def traverse(self, dir_items, stack):
print '***** stack: ' + str(stack)
i = 0
for (handle, url, listitem, isFolder) in dir_items:
i += 1
params = url.split('?')[1]
if isFolder or (self.traverse_video and url.find('plugin') == 0):
self.xbmcplugin.reset()
swe = swefilmer.Swefilmer(self.xbmc, self.xbmcplugin,
self.xbmcgui, self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, swe, 'plugin', '1',
'?' + params)
if listitem.caption == nav.localize(30301):
continue
stack.append(i)
print '***** selecting %d: %s' % (i, listitem.caption)
nav.dispatch()
new_list = deepcopy(self.xbmcplugin.dir_items)
self.traverse(new_list, stack)
else:
pass
if len(stack) > 0:
stack.pop()
return
def __init__(self):
# Debugging purposes
self.print_velocities = rospy.get_param('print_velocities')
# Where and when should you use this?
self.stop_robot = False
# Create the needed objects
self.sonar_aggregation = SonarDataAggregator()
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
self.linear_velocity = 0
self.angular_velocity = 0
# Check if the robot moves with target or just wanders
self.move_with_target = rospy.get_param("calculate_target")
# The timer produces events for sending the speeds every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
self.velocity_publisher = rospy.Publisher(\
rospy.get_param('speeds_pub_topic'), Twist,\
queue_size = 10)
# Read the velocities architecture
self.velocity_arch = rospy.get_param("velocities_architecture")
print "The selected velocities architecture is " + self.velocity_arch
def __init__(self,
point_ids,
locations,
neighbors,
landmark_ids,
landmark_positions,
landmark_angles,
jerky=False,
walking_speed=1):
# create map position
self.map_pos = Point()
self.map_angle = 0
# create a path variable so that we can navigate via waypoints
self._path = None
# initialize what we're inheriting from
Localization.__init__(self, point_ids, locations, neighbors,
landmark_ids, landmark_positions,
landmark_angles)
Navigation.__init__(self, jerky=jerky, walking_speed=walking_speed)
self._logger = Logger("NavLoc")
# give ourselves a second to see if there's a nearby AR tag
timer = time()
while time() - timer < 0.75:
pass
class Torpedo(MovableSeaObject):
def __init__(self, sea):
MovableSeaObject.__init__(self, sea, max_speed=42, max_turn_rate_hour=math.radians(720)*60)
self.navigation = Navigation(self)
self.deep = 100
self.armed = False
self.fuel = 100 * 40 # seconds at 40 knots
def launch(self, pos, speed = 40):
self.navigation.set_destination(pos)
self.speed = speed
def get_deep(self):
return self.deep
def get_fuel_consumption(self, time_elapsed):
# 1 fuel unit per second per knot
return 1.0 * time_elapsed * self.navigation.get_actual_speed()
def turn(self, time_elapsed):
MovableSeaObject.turn(self, time_elapsed)
self.fuel -= self.get_fuel_consumption(time_elapsed)
if self.fuel <= 0:
self.navigation.MAX_SPEED = 0
self.MAX_SPEED = 0
def explode(self):
self.sea.report_explosion(self.get_pos())
def setUp(self):
self.dialog = Xbmcgui.Dialog()
self.dialog.select = MagicMock(name='select')
xbmcgui = Xbmcgui()
xbmcgui.Dialog = MagicMock(name='Dialog')
xbmcgui.Dialog.return_value = self.dialog
self.navigation = Navigation(None, None, xbmcgui, [None, 1])
def traverse(self, dir_items, stack):
print '***** stack: ' + str(stack)
i = 0
for (handle, url, listitem, isFolder) in dir_items:
i += 1
params = url.split('?')[1]
if isFolder or (self.traverse_video and url.find('plugin') == 0):
self.xbmcplugin.reset()
swe = swefilmer.Swefilmer(self.xbmc, self.xbmcplugin,
self.xbmcgui, self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, swe, 'plugin', '1',
'?' + params)
if listitem.caption == nav.localize(30301):
continue
stack.append(i)
print '***** selecting %d: %s' % (i, listitem.caption)
nav.dispatch()
new_list = deepcopy(self.xbmcplugin.dir_items)
self.traverse(new_list, stack)
else:
pass
if len(stack) > 0:
stack.pop()
return
def __init__(self):
# Debugging purposes
self.print_velocities = rospy.get_param('print_velocities')
# Where and when should you use this?
self.stop_robot = False
# Create the needed objects
self.sonar_aggregation = SonarDataAggregator()
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
self.linear_velocity = 0
self.angular_velocity = 0
self.previous_turn_dir = None
# Check if the robot moves with target or just wanders
self.move_with_target = rospy.get_param("calculate_target")
# The timer produces events for sending the speeds every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
self.velocity_publisher = rospy.Publisher(
rospy.get_param('speeds_pub_topic'), Twist, queue_size=10)
# Obstacle Avoidance state
self.obstacle_avoidance__active = False
self.obstacle_avoidance__remaining_steps = 20
class Torpedo(MovableSeaObject):
def __init__(self, sea):
MovableSeaObject.__init__(self,
sea,
max_speed=42,
max_turn_rate_hour=math.radians(720) * 60)
self.navigation = Navigation(self)
self.deep = 100
self.armed = False
self.fuel = 100 * 40 # seconds at 40 knots
def launch(self, pos, speed=40):
self.navigation.set_destination(pos)
self.speed = speed
def get_deep(self):
return self.deep
def get_fuel_consumption(self, time_elapsed):
# 1 fuel unit per second per knot
return 1.0 * time_elapsed * self.navigation.get_actual_speed()
def turn(self, time_elapsed):
MovableSeaObject.turn(self, time_elapsed)
self.fuel -= self.get_fuel_consumption(time_elapsed)
if self.fuel <= 0:
self.navigation.MAX_SPEED = 0
self.MAX_SPEED = 0
def explode(self):
self.sea.report_explosion(self.get_pos())
def __init__(self):
self.print_velocities = rospy.get_param('print_velocities') # For Printing Velocity Calculated
self.debug = rospy.get_param('debug') # For Debugging
self.move_with_target = rospy.get_param("calculate_target") # Robot moves with target or just wanders
self.initial_turn = rospy.get_param('initial_turn') # Perform a 360 turn when starting
# Where and when should you use this?
self.stop_robot = False
self.sonar_on = False
# Create the needed Objects
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
if self.sonar_on:
self.sonar_aggregation = SonarDataAggregator() # Enable this if Robot has Sonar!
# Speed Parameters for Turtlebot
self.linear_velocity = 0
self.angular_velocity = 0
self.low_turn_limit = 4.2
self.max_linear_velocity = rospy.get_param('max_linear_speed')
self.max_angular_velocity = rospy.get_param('max_angular_speed')
# The Timer Produces Events for Sending Speeds Every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
# The Turtlebot Speed Publisher Topic
self.velocity_publisher = rospy.Publisher(rospy.get_param('turtlebot_speeds_topic'),
Twist, queue_size = 10)
def __init__(self, teamname, pitstop_num, comms):
self.teamname = teamname
self.pitstop_num = pitstop_num
self.start_num = -1
self.teammates = []
self.comms = comms
self.comms.subscriber.on_message = self.message_handler
self.nav = Navigation()
def diritems(self, params=None):
self.xbmcplugin.reset()
swe = swefilmer.Swefilmer(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.addon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.addon, swe, 'plugin', '1', params)
nav.dispatch()
return self.xbmcplugin.dir_items
def diritems(self, params=None):
self.xbmcplugin.reset()
swe = swefilmer.Swefilmer(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, swe, 'plugin', '1', params)
nav.dispatch()
return self.xbmcplugin.dir_items
def Navigation(self, request, context):
nav = Navigation("Python Plugin", "/octant-py-plugin", "cloud")
nav.add(Navigation("View One", "/octant-py-plugin/view-one", "folder"))
nav.add(Navigation("View Two", "/octant-py-plugin/view-two", "folder"))
nav.add(Navigation("View Three", "/octant-py-plugin/view-three", "folder"))
return nav.toResponse()
class GPSNavigation:
def __init__(self):
self.imu = Imu()
self.navigation = Navigation()
def update_nav(self, lat, lon):
destiny = self.imu.get_degrees_and_distance_to_gps_coords(lat, lon)
self.navigation.navigate(destiny, lat, lon)
def _ekfCallback(self, data):
""" Process robot_pose_ekf data. """
# get the ekf data
Navigation._ekfCallback(self, data)
# compute map data
self.map_pos = self.transformPoint(self.p, "odom", "map")
self.map_angle = self.transformAngle(self.angle, "odom", "map")
def test_main_menu(self):
argv = ['plugin.video.dreamfilm', '1']
xbmc = Xbmc()
xbmcplugin = Xbmcplugin()
xbmcgui = Xbmcgui()
df = dreamfilm.Dreamfilm()
navigation = Navigation(df, xbmc, xbmcplugin, xbmcgui, argv)
navigation.dispatch()
self.assertEqual(len(xbmcplugin.dir_items), 8)
def main():
Helper.init()
while True:
Navigation.menu('questing')
Questing.start()
Questing.updateInfo()
Questing.status()
if args.force_zone:
if Questing.is_major:
print('major quest. will not skip')
else:
while Questing.quest_zone != args.force_zone:
Questing.skip()
Questing.start()
Questing.updateInfo()
Questing.status()
# Inventory.boostCube() # unclutter inventory
# invManagement(boost=2, merge=0)
start = time.time()
Adventure.adventureZone(Questing.quest_zone)
Navigation.menu('questing')
while not Questing.is_completed:
# Navigation.menu('inventory')
# farm that zone
Navigation.menu('adventure')
Adventure.turnIdleOff()
kc = 0
while kc < args.kills:
while not Adventure.enemySpawn():
sleep(0.03)
# kill the enemy
Adventure.snipe(fast=True)
kc += 1
if args.verbose:
print(f'killed {args.kills} monsters')
print(f'time: ', end='')
printTime()
Navigation.menu('inventory')
# Inventory.boostCube()
# invManagement(boost=2, merge=0)
Questing.turnInItems(Questing.quest_zone)
# ygg()
Questing.updateInfo()
if args.verbose:
Questing.status()
Navigation.menu('questing')
if Questing.is_completed:
Questing.complete()
end = time.time()
print(f'completed quest at ')
printTime()
print(f'duration: {round((end-start)/60, 2)} minutes')
break
def __init__(self, sea):
MovableSeaObject.__init__(self,
sea,
max_speed=42,
max_turn_rate_hour=math.radians(720) * 60)
self.navigation = Navigation(self)
self.deep = 100
self.armed = False
self.fuel = 100 * 40 # seconds at 40 knots
def ready(self):
logger = logging.getLogger(__name__)
logger.debug("-- starting backend ----")
from navigation import Navigation
self.nav = Navigation()
self.nav.start()
self.nav.setup_controls_and_dialogs()
logger.debug("-- backend is started ----")
def __init__(self, parent=None):
super(GLWidget, self).__init__(parent)
self.parent = parent
self.setMouseTracking(True)
self.nav = Navigation()
self.navInterface = NavigationInterface(self.nav)
self.dataDisplay = DataDisplay()
# self.navigateSignal.connect(self.navigateEvent)
SIGNALS.navigateSignal.connect(self.navigateEvent)
def main():
Helper.init()
totalTime = 0
duration = args.duration
if args.nosetup:
itopod_setup = True
else:
itopod_setup = False
while True:
if not args.notitans:
if args.verbose:
print('getting available titans')
titans = Adventure.getTitans()
if titans:
# after this needs to reset loadout and diggers and e/m
Adventure.turnIdleOff()
print('calling killTitans with args.snipe {args.snipe}')
Adventure.killTitans(titans,
verbose=args.verbose,
snipe=args.snipe)
itopod_setup = False
if not itopod_setup:
Setup.setup(args.setup)
itopod_setup = True
Navigation.menu('adventure')
if not args.nobeast:
if not Statistics.checkPixelColor(*coords.BEAST_MODE_ON,
coords.BEAST_MODE_COLOR):
Helper.click(*coords.BEAST_MODE)
print('*' * 30)
Itopod.itopodExperimental(duration=duration,
optimal_floor=args.optimal)
totalTime += duration
print(f'total exp: {Itopod.EXP_gained}')
print(f'total ap: {Itopod.AP_gained}')
print(f'kills: {Itopod.kills}')
print(f'total time: {totalTime} minutes')
print('*' * 30)
Navigation.menu('inventory')
if Inventory.getEmptySlots() < 20:
invManagement(boost=0, merge=0)
if not args.noygg:
Yggdrasil.harvestAll()
def run10():
""" Perform a 10 minute run. """
start = time.time()
Inventory.loadout(2) # loadout 2 is bars-heavy
BasicTraining.basicTraining()
FightBosses.fightBosses()
Adventure.adventureZone() # go to latest zone
Misc.inputResource() # all energy
print(f'Time Machine loop for 5 minutes')
while time.time() - start < 300:
TimeMachine.addEnergy()
TimeMachine.addMagic()
print(f'sleeping for 30 seconds')
sleep(30)
Inventory.loadout(1)
BasicTraining.basicTraining()
Misc.reclaimAll() # reclaim energy and magic from TM
print(f'Main loop until 10 minutes')
mainStart = time.time()
pushAdventure = False
while time.time() - start < 570:
# push to new adventure zone
if time.time() - mainStart > 120 and not pushAdventure:
Adventure.adventureZone()
pushAdventure = True
print(f'sleeping 30 seconds')
sleep(30)
# fight bosses
FightBosses.nuke()
for _ in range(5):
FightBosses.fightBoss()
# augments
Misc.inputResource(amount='quarter', idle=True)
for _ in range(3):
Augmentation.augmentation(aug=4)
Augmentation.augmentation(aug=4, upgrade=True)
# blood magic
BloodMagic.addMagic(cap=True)
BloodMagic.addMagic(magic=2, cap=True)
BloodMagic.addMagic(magic=3, cap=True)
MoneyPit.moneyPit()
Navigation.menu('rebirth')
while time.time() - start < 600:
sleep(1)
Rebirth.rebirth()
def test_traverse_all(self):
self.xbmcplugin.reset()
swe = swefilmer.Swefilmer(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, swe, 'plugin', '1', '')
self.assertEquals(nav.plugin_url, 'plugin')
self.assertEquals(nav.handle, 1)
self.assertEquals(nav.params, {})
# call with no parameters
nav.dispatch()
self.traverse_video = True
self.traverse(self.xbmcplugin.dir_items, [])
def __init__(self, sea):
MovableSeaObject.__init__(self, sea, 15)
self.nav = Navigation(self)
self.sea = sea
self.nav.destination = None
self.bands_swim = Bands().add_random([10, 20], [60, 80])
self.bands_swim_sing = self.bands_swim.add_random([2000, 5000],
[120, 150],
times=3)
self.deep = random.randint(10, 20)
print("Swim: " + str(self.bands_swim))
print("Sing: " + str(self.bands_swim_sing))
self.singing = False
self.counter = (random.randint(5, 10) + random.gauss(6, 5)) / 60
def _explr(stdscr, obj):
assert curses.has_colors()
init_color_pairs()
stdscr.clear()
curses.curs_set(0)
selection = Navigation(obj)
print_obj(stdscr, obj, selection.expanded, selection.position)
while True:
c = stdscr.getch()
if c == ord('q'):
break
elif c == curses.KEY_UP or c == ord('k'):
selection.move_up()
elif c == curses.KEY_DOWN or c == ord('j'):
selection.move_down()
elif c == curses.KEY_RIGHT or c == ord('l'):
selection.expand()
stdscr.clear()
print_obj(stdscr, obj, selection.expanded, selection.position)
stdscr.refresh()
stdscr.clear()
stdscr.refresh()
def __init__(self):
rospy.init_node("finalRace")
self.lidarData = None
self.cmd = AckermannDriveStamped()
self.AR = 0
self.pleaseGo = False
self.direction = None
self.navigation = Navigation()
self.drive_pub = rospy.Publisher(DRIVE_TOPIC,
AckermannDriveStamped,
queue_size=1)
self.scan_sub = rospy.Subscriber(SCAN_TOPIC, LaserScan,
self.driveCallback)
self.ar_sub = rospy.Subscriber(AR_TOPIC, AlvarMarkers, self.arCallback)
self.joy_sub = rospy.Subscriber(JOY_TOPIC, Joy, self.joy_callback)
self.signList = []
self.camera_data = Zed_converter(False, save_image=False)
self.lastTag = 0
self.tagsAndStates = (
"self.navigation.potential_fields(2)", #0
"self.highway()", #madefaster
"self.navigation.potential_fields(1.5)",
"self.navigation.wall_follower(1, 0.6, side = 1)",
"self.beforeGraves()",
"self.graves()", #5 #should be proportional? switch back
"self.navigation.potential_fields(2)",
"self.highway()",
"self.navigation.wall_follower(1.5, 1, side = -1)",
"self.navigation.potential_fields(1)",
"self.detectSign()", #10
"self.navigation.wall_follower(1.5, 1, side = -1)",
"self.navigation.wall_follower(1.5, 1, side = -1)",
"self.navigation.potential_fields(1.7)",
"self.final()",
"self.final()", #15
"self.final()",
"self.final()")
self.auto = False
self.sign = 0
self.time = None
self.signState = 0
self.line = None
def test_traverse_all(self):
self.xbmcplugin.reset()
swe = swefilmer.Swefilmer(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, swe, 'plugin', '1', '')
self.assertEquals(nav.plugin_url, 'plugin')
self.assertEquals(nav.handle, 1)
self.assertEquals(nav.params, {})
# call with no parameters
nav.dispatch()
self.traverse_video = False
self.traverse(self.xbmcplugin.dir_items, [])
class AppSmApiConfig(AppConfig):
name = 'app_sm_api'
def ready(self):
logger = logging.getLogger(__name__)
logger.debug("-- starting backend ----")
from navigation import Navigation
self.nav = Navigation()
self.nav.start()
self.nav.setup_controls_and_dialogs()
logger.debug("-- backend is started ----")
def test_traverse_all(self):
argv = ['plugin', '1', '']
self.streamtv = streamtv.Streamtv(self.xbmc, self.xbmcplugin,
self.xbmcgui, self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, self.streamtv, argv)
self.assertEquals(nav.plugin_url, 'plugin')
self.assertEquals(nav.handle, 1)
self.assertEquals(nav.params, {})
# call with no parameters
nav.dispatch()
self.traverse_video = False
self.traverse(self.xbmcplugin.dir_items, [])
def __init__(self):
rospy.init_node("test_mission",log_level=rospy.INFO) #initialize the pixhawk node
print('node initialized')
self.rate=rospy.Rate(10)
self.subs=Subscribers() #initialize streaming of subscribers
self.comp=Computations()
self.commands=Commands()
self.navigation=Navigation()
self.arrow=Arrow() #object for arrow detection class
self.road_follow=RoadFollow() #object for road detection class
#initialize the publishers
self.setpoint_publisher = rospy.Publisher("/mavros/setpoint_position/local", PoseStamped, queue_size=10)
self.setvel_publisher = rospy.Publisher("/mavros/setpoint_velocity/cmd_vel", TwistStamped, queue_size = 10)
self.setaccel_publisher = rospy.Publisher("/mavros/setpoint_accel/accel",Vector3Stamped,queue_size=10)
print('Publishers initialized')
def test_list_latest_movies(self):
url = 'plugin.video.dreamfilm'
params = Navigation.encode_parameters({'action': 'latestmovies'})
argv = [url, 1, params]
xbmc = Xbmc()
xbmcplugin = Xbmcplugin()
xbmcgui = Xbmcgui()
df = dreamfilm.Dreamfilm()
with open('fixtures/startpage.html') as f:
df._latest_movie_html = mock.MagicMock(return_value=f.read())
navigation = Navigation(df, xbmc, xbmcplugin, xbmcgui, argv)
navigation.dispatch()
self.assertEqual(len(xbmcplugin.dir_items), 12)
def setUp(self):
self.dialog = Xbmcgui.Dialog()
self.dialog.select = MagicMock(name='select')
xbmcgui = Xbmcgui()
xbmcgui.Dialog = MagicMock(name='Dialog')
xbmcgui.Dialog.return_value = self.dialog
self.navigation = Navigation(None, None, xbmcgui, [None, 1])
def test_search_dispatch(self):
# Mock
xbmc = Xbmc()
xbmcplugin = Xbmcplugin()
xbmcgui = Xbmcgui()
xbmc.Keyboard.getText = mock.MagicMock(return_value='bad')
df = dreamfilm.Dreamfilm()
with open('fixtures/search.html') as f:
df._search = mock.MagicMock(return_value=f.read())
params = Navigation.encode_parameters({'action': 'search'})
argv = ['plugin.video.dreamfilm', '1', params]
navigation = Navigation(df, xbmc, xbmcplugin, xbmcgui, argv)
navigation.dispatch()
self.assertEqual(len(xbmcplugin.dir_items), 3)
class Ship(MovableSeaObject):
def __init__(self, sea):
MovableSeaObject.__init__(self, sea)
self.navigation = Navigation(self)
def get_deep(self):
return 0
def get_pos(self):
return self.pos
def turn(self, time_elapsed):
MovableSeaObject.turn(self, time_elapsed)
def add_waypoint(self, dest):
self.navigation.add_waypoint(dest)
class Ship(MovableSeaObject):
def __init__(self, sea):
MovableSeaObject.__init__(self, sea)
self.navigation = Navigation(self)
def get_deep(self):
return 0
def get_pos(self):
return self.pos
def turn(self, time_elapsed):
MovableSeaObject.turn(self, time_elapsed)
def add_waypoint(self, dest):
self.navigation.add_waypoint(dest)
def _handleObstacle(self):
""" Handle obstacle and reset path if necessary. """
if Navigation._handleObstacle(self):
self._path = None
return True
return False
def __init__(self):
""" To initialize the TaskManger. """
self.navi = Navigation()
#TODO will be used with h_nav, r_nav and m_nav
self.coordinates = []
self.dice_pair = []
self.tasks = []
def render_preference_panel(self, req, panel):
nav = Navigation(self.env)
if panel == 'navigation':
nav.save(req)
nav_choices = nav.get_display_choices()
selected = {'display_nav': nav.get_display(req),
'wiki.href': nav.get_wiki_href(req),
'tickets.href': nav.get_ticket_href(req)}
system_defaults = {'display_nav': nav.get_system_default_display(),
'wiki.href': nav.get_system_default_wiki_href(),
'tickets.href': nav.get_system_default_tickets_href()}
data = {'selected': selected,
'nav_choices': nav_choices,
'choices_doc': CHOICES_DOC,
'system_defaults': system_defaults}
return 'prefs_display.html', data
def __init__(self):
rospy.init_node("finalRace")
self.lidarData = None
self.cmd = AckermannDriveStamped()
self.drive_pub = rospy.Publisher(DRIVE_TOPIC, AckermannDriveStamped, queue_size=1)
self.scan_sub = rospy.Subscriber(SCAN_TOPIC, LaserScan, self.driveCallback)
self.navigation = Navigation()
#self.sound_pub = rospy.Publisher("state", String, queue_size=1)
#self.camera_data = Zed_converter(False, save_image=False)
#self.currentPosition = (x,y)
self.pleaseGo = True
self.camera_data = Zed_converter(False, save_image=False)
class finalRaceDrive(object):
DESIRED_DISTANCE = 1
def __init__(self):
rospy.init_node("finalRace")
self.lidarData = None
self.cmd = AckermannDriveStamped()
self.drive_pub = rospy.Publisher(DRIVE_TOPIC, AckermannDriveStamped, queue_size=1)
self.scan_sub = rospy.Subscriber(SCAN_TOPIC, LaserScan, self.driveCallback)
self.navigation = Navigation()
#self.sound_pub = rospy.Publisher("state", String, queue_size=1)
#self.camera_data = Zed_converter(False, save_image=False)
#self.currentPosition = (x,y)
self.pleaseGo = True
self.camera_data = Zed_converter(False, save_image=False)
def scan(self,data):
self.data = data
self.navigation.lidar = data.ranges
def drive(self):
spd = self.navigation.spd
angle = self.navigation.angle
self.cmd.drive.speed = spd
self.cmd.drive.steering_angle = angle
print("spd: {} angle: {}".format(self.cmd.drive.speed, self.cmd.drive.steering_angle))
self.drive_pub.publish(self.cmd)
def driveCallback(self, data):
self.scan(data)
# self.navigation.potential_fields()
# self.navigation.find_goals()
self.navigation.wall_follower(1.5, 1, -1)
self.drive()
def __init__(self, x, y, idx, team, nav_type, the_map, config):
'''
x,y - the player/agent sprite starting location on the map
idx - the player index (unique per team)
team - blue or red
nav_type - navigation algorithm: ['direct', 'bfs', 'dfs', 'astar']
the_map - a reference to the global map with speeds, flag locations, player locations
config - configurable settings
'''
self.config = config
self.nav_type = nav_type
self.navigation = Navigation(the_map)
# list of actions for current goal
self.goal_actions = []
# needed for preventing sprite from overlapping a 0 speed location
self.half_size = config.terrain_tile_size // 2
# w,a,d,s are the keyboard directions for up, left, right, down
self.actions = ['w', 'a', 'd', 's']
# for debugging
self.speed_terr = {v: k for k, v in self.config.terrain_speeds.items()}
self.player_idx = idx
self.team = team
self.the_map = the_map
self.sprite = None
# current status
self.speed = self.config.player_max_speed
self.has_flag = False
self.is_incapacitated = False
self.incapacitated_countdown = 0
self.in_enemy_territory = False
self.in_flag_area = False
self.x = x
self.y = y
self.tile_col, self.tile_row = self.the_map.xy_to_cr(x, y)
self.blocked_countdown = 0
def __init__(self, parent=None):
super(GLWidget, self).__init__(parent)
self.parent = parent
self.setMouseTracking(True)
self.nav = Navigation()
self.navInterface = NavigationInterface(self.nav)
self.dataDisplay = DataDisplay()
# self.navigateSignal.connect(self.navigateEvent)
SIGNALS.navigateSignal.connect(self.navigateEvent)
def __init__(self, sea):
MovableSeaObject.__init__(self, sea, 15)
self.nav = Navigation(self)
self.sea = sea
self.nav.destination = None
self.bands_swim = Bands().add_random([10, 20], [60, 80])
self.bands_swim_sing = self.bands_swim.add_random([2000, 5000], [120, 150], times=3)
self.deep = random.randint(10, 20)
print ("Swim: " + str(self.bands_swim))
print ("Sing: " + str(self.bands_swim_sing))
self.singing = False
self.counter = (random.randint(5, 10) + random.gauss(6, 5)) / 60
def __init__(self, webserver_queue=None, looprate=0.2): self.arduino = Arduino() self.navigation = Navigation(self.arduino) self.state = State.COLLECT_spin_and_search_cone # Define constants self.looprate = looprate # Variables updated from webserver self.webserver_queue = webserver_queue self.mode = "auto" self.manual_direction = "stop" # Variables used by states self.start_time = None self.ready_to_deliver = False
def __removeGapNavigations(self):
# We do a second pass over the navigations so that we remove any
# parts of the navigation that have been previously identified as being
# a navigation to a gap (a space between two method definitions).
finalNavigations = []
fromNav = None
toNav = None
foundGap = False
for navigation in self._navigations:
if not foundGap:
if navigation.fromFileNav is None:
if navigation.toFileNav.isGap:
fromNav = navigation.fromFileNav
foundGap = True
else:
finalNavigations.append(navigation)
elif not navigation.fromFileNav.isGap and navigation.toFileNav.isGap:
fromNav = navigation.fromFileNav
foundGap = True
elif navigation.fromFileNav.isGap and navigation.toFileNav.isGap:
raise RuntimeError('removeGapNavigations: cannot have a navigation with a fromFileNav that is a gap without a prior navigation with a gap in the toFileNav')
else:
if not navigation.isToSameMethod():
finalNavigations.append(navigation)
elif foundGap:
if navigation.fromFileNav.isGap and not navigation.toFileNav.isGap:
toNav = navigation.toFileNav
foundGap = False
newNavigation = Navigation(fromNav, toNav)
if not newNavigation.isToSameMethod():
finalNavigations.append(Navigation(fromNav, toNav))
elif navigation.fromFileNav.isGap and navigation.toFileNav.isGap:
continue
else:
raise RuntimeError('removeGapNavigations: cannot have a fromFileNav without a gap if the prior navigation had a gap in the toFileNav')
self._navigations = finalNavigations
def traverse(self, dir_items, stack):
print '***** stack: ' + str(stack)
self.streamtv = streamtv.Streamtv(self.xbmc, self.xbmcplugin,
self.xbmcgui, self.xbmcaddon)
i = 0
for (handle, url, listitem, isFolder) in dir_items:
i += 1
params = url.split('?')[1]
if isFolder or (self.traverse_video and url.find('plugin') == 0):
stack.append(i)
print '***** selecting %d: %s' % (i, listitem.caption)
argv = ['plugin', '1', '?' + params]
self.xbmcplugin.reset()
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, self.streamtv, argv)
nav.dispatch()
new_list = deepcopy(self.xbmcplugin.dir_items)
self.traverse(new_list, stack)
else:
pass
if len(stack) > 0:
stack.pop()
return
class Interface(object):
def __init__(self):
self._lcd_plate = LcdPlate()
self._navigation = Navigation()
self.initScreen()
def initScreen(self):
self._lcd_plate.clear()
self._lcd_plate.setBackLightCyan()
# Set the screen to the top of the menu
self._lcd_plate.message(self._navigation.currentItem())
def pressedDown(self):
self._navigation.moveDown()
def pressedLeft(self):
self._navigation.moveLeft()
def pressedRight(self):
self._navigation.moveRight()
def pressedSelect(self):
# TODO: Actually run the process that the navigation items expects
self._lcd_plate.clear()
self._lcd_plate.message("In Select")
def pressedUp(self):
self._navigation.moveUp()
def run(self):
while True:
for button in self._lcd_plate.buttons():
# Check if a button is pressed & there has been pause in pressing the buttons
if self._lcd_plate.pressedSinceLastCheck(button):
# Call function of the button pressed
getattr(self, 'pressed' + self._lcd_plate.titleOfButton(button))()
self.initScreen()
class QualitySelectTests(unittest.TestCase):
def setUp(self):
self.dialog = Xbmcgui.Dialog()
self.dialog.select = MagicMock(name='select')
xbmcgui = Xbmcgui()
xbmcgui.Dialog = MagicMock(name='Dialog')
xbmcgui.Dialog.return_value = self.dialog
self.navigation = Navigation(None, None, xbmcgui, [None, 1])
def tearDown(self):
actual = self.navigation.quality_select_dialog(self.input)
self.assertEqual(actual, self.expected)
if self.dialog_arg:
self.dialog.select.assert_called_once_with("Quality Select", self.dialog_arg)
else:
self.assertFalse(self.dialog.select.called, "Dialog called!")
def test_only_one_input(self):
self.input = [("240p", "url_240")]
self.expected = "url_240"
self.dialog_arg = None
def test_select_first_url(self):
self.input = [("360p", "url_360"), ('720p', 'url_720')]
self.dialog_arg = ["360p", "720p"]
self.dialog.select.return_value = 0
self.expected = "url_360"
def test_select_second_url(self):
self.input = [("360p", "url_360"), ('720p', 'url_720')]
self.dialog_arg = ["360p", "720p"]
self.dialog.select.return_value = 1
self.expected = "url_720"
def test_unsorted_input(self):
self.input = [("1080p", "url_1080"), ('720p', 'url_720')]
self.dialog_arg = ["720p", "1080p"]
self.dialog.select.return_value = 1
self.expected = "url_1080"
def test_select_leading_whitespace_url(self):
self.input = [("360p", "url_360"), ('720p', ' url_720')]
self.dialog_arg = ["360p", "720p"]
self.dialog.select.return_value = 1
self.expected = "url_720"
def test_navigation(self):
argv = ['plugin', '1', '']
self.streamtv = streamtv.Streamtv(self.xbmc, self.xbmcplugin,
self.xbmcgui, self.xbmcaddon)
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, self.streamtv, argv)
self.assertEquals(nav.plugin_url, 'plugin')
self.assertEquals(nav.handle, 1)
self.assertEquals(nav.params, {})
# call with no parameters
nav.dispatch()
self.assertTrue(len(self.xbmcplugin.dir_items) > 0)
self.assertEquals(self.xbmcplugin.dir_items[0][2].caption, 'Alla')
# select first item in list
params = self.xbmcplugin.dir_items[0][1].split('?')[1]
argv = ['plugin', '1', '?' + params]
self.xbmcplugin.reset()
nav = Navigation(self.xbmc, self.xbmcplugin, self.xbmcgui,
self.xbmcaddon, self.streamtv, argv)
nav.dispatch()
self.assertTrue(len(self.xbmcplugin.dir_items) > 0)
class Whale(MovableSeaObject):
# f = 12 Hz - @2-5 kHz for “whale songs”, SL up to 188 dB
# Swimming: 10 - 20 Hz, 60 to 80 DB
# Sing: 2Khz - 5 Khz, 120 to 190 DB (AI should handle this later)
def __init__(self, sea):
MovableSeaObject.__init__(self, sea, 15)
self.nav = Navigation(self)
self.sea = sea
self.nav.destination = None
self.bands_swim = Bands().add_random([10, 20], [60, 80])
self.bands_swim_sing = self.bands_swim.add_random([2000, 5000], [120, 150], times=3)
self.deep = random.randint(10, 20)
print ("Swim: " + str(self.bands_swim))
print ("Sing: " + str(self.bands_swim_sing))
self.singing = False
self.counter = (random.randint(5, 10) + random.gauss(6, 5)) / 60
# The blue whale is a marine mammal belonging to the suborder of
# baleen whales (called Mysticeti). At up to 32.9 metres (108 ft)
# in length and 172 metric tons (190 short tons) or more in weight,
# it is the largest animal ever to have existed.
#
# Blue whales can reach speeds of 50 kilometres per hour (31 mph)
# over short bursts, usually when interacting with other whales, but 20
# kilometres per hour (12 mph) is a more typical traveling speed. When feeding,
# they slow down to 5 kilometres per hour (3.1 mph).
def turn(self, time_elapsed):
MovableSeaObject.turn(self, time_elapsed)
self.nav.turn(time_elapsed)
self.counter -= time_elapsed
if self.counter <= 0:
if self.singing:
self.singing = False
self.counter = (random.randint(10, 5) + random.gauss(5, 5)) / 60
else:
self.singing = True
self.counter = (random.gauss(10, 3) + 5) / 60
if self.nav.destination is None:
self.nav.destination = Point(random.randint(0, 10), random.randint(0, 10))
self.nav.speed = (random.random() * 10) + 3
def get_deep(self):
return self.deep
def get_pos(self):
return self.pos
def get_bands(self):
if self.singing:
return self.bands_swim_sing
else:
return self.bands_swim
def __str__(self):
return "Whale {is_singing}, {pos}, swim:{swim}, sing:{sing}, counter:{counter}, dest:{dest}".format(
is_singing = self.singing,
pos=MovableSeaObject.__str__(self),
swim=str(self.bands_swim),
sing=str(self.bands_swim_sing),
counter=self.counter,
dest=self.nav.destination)
class Driver():
# Wait .05 sec between loops
# This waits after the loop is run. This will not subtract the time it took to run loop() from the total wait time.
def __init__(self, webserver_queue=None, looprate=0.2):
self.arduino = Arduino()
self.navigation = Navigation(self.arduino)
self.state = State.COLLECT_spin_and_search_cone
# Define constants
self.looprate = looprate
# Variables updated from webserver
self.webserver_queue = webserver_queue
self.mode = "auto"
self.manual_direction = "stop"
# Variables used by states
self.start_time = None
self.ready_to_deliver = False
def start(self):
self.stop = False
s = sched.scheduler(time.time, self.arduino.board.sleep)
s.enter(0, 1, self.loop, (s,))
s.run()
def stop_on_next_loop(self):
self.stop = True
def loop(self, sc):
# Read webserver queue for new messages
while((self.webserver_queue != None) and (len(self.webserver_queue) > 0)):
self.process_message(self.webserver_queue.popleft())
# If stopped, just loop
if (self.stop):
sc.enter(self.looprate, 1, self.loop, (sc,))
return
if (self.mode == "auto"):
# ---- Collect Spin and Search Cone ----
if (self.state == State.COLLECT_spin_and_search_cone):
if (self.start_time == None):
self.start_time = time.time()
if (time.time() - self.start_time >= constants.SPIN_TIME):
self.start_time = None
self.navigation.stop()
self.change_state(State.COLLECT_wander_and_search_cone)
# TODO: Use signatures with pixy
else:
status = self.navigation.spin_and_search_cone()
if (status == "CONE_FOUND"):
self.start_time = None
self.change_state(State.COLLECT_approach_cone)
# ---- Collect Wander and Search ----
elif (self.state == State.COLLECT_wander_and_search_cone):
if (self.start_time == None):
self.start_time = time.time()
if (time.time() - self.start_time >= constants.WANDER_TIME):
self.start_time = None
self.navigation.stop()
self.change_state(State.COLLECT_spin_and_search_cone)
# TODO: Use signatures with pixy
else:
status = self.navigation.wander_and_search_cone()
if (status == "CONE_FOUND"):
self.start_time = None
self.change_state(State.COLLECT_approach_cone)
# ---- Collect Approach Cone ----
elif (self.state == State.COLLECT_approach_cone):
status = self.navigation.approach_cone()
if (status == "LOST_CONE"):
self.change_state(State.COLLECT_wander_and_search_cone)
elif (status == "CONE_IN_RANGE"):
self.change_state(State.COLLECT_acquire_cone)
# ---- Collect Acquire Cone ----
elif (self.state == State.COLLECT_acquire_cone):
self.arduino.close_claw()
ping = self.arduino.get_ping()
if (ping <= constants.PING_CONE_THRESHOLD and ping != 0):
if (self.ready_to_deliver == True):
self.change_state(State.DELIVER_spin_and_search_target)
self.ready_to_deliver = False
else:
print("Waiting for inter-bot command to deliver...")
else:
self.change_state(State.COLLECT_open_claw)
# ---- Collect Open Claw ----
elif (self.state == State.COLLECT_open_claw):
self.arduino.open_claw()
self.change_state(State.COLLECT_approach_cone)
# ---- Deliver Spin and Search Target ----
elif (self.state == State.DELIVER_spin_and_search_target):
if (self.start_time == None):
self.start_time = time.time()
if (time.time() - self.start_time >= constants.SPIN_TIME):
self.start_time = None
self.navigation.stop()
self.change_state(State.DELIVER_wander_and_search_target)
# TODO: Use signatures with pixy
else:
status = self.navigation.spin_and_search_target()
if (status == "TARGET_FOUND"):
self.start_time = None
self.change_state(State.DELIVER_approach_target)
# ---- Deliver Wander and Search Target ----
elif (self.state == State.DELIVER_wander_and_search_target):
if (self.start_time == None):
self.start_time = time.time()
if (time.time() - self.start_time >= constants.WANDER_TIME):
self.start_time = None
self.navigation.stop()
self.change_state(State.DELIVER_spin_and_search_target)
# TODO: Use signatures with pixy
else:
status = self.navigation.wander_and_search_target()
if (status == "TARGET_FOUND"):
self.start_time = None
self.change_state(State.DELIVER_approach_target)
# ---- Deliver Approach Target ----
elif (self.state == State.DELIVER_approach_target):
status = self.navigation.approach_target()
if (status == "LOST_TARGET"):
self.change_state(State.DELIVER_wander_and_search_target)
elif (status == "TARGET_IN_RANGE"):
self.change_state(State.DELIVER_verify_target)
# ---- Deliver Verify Target ----
elif (self.state == State.DELIVER_verify_target):
self.change_state(State.DELIVER_release_cone)
# ---- Deliver Release Cone ----
elif (self.state == State.DELIVER_release_cone):
self.arduino.open_claw()
self.arduino.board.sleep(1)
self.navigation.reverse()
self.arduino.board.sleep(2)
self.navigation.spin_clockwise()
self.arduino.board.sleep(3)
print("Starting over...")
self.change_state(State.COLLECT_spin_and_search_cone)
try:
endpoint = "http://" + constants.GROUP10_IP + constants.GROUP10_ENDPOINT_READY
print("Hitting endpoint: " + endpoint)
# requests.get(endpoint, timeout=0.001)
urlopen(endpoint)
except:
print("Failed to hit Group10 Endpoint, trying again...")
print("Just kidding, I'm giving up!")
elif (self.mode == "manual"):
# print("In manual mode")
if (self.manual_direction == "stop"):
(left_motor, right_motor) = (0.0, 0.0)
elif (self.manual_direction == "forward"):
(left_motor, right_motor) = (0.2, 0.2)
elif (self.manual_direction == "backward"):
(left_motor, right_motor) = (-0.2, -0.2)
elif (self.manual_direction == "right"):
(left_motor, right_motor) = (0.2, 0.0)
elif (self.manual_direction == "left"):
(left_motor, right_motor) = (0.0, 0.2)
print("L: " + str(left_motor) + " R: " + str(right_motor))
self.arduino.set_motors(left_motor, right_motor)
elif (self.mode == "kill"):
self.shutdown()
sys.exit(0)
# Loop again after delay
sc.enter(self.looprate, 1, self.loop, (sc,))
def change_state(self, new_state):
print("[State Change] " + str(self.state) + " -> " + str(new_state))
self.state = new_state
def process_message(self, message):
if (message == "stop"):
self.stop_on_next_loop()
elif (message == "start"):
self.start()
elif (message == "print"):
print("Print!")
# Modes
elif (message == "auto"):
self.mode = "auto"
elif (message == "manual"):
self.mode = "manual"
elif (message == "kill"):
self.mode = "kill"
# Inter-Bot commands
elif (message == "bot_ready_to_deliver"):
print("Received inter-bot communication: ready_to_deliver")
self.ready_to_deliver = True
# Manual Directions
elif (message == "manual_forward"):
self.manual_direction = "forward"
elif (message == "manual_backward"):
self.manual_direction = "backward"
elif (message == "manual_right"):
self.manual_direction = "right"
elif (message == "manual_left"):
self.manual_direction = "left"
elif (message == "manual_stop"):
self.manual_direction = "stop"
elif (message == "manual_claw_open"):
self.arduino.open_claw()
elif (message == "manual_claw_close"):
self.arduino.close_claw()
def shutdown(self, signal=None, frame=None):
self.arduino.shutdown()
class RobotController:
# Constructor
def __init__(self):
# Debugging purposes
self.print_velocities = rospy.get_param('print_velocities')
# Where and when should you use this?
self.stop_robot = False
# Create the needed objects
self.sonar_aggregation = SonarDataAggregator()
self.laser_aggregation = LaserDataAggregator()
self.navigation = Navigation()
self.linear_velocity = 0
self.angular_velocity = 0
# Check if the robot moves with target or just wanders
self.move_with_target = rospy.get_param("calculate_target")
# The timer produces events for sending the speeds every 110 ms
rospy.Timer(rospy.Duration(0.11), self.publishSpeeds)
self.velocity_publisher = rospy.Publisher(\
rospy.get_param('speeds_pub_topic'), Twist,\
queue_size = 10)
# Read the velocities architecture
self.velocity_arch = rospy.get_param("velocities_architecture")
print "The selected velocities architecture is " + self.velocity_arch
# This function publishes the speeds and moves the robot
def publishSpeeds(self, event):
# Choose architecture
if self.velocity_arch == "subsumption":
self.produceSpeedsSubsumption()
else:
self.produceSpeedsMotorSchema()
# Create the commands message
twist = Twist()
twist.linear.x = self.linear_velocity
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = self.angular_velocity
# Send the command
self.velocity_publisher.publish(twist)
# Print the speeds for debuggind purposes
if self.print_velocities == True:
print "[L,R] = [" + str(twist.linear.x) + " , " + \
str(twist.angular.z) + "]"
# Produce speeds from sonars
def produceSpeedsSonars(self):
# Get the sonars' measurements
front = self.sonar_aggregation.sonar_front_range
left = self.sonar_aggregation.sonar_left_range
right = self.sonar_aggregation.sonar_right_range
r_left = self.sonar_aggregation.sonar_rear_left_range
r_right = self.sonar_aggregation.sonar_rear_right_range
linear = 0
angular = 0
# YOUR CODE HERE ------------------------------------------------------
# Adjust the linear and angular velocities using the five sonars values
# ---------------------------------------------------------------------
return [linear, angular]
# Produces speeds from the laser
def produceSpeedsLaser(self):
# Get the laser scan
scan = self.laser_aggregation.laser_scan
linear = 0
angular = 0
# YOUR CODE HERE ------------------------------------------------------
# Adjust the linear and angular velocities using the laser scan
# ---------------------------------------------------------------------
return [linear, angular]
# Combines the speeds into one output using a subsumption approach
def produceSpeedsSubsumption(self):
# Produce target if not existent
if self.move_with_target == True and self.navigation.target_exists == False:
self.navigation.selectTarget()
# Get the submodules' speeds
[l_sonar, a_sonar] = self.produceSpeedsSonars()
[l_laser, a_laser] = self.produceSpeedsLaser()
[l_goal, a_goal] = self.navigation.velocitiesToNextSubtarget()
self.linear_velocity = 0
self.angular_velocity = 0
# Combine the speeds following the subsumption architecture
# YOUR CODE HERE ------------------------------------------------------
# ---------------------------------------------------------------------
# Combines the speeds into one output using a motor schema approach
def produceSpeedsMotorSchema(self):
# Produce target if not existent
if self.move_with_target == True and self.navigation.target_exists == False:
self.navigation.selectTarget()
# Get the submodule's speeds
[l_sonar, a_sonar] = self.produceSpeedsSonars()
[l_laser, a_laser] = self.produceSpeedsLaser()
[l_goal, a_goal] = self.navigation.velocitiesToNextSubtarget()
self.linear_velocity = 0
self.angular_velocity = 0
# Get the speeds using the motor schema approach
# YOUR CODE HERE ------------------------------------------------------
# ---------------------------------------------------------------------
# Assistive functions - Do you have to call them somewhere?
def stopRobot(self):
self.stop_robot = True
def resumeRobot(self):
self.stop_robot = False
def __findMethodsForFileNavigations(self, conn):
# Here we map the file paths and offsets in the fileNavigations list to
# FQNs of methods. This is done by querying for all the Method
# declarations within the database and storing that data to the
# self.knownMethods object. The insertions into knownMethods will create
# entries if they are new or update them if they already exist. Since
# code can be changed between navigations, we need to update
# self.knownMethods to reflect the most recent state of the code up to
# each navigation.
# After building the known methods, we test an entry from
# fileNavigations against the set of known methods by offset. This is
# what maps Text selection offsets to methods.
prevNavigation = None
postProcessing = False
# Iterate over the data gathered from the Text selection offsets
for i in range(len(self.__fileNavigations)):
toFileNavigation = self.__fileNavigations[i]
if self.VERBOSE_PATH:
print '\tProcessing text selection offset: ' + str(toFileNavigation)
# For every navigation's timestamp, we fill the knownMethods object
# with the details of every method declaration up to the timestamp
# of the toFileNavigation. The knownMethods object will be queried to
# determine in which method (if any) a text selection offset occurs.
# Note that the queries here are by a method's FQN. This allows us
# to update the method's declaration info if it gets updated at some
# point in the future.
c = conn.execute(self.METHOD_DECLARATIONS_QUERY, [toFileNavigation.timestamp])
for row in c:
action, target, referrer = row['action'], \
row['target'], row['referrer']
if action == 'Method declaration':
self.knownPatches.addFilePatch(referrer)
elif action == 'Method declaration offset':
method = self.knownPatches.findMethodByFqn(target)
if method is not None:
method.startOffset = int(referrer)
elif action == 'Method declaration length':
method = self.knownPatches.findMethodByFqn(target)
if method is not None:
method.length = int(referrer);
# Recall that navigations contains the navigation data after its
# been translated to methods and headers
# If there was at least 1 navigation already, the to destination
# from the previous navigation serves as this navigations from. A
# clone is necessary since this may be later transformed into a
# PFIG header and we don't want to affect the to destination from
# the previous navigation.
fromFileNavigation = None
fromMethodPatch = None
if len(self._navigations) > 0:
prevNavigation = self._navigations[-1]
fromFileNavigation = prevNavigation.toFileNav.clone()
self.__addPFIGFileHeadersIfNeeded(conn, prevNavigation, toFileNavigation)
fromMethodPatch = self.knownPatches.findMethodByOffset(fromFileNavigation.filePath, fromFileNavigation.offset)
# We query known methods here to see if the offset of the current
# toFileNavigation is among the known patches.
toMethodPatch = self.knownPatches.findMethodByOffset(toFileNavigation.filePath, toFileNavigation.offset)
# Create the navigation object representing this navigation
navigation = Navigation(fromFileNavigation, toFileNavigation.clone())
# Set method FQN data
if navigation.fromFileNav is not None and fromMethodPatch is not None:
navigation.fromFileNav.methodFqn = fromMethodPatch.fqn
if navigation.toFileNav is not None and toMethodPatch is not None:
navigation.toFileNav.methodFqn = toMethodPatch.fqn
if not navigation.isToSameMethod():
self._navigations.append(navigation)
if navigation.fromFileNav is not None:
if navigation.fromFileNav.methodFqn is None:
postProcessing = True
navigation.fromFileNav.isGap = True
prevNavigation.toFileNav.isGap = True
c.close()
if postProcessing:
self.__removeGapNavigations()
def __init__(self):
self._lcd_plate = LcdPlate()
self._navigation = Navigation()
self.initScreen()
# -*- coding: utf-8 -*- import sys import xbmcplugin import xbmcgui import xbmcaddon import xbmc from navigation import Navigation navigation = Navigation(xbmc, xbmcplugin, xbmcgui, xbmcaddon, sys.argv) navigation.dispatch()
def __init__(self, sea):
MovableSeaObject.__init__(self, sea)
self.navigation = Navigation(self)
def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(switch_srv_name,
SwitchController)
self.r_joint_names = ['r_shoulder_pan_joint',
'r_shoulder_lift_joint',
'r_upper_arm_roll_joint',
'r_elbow_flex_joint',
'r_forearm_roll_joint',
'r_wrist_flex_joint',
'r_wrist_roll_joint']
self.l_joint_names = ['l_shoulder_pan_joint',
'l_shoulder_lift_joint',
'l_upper_arm_roll_joint',
'l_elbow_flex_joint',
'l_forearm_roll_joint',
'l_wrist_flex_joint',
'l_wrist_roll_joint']
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for RIGHT arm...')
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15,2))
box_1.addWidget(self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445,2))
box_2.addItem(QtGui.QSpacerItem(15,2))
box_2.addWidget(self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445,2))
box_3.addItem(QtGui.QSpacerItem(15,2))
box_3.addWidget(self.create_button('Prepare To Navigate', self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445,2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15,2))
box_5.addWidget(self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445,2))
box_4.addItem(QtGui.QSpacerItem(15,2))
box_4.addWidget(self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445,2))
box_6.addItem(QtGui.QSpacerItem(15,2))
box_6.addWidget(self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445,2))
box_7.addItem(QtGui.QSpacerItem(15,2))
box_7.addWidget(self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445,2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15,2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445,2))
box_9.addItem(QtGui.QSpacerItem(15,2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445,2))
box_10.addItem(QtGui.QSpacerItem(15,2))
box_10.addWidget(self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445,2))
button_box.addItem(QtGui.QSpacerItem(20,120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20,240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet("QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
def __init__(self, sea):
MovableSeaObject.__init__(self, sea, max_speed=42, max_turn_rate_hour=math.radians(720)*60)
self.navigation = Navigation(self)
self.deep = 100
self.armed = False
self.fuel = 100 * 40 # seconds at 40 knots
from navigation import Navigation
import dreamfilm
from mocks import Xbmc, Xbmcgui, Xbmcplugin
if __name__ == '__main__':
argv = ['./offline.py', 1]
history = []
history.append(argv)
while True:
xbmc = Xbmc()
xbmcplugin = Xbmcplugin()
xbmcgui = Xbmcgui()
navigation = Navigation(dreamfilm.Dreamfilm(), xbmc, xbmcplugin, xbmcgui, argv)
ret = navigation.dispatch()
if ret == Xbmc.BACK:
history = history[:-1]
argv = history[-1]
continue
if not xbmcplugin.dir_items:
continue
for idx, item in enumerate(xbmcplugin.dir_items):
print "%d) %s" % (idx, item[2].caption)
print "Enter number for menu option or '..' to go back"
inp = raw_input('>> ')
if inp == "..":
history = history[:-1]
argv = history[-1]
continue
