def pilot_monitor(self):
log_info('starting pilot state monitor')
rc_timeout = 1.0
return_when_signal_lost = False
last_valid = time()
while True:
self.pilot.mon_read()
def __init__(self, sockets):
logfile = user_data_dir + sep + 'ICARUS.log'
log_config(filename=logfile,
level=DEBUG,
format='%(asctime)s - %(levelname)s: %(message)s')
log_info('icarus starting up')
self.setpoints = [0.0, 0.0, 2.0] # x, y, z
self.flight_time = 0
self.icarus_takeover = False
self.emergency_land = False
self.factory = ICARUS_MissionFactory
self.fsm = FlightSM(self.error, self.broadcast, self.takeoff,
self.land, self.move, self.stop)
self.landing_spots = LandingSpots(3.0)
self.pilot = PilotInterface(sockets['pilot'], sockets['mon'])
#self.gps_shifter = GPS_Shifter()
self.state_emitter = StateEmitter(sockets['state'])
self.powerman = PowerMan(sockets['power_ctrl'], sockets['power_mon'])
start_daemon_thread(self.power_state_monitor)
start_daemon_thread(self.state_time_monitor)
start_daemon_thread(self.pilot_monitor)
self.activity = DummyActivity()
self.activity.start()
self.icarus_srv = ICARUS_Server(sockets['ctrl'], self)
self.icarus_srv.start()
log_info('icarus up and running')
def state_time_monitor(self):
# count the time for "in-the-air-states":
log_info('starting state time monitor')
while True:
if self.fsm.state != 'standing':
self.flight_time += 1
sleep(1)
def highlight(self, element):
try:
for elements in element:
self.elementlist.append(elements)
if len(self.elementlist) > 1:
ecountpopup = Psg.PopupOKCancel("Multiple Elements "
"Found!: {}".format(
len(self.elementlist)))
if ecountpopup == "OK":
pass
elif ecountpopup == "Cancel":
return
else:
return
except TypeError:
self.elementlist.append(element)
if len(self.elementstore) == 1:
log_info("Single Element Store Needs to be Emptied")
try:
log_info("Removing Previous Element from Single Store")
self.highlight_remove(element)
log_info("Single Removed:".format(element))
except (NoSuchElementException, TypeError,
StaleElementReferenceException) as elem_remove_error:
log_error(elem_remove_error)
self.elementstore.clear()
log_info("Emptied Single Element from Store")
if len(self.elementstore) > 1:
log_info("Multiple Element Store Needs to be Emptied")
thread.start_new_thread(self.highlight_remove_multi, ())
thread.start_new_thread(self.highlight_add, ())
def __pow__(self, other):
"""
Returns the proxied function raised at an integer power.
:param other: Object to raise the proxied with
:return: Value of raised proxied function
"""
if isinstance(other, int) and other >= 0:
def anon_pow_times(*args):
"""
Multiplies the proxied function as many times as
the integer used to raise it.
:param args: The args used for the original function
:return: Proxied function multiplied as many times as other
"""
# Return the proxied function at least once (in case other==0)
result = self
for _ in range(other-1):
result *= self
return result(*args)
log_info("{0} raised {1} times".format(self.func.__name__, other))
return Composable(anon_pow_times)
elif isinstance(other, int) and other < 0:
log_error("Raised {0} w/ negative int".format(self.func.__name__))
raise ValueError("Composable can only be raised w/ positive int")
log_error("Attempt to raise {0} with type {1}".format(
self.func.__name__, type(other)))
raise TypeError("Composable instance can only be raised w/ integers")
def __pow__(self, other):
"""
Returns the proxied function raised at an integer power.
:param other: Object to raise the proxied with
:return: Value of raised proxied function
"""
if isinstance(other, int) and other >= 0:
def anon_pow_times(*args):
"""
Multiplies the proxied function as many times as
the integer used to raise it.
:param args: The args used for the original function
:return: Proxied function multiplied as many times as other
"""
# Return the proxied function at least once (in case other==0)
result = self
for _ in range(other - 1):
result *= self
return result(*args)
log_info("{0} raised {1} times".format(self.func.__name__, other))
return Composable(anon_pow_times)
elif isinstance(other, int) and other < 0:
log_error("Raised {0} w/ negative int".format(self.func.__name__))
raise ValueError("Composable can only be raised w/ positive int")
log_error("Attempt to raise {0} with type {1}".format(
self.func.__name__, type(other)))
raise TypeError("Composable instance can only be raised w/ integers")
def pilot_monitor(self):
log_info('starting pilot state monitor')
rc_timeout = 1.0
return_when_signal_lost = False
last_valid = time()
while True:
self.pilot.mon_read()
def state_time_monitor(self):
# count the time for "in-the-air-states":
log_info('starting state time monitor')
while True:
if self.fsm.state != 'standing':
self.flight_time += 1
sleep(1)
def sign_in(self):
self.user_login = self.line_login.text()
self.user_passwd = self.line_passwd.text()
self.user_hidden = self.btn_hide.isChecked()
self._logging()
log_info("Sended sing_in package")
def _send_message_to_client(self, client, message):
send_message(client.sock, message)
log_info("sended {len} bytes to {client}: {data}".format(
len=len(message),
client=client,
data=message
))
def __delitem__(self, key):
x, y, z = self._validate_key(key)
log_info("Deleting value {0} in Dict_array ins key {1}".format(self._data[x, y, z], key))
del self._data[x, y, z]
self.array_len -= 1
def __setitem__(self, key, value):
"""
Sets the appropriate element for a three-element subscript tuple.
"""
x, y, z = self._validate_key(key)
self._data[x][y][z] = value
log_info("Set value: {0} for List_of_lists_array element {1}".format(value, [x, y, z]))
def communication(self):
# data = self.server_socket.readAll()
data = qt_recv_until_end_messages(self.server_socket)
if data:
log_info("recieved {len} bytes from server: {data}".format(
len=len(data),
data=data
))
response = ChatResponse()
response.ParseFromString(data)
if self._communication_logging(response):
return
elif response.command_type == ChatResponse.CHATS_AND_MESSAGES:
self._gui_add_chats(response.chats)
self._gui_add_messages(response.messages)
elif response.command_type == ChatResponse.CHATS:
self._gui_add_chats(response.chats)
self._gui_add_messages(response.messages)
elif response.command_type == ChatResponse.MESSAGES:
self._gui_add_messages(response.messages)
else:
log_info("shit")
exit(0)
else:
print("Disconnected from server")
sys.exit()
def __mul__(self, other):
"""
Return the composition of proxied and another function.
:param other: Object to multiply the proxied with
:return: Composition of the proxied function and the passed object
"""
if type(other) is Composable:
def anon(x):
return self.func(other.func(x))
log_info("{0} multiplied by Composable obj {1}".format(
self.func.__name__, other))
return Composable(anon)
elif type(other) is types.FunctionType:
def anon(x):
return self.func(other(x))
log_info("{0} multiplied by function {1}".format(
self.func.__name__, other))
return Composable(anon)
log_error("Attempt to multiply {0} by {1}".format(
self.func.__name__, other))
raise TypeError("Illegal operands for multiplication")
def __mul__(self, other):
"""
Return the composition of proxied and another function.
:param other: Object to multiply the proxied with
:return: Composition of the proxied function and the passed object
"""
if type(other) is Composable:
def anon(x):
return self.func(other.func(x))
log_info("{0} multiplied by Composable obj {1}".format(
self.func.__name__, other))
return Composable(anon)
elif type(other) is types.FunctionType:
def anon(x):
return self.func(other(x))
log_info("{0} multiplied by function {1}".format(
self.func.__name__, other))
return Composable(anon)
log_error("Attempt to multiply {0} by {1}".format(
self.func.__name__, other))
raise TypeError("Illegal operands for multiplication")
def handle_exception(msg, e):
maybe_print_stack()
log_error("Caught exception at %s" %
time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()))
html = twill.get_browser().get_html()
if options.dump_file == '-':
print html
else:
dump_file_name = os.path.expanduser(options.dump_file)
try:
if html is not None:
if options.show_error_in_browser:
# If we are showing it in the browser, lets get the
# paths right (even if if means changing the HTML a
# little)
base_href = '\n<!-- added by flunc: --><base href="%s">' % twill.get_browser(
).get_url()
match = re.search('<head.*?>', html, re.I | re.S)
if match:
html = html[:match.end()] + base_href + html[match.end(
):]
else:
html = base_href + html
f = open(dump_file_name, 'wb')
f.write(html)
f.close()
log_info("saved error html to: %s" % dump_file_name)
except IOError, e:
log_warn("Unable to save error HTML to: %s" % dump_file_name)
def takeoff(self):
log_info('taking off')
self.landing_spots.add((self.pilot.mon[0], self.pilot.mon[1]))
self.activity.cancel_and_join()
self.yaw_setpoint = self.pilot.mon[4]
self.activity = TakeoffActivity(self.fsm, self)
self.activity.start()
def run_suite(name):
try:
if not options.cleanup_mode:
log_info("running suite: %s" % name)
output_stream.indent()
try:
suite_data = file(current_namespace[-1].suites[name]).read()
calls = parse_suite(suite_data)
load_configuration(name)
load_overrides()
error_list = []
# skip running suites if cleanup-only mode is set
if not options.cleanup_mode:
for script, args, line in calls:
errors = run_test(script, args)
if len(errors):
error_list += [
name + "(%d)::%s" % (line, x) for x in errors if x
]
return error_list
except IOError, e:
handle_exception("Unable to read suite %s" % name, e)
return [name]
finally:
do_cleanup_for(name)
output_stream.outdent()
def run_suite(name):
try:
if not options.cleanup_mode:
log_info("running suite: %s" % name)
output_stream.indent()
try:
suite_data = file(current_namespace[-1].suites[name]).read()
calls = parse_suite(suite_data)
load_configuration(name)
load_overrides()
error_list = []
# skip running suites if cleanup-only mode is set
if not options.cleanup_mode:
for script,args,line in calls:
errors = run_test(script,args)
if len(errors):
error_list += [name + "(%d)::%s" % (line,x) for x in errors if x]
return error_list
except IOError,e:
handle_exception("Unable to read suite %s" % name,e)
return [name]
finally:
do_cleanup_for(name)
output_stream.outdent()
def _generate_stats(directory, base_names, stat_types, cache_file_path):
"""
Generate the document statistics from scratch
"""
log_info('generating statistics for "%s"' % directory)
docstats = []
for docname in base_names:
with Annotations(path_join(directory, docname),
read_only=True) as ann_obj:
tb_count = len([a for a in ann_obj.get_entities()])
rel_count = (len([a for a in ann_obj.get_relations()]) +
len([a for a in ann_obj.get_equivs()]))
event_count = len([a for a in ann_obj.get_events()])
if options_get_validation(directory) == 'none':
docstats.append([tb_count, rel_count, event_count])
else:
# verify and include verification issue count
projectconf = ProjectConfiguration(directory)
issues = verify_annotation(ann_obj, projectconf)
issue_count = len(issues)
docstats.append(
[tb_count, rel_count, event_count, issue_count])
_store_cache_stat(docstats, cache_file_path, directory)
return stat_types, docstats
def do_cleanup_for(name):
if has_cleanup_handler(name) and not options.no_cleanup_mode:
log_info("running cleanup handler for %s" % name)
try:
suite_data = file(current_namespace[-1].cleanup[name]).read()
calls = parse_suite(suite_data)
for script,args,line in calls:
try:
if current_namespace[-1].suites.get(script):
log_warn("Cannot call sub-suite %s during cleanup at %s(%d)" % (script,name,line))
else:
log_info("running cleanup: %s" % name)
script_data = read_test(script)
try:
parameters = make_dict_from_call(args,get_twill_glocals()[0])
except (ValueError, TypeError, SyntaxError), e:
e.args = ("\"%s%s\": Only positional argument passing is supported in suites." % \
(name, args), ) + e.args[1:]
raise e
script_data = make_twill_local_defs(parameters) + script_data
twill.execute_string(script_data, no_reset=1)
except Exception, e:
maybe_print_stack()
log_warn("Cleanup call to %s failed at %s(%d)"
% (script + args, name + CLEANUP, line))
except IOError,e:
maybe_print_stack()
log_warn("Unable to read cleanup handler for %s" % name)
except Exception,e:
maybe_print_stack()
log_warn("Exception during cleanup handler for %s" % name)
def def_inspect(module):
"""
Scans a module's functions with inspect, returns their signatures, if any.
:param module: Module, or name of module to be imported
:return: String detailing the signature of each function in the module
"""
# Take the __name__ attr of the module if the argument is not a string
mod_name = module if isinstance(module, str) else module.__name__
log_info("Attempting to inspect functions in module {}".format(mod_name))
try:
imported = import_module(str(mod_name))
except ImportError as e:
log_error(e)
raise ImportError(e)
result = []
functions = inspect.getmembers(imported, inspect.isfunction)
# For each function name, description tuple retrieved...
for func, desc in functions:
# ...Use getattr to take each function's signature
func_txt = inspect.formatargspec(
*inspect.getfullargspec(getattr(imported, func)))
result.append("'def {0}{1}'".format(func, func_txt))
return "\n".join(result)
def def_inspect(module):
"""
Scans a module's functions with inspect, returns their signatures, if any.
:param module: Module, or name of module to be imported
:return: String detailing the signature of each function in the module
"""
# Take the __name__ attr of the module if the argument is not a string
mod_name = module if isinstance(module, str) else module.__name__
log_info("Attempting to inspect functions in module {}".format(mod_name))
try:
imported = import_module(str(mod_name))
except ImportError as e:
log_error(e)
raise ImportError(e)
result = []
functions = inspect.getmembers(imported, inspect.isfunction)
# For each function name, description tuple retrieved...
for func, desc in functions:
# ...Use getattr to take each function's signature
func_txt = inspect.formatargspec(
*inspect.getfullargspec(getattr(imported, func)))
result.append("'def {0}{1}'".format(func, func_txt))
return "\n".join(result)
def handle_exception(msg, e):
maybe_print_stack()
log_error("Caught exception at %s" %
time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()))
html = twill.get_browser().get_html()
if options.dump_file == '-':
print html
else:
dump_file_name = os.path.expanduser(options.dump_file)
try:
if html is not None:
if options.show_error_in_browser:
# If we are showing it in the browser, lets get the
# paths right (even if if means changing the HTML a
# little)
base_href = '\n<!-- added by flunc: --><base href="%s">' % twill.get_browser().get_url()
match = re.search('<head.*?>', html, re.I|re.S)
if match:
html = html[:match.end()] + base_href + html[match.end():]
else:
html = base_href + html
f = open(dump_file_name, 'wb')
f.write(html)
f.close()
log_info("saved error html to: %s" % dump_file_name)
except IOError, e:
log_warn("Unable to save error HTML to: %s" % dump_file_name)
def takeoff(self):
log_info('taking off')
self.landing_spots.add((self.pilot.mon[0], self.pilot.mon[1]))
self.activity.cancel_and_join()
self.yaw_setpoint = self.pilot.mon[4]
self.activity = TakeoffActivity(self.fsm, self)
self.activity.start()
def highlight_remove(self, element):
try:
parent = element._parent
self.stylize_remove(parent, element, " ;")
log_info("Element Removed")
except (NoSuchElementException, TypeError, WebDriverException):
log_error("Could not Remove Element Highlight")
def __init__(self, name):
# set-up logger:
logfile = user_data_dir() + sep + 'PowerMan.log'
log_config(filename = logfile, level = DEBUG,
format = '%(asctime)s - %(levelname)s: %(message)s')
# initialized and load config:
log_info('powerman starting up')
map = generate_map(name)
self.ctrl_socket = map['ctrl']
self.monitor_socket = map['mon']
self.opcd = OPCD_Interface(map['opcd_ctrl'], 'powerman')
bus = SMBus(self.opcd.get('gpio_i2c_bus'))
self.gpio_mosfet = GPIO_Bank(bus, self.opcd.get('gpio_i2c_address'))
self.power_pin = self.opcd.get('gpio_power_pin')
self.cells = self.opcd.get('battery_cells')
self.low_cell_voltage = self.opcd.get('battery_low_cell_voltage')
self.capacity = self.opcd.get('battery_capacity')
self.low_battery_voltage = self.cells * self.low_cell_voltage
self.critical = False
self.gpio_mosfet.write()
self.warning_started = False
# start threads:
self.standing = True
self.adc_thread = start_daemon_thread(self.adc_reader)
self.emitter_thread = start_daemon_thread(self.power_state_emitter)
self.request_thread = start_daemon_thread(self.request_handler)
log_info('powerman running')
def __init__(self, host, port):
self.host = host
self.port = port
self.connected_clients = []
self.server_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# TODO
set_default_curve()
self.alices_private_key = keys.UmbralPrivateKey.from_bytes(
b'\x86(\xb4Av\xa7\xf8\x1a\x16\x08\xc0K3\xa8\x1a;"i\xa8\x13Q\xc4s\xe5\x19\xef\x86@\x011\xf7\xfd'
)
self.alices_public_key = keys.UmbralPublicKey.from_bytes(
b'\x03\xb6\x81\xba\x8e\xcb\x08e\x7f(\x04\xe3\xff\xbe\xc6UA\xa0\xfe5\x1c\xb2\xe0\xf0\xf7;\xd1D}NHo\xf7'
)
self.alices_signing_key = keys.UmbralPrivateKey.from_bytes(
b'Q:5|\x01^=\xd6D\xbd\xed\xbb\x8f\xef\xc9\x04\xed2g}\xf3Yn\xf4\xb2\xfdZ\x03\x16\xceM\x94'
)
self.alices_verifying_key = keys.UmbralPublicKey.from_bytes(
b'\x03Yn\x9dx\xa7\x1c\xd1\xad\xe5\x80\xc9[\xe8^\xae\x81\x95\xaaQ\xadi\x9d\x83\x91\x18}\xc2\x85\xe3\x1em\xd0'
)
self.alices_signer = signing.Signer(
private_key=self.alices_signing_key)
try:
self._db_connect()
except BaseException:
log_info("Unable to connect database")
def __init__(self, f):
"""
Stores a reference to a proxied function.
:param f: Function namespace to be proxied
"""
self.func = f
start_logging()
log_info("New Composable proxied function: {0}".format(f.__name__))
def run(self):
for _ in range(self.sleeptime):
sleep(1)
log_info("{0} currently located at directory {1}".format(
self.name, os.getcwd()))
log_info("{0} has finished execution at directory {1}".format(
self.name, os.getcwd()))
def thread_list(path_list):
"""
Takes list of filepaths to create DirectoryTravelThread as many instances.
:param path_list: List of directories to be accessed
:return: List of DirectoryTravelThread instances
"""
log_info("Creating a new list of DirectoryTravelThread instances")
return [DirectoryTravelThread(path_list[i]) for i in range(len(path_list))]
def LoadResource(self, resourceName):
global soundPlayer
if not soundPlayer:
try:
soundPlayer = pyglet.media.Player()
except Exception, ex:
log_info('Could not construct sound Player:%s' % ex)
return
def _takeoff_activity(self):
log_info("taking off")
self.landing_spots.add((self.mon_data.x, self.mon_data.y))
self.activity.cancel_and_join()
self.powerman.flight_power()
self.yaw_setpoint = self.mon_data.yaw
self.activity = TakeoffActivity(self.fsm, self)
self.activity.start()
def __init__(self, f):
"""
Stores a reference to a proxied function.
:param f: Function namespace to be proxied
"""
self.func = f
start_logging()
log_info("New Composable proxied function: {0}".format(f.__name__))
def search_page_for_job_soups(self, data, page, url, job_soup_list):
"""function that scrapes the glassdoor page for a list of job soups"""
log_info(f'getting glassdoor page {page} : {url}')
job = BeautifulSoup(
self.s.post(url, headers=self.headers, data=data).text,
self.bs4_parser).find_all('li', attrs={'class', 'jl'})
job_soup_list.extend(job)
def __delitem__(self, key):
x, y, z = self._validate_key(key)
log_info("Deleting value {0} in Dict_array ins key {1}".format(
self._data[x, y, z], key))
del self._data[x, y, z]
self.array_len -= 1
def __setitem__(self, key, value):
"""
Sets the appropriate element for a three-element subscript tuple.
"""
x, y, z = self._validate_key(key)
self._data[x][y][z] = value
log_info("Set value: {0} for List_of_lists_array element {1}".format(
value, [x, y, z]))
def start(self):
self.server_sock.bind((self.host, self.port))
log_info("Server started")
self.server_sock.listen(10)
try:
self._input_loop()
finally:
self.server_sock.close()
def takeoff(self):
log_info('taking off')
self.landing_spots.add((self.mon_data.x, self.mon_data.y))
self.activity.cancel_and_join()
self.powerman.flight_power()
self.yaw_setpoint = self.mon_data.yaw
self.activity = TakeoffActivity(self.fsm, self)
self.activity.start()
def LoadResource(self, resourceName):
global soundPlayer
if not soundPlayer:
try:
soundPlayer = pyglet.media.Player()
except Exception, ex:
log_info('Could not construct sound Player:%s' % ex)
return
def run(self):
for _ in range(self.sleeptime):
sleep(1)
log_info("{0} currently located at directory {1}".format(
self.name, os.getcwd()))
log_info("{0} has finished execution at directory {1}".format(
self.name, os.getcwd()))
def check_unsubscriptions(self):
" Checks for any subscriptor that has requested being removed. "
for subscriber in self.subscriber_list:
if subscriber.unsubscribe_condition():
self.publisher.unsubscribe(subscriber.process)
self.subscriber_list.remove(subscriber)
log_info("{0} unsubscribed from {1}".format(
subscriber.name, publisher.__class__.__name__))
def search_page_for_job_soups(self, page, url, job_soup_list):
"""function that scrapes the glassdoor page for a list of job soups"""
log_info(f'getting glassdoor page {page} : {url}')
self.driver.get(url)
job = BeautifulSoup(self.driver.page_source,
self.bs4_parser).find_all('li',
attrs={'class', 'jl'})
job_soup_list.extend(job)
def get_blurb_with_delay(self, job, delay):
"""gets blurb from glassdoor job link and sets delays for requests"""
sleep(delay)
search = job['link']
log_info(f'delay of {delay:.2f}s, getting glassdoor search: {search}')
res = self.s.post(search, headers=self.location_headers).text
return job, res
def get_blurb_with_delay(self, job, delay):
"""gets blurb from monster job link and sets delays for requests"""
sleep(delay)
search = job['link']
log_info(f'delay of {delay:.2f}s, getting monster search: {search}')
res = get(search, headers=self.headers).text
return job, res
def check_unsubscriptions(self):
" Checks for any subscriptor that has requested being removed. "
for subscriber in self.subscriber_list:
if subscriber.unsubscribe_condition():
self.publisher.unsubscribe(subscriber.process)
self.subscriber_list.remove(subscriber)
log_info("{0} unsubscribed from {1}".format(
subscriber.name, publisher.__class__.__name__))
def __delitem__(self, key):
"""
Deletes the appropriate element from _data whtough subscripting.
"""
x, y, z = self._validate_key(key)
log_info("Deleting: {0} from List_of_lists_array ins in {1}".format(self._data[x][y][z], [x, y, z]))
del self._data[x][y][z]
self.array_len -= 1
def get_blurb_with_delay(self, job, delay):
"""gets blurb from indeed job link and sets delays for requests"""
sleep(delay)
search = job['link']
log_info(f'delay of {delay:.2f}s, getting indeed search: {search}')
res = self.s.get(search).text
return job, res
def new_subscription(self, subscriber):
"""
A new Subscriber has requested subscribe its process
to the publisher. Add it to the manager's list.ty
"""
self.publisher.subscribe(subscriber.process)
self.subscriber_list.append(subscriber)
log_info("{0} subscribed to {1}".format(
subscriber.name, publisher.__class__.__name__))
def __init__(self, sleeptime, *args, **kwargs):
"""
Initializes a new DirectoryTravelThead instance.
:param path: Filepath to travel to
"""
threading.Thread.__init__(self, *args, **kwargs)
self.sleeptime = sleeptime
log_info("New DirectoryTravelThead instance at directory {}".format(
os.getcwd()))
def power_state_monitor(self):
log_info("starting power state monitor")
while True:
self.power_state = self.powerman.read()
if self.power_state.critical:
log_warn("critical power state: emergency landing")
# disable system interface and take over control:
self.icarus_takeover = True
if not self.emergency_land:
self.emergency_landing()
def __getattr__(self, attname):
try:
return self.__dict__[attname]
except KeyError:
log_info( 'loader got key err' )
try:
return self._d[attname]
except KeyError:
self.LoadResource( attname )
return self._d[attname]
def __init__(self, key, data=None):
"""
Create a new Tree object with empty L & R subtrees.
:param key: Object to be used as the identifier/key of this node
:param data: Data to be associated with this node
"""
self.key = key
self._data = data
self.left = self.right = None
log_info("New Tree node with key {0} and associated data: {1}".format(
key, data))
def LoadResource(self, resourceName):
resourceName = str(resourceName)
png = pngs['levelmask'+resourceName+'.png']
pickleFname = 'levelmask'+resourceName+'.pkl'
pickleFname = os.path.join( data_dir, pickleFname )
mask = None
if os.path.exists(pickleFname):
fp = file(pickleFname, 'rb')
try:
mask = pickle.load(fp)
except Exception, ex:
log_info('Failed loading pickle')
finally:
def state_time_monitor(self):
log_info("starting state time monitor")
while True:
if self.fsm._state != flight_Standing:
# count the time for "in-the-air-states":
self.flight_time += 1
else:
# use system uptime here:
up_file = open("/proc/uptime", "r")
up_list = up_file.read().split()
self.uptime = int(up_list[0])
up_file.close()
sleep(1)
def load_configuration(name):
filename = current_namespace[-1].conf.get(name)
if filename:
try:
configuration = read_configuration(name)
twill.execute_string(configuration, no_reset=1)
log_info("loaded configuration: %s" % (name + CONFIGURATION))
except IOError,e:
handle_exception("Unable to read configuration for suite %s" \
% (name + SUITE), e)
except Exception,e:
handle_exception("Invalid configuration: '%s'" \
% (name + CONFIGURATION), e)
def __init__(self, x, y, z):
" Create lists of lists of lists in the same way than array_func. "
Array.__init__(self, x, y, z)
self._data = []
for _ in range(x):
d3_rows = []
for _ in range(y):
d3_rows.append([0] * z)
self.array_len += 1
self._data.append(d3_rows)
log_info("New List_of_lists_array instance. Dimensions: {0}".format([x, y, z]))
def run(self):
arg = self.icarus.arg
core = self.icarus.core
mon_data = self.icarus.mon_data
params = self.icarus.core.params
if arg.HasField('move_data'):
z_setpoint = arg.move_data.z
if arg.HasField('rel'):
log_warn('rel field ignored for take-off')
if arg.HasField('glob'):
if not arg.glob:
if z_setpoint < core.params.start_alt + mon_data.z + 3.0:
msg = 'absolute z setpoint %f is below current altitude' % z_setpoint
log_err(msg)
raise ValueError(msg)
log_info('taking off to absolute altitude %f' % z_setpoint)
else:
z_setpoint = mon_data.z + z_setpoint
log_info('taking off to relative altitude %f' % z_setpoint)
else:
z_setpoint = self.STD_HOVERING_ALT
try:
core.spin_up()
except:
core.spin_down()
self.fsm.failed()
log_error('could not spin up motors');
return
if self.canceled:
core.spin_down()
log_error('take-off canceled');
return
# "point of no return":
# reset controllers:
core.set_ctrl_param(POS_YAW, mon_data.yaw)
core.set_ctrl_param(POS_X, mon_data.x)
core.set_ctrl_param(POS_Y, mon_data.y)
core.reset_ctrl()
# set new altitude setpoint and stabilize:
core.set_ctrl_param(POS_Z, z_setpoint)
self.stabilize()
self.fsm.done()
def scan_for_tests(self):
"""
scans for relevant files in the directory given.
"""
log_info("scanning for tests in '%s'" % self.directory)
for filename in os.listdir(self.directory):
base, ext = os.path.splitext(filename)
fullname = os.path.join(self.directory, filename)
if ext == SUITE:
if base.endswith(CLEANUP):
base = base.rsplit(CLEANUP, 1)[0]
self.cleanup[base] = fullname
else:
self.suites[base] = fullname
if ext == CONFIGURATION:
self.conf[base] = fullname
if ext == TEST:
self.tests[base] = fullname
def core_monitor(self):
log_info("starting core state monitor")
rc_timeout = 1.0
return_when_signal_lost = False
self.mon_data = MonData()
last_valid = time()
while True:
self.core.mon_read(self.mon_data)
self.kalman_lat, self.kalman_lon = gps_add_meters(
(self.core.params.start_lat, self.core.params.start_lon), self.setpoints[0:2]
)
if self.mon_data.signal_valid:
last_valid = time()
else:
if time() - rc_timeout < last_valid and return_when_signal_lost:
if not self.icarus_takeover:
self.icarus_takeover = True
log_err("invalid RC signal, disabling mission interface")
