test, the initial velocity is -1m/s and the user setpoint is +2m/s.
What is seen in the plot is that the system first brakes with ramp to velocity 0m/S
and then accelerates and decelerates to hit the 2m/s velocity.
'''
from matplotlib import pyplot as plt
from control import Controller
plt.figure(num=None, figsize=(10, 6), dpi=80, facecolor='w', edgecolor='k')
ctrl = Controller()
ctrl.simulate()
plt.plot(ctrl.time,ctrl.pos)
plt.plot(ctrl.time,ctrl.vel)
plt.plot(ctrl.time,ctrl.acc)
plt.legend(["position","velocity","acceleration"])
plt.show()
x_test = x_test.astype('float32') / 255.
y_train = to_categorical(y_train, 10)
y_test = to_categorical(y_test, 10)
dataset = [x_train, y_train, x_test, y_test]
'''
previous_acc = 0.0
total_reward = 0.0
with policy_sess.as_default():
# create the Controller and build the internal policy network
controller = Controller(policy_sess,
NUM_LAYERS,
state_space,
reg_param=REGULARIZATION,
exploration=EXPLORATION,
controller_cells=CONTROLLER_CELLS,
embedding_dim=EMBEDDING_DIM,
restore_controller=RESTORE_CONTROLLER)
# create the Network Manager
manager = CNNEnv(args,
epochs=MAX_EPOCHS,
child_batchsize=CHILD_BATCHSIZE,
clip_rewards=CLIP_REWARDS,
acc_beta=ACCURACY_BETA)
# get an initial random state space if controller needs to predict an
# action from the initial state
state = state_space.get_random_state_space(NUM_LAYERS)
print("Initial Random State : ", state_space.parse_state_space_list(state))
from control import Controller main = Controller() main.inicio()
def turn_on_spot(v, angle, motor, g=None, c=None):
"""
Turn the robot or servo motor on the spot by the angle.
:param v - the duty_cycle_sp at which the motor should travel at
:param motor - either 'SERVO' or 'MOTOR'
:param angle - If the angle is negative, it will turn CCW else CW.
It sets the goal state of the robot or servo as the sum
of its current heading (gyro.value()) and the angle.
"""
L = io.motA
R = io.motB
servo = io.servo
gyro = io.gyro
col = io.col
if angle > 0:
direction = 1 # set the polairty switch for the wheels
elif angle < 0:
direction = -1
else: # 0 degrees = no work to be done
return
print(direction)
# -------------- ROBOT ---------------------
if motor == 'ROBOT':
desired_angle = gyro.value() + angle
logging.info(
'Turning the robot to desired {} degrees'.format(desired_angle))
turn_control = Controller(.01, 0, 0, desired_angle, history=10)
while True:
signal, err = turn_control.control_signal(gyro.value())
signal, err = turn_control.control_signal(gyro.value())
if abs(err) <= 5 or io.btn.backspace: # tolerance
L.stop()
R.stop()
L.duty_cycle_sp = v
R.duty_cycle_sp = v
return
else:
# if too small or too large, just use the default v
if abs(v + signal) >= 100 or abs(v + signal) <= 20: signal = 0
L.run_direct(duty_cycle_sp=direction * abs(v + signal))
R.run_direct(duty_cycle_sp=-1 * direction * abs(v + signal))
logging.info(
'GYRO = {},\tcontrol = {},\t err={}, \tL = {}, \tR = {}'.
format(gyro.value(), signal, err, L.duty_cycle_sp,
R.duty_cycle_sp))
try:
g.set_val(gyro.value())
c.set_val(col.value())
except AttributeError:
pass
# -------------- SERVO ---------------------
elif motor == 'SERVO':
turn_control = Controller(.001,
0,
.5,
servo.position + angle,
history=10)
# servo.duty_cycle_sp = servo.duty_cycle_sp * direction
ev3.Sound.speak('Turning servo {} degrees'.format(angle)).wait()
logging.info('Turning servo {} degrees'.format(angle))
while True:
signal, err = turn_control.control_signal(servo.position)
if abs(err) <= 4 or io.btn.backspace: # tolerance
servo.stop()
servo.speed_sp = v
servo.duty_cycle_sp = servo.duty_cycle_sp * \
direction # return to the original number
return
if (v + abs(signal) >= 100): signal = 0
signal = (direction) * (v + abs(signal))
servo.run_direct(duty_cycle_sp=signal)
logging.info(
'POS = {},\tcontrol = {},\t err={}, \tspd = {}'.format(
servo.position, signal, err, servo.speed_sp))
try:
g.set_val(gyro.value())
except AttributeError:
pass
else:
raise NameError('motor should be "ROBOT" or "SERVO"')
def main():
con = Controller("sample.cfg", "True")
con.run()
gold.get_difficulties()]),
times=first_array_or_true([time_in, gold.get_times()]),
skills=first_array_or_true([skill_in, gold.get_skills()]),
thetas=gt_thetas)
# run
for p in policies:
if run_once and p['type'] in ['greedy','greedy_reverse','accgain','accgain_reverse'] and p['name'] in policies_run:
continue
np.random.seed(rint)
platform.reset()
controller = Controller(policy=p,
platform=platform,
num_workers=platform.num_workers,
num_questions=platform.num_questions,
max_rounds=max_rounds_in)
if 'offline' in p:
r = controller.run_offline()
else:
r = controller.run()
policies_run.add(p['name'])
# save platform settings (don't have to do this every run, but we do)
import warnings
warnings.simplefilter('ignore')
import strategy
from control import Controller
agent = strategy.EdgeDetectionAgent(10)
# agent = strategy.SiameseNetAgent(10)
controller = Controller(agent, data_dir=None)
controller.run()
class SelectSoundScreen(Screen):
def __init__(self, sensor_controller, **kwargs):
super().__init__(**kwargs)
self.controller = sensor_controller
class ThereminGUI(App):
def __init__(self, controller, **kwargs):
super().__init__(**kwargs)
self.sensor_controller = controller
def build(self):
sm = ScreenManager()
sm.add_widget(MenuScreen(self.sensor_controller, name='menu'))
sm.add_widget(TuneScreen(self.sensor_controller, name='tune'))
sm.add_widget(LoopScreen(self.sensor_controller, name='loop'))
sm.add_widget(SelectSoundScreen(self.sensor_controller, name='select_sound'))
sm.add_widget(OptionsScreen(self.sensor_controller, name='options'))
return sm
if __name__ == '__main__':
if len(sys.argv) < 2:
print('Usage: python3 gui.py host')
host = sys.argv[1]
controller = Controller(host=host)
thread = controller.main()
ThereminGUI(controller).run()
def train(dataset1, dataset2, initial_state, if_restore):
total_reward = 0.0
with policy_sess.as_default():
# create the Controller and build the internal policy network
controller = Controller(policy_sess,
NUM_LAYERS,
state_space,
reg_param=REGULARIZATION,
exploration=EXPLORATION,
controller_cells=CONTROLLER_CELLS,
embedding_dim=EMBEDDING_DIM,
restore_controller=if_restore)
# clear the previous files
controller.remove_files()
# create the Network Manager
manager1 = NetworkManager(dataset1,
epochs=MAX_EPOCHS,
child_batchsize=CHILD_BATCHSIZE,
clip_rewards=CLIP_REWARDS,
acc_beta=ACCURACY_BETA)
manager2 = NetworkManager(dataset2,
epochs=MAX_EPOCHS,
child_batchsize=CHILD_BATCHSIZE,
clip_rewards=CLIP_REWARDS,
acc_beta=ACCURACY_BETA)
result_reward = []
result_total_reward = []
result_acc = []
result_moving_acc = []
result_explore_acc = []
result_exploit_acc = []
flag = None
manager = None
for trial in range(MAX_TRIALS):
print("\nTrial %d:" % (trial + 1))
if 2 * trial < MAX_TRIALS:
manager = manager1
if trial % 2 == 0:
actions = state_space.get_local_state_space_add(
int(trial / 2), initial_state)
else:
actions = state_space.get_local_state_space(
int(trial / 2), initial_state)
else:
manager = manager2
with policy_sess.as_default():
K.set_session(policy_sess)
flag, actions = controller.get_action(
state) # get an action for the previous state
# print the action probabilities
# state_space.print_actions(actions)
print("Actions : ", state_space.parse_state_space_list(actions))
# build a model, train and get reward and accuracy from the network manager
reward, previous_acc, moving_acc = manager.get_rewards(
state_space.parse_state_space_list(actions))
print("Rewards : ", reward)
print("Accuracy : ", previous_acc)
print("Movingacc :", moving_acc)
with policy_sess.as_default():
K.set_session(policy_sess)
total_reward += reward
print("Total reward : ", total_reward)
# actions and states are equivalent, save the state and reward
state = actions
controller.store_rollout(state, reward)
# train the controller on the saved state and the discounted rewards
loss = controller.train_step()
print("Controller loss : %0.6f" % (loss))
# write the results of this trial into a file
with open('train_history.csv', mode='a+') as f:
data = [previous_acc, reward]
data.extend(state_space.parse_state_space_list(state))
writer = csv.writer(f)
writer.writerow(data)
print()
result_reward.append(reward)
result_total_reward.append(total_reward)
result_acc.append(previous_acc)
result_moving_acc.append(moving_acc)
if 2 * trial >= MAX_TRIALS:
if not flag:
result_explore_acc.append(previous_acc)
else:
result_exploit_acc.append(previous_acc)
print("Rewards : ", result_reward)
print("Total Rewards :", result_total_reward)
print("Accuracy : ", result_acc)
print("Moving acc : ", result_moving_acc)
print("Explore acc :", result_explore_acc)
print("Exploit acc : ", result_exploit_acc)
'depth': bod_depth,
'height': bod_height,
'cm': body_cm
}
wheel_params = {
'mass': wheel_mass,
'radius': wheel_rad,
'height': wheel_height,
'cm': wheel_cms,
'axis': wheel_axes
}
earth_rad = 6371 #km
sat_alt = earth_rad + 300
vol_pos = (-6, 0)
sat_pos0 = (6, 0)
#number of iterations that the controller's cpu can run
att_update = 0.01
time_sf = 10
w0 = [0, 0, 0]
q0 = [1, 0, 0, 0]
rate = 18 #frames/calculations per second
controller = Controller(rate, body_params, q0=[1, 0, 0, 0], w0=[0, 0, 0])
anim_obj = Animate(controller, time_sf, real=False)
#plt.waitforbuttonpress()
#anim_obj.cid = anim_obj.orbit_fig.canvas.mpl_connect('button_press_event', anim_obj.onclick)
#anim_obj.get_point()
my_anim = anim_obj.make_animation()
plt.show()
import tkinter as tk
import gui.FirstInteface as FI
import control.Controller as Con
if __name__ == '__main__':
root = tk.Tk()
root.title("الحسابات")
FI.MainInterface(root, Con.Controller())
root.mainloop()
import RPi.GPIO as GPIO
import sensor
import time, qwiic_vl53l1x
from control import Controller
c = Controller()
sensor.get_sensors()
pitch = sensor.get_pitch(c)
volume = sensor.get_volume(c)
while True:
print(sensor.get_pitch(c))
print(sensor.get_volume(c))
time.sleep(2)
import logging
from db import SQLQuery
from control import Controller
from telegram_bot import TelegramBot
from config import TelegramConfig, DBConfig
logging.basicConfig(filename='log',
format='%(asctime)s - %(message)s',
level=logging.INFO)
if __name__ == '__main__':
db = SQLQuery(DBConfig)
controller = Controller(db)
bot = TelegramBot(TelegramConfig, controller)
bot.main()
def __init__(self):
self.input = Controller()
self.world = World(debug=True)
args = parser.parse_args()
logger.critical("hoge")
camera = PiCamera() # PiCamera object
camera.resolution = (640, 480)
camera.framerate = 30
window_size = 600
buffer = PiRGBArray(camera) # PiRGBArray object
num_green = 5
time.sleep(0.1) # 100ms
running = True
con = serial.Serial("/dev/ttyACM0", 9600)
con.write(b"I")
controller = Controller(num_green, window_size)
while running:
for stream in camera.capture_continuous(buffer,
format="bgr",
use_video_port=True):
frame = stream.array
frame = imutils.resize(frame, width=window_size)
blurred = cv2.GaussianBlur(frame, (11, 11), 0)
hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
hsv = hsv[:-100, :, :]
if (controller.key == "green"):
centre_info = find_green(hsv)
else:
centre_info = find_red(hsv)
controller.control(con, centre_info)
import sys
from control import Controller
from PyQt5.QtWidgets import QApplication
if __name__ == "__main__":
app = QApplication(sys.argv)
control = Controller()
app.exec_()
