def __init__(self):
r'''Create a new simulator interface.
'''
# Simulator ID.
self.sid = None
# DBW activation status.
self.dbw_enable = False
# Message buffer.
self.msgs = {}
# Bridge object between ROS and simulator.
self.bridge = Bridge(conf, self.send)
# Enforce use of eventlet for asynchronous operations.
self.sio = socketio.Server(async_mode='eventlet')
# Register event handlers
self.sio.on('connect', self.connect)
self.sio.on('telemetry', self.telemetry)
self.sio.on('control', self.control)
self.sio.on('obstacle', self.obstacle)
self.sio.on('lidar', self.lidar)
self.sio.on('trafficlights', self.trafficlights)
self.sio.on('image', self.image)
def __init__(self, socket_map, mav_iface, send_interval, dispatcher):
Bridge.__init__(self, socket_map, mav_iface, send_interval)
self.dead = False
recv_thread = Thread(target = self._receive)
recv_thread.daemon = True
send_thread = Thread(target = self._send)
send_thread.daemon = True
self.dispatcher = dispatcher
self.auto_mode_flags = MAV_MODE_FLAG_SAFETY_ARMED \
| MAV_MODE_FLAG_MANUAL_INPUT_ENABLED \
| MAV_MODE_FLAG_STABILIZE_ENABLED \
| MAV_MODE_FLAG_GUIDED_ENABLED \
| MAV_MODE_FLAG_AUTO_ENABLED
Bridge.__init__(self, socket_map, mav_iface, send_interval)
self.csb = ControlSensorBits()
self.sensors_present = self.csb.bits(['GYRO_3D', 'ACC_3D', 'MAG_3D',
'PRESSURE_ABS', 'GPS', 'ANGLE_RATE_CONTROL', 'ATTITUDE_CTRL',
'YAW_CTRL', 'ALTITUDE_CTRL', 'XY_CTRL', 'MOTOR_CTRL'])
self.sensors_enabled = self.sensors_present
self.sensors_health = self.sensors_present
self._load_reader = LoadReader()
self._power_reader = PowerReader(socket_map['power_mon'])
recv_thread.start()
send_thread.start()
self._load_reader.start()
self._power_reader.start()
self._power_reader.wait_data()
def __init__(self, socket_map, mav_iface, send_interval, dispatcher):
Bridge.__init__(self, socket_map, mav_iface, send_interval)
self.dead = False
recv_thread = Thread(target=self._receive)
recv_thread.daemon = True
send_thread = Thread(target=self._send)
send_thread.daemon = True
self.dispatcher = dispatcher
self.auto_mode_flags = MAV_MODE_FLAG_SAFETY_ARMED \
| MAV_MODE_FLAG_MANUAL_INPUT_ENABLED \
| MAV_MODE_FLAG_STABILIZE_ENABLED \
| MAV_MODE_FLAG_GUIDED_ENABLED \
| MAV_MODE_FLAG_AUTO_ENABLED
Bridge.__init__(self, socket_map, mav_iface, send_interval)
self.csb = ControlSensorBits()
self.sensors_present = self.csb.bits([
'GYRO_3D', 'ACC_3D', 'MAG_3D', 'PRESSURE_ABS', 'GPS',
'ANGLE_RATE_CONTROL', 'ATTITUDE_CTRL', 'YAW_CTRL', 'ALTITUDE_CTRL',
'XY_CTRL', 'MOTOR_CTRL'
])
self.sensors_enabled = self.sensors_present
self.sensors_health = self.sensors_present
self._load_reader = LoadReader()
self._power_reader = PowerReader(socket_map['power_mon'])
recv_thread.start()
send_thread.start()
self._load_reader.start()
self._power_reader.start()
self._power_reader.wait_data()
class Adapter:
base_url = 'https://hcaptcha.com/siteverify'
token = None
secret_key = None
def __init__(self, input, secret_key: str = None):
self.id = input.get('id', '1')
self.secret_key = secret_key
self.request_data = input.get('data')
if self.validate_request_data() and self.secret_key:
self.bridge = Bridge()
self.set_params()
self.create_request()
else:
self.result_error(
'No data or API secret key provided for the adapter')
def validate_request_data(self):
if self.request_data is None:
return False
if self.request_data == {}:
return False
return True
def set_params(self):
self.token = self.request_data.get('token')
def create_request(self):
try:
data = f'response={self.token}&secret={self.secret_key}'
headers = {'Content-Type': 'application/x-www-form-urlencoded'}
response = self.bridge.post_request(self.base_url,
data=data,
headers=headers)
data = response.json()
print('Response: ', data)
self.result = data['success']
data['result'] = self.result
self.result_success(data)
except Exception as e:
self.result_error(e)
finally:
self.bridge.close()
def result_success(self, data):
self.result = {
'jobRunID': self.id,
'data': data,
'result': self.result,
'statusCode': 200,
}
def result_error(self, error):
self.result = {
'jobRunID': self.id,
'status': 'errored',
'error': f'There was an error: {error}',
'statusCode': 500,
}
def __init__(self, name, tg):
Bridge.__init__(self, name, tg)
self.api = vk.API(vk.Session(access_token=self.cfg['token']), v='5.74', lang='ru', timeout=10)
self.user = self.api.users.get()[0]
thr = threading.Thread(target=self.poll)
thr.daemon = True
thr.start()
def __init__(self, input):
self.id = input.get('id', '1')
self.request_data = input.get('data')
if self.validate_request_data():
self.bridge = Bridge()
self.hashtag = self.request_data.get('hashtag', '')
self.username = self.request_data.get('username', '')
self.create_request()
else:
self.result_error('No data provided')
def __init__(self, input, secret_key: str = None):
self.id = input.get('id', '1')
self.secret_key = secret_key
self.request_data = input.get('data')
if self.validate_request_data() and self.secret_key:
self.bridge = Bridge()
self.set_params()
self.create_request()
else:
self.result_error(
'No data or API secret key provided for the adapter')
def __init__(self, input, image_checker, image_manager):
self.image_cheker = image_checker
self.image_manager = image_manager
self.id = input.get('id', '1')
self.result = "" #kostil
self.request_data = input.get('data')
if self.validate_request_data():
self.bridge = Bridge()
self.set_params()
self.create_request()
else:
self.result_error('No data provided')
def __main__(self, running, socket=None):
if socket is not None:
manager = Manager()
bridge = Bridge(manager, socket=socket)
self.register(manager)
manager.start()
try:
self.run()
finally:
if socket is not None:
while bridge or manager: pass
manager.stop()
bridge.stop()
def main():
config = dict(
sharedmem_path="config/sharedmem.json",
accel_offset_x=1.01112,
accel_offset_y=1.00765,
accel_offset_z=0.96534,
gyro_offset_x=2.843,
gyro_offset_y=-6.056,
gyro_offset_z=-1.603,
wheel_diameter_m=0.0545,
)
bridge = Bridge(**config)
bridge.run()
def main():
pygame.init()
screen_size = [SCREEN_WIDTH, SCREEN_HEIGHT]
screen = pygame.display.set_mode(screen_size)
pygame.display.set_caption(GAME_NAME)
done = False
clock = pygame.time.Clock()
#TEST
db.create_connection(DB_PATH)
c = db.connect(DB_PATH)
b = Bridge("b1", 1, 1, 1, 1, 1, 1, 1, 1)
db.add_bridge(c, b)
#/TEST
while not done:
for event in pygame.event.get():
if event.type == pygame.QUIT:
done = True
screen.fill((0, 0, 0))
clock.tick(60)
pygame.display.flip()
pygame.quit()
def __init__(self,screen):
self.screen = screen
# get everything set up
self.clock = pygame.time.Clock()
self.font = pygame.font.Font(None, 18) # font object
#self.canvas = olpcgames.canvas
self.joystickobject = None
self.debug = True
# create the name --> instance map for components
self.tb_rects = {}
self.toolList = {}
for c in tools.allTools:
self.toolList[c.name] = c(self)
self.currentTool = self.toolList[tools.allTools[0].name]
# set up the world (instance of Elements)
self.world = elements.Elements(self.screen.get_size())
self.world.renderer.set_surface(self.screen)
# set up static environment
#self.world.add.ground()
self.world.run_physics = False
self.bridge = Bridge(self)
self.bridge.create_world()
def parsing(self, value):
if 'vertices' in value:
for i in value['vertices']:
tmpVertex = Vertex()
tmpVertex.parsing(i)
self.verticesList.append(tmpVertex)
if 'streets' in value:
for i in value['streets']:
tmpStreet = Street()
tmpStreet.parsing(i)
self.streetsList.append(tmpStreet)
if 'bridges' in value:
for i in value['bridges']:
tmpBridge = Bridge()
tmpBridge.parsing(i)
self.bridgesList.append(tmpBridge)
if 'weight' in value:
self.weight.parsing(value['weight'])
def parsing (self,value):
if 'vertices' in value:
for i in value['vertices']:
tmpVertex = Vertex()
tmpVertex.parsing(i)
self.verticesList.append(tmpVertex)
if 'streets' in value:
for i in value['streets']:
tmpStreet = Street()
tmpStreet.parsing(i)
self.streetsList.append(tmpStreet)
if 'bridges' in value:
for i in value['bridges']:
tmpBridge = Bridge()
tmpBridge.parsing(i)
self.bridgesList.append(tmpBridge)
if 'weight' in value:
self.weight.parsing(value['weight'])
def create_bridge(self, tg_group_id, irc_server_description, channel, token, validated=False, save_to_db=False,
only_add_channel=False):
irc_connection = self.irc_connections.get_or_create_irc_server_by_description(irc_server_description)
irc_channel = irc_connection.join_channel(channel, only_add=only_add_channel)
bridge = Bridge(irc_channel, tg_group_id, validated, self, token)
self.bridges[tg_group_id] = bridge
if save_to_db:
dbc = DatabaseConnection()
dbc.add_bridge(bridge)
return True
def main():
parser = ArgumentParser()
parser.add_argument('-c', '--config-file', default='config.yml')
parser.add_argument('-d', '--debug', action='store_true')
parser.add_argument('-Q', '--query')
args = parser.parse_args()
if args.debug:
configure_logger(logging.DEBUG)
else:
configure_logger(logging.INFO)
with open(args.config_file) as fp:
config = yaml.load(fp)
jira_client = JIRA(server=config['jira_url'],
basic_auth=(config['jira_username'],
config['jira_password']))
sfdc_oauth2 = OAuth2(client_id=config['sfdc_client_id'],
client_secret=config['sfdc_client_secret'],
username=config['sfdc_username'],
password=config['sfdc_password'],
auth_url=config['sfdc_auth_url'])
sfdc_client = Client(sfdc_oauth2)
storage_path = os.path.join(config['storage_dir'], 'state_cftest.yml')
tmp_path = os.path.join(config['storage_dir'], 'tmp_state_cftest.yml')
store = Store(FileBackend(storage_path, tmp_path))
bridge = Bridge(sfdc_client, jira_client, store, config)
if args.query:
bridge.issue_jql = args.query
bridge.sync_issues()
def start(self):
args = (self._running,)
if self._manager is not None:
root = findroot(self._manager)
parent, child = Pipe()
self._bridge = Bridge(root, socket=parent)
self._bridge.start()
args = (self._running, child,)
self._process = _Process(target=self.__main__, args=args)
self._process.daemon = True
if HAS_MULTIPROCESSING == 2:
setattr(self._process, "isAlive", self._process.is_alive)
self._running.acquire()
self._running.value = True
self._running.release()
self._process.start()
#!/usr/bin/env python
import json
from pyswip.prolog import PrologError
from bridge import Bridge
from agent import Agent
from world import World
# Bridge is the Python-Prolog bridge
bridge = Bridge()
# World is a container for the map and its items
world = World(open('map.txt'), open('items.txt'))
# These are the actions taken by Prolog
action_list = []
# The agent will use the bridge to communicate from and to Prolog.
# It will store taken actions on action_list, and use the world as a support.
agent = Agent(bridge, action_list, world)
# This is the main loop.
while True:
action = bridge.best_action()
# print action
if action:
agent.execute(action)
else:
# print 'STUCK'
class Process(_BaseComponent):
def __init__(self, manager=None, **kwargs):
channel = kwargs.get("channel", Process.channel)
super(Process, self).__init__(channel=channel)
self._manager = manager
self._bridge = None
self._running = _Value("b", False)
def __main__(self, running, socket=None):
if socket is not None:
manager = Manager()
bridge = Bridge(manager, socket=socket)
self.register(manager)
manager.start()
try:
self.run()
finally:
if socket is not None:
while bridge or manager: pass
manager.stop()
bridge.stop()
def start(self):
args = (self._running,)
if self._manager is not None:
root = findroot(self._manager)
parent, child = Pipe()
self._bridge = Bridge(root, socket=parent)
self._bridge.start()
args = (self._running, child,)
self._process = _Process(target=self.__main__, args=args)
self._process.daemon = True
if HAS_MULTIPROCESSING == 2:
setattr(self._process, "isAlive", self._process.is_alive)
self._running.acquire()
self._running.value = True
self._running.release()
self._process.start()
def run(self):
"""To be implemented by subclasses"""
def stop(self):
self._running.acquire()
self._running.value = False
self._running.release()
def join(self):
return hasattr(self, "_process") and self._process.join()
@property
def alive(self):
if type(self._running) is _Synchronized:
return self._running.value and self._process.isAlive()
class PhysicsGame:
def __init__(self,screen):
self.screen = screen
# get everything set up
self.clock = pygame.time.Clock()
self.font = pygame.font.Font(None, 18) # font object
#self.canvas = olpcgames.canvas
self.joystickobject = None
self.debug = True
# create the name --> instance map for components
self.tb_rects = {}
self.toolList = {}
for c in tools.allTools:
self.toolList[c.name] = c(self)
self.currentTool = self.toolList[tools.allTools[0].name]
# set up the world (instance of Elements)
self.world = elements.Elements(self.screen.get_size())
self.world.renderer.set_surface(self.screen)
# set up static environment
#self.world.add.ground()
self.world.run_physics = False
self.bridge = Bridge(self)
self.bridge.create_world()
def run(self):
self.running = True
t = pygame.time.get_ticks()
while self.running:
if (pygame.time.get_ticks() - t) > 1500:
# bridge.create_train(self)
t = pygame.time.get_ticks()
# Clear Display
self.screen.fill((80,160,240)) #255 for white
#draw toolbar for tools
tb_x = 0
menubg = pygame.image.load('images/menubg.png').convert_alpha()
self.screen.blit(menubg, (0, 0))
menubg_rect = menubg.get_rect()
keyinput = pygame.key.get_pressed()
if keyinput[pygame.K_ESCAPE]:
raise SystemExit
for event in pygame.fastevent.get():
self.currentTool.handleEvents(event)
if event.type == pygame.MOUSEBUTTONDOWN:
if event.button == 1:
#print 'mouse pressed'
if menubg_rect.collidepoint(event.pos):
print 'yeah'
for k,v in self.tb_rects.items():
if v.collidepoint(event.pos):
#print k
self.currentTool = self.toolList[k]
if event.button == 3:
self.currentTool.cancel()
for c in tools.allTools:
tb_icon_name = c.name+'_icon'
tb_icon_name = pygame.image.load('images/icons/'+c.icon+'.png').convert_alpha()
self.screen.blit(tb_icon_name, (tb_x, 0))
self.tb_rects[c.name] = tb_icon_name.get_rect().move(tb_x, 0)
tb_x = tb_x+50
# Update & Draw World
self.world.update()
self.world.draw()
if self.world.run_physics:
self.bridge.for_each_frame()
#event = pygame.event.poll()
# for c in tools.allTools:
# tb_icon_name = c.name+'_icon'
#
# print tb_icon_name
# srect = tb_icon_name.get_rect()
# print srect.collidepoint(event.pos)
# draw output from tools
self.currentTool.draw()
#Print all the text on the screen
text = self.font.render(_("Total Cost: %d") % self.bridge.cost, True, (0,0,0))
textpos = text.get_rect(top=64)
self.screen.blit(text,textpos)
ratio = self.bridge.stress*100/self.bridge.capacity
text = self.font.render(_("Stress: %d%%") % ratio, True, (0,0,0))
textpos = text.get_rect(top=75)
self.screen.blit(text,textpos)
if self.bridge.train_off_screen:
text = self.font.render(_("Train fell off the screen, press R to try again!"), True, (0,0,0))
elif self.bridge.level_completed:
text = self.font.render(_("Level completed, well done!! Press T to send another train."), True, (0,0,0))
else:
text = self.font.render(_("Press the Spacebar to start/pause."), True, (0,0,0))
textpos = text.get_rect(top=93)
self.screen.blit(text,textpos)
# Flip Display
pygame.display.flip()
# Try to stay at 30 FPS
self.clock.tick(40) # originally 50
def setTool(self,tool):
self.currentTool.cancel()
self.currentTool = self.toolList[tool]
def run(self):
pygame.init()
self.screen = pygame.display.get_surface()
# get everything set up
self.clock = pygame.time.Clock()
self.font = pygame.font.Font(None, 42) # font object
#self.canvas = olpcgames.ACTIVITY.canvas
self.joystickobject = None
self.debug = True
# create the name --> instance map for components
self.toolList = {}
for c in tools.allTools:
self.toolList[c.name] = c(self)
self.currentTool = self.toolList[tools.allTools[0].name]
# set up the world (instance of Elements)
self.world = elements.Elements(self.screen.get_size())
self.world.renderer.set_surface(self.screen)
# set up static environment
#self.world.add.ground()
self.world.run_physics = False
self.bridge = Bridge(self)
self.bridge.create_world()
self.running = True
t = pygame.time.get_ticks()
while self.running:
if (pygame.time.get_ticks() - t) > 1500:
# bridge.create_train(self)
t = pygame.time.get_ticks()
while gtk.events_pending():
gtk.main_iteration()
for event in pygame.event.get():
self.currentTool.handleEvents(event, self.bridge)
# Clear Display
self.screen.fill((80, 160, 240)) #255 for white
# Update & Draw World
self.world.update()
self.world.draw()
if self.world.run_physics:
self.bridge.for_each_frame()
# draw output from tools
self.currentTool.draw()
#Print all the text on the screen
text = self.font.render(_("Total Cost: %d") % self.bridge.cost, True, (0, 0, 0))
textpos = text.get_rect(left=12, top=12)
self.screen.blit(text,textpos)
ratio = self.bridge.stress * 100 / self.bridge.capacity
text = self.font.render(_("Stress: %d%%") % ratio, True, (0, 0, 0))
textpos = text.get_rect(left=12, top=53)
self.screen.blit(text,textpos)
if self.bridge.train_off_screen:
text = self.font.render(_("Train fell off the screen, press R to try again!"), True, (0, 0, 0))
elif self.bridge.level_completed:
text = self.font.render(_("Level completed, well done!! Press T to send another train."), True, (0, 0, 0))
else:
text = self.font.render(_("Press the Spacebar to start/pause."), True, (0, 0, 0))
textpos = text.get_rect(left=12, top=94)
self.screen.blit(text,textpos)
# Flip Display
pygame.display.flip()
# Try to stay at 30 FPS
self.clock.tick(30) # originally 50
def __init__(self, socket_map, mav_iface, send_interval):
Bridge.__init__(self, socket_map, mav_iface, send_interval)
recv_thread = Thread(target=self._receive)
send_thread = Thread(target=self._send)
recv_thread.start()
send_thread.start()
class Interface(object):
'''
Provide similar interfaces to iMacros
>>> imacros = Interface()
# >>> imacros.iimInit('-ie')
# 1
# >>> imacros.iimPlay('Z:/iMacrosDemo/FillForm.iim')
# 1
>>> imacros.iimInit('-fx')
1
>>> imacros.iimPlay('/home/yuntao/Downloads/iMacrosDemo/FillForm.iim')
1
# >>> imacros.iimExit()
# 1
'''
RE_INIT_COMMAND = re.compile(r'^-(\w+)(?:\s+(.*))?$')
def __init__(self):
self.bridge = Bridge()
@handle_retcode
def iimInit(self, command, openNewBrowser=True, timeout=False):
'''
Setup new browser driver.
See http://wiki.imacros.net/iimInit%28%29 for more info.
'''
# openNewBrowser is ignored, since we always open new window
if not command:
command = '-ie'
match = re.match(self.RE_INIT_COMMAND, command)
if not match:
raise ValueError('Wrong command for iimInit')
self.bridge.set_browser(match.group(1))
self.bridge.start_driver()
if timeout > 0:
self.bridge.set_builtin_variables({'!TIMEOUT_MACRO': int(timeout)})
@handle_retcode
def iimPlay(self, macro, timeout=False):
'''
Start browser process if it is not started yet. Replay macro.
See http://wiki.imacros.net/iimPlay%28%29 for more info.
'''
if timeout > 0:
self.bridge.set_builtin_variables({'!TIMEOUT': int(timeout)})
return self.bridge.execute_script(macro)
@handle_retcode
def iimSet(self, name, value):
'''
Set user variable for next macro replay.
Should be called before each iimPlay() call to take effect.
See http://wiki.imacros.net/iimSet%28%29 for more info.
'''
self.bridge.set_variables({name: value})
@handle_retcode
def iimDisplay(self, message, timeout=0):
'''
Displays a message in the browser
See http://wiki.imacros.net/iimDisplay%28%29 for more info.
'''
# This feature is not supported yet
logger.warn('Not supported yet')
@handle_retcode
def iimExit(self, timeout=0):
'''
Closes browser instance.
See http://wiki.imacros.net/iimExit%28%29 for more info.
'''
self.bridge.reset()
def iimGetLastError(self, index=-1):
'''
Returns the text associated with the last error.
See http://wiki.imacros.net/iimGetLastError%28%29 for more info.
'''
return self.bridge.errors[index]
def iimGetLastExtract(self, index=-1):
'''
Returns the contents of the !EXTRACT variable.
See http://wiki.imacros.net/iimGetLastExtract%28%29 for more info.
'''
return self.bridge.extracts[index]
@handle_retcode
def iimTakeBrowserScreenshot(self, path, img_type, timeout=0):
'''
Takes screenshot of browser or web page
See http://wiki.imacros.net/iimTakeBrowserScreenshot%28%29 for more info.
'''
raise NotImplementedError, 'Not implemented yet'
@handle_retcode
def iimGetLastPerformance(self, index=0):
'''
Returns the total runtime and STOPWATCH data for the most recent macro run.
Returned object is tuple where first value indicates data presence,
second value is STOPWATCH name, third is STOPWATCH value.
If index equals 1 then total runtime is returned.
See http://wiki.imacros.net/iimGetLastPerformance for more info.
'''
raise NotImplementedError, 'Not implemented yet'
def __init__(self):
self.bridge = Bridge()
