def manejar_archivo(archivo, request):
if archivo == '/':
archivo = '/index.html'
index_generado = bytearray(Index.generar(args['documentroot']),
'utf-8')
pathsize = len(index_generado)
encabezado("OK", "html", pathsize, request)
else:
f, filtro, escala = search(archivo)
archivo = args['documentroot'] + f
try:
if "favicon.ico" in archivo:
archivo = "./web/favicon.ico"
file = open(archivo, "rb")
cod = "OK"
except FileNotFoundError:
archivo = "./web/404error.html"
file = open(archivo, "rb")
cod = "NOT"
except IsADirectoryError:
archivo = "./web/500error.html"
file = open(archivo, "rb")
cod = "ERROR"
pathsize = pathlib.Path(archivo).stat().st_size
encabezado(cod, archivo.split(".")[-1], pathsize, request)
if archivo.split(".")[-1] == "ppm":
if args['size'] % 3 != 0:
args['size'] = int(math.floor(args['size'] / 3) * 3)
c, lista = PPM.magic(file, args['size'], filtro, escala)
request.sendall(bytes.fromhex(c))
hilos = futures.ThreadPoolExecutor()
for i in hilos.map(PPM.cambiar_colores, lista):
request.sendall(i)
else:
if archivo == '/index.html':
request.sendall(index_generado)
else:
texto = file.read()
request.sendall(texto)
from matrixImage import *
from math import *
dim = (600, 800)
I = matrixImage(dim)
#mapear i gerando (i=0,1,2,...dim[0]) e para cada i calcular f(i)=y,onde x=j e y = i.
#antes deslocar todos os x,y em k_x e k_y unidades afim de centralizar o gráfico.
k_j, k_i = 300, 400
f = lambda x: sin(x)
def drawGraph(f, intervalo_x):
"""
f is function
intervalo_x lista (k1,k2) intervalos das coordenadas x.
"""
file_name = "test.ppm"
I2PPM = PPM(file_name, dim[0], dim[1])
for i in range(0, 600):
I.Matrix[i][800 / 2].g = 255
for j in range(0, 800):
I.Matrix[600 / 2][j].r = 255
#teste requer correçoes
for j in range(0, 800):
I.Matrix[int(-j / 2)][j].b = 255
I.Matrix[1][2].b = 23
I2PPM.write(I.Matrix)
if __name__ == "__main__":
import pandas as pd
import time
import PPM
import pigpio
df = pd.read_excel('dataset/dummy.xlsx')
print(df)
pi = pigpio.pi()
pi.wave_tx_stop() # start with a clean start
ppm = PPM.X(pi, 6, frame_ms=20)
updates = 0
for pw in range(450, 600, 20):
for chan in range(8):
ppm.update_channel(chan, pw)
updates += 1
time.sleep(2)
for i in range(len(df)):
pwm_lst = df.iloc[i, 1:7].tolist()
final_lst = list(map(int, pwm_lst))
print(final_lst)
ppm.update_channels(final_lst)
updates += 1
def Read(self, data):
#Filestructure:
# - Header
# - Table of Contents
# - Padding, normally of length 2
# - Extra Data
# - Padding
#The padding seems to do zipaligning to a length of 4
global HasPPM
#Header:
if data[:4] != "UGAR": return False #The file isn't a UGO file
Sections = AscDec(data[4:8], True) #could also be version
if Sections >= 1:
self.TableLength = AscDec(data[8:12], True)
if Sections >= 2:
self.ExtraLength = AscDec(data[12:16], True)
if Sections > 2:
print("Warning: This UGO file has more than the 2 known sections:",
Sections)
print("Please send this UGO file to pbsds over at pbsds.net")
print("This file could possibly be read incorrectly...")
headerlength = 8 + Sections * 4
#Read table of contents:
#A table where the rows are seperated with newlines, and colons with tabs
if Sections >= 1:
TableOfContents = tuple(
(i.split("\t") for i in data[headerlength:headerlength +
self.TableLength].split(b"\n")))
else:
TableOfContents = []
#Extra data:
if Sections >= 2:
ExtraData = data[zipalign(headerlength + self.TableLength
):zipalign(headerlength +
self.TableLength) +
self.ExtraLength]
#Parse data:
self.Items = []
#todo: implement this:
self.Files = [] #[i] = (filename, filecontent)
#see todo.txt
pos = 0 #Extra Data position
tmbcount = 1 #used if HasPPM is False
ntftcount = 1 #used if no label
names = []
for i in TableOfContents:
type = int(i[0])
if type == 0: #layout
#I've always seen just numbers here.
#The amount of numbers also differ.
#maybe related to color scheme? or the button scheme/layout
#all pages containing TMBs have so far been: i = ["0", "2", "1"]
self.Items.append(("layout", list(map(int, i[1:]))))
continue
elif type == 1: #Text on topscreen
num = int(i[1]) #always seen as 0, unknown purpose
labels = [
b64decode(i[n]).decode("UTF-16LE") for n in range(2, 7)
] #5 labels probably one label for each line of text
self.Items.append(("topscreen text", labels, num))
continue
elif type == 2: #catogories(like "reccomended" and "new flipnotes" and "most popular")
#this one may visually change greatly depending on what layout is set in type==0
link = i[1]
label = b64decode(i[2]).decode("UTF-16LE")
selected = int(i[3]) != 0 #bool
self.Items.append(("category", link, label, selected))
continue
elif type == 3: #POST button/link to POST form. "Post Flipnote" uses this
link = i[1]
label = b64decode(i[2]).decode("UTF-16LE")
self.Items.append(("post", link, label))
continue
elif type == 4: #Button
link = i[1]
trait = int(i[2])
label = b64decode(i[3]).decode("UTF-16LE")
other = i[4:] #varies
#extra data
file = None #== ("filename", "filedata")
if trait < 100 and ExtraData:
if ExtraData == "\x20": #empty
pass #no files
elif ExtraData[pos:pos + 4] == "PARA": #tmb file
file = ExtraData[pos:pos + 0x6A0]
pos += 0x6A0
if HasPPM:
tmb = PPM.TMB().Read(file)
name = tmb.CurrentFilename[:-4]
del tmb
else:
name = "embedded tmb #%i" % tmbcount
tmbcount += 1
if name + ".tmb" in names:
j = 2
while "%s_%i.tmb" % (name, j) in names:
j += 1
name = "%s_%i" % (name, j)
file = (name + ".tmb", file)
names.append(name + ".tmb")
else: #ntft icon
name = label.encode("ascii", "ignore")
if not name:
name = "nameless ntft %i" % ntftcount
ntftcount += 1
if name + ".ntft" in names:
j = 2
while "%s_%i.ntft" % (name, j) in names:
j += 1
name = "%s_%i" % (name, j)
file = (name + ".ntft", ExtraData[pos:pos + 2048])
names.append(name + ".ntft")
pos += 2048
self.Items.append(("button", trait, label, link, other, file))
# if subtype == 3:#flipnote
# tmb = PPM.TMB().Read(ExtraData[pos:pos+0x6A0]); pos += 0x6A0
# unknown1 = i[3]#empty
# stars = int(i[4])#not sure
# unknown2 = map(int, i[5:8])#unknown = [765, 573, 0]
# self.Items.append(("flipnote", link, tmb, stars, unknown1, unknown2))
# continue
# elif subtype == 100: pass
# elif subtype == 101: pass
# elif subtype == 102: pass
# elif subtype == 104:#list item? like mails and announcements
# label = b64decode(i[3]).decode("UTF-16LE")
# unknown = i[4]
# num = int(i[5])#only seen as 0
# # self.Items.append(("list item?", link, label, unknown, num))
# # continue
# pass
# elif subtype == 115:#Labeled button link(size of a flipnote thumbnail, commonly "next page")
# label = b64decode(i[3]).decode("UTF-16LE")
# unknown = i[4:6]
# self.Items.append(("thumbnail link", link, label, unknown))
# continue
# elif subtype == 117: pass
continue
#if not recognized:
self.Items.append(("unknown", i))
print("Unknown UGO item discovered:", i)
self.Loaded = True
return self
from fractal import*
from PPM import*
from matrixImage import*
dim = (600, 800)
inter = 50
I = matrixImage(dim)
I2PPM = PPM('fractal.ppm',dim[0],dim[1])
f = fractal(I.Matrix, inter, dim[0], dim[1], [lambda i: i*sin(i) + cos(i), lambda i: i*cos(i) + i, lambda i: cos(i) + 1 + i**5])
I2PPM.write(f)
(1 - unit_h2[h2]) * w2[h2][h1] * unit_h1[h1] *
(1 - unit_h1[h1]) * unit_i[i])
w1[h1][i] -= alpha * delta
return cost
import matplotlib.pyplot as plt
#%matplotlib inline
plt_x = []
plt_y = []
# for ppm
import subprocess
import PPM
ppm = PPM.PPM()
buf_c = 0
n_ppm = 0
for n in range(n_learn):
forward(train[n % 4])
c = backpropagation(teach[n % 4])
plt_x.append(n)
plt_y.append(c)
# for ppm
buf_c = c - buf_c
if ppm.buffering2((c, buf_c), n):
ppm.executor(ppm.new_image(), "output/output_" + str(n_ppm))
n_ppm += 1
if n_ppm % 20 == 0:
if __name__ == "__main__":
import time
import PPM
import pigpio
pi = pigpio.pi()
if not pi.connected:
exit(0)
pi.wave_tx_stop() # Start with a clean slate.
ppm = PPM.X(pi, 4, frame_ms=20)
updates = 0
start = time.time()
for chan in range(8):
for pw in range(1000, 2000, 5):
ppm.update_channel(chan, pw)
updates += 1
end = time.time()
secs = end - start
print("{} updates in {:.1f} seconds ({}/s)".format(updates, secs,
int(updates / secs)))
ppm.update_channels([1000, 2000, 1000, 2000, 1000, 2000, 1000, 2000])
time.sleep(2)
def __init__(self, useQuack=False):
self.logger = logging.getLogger('xboxrc')
self.devicesAvailable = False
self.useQuack = useQuack
self.shouldExit = False
if not self.detectXboxDevices():
return
self.devicesAvailable = True
# These constants were borrowed from linux/input.h
self.axis_names = { 0x00 : 'lx', 0x01 : 'ly', 0x02 : 'lz', 0x03 : 'rx', 0x04 : 'ry', 0x05 : 'rz', 0x06 : 'trottle',
0x07 : 'rudder', 0x08 : 'wheel', 0x09 : 'gas', 0x0a : 'brake', 0x10 : 'hat0x', 0x11 : 'hat0y', 0x12 : 'hat1x',
0x13 : 'hat1y', 0x14 : 'hat2x', 0x15 : 'hat2y', 0x16 : 'hat3x', 0x17 : 'hat3y', 0x18 : 'pressure', 0x19 : 'distance',
0x1a : 'tiltX', 0x1b : 'tiltY', 0x1c : 'toolWidth', 0x20 : 'volume', 0x28 : 'misc'
}
self.button_names = { 0x120 : 'trigger', 0x121 : 'thumb', 0x122 : 'thumb2', 0x123 : 'top', 0x124 : 'top2',
0x125 : 'pinkie', 0x126 : 'base', 0x127 : 'base2', 0x128 : 'base3', 0x129 : 'base4', 0x12a : 'base5',
0x12b : 'base6', 0x12f : 'dead', 0x130 : 'a', 0x131 : 'b', 0x132 : 'c', 0x133 : 'x', 0x134 : 'y',
0x135 : 'z', 0x136 : 'tl', 0x137 : 'tr', 0x138 : 'tl2', 0x139 : 'tr2', 0x13a : 'select', 0x13b : 'start',
0x13c : 'mode', 0x13d : 'thumbl', 0x13e : 'thumbr', 0x220 : 'dpad_up', 0x221 : 'dpad_down', 0x222 : 'dpad_left',
0x223 : 'dpad_right', 0x2c0 : 'dpad_left', 0x2c1 : 'dpad_right', 0x2c2 : 'dpad_up', 0x2c3 : 'dpad_down'
}
self.modes = {
"manual" : 1000,
"altitude" : 1300,
"position" : 1600,
"auto" : 2000
}
self.submodes = {
"idle" : 1000,
"launch" : 1200,
"path" : 1400,
"land" : 1600,
"return" : 1800,
"failsafe" : 2000
}
self.axis_states = {}
self.button_states = {}
self.axis_map = []
self.button_map = []
self.eventStates = {xboxrc_capnp.Xbox.EventField.ly: (xboxrc_capnp.Xbox.EventType.axis,0), xboxrc_capnp.Xbox.EventField.lx: (xboxrc_capnp.Xbox.EventType.axis,0), xboxrc_capnp.Xbox.EventField.ry: (xboxrc_capnp.Xbox.EventType.axis,1000), xboxrc_capnp.Xbox.EventField.rx: (xboxrc_capnp.Xbox.EventType.axis,1000)}
self.mode = self.modes["manual"]
self.submode = self.submodes["idle"]
self.channels = [1500,1500,1500,1500,self.mode,self.submode,0,0] # throttle, yaw, pitch, roll, mode, submode, 0, 0
# open the serial device
self.openXboxDevice()
self.ppm = PPM(18)
self.ppm.start() # starts a separate thread
# spawn the read thread
self.thread = threading.Thread(name='xpad', target=self.readXboxDevice)
self.thread.daemon = True
self.thread.start()
#self.printEventStates()
self.printChannels(0.5)
class XboxRC():
def __init__(self, useQuack=False):
self.logger = logging.getLogger('xboxrc')
self.devicesAvailable = False
self.useQuack = useQuack
self.shouldExit = False
if not self.detectXboxDevices():
return
self.devicesAvailable = True
# These constants were borrowed from linux/input.h
self.axis_names = { 0x00 : 'lx', 0x01 : 'ly', 0x02 : 'lz', 0x03 : 'rx', 0x04 : 'ry', 0x05 : 'rz', 0x06 : 'trottle',
0x07 : 'rudder', 0x08 : 'wheel', 0x09 : 'gas', 0x0a : 'brake', 0x10 : 'hat0x', 0x11 : 'hat0y', 0x12 : 'hat1x',
0x13 : 'hat1y', 0x14 : 'hat2x', 0x15 : 'hat2y', 0x16 : 'hat3x', 0x17 : 'hat3y', 0x18 : 'pressure', 0x19 : 'distance',
0x1a : 'tiltX', 0x1b : 'tiltY', 0x1c : 'toolWidth', 0x20 : 'volume', 0x28 : 'misc'
}
self.button_names = { 0x120 : 'trigger', 0x121 : 'thumb', 0x122 : 'thumb2', 0x123 : 'top', 0x124 : 'top2',
0x125 : 'pinkie', 0x126 : 'base', 0x127 : 'base2', 0x128 : 'base3', 0x129 : 'base4', 0x12a : 'base5',
0x12b : 'base6', 0x12f : 'dead', 0x130 : 'a', 0x131 : 'b', 0x132 : 'c', 0x133 : 'x', 0x134 : 'y',
0x135 : 'z', 0x136 : 'tl', 0x137 : 'tr', 0x138 : 'tl2', 0x139 : 'tr2', 0x13a : 'select', 0x13b : 'start',
0x13c : 'mode', 0x13d : 'thumbl', 0x13e : 'thumbr', 0x220 : 'dpad_up', 0x221 : 'dpad_down', 0x222 : 'dpad_left',
0x223 : 'dpad_right', 0x2c0 : 'dpad_left', 0x2c1 : 'dpad_right', 0x2c2 : 'dpad_up', 0x2c3 : 'dpad_down'
}
self.modes = {
"manual" : 1000,
"altitude" : 1300,
"position" : 1600,
"auto" : 2000
}
self.submodes = {
"idle" : 1000,
"launch" : 1200,
"path" : 1400,
"land" : 1600,
"return" : 1800,
"failsafe" : 2000
}
self.axis_states = {}
self.button_states = {}
self.axis_map = []
self.button_map = []
self.eventStates = {xboxrc_capnp.Xbox.EventField.ly: (xboxrc_capnp.Xbox.EventType.axis,0), xboxrc_capnp.Xbox.EventField.lx: (xboxrc_capnp.Xbox.EventType.axis,0), xboxrc_capnp.Xbox.EventField.ry: (xboxrc_capnp.Xbox.EventType.axis,1000), xboxrc_capnp.Xbox.EventField.rx: (xboxrc_capnp.Xbox.EventType.axis,1000)}
self.mode = self.modes["manual"]
self.submode = self.submodes["idle"]
self.channels = [1500,1500,1500,1500,self.mode,self.submode,0,0] # throttle, yaw, pitch, roll, mode, submode, 0, 0
# open the serial device
self.openXboxDevice()
self.ppm = PPM(18)
self.ppm.start() # starts a separate thread
# spawn the read thread
self.thread = threading.Thread(name='xpad', target=self.readXboxDevice)
self.thread.daemon = True
self.thread.start()
#self.printEventStates()
self.printChannels(0.5)
def detectXboxDevices(self):
# Iterate over the joystick devices.
numDevices = 0
try:
for fn in os.listdir('/dev/input'):
if fn.startswith('js'):
numDevices = numDevices + 1
except:
pass
self.logger.info("Searching for devices: Found {} devices".format(numDevices))
return numDevices
def openXboxDevice(self):
if not self.devicesAvailable:
return
# Open the joystick device.
fn = '/dev/input/js0'
self.logger.info("Opening device: {}...".format(fn))
self.jsdev = open(fn, 'rb')
# Get the device name.
buf = array.array('c', ['\0'] * 64)
ioctl(self.jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
js_name = buf.tostring()
self.logger.info('Device name: {}'.format(js_name))
# Get number of axes and buttons.
buf = array.array('B', [0])
ioctl(self.jsdev, 0x80016a11, buf) # JSIOCGAXES
num_axes = buf[0]
buf = array.array('B', [0])
ioctl(self.jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
num_buttons = buf[0]
# Get the axis map.
buf = array.array('B', [0] * 0x40)
ioctl(self.jsdev, 0x80406a32, buf) # JSIOCGAXMAP
for axis in buf[:num_axes]:
axis_name = self.axis_names.get(axis, 'unknown(0x%02x)' % axis)
self.axis_map.append(axis_name)
self.axis_states[axis_name] = 0.0
# Get the button map.
buf = array.array('H', [0] * 200)
ioctl(self.jsdev, 0x80406a34, buf) # JSIOCGBTNMAP
for btn in buf[:num_buttons]:
btn_name = self.button_names.get(btn, 'unknown(0x%03x)' % btn)
self.button_map.append(btn_name)
self.button_states[btn_name] = 0
self.logger.info("{} axes found: {}".format(num_axes, ",".join(self.axis_map)))
self.logger.info("{} buttons found: {}".format(num_buttons, ",".join(self.button_map)))
def detectXboxDevices(self):
# Iterate over the joystick devices.
numDevices = 0
try:
for fn in os.listdir('/dev/input'):
if fn.startswith('js'):
numDevices = numDevices + 1
except:
pass
self.logger.info("Searching for devices: Found {} devices".format(numDevices))
return numDevices
def readXboxDevice(self):
if not self.devicesAvailable:
return
# Main event loop
while True:
if self.shouldExit:
break
eventType = xboxrc_capnp.Xbox.EventType.none
eventField = xboxrc_capnp.Xbox.EventField.none
eventValue = 0.0
evbuf = self.jsdev.read(8)
if evbuf:
time, value, type, number = struct.unpack('IhBB', evbuf)
#if type & 0x80:
# self.logger.info("(initial)"),
if type & 0x01:
eventType = xboxrc_capnp.Xbox.EventType.button
eventValue = value
button = self.button_map[number]
if button == 'dpad_up': button = 'dpadUp'
elif button == 'dpad_down': button = 'dpadDown'
elif button == 'dpad_left': button = 'dpadLeft'
elif button == 'dpad_right': button = 'dpadRight'
eventField = eval("xboxrc_capnp.Xbox.EventField."+button)
#if button:
# self.button_states[button] = value
# if value:
# self.logger.info("{} pressed".format(button))
# else:
# self.logger.info("{} released".format(button))
if type & 0x02:
eventType = xboxrc_capnp.Xbox.EventType.axis
eventValue = value
axis = self.axis_map[number]
eventField = eval("xboxrc_capnp.Xbox.EventField."+axis)
#if axis:
# fvalue = value / 32767.0
# self.axis_states[axis] = fvalue
# self.logger.info("{}: {:.3f}".format(axis, fvalue))
# update master dict of current event state values
self.eventStates[eventField] = (eventType, eventValue)
# feed the mode and submode fsm's
self.updateModes(eventField, eventValue)
self.logger.debug("Type: {} Field: {} Value: {}".format(eventType, eventField, eventValue))
# run the channels updater on every value
self.updateChannels()
if self.useQuack:
self.sendEvent(eventType, eventField, eventValue)
def updateChannels(self):
def convertInt(val):
return ((val / 32768.0) * 500) + 1500
def convertBool(val):
return (val * 500) + 1500
# throttle
self.channels[0] = convertInt(self.eventStates[xboxrc_capnp.Xbox.EventField.ly][1])
# yaw
self.channels[1] = convertInt(self.eventStates[xboxrc_capnp.Xbox.EventField.lx][1])
# pitch
self.channels[2] = convertInt(self.eventStates[xboxrc_capnp.Xbox.EventField.ry][1])
# roll
self.channels[3] = convertInt(self.eventStates[xboxrc_capnp.Xbox.EventField.rx][1])
# mode
self.channels[4] = self.mode
# submode
self.channels[5] = self.submode
# update ppm class with the new values
self.ppm.update_channels(self.channels)
return True
def updateModes(self, button, value):
if value == 0:
return # only care about press events, not release events
# modes
if button == xboxrc_capnp.Xbox.EventField.hat0y and value < 0: # up
self.mode = self.modes["manual"]
elif button == xboxrc_capnp.Xbox.EventField.hat0x and value > 0: # right
self.mode = self.modes["altitude"]
elif button == xboxrc_capnp.Xbox.EventField.hat0y and value > 0: # down
self.mode = self.modes["position"]
elif button == xboxrc_capnp.Xbox.EventField.hat0x and value < 0: # left
self.mode = self.modes["auto"]
# submodes
elif button == xboxrc_capnp.Xbox.EventField.tl:
self.submode = self.submodes["return"]
elif button == xboxrc_capnp.Xbox.EventField.tr:
self.submode = self.submodes["failsafe"]
elif button == xboxrc_capnp.Xbox.EventField.x:
self.submode = self.submodes["launch"]
elif button == xboxrc_capnp.Xbox.EventField.y:
self.submode = self.submodes["land"]
elif button == xboxrc_capnp.Xbox.EventField.a:
self.submode = self.submodes["path"]
# def printEventStates(self):
# for key,val in self.eventStates.iteritems():
# self.logger.info("Field {} Type {} Value {}".format(key,val[0],val[1]))
# self.printEventStatesTimer = Timer(1,self.printEventStates)
# self.printEventStatesTimer.start()
def printChannels(self, delay_s):
if self.updateChannels():
s = "CH: "
for i,ch in enumerate(self.channels):
s += str(i) + ":" + str(ch) + " "
self.logger.info(s)
self.printChannelsTimer = Timer(delay_s,self.printChannels,args=(delay_s,))
self.printChannelsTimer.start()
def signal_handler(self, signal, frame):
self.logger.info("Shutting down...")
self.ppm.stop()
self.shouldExit = True
try: self.printChannelsTimer.cancel()
except: pass
time.sleep(1)
# try: self.printEventStatesTimer.cancel()
# except: pass
self.logger.info("Done")
sys.exit(0)
def buzzFailure():
GPIO.output(BUZZER, GPIO.HIGH)
time.sleep(2)
GPIO.output(BUZZER, GPIO.LOW)
time.sleep(1)
pi = pigpio.pi()
if not pi.connected:
print("error")
exit(0)
pi.wave_tx_stop() # Start with a clean slate.
ppm = PPM.X(pi, 6, frame_ms=27) # GPIO 6 for PPM
class flightBehavior:
GPS_COORDINATES = 1
HOVER = 2
NAVIGATE_TO_DESTINATION = 3
GIVE_SAMPLE = 4
RETURN_TO_HOME = 5
# important function to send signals to Arduino
def signalParameters(throttle, yaw, pitch, roll, ARM, FAILSAFE, ANGLE_MODE,
ALTHOLD):
print("throttle = ", throttle)
print("yaw = ", yaw)