def initPresets():
"""
Loads initial presets
"""
for i in range(64):
util.setMask[i] = 1 << i
bit = util.setMask[i]
util.clearMask[i] = ~bit
kingAttack = bit | util.right(bit) | util.left(bit)
kingAttack |= util.up(kingAttack) | util.down(kingAttack)
kingAttacks[i] = kingAttack & util.clearMask[i]
l1 = util.left(bit)
l2 = util.left(bit, 2)
r1 = util.right(bit)
r2 = util.right(bit, 2)
h1 = l2 | r2
h2 = l1 | r1
knightAttacks[i] = util.up(h1) | util.down(h1) | util.up(
h2, 2) | util.down(h2, 2)
# pawn attacks
wRightAttack = util.upRight(bit)
wLeftAttack = util.upLeft(bit)
bRightAttack = util.downRight(bit)
bLeftAttack = util.downLeft(bit)
pawnAttacks[0][i] = (wRightAttack | wLeftAttack)
pawnAttacks[1][i] = (bRightAttack | bLeftAttack)
generateOccupancyVariations(True)
generateMoveDatabase(True)
generateOccupancyVariations(False)
generateMoveDatabase(False)
def move_robot():
global x_deviation, y_max, tolerance
if(abs(x_deviation)<tolerance):
if(y_max>0.9):
ut.red_light("ON")
ut.stop()
print("reached person...........")
else:
ut.red_light("OFF")
ut.forward()
print("moving robot ...FORWARD....!!!!!!!!!!!!!!")
else:
ut.red_light("OFF")
if(x_deviation>=tolerance):
delay1=get_delay(x_deviation)
ut.left()
time.sleep(delay1)
ut.stop()
print("moving robot ...Left....<<<<<<<<<<")
if(x_deviation<=-1*tolerance):
delay1=get_delay(x_deviation)
ut.right()
time.sleep(delay1)
ut.stop()
print("moving robot ...Right....>>>>>>>>")
def initPresets():
"""
Loads initial presets
"""
for i in range(64):
util.setMask[i] = 1 << i
bit = util.setMask[i]
util.clearMask[i] = ~bit
kingAttack = bit | util.right(bit) | util.left(bit)
kingAttack |= util.up(kingAttack) | util.down(kingAttack)
kingAttacks[i] = kingAttack & util.clearMask[i]
l1 = util.left(bit)
l2 = util.left(bit, 2)
r1 = util.right(bit)
r2 = util.right(bit, 2)
h1 = l2 | r2
h2 = l1 | r1
knightAttacks[i] = util.up(h1) | util.down(h1) | util.up(h2, 2) | util.down(h2, 2)
# pawn attacks
wRightAttack = util.upRight(bit)
wLeftAttack = util.upLeft(bit)
bRightAttack = util.downRight(bit)
bLeftAttack = util.downLeft(bit)
pawnAttacks[0][i] = (wRightAttack | wLeftAttack)
pawnAttacks[1][i] = (bRightAttack | bLeftAttack)
generateOccupancyVariations(True)
generateMoveDatabase(True)
generateOccupancyVariations(False)
generateMoveDatabase(False)
def move_robot():
global x_deviation, y_deviation, tolerance, arr_track_data
print("moving robot .............!!!!!!!!!!!!!!")
print(x_deviation, y_deviation, tolerance, arr_track_data)
if(abs(x_deviation)<tolerance and abs(y_deviation)<tolerance):
cmd="Stop"
delay1=0
ut.stop()
ut.red_light("ON")
else:
ut.red_light("OFF")
if (abs(x_deviation)>abs(y_deviation)):
if(x_deviation>=tolerance):
cmd="Move Left"
delay1=get_delay(x_deviation,'l')
ut.left()
time.sleep(delay1)
ut.stop()
if(x_deviation<=-1*tolerance):
cmd="Move Right"
delay1=get_delay(x_deviation,'r')
ut.right()
time.sleep(delay1)
ut.stop()
else:
if(y_deviation>=tolerance):
cmd="Move Forward"
delay1=get_delay(y_deviation,'f')
ut.forward()
time.sleep(delay1)
ut.stop()
if(y_deviation<=-1*tolerance):
cmd="Move Backward"
delay1=get_delay(y_deviation,'b')
ut.back()
time.sleep(delay1)
ut.stop()
arr_track_data[4]=cmd
arr_track_data[5]=delay1
def encrypt(self, msg):
msglen = len(msg)
msgbytes = bytearray(msglen + 1 + BLOCK_SIZE - ((msglen + 1) % BLOCK_SIZE))
msgbytes[:msglen] = msg
# add null byte and random byte padding as necessary
msgbytes[msglen] = NULL_BYTE
for i in xrange(msglen + 1, len(msgbytes)):
msgbytes[i] = random.randint(0, 255)
output = bytearray(1)
output[0] = GUARD_BYTE
for i in xrange(0, len(msgbytes), BLOCK_SIZE):
block = msgbytes[i:i+BLOCK_SIZE]
leftblock = util.left(block)
rightblock = util.right(block)
leftmd = bytearray(hashlib.sha1(str(leftblock) + str(self.leftkey)).digest())
rightcipher = bytearray(leftmd[i] ^ rightblock[i] for i in xrange(len(leftmd)))
rightmd = bytearray(hashlib.sha1(str(rightcipher) + str(self.rightkey)).digest())
leftcipher = bytearray(rightmd[i] ^ leftblock[i] for i in xrange(len(rightmd)))
output.extend(leftcipher)
output.extend(rightcipher)
return util.base32(int(util.bytestohex(output), 16)) + '\n'
def decrypt(self, cipher_line):
if not util.is_encrypted(cipher_line):
raise KarnError('"%s" is not encrypted!' % cipher_line)
# convert from base 32 to bytes literal
cipherbytes = bytearray.fromhex(unicode(util.inttohex(int(cipher_line.strip(), 32))))
output = bytearray()
# start at byte 1 because byte 0 is the guard byte
for i in xrange(1, len(cipherbytes), BLOCK_SIZE):
cipher = cipherbytes[i:i+BLOCK_SIZE]
# + is the concatenation operator in python
# ^ is the xor operator
leftmd = bytearray(hashlib.sha1(str(util.right(cipher)) + str(self.rightkey)).digest())
leftcipher = util.left(cipher)
plaintext = bytearray(leftmd[i] ^ leftcipher[i] for i in xrange(len(leftmd)))
rightmd = bytearray(hashlib.sha1(str(plaintext) + str(self.leftkey)).digest())
rightcipher = util.right(cipher)
plaintext.extend(bytearray(rightmd[i] ^ rightcipher[i] for i in xrange(len(rightmd))))
# break if we decrypted a null byte
output.extend(plaintext.partition('\x00')[0])
if '\x00' in plaintext:
break
# we are expecting an ascii string, so print debug info
# if any decrypted character is out of ascii range
if any(i > 127 for i in output):
print 'couldn\'t decrypt ciphertext: %s' % cipher_line
print 'with key: %d' % self.key
print 'output: %s' % output
raise DecryptionError(cipher_line, self.key, output)
return str(output)
def move_robot():
global x_deviation, y_max, tolerance, arr_track_data
print("moving robot .............!!!!!!!!!!!!!!")
print(x_deviation, tolerance, arr_track_data)
y = 1 - y_max #distance from bottom of the frame
if (abs(x_deviation) < tolerance):
delay1 = 0
if (y < 0.1):
cmd = "Stop"
ut.red_light("ON")
ut.stop()
else:
cmd = "forward"
ut.red_light("OFF")
ut.forward()
else:
ut.red_light("OFF")
if (x_deviation >= tolerance):
cmd = "Move Left"
delay1 = get_delay(x_deviation)
ut.left()
time.sleep(delay1)
ut.stop()
if (x_deviation <= -1 * tolerance):
cmd = "Move Right"
delay1 = get_delay(x_deviation)
ut.right()
time.sleep(delay1)
ut.stop()
arr_track_data[4] = cmd
arr_track_data[5] = delay1
