def test_singleton_property(self):
default_fname = "logs/log01.log"
fname1 = "logs/file1.log"
fname2 = "logs/file2.log"
fname3 = "logs/file3.log"
log1 = Logger()
log2 = Logger()
log3 = Logger()
# singleton logger will have only 1 instance
# each object's filename will be the last
# filename set i.e. 'default_fname'
self.assertEqual(log1.filename, default_fname)
self.assertEqual(log2.filename, default_fname)
self.assertEqual(log3.filename, default_fname)
log1.filename = fname1
log2.filename = fname2
log3.filename = fname3
# singleton logger will have only 1 instance
# each object's filename will be the last
# filename set i.e. 'fname3'.
self.assertEqual(log1.filename, fname3)
self.assertEqual(log2.filename, fname3)
self.assertEqual(log3.filename, fname3)
# due to singleton property, instances will be same.
self.assertEqual(log1, log2)
self.assertEqual(log3, log2)
def test_info_logger(self):
message = "test_logger is working?"
# make sure logs directory is created
if not os.path.isdir("logs"):
os.system("mkdir logs")
print("directory created")
log = Logger()
log.info(message)
with open(log.filename, "r") as log_file:
log_lines = log_file.readlines()
# for this test to be reused, remove the file
os.system("rm " + log.filename)
# get last line
last_log_line = log_lines[-1].rstrip("\n")
self.assertEqual(last_log_line, "[INFO] " + message)
def send_alert(message):
m_log = Logger(logger_name='ssh_logger', filename = LogPath )
headers = {'Content-Type':'application/x-www-form-urlencoded'}
msg = AlertContent + message
payload = {'text': AlertTitle, 'desp': msg}
try:
resp = requests.post(ADDR, data=payload, headers=headers)
except requests.exceptions.RequestException as e:
m_log.info("send log failed: %s" %payload)
m_log.info("send failed reason: %s" %e)
from logger_class import Logger
logger_object = Logger("/var/log/class_logger.log")
logger_object.info("This is an info message")
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from logger_class import Logger
logger_object = Logger("var/log/class_logger.log")
logger_object.error("This is a error message")
def extract_data():
# load id data
file = open("movie.txt", "r")
id_list = file.readlines()
for i in range(len(id_list)):
id_list[i] = id_list[i].strip("\n")
# setup
logger = Logger("file").getLogger()
with MyDb("localhost", "root", "", 3306) as db, DoubanAPI() as D:
# create database "movie_info", comment this block if database already created
try:
create_db(db)
except Exception as e:
logger.error(e)
raise Exception("Database creation failed!")
# connect to "movie_info"
db.connect_to_db("movie_info")
# begin extraction and insertion
for id in id_list:
time.sleep(3) # simulate user behaviour
# extraction
try:
D.search(id)
logger.info("Search success for id: " + str(id))
except Exception as e: # error caused by ip ban
logger.error(e)
raise Exception("Ip banned!")
try:
info = d.info()
except Exception as e: # error caused by ip ban
logger.error(e)
raise Exception("Ip banned!")
# insert into entity 'movie'
query = "INSERT INTO `movie` VALUES (%s, %s, %s, %s, %s)"
param = (id, ",".join(info["上映日期"]), info["rating"],
info["rating_count"], ",".join(info["rating_weight"]))
try:
db.execute(query, param)
except Exception as e: # error caused by duplicate id in txt
logger.error(e)
logger.info("Failure in id: " + str(id))
continue
# insert into relations
query = "INSERT INTO `director_movie` VALUES (%s, %s)"
for d in info["director_id"]:
try:
param = (d, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
query = "INSERT INTO `actor_movie` VALUES (%s, %s)"
for a in info["actor_id"]:
try:
param = (a, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
query = "INSERT INTO `writer_movie` VALUES (%s, %s)"
for w in info["screenwriter_id"]:
try:
param = (w, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
query = "INSERT INTO `actor_movie` VALUES (%s, %s)"
for a in info["actor_id"]:
try:
param = (a, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
query = "INSERT INTO `genre_movie` VALUES (%s, %s)"
for g in info["类型"]:
try:
param = (g, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
query = "INSERT INTO `region_movie` VALUES (%s, %s)"
for r in info["制片国家/地区"]:
try:
param = (r, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
query = "INSERT INTO `language_movie` VALUES (%s, %s)"
for l in info["语言"]:
try:
param = (l, id)
db.execute(query, param)
except Exception as e:
logger.error(e)
continue
# if success
logger.info("Success in id: " + str(id))
logger.info("Finish insertion")
time.sleep(3000) # wait until insertion finish successfully
filter_data(db)
#!/usr/bin/env python
#-*- coding: utf-8 -*-
from logger_class import Logger
m_log = Logger(logger_name='watcher', filename = 'catche.log' )
m_log.info('test1')
m_log.warn('test warn')
m_log.debug('test debug')
from logger_class import Logger
logger_object = Logger("filename.log")
logger_object.info("This is an info message")
def region_info(db):
header = ("region", "movie_count", "avg_rating")
query = "SELECT region, COUNT(movie_ID) AS movie_count, AVG(rating) AS avg_rating FROM `region_movie` JOIN movie " \
"WHERE movie_ID = ID GROUP BY region "
db.execute_to_csv(query, None, "./data/region_avg.csv", header)
header = ("movie_id", "region_rating")
query = "SELECT ID, AVG(avg_r) AS avg_rating FROM movie JOIN region_movie JOIN (SELECT region, COUNT(movie_ID) AS " \
"movie_count, AVG(rating) AS avg_r FROM `region_movie` JOIN movie WHERE movie_ID = ID GROUP BY region) AS " \
"T WHERE ID = region_movie.movie_ID AND region_movie.region = T.region GROUP BY ID "
db.execute_to_csv(query, None, "./data/region_pred_avg.csv", header)
query = "SELECT ID, rating FROM `movie` WHERE ID NOT IN (SELECT movie_ID FROM region_movie)"
db.execute_to_csv(query, None, "./data/region_empty.csv", header)
if __name__ == '__main__':
logger = Logger("file").getLogger()
make_dir()
with MyDb("localhost", "root", "", 3306, "movie_info") as db:
filter_data(db)
try:
get_movie(db)
actor_info(db)
director_info(db)
writer_info(db)
genre_info(db)
language_info(db)
region_info(db)
except Exception as e:
logger.error(e)
def test_combined():
a = 0.15
v = 0.08
urc.movel_wait(pose0, a=a, v=v)
rx_move(1200)
time.sleep(2)
gs = GelSight(
IP=IP,
corners=corners,
tracking_setting=tracking_setting,
output_sz=(400, 300),
id="right",
)
gs.start()
c = input()
rx_move(760)
grc.follow_gripper_pos = 1
time.sleep(0.5)
depth_queue = []
cnt = 0
dt = 0.05
pos_x = 0.5
tm_key = time.time()
logger = Logger()
noise_acc = 0.
flag_record = False
tm = 0
start_tm = time.time()
vel = [0.00, 0.008, 0, 0, 0, 0]
while True:
img = gs.stream.image
# get pose image
pose_img = gs.pc.pose_img
# pose_img = gs.pc.frame_large
if pose_img is None:
continue
# depth_current = gs.pc.depth.max()
# depth_queue.append(depth_current)
#
# if len(depth_queue) > 2:
# depth_queue = depth_queue[1:]
#
# if depth_current == np.max(depth_queue):
pose = gs.pc.pose
cv2.imshow("pose", pose_img)
if gs.pc.inContact:
# if cnt % 4 < 2:
# # grc.follow_gripper_pos = 1
# rx_move(810)
# else:
a = 0.02
v = 0.02
fixpoint_x = pose0[0]
fixpoint_y = pose0[1] - 0.133
pixel_size = 0.2e-3
ur_pose = urc.getl_rt()
ur_xy = np.array(ur_pose[:2])
x = 0.1 - pose[0] - 0.5 * (1 - 2 * pose[1]) * np.tan(pose[2])
alpha = np.arctan(ur_xy[0] - fixpoint_x) / (
ur_xy[1] - fixpoint_y) * np.cos(np.pi * ang / 180)
print("x: ", x, "; input: ", x * pixel_size)
# K = np.array([6528.5, 0.79235, 2.18017]) #10 degrees
# K = np.array([7012, 8.865, 6.435]) #30 degrees
# K = np.array([1383, 3.682, 3.417])
K = np.array([862689, 42.704, 37.518])
state = np.array([[x * pixel_size], [pose[2]], [alpha]])
phi = -K.dot(state)
# noise = random.random() * 0.07 - 0.02
# a = 0.8
# noise_acc = a * noise_acc + (1 - a) * noise
# phi += noise_acc
target_ur_dir = phi + alpha
limit_phi = np.pi / 3
target_ur_dir = max(-limit_phi, min(target_ur_dir, limit_phi))
if abs(target_ur_dir) == limit_phi:
print("reached phi limit")
v_norm = 0.02
vel = np.array([
v_norm * sin(target_ur_dir) * cos(np.pi * ang / 180),
v_norm * cos(target_ur_dir),
v_norm * sin(target_ur_dir) * sin(np.pi * -ang / 180), 0, 0, 0
])
# if x < -0.2:
# print("regrasp")
# rx_regrasp()
if ur_pose[0] < -0.7 - .1693:
vel[0] = max(vel[0], 0.)
print("reached x limit")
if ur_pose[0] > -0.4 - .1693:
vel[0] = min(vel[0], 0.)
print("reached x limit")
if ur_pose[2] < .15:
vel[2] = 0.
print("reached z limit")
if ur_pose[1] > .34:
print("end of workspace")
print("log saved: ", logger.save_logs())
gs.pc.inContact = False
vel[0] = min(vel[0], 0.)
vel[1] = 0.
# print("sliding vel ", vel[0], "posx ", pos_x)
vel = np.array(vel)
urc.speedl(vel, a=a, t=dt * 2)
time.sleep(dt)
else:
print("no pose estimate")
print("log saved: ", logger.save_logs())
break
# # get tracking image
# tracking_img = gs.tc.tracking_img
# if tracking_img is None:
# continue
# slip_index_realtime = gs.tc.slip_index_realtime
# print("slip_index_realtime", slip_index_realtime)
# cv2.imshow("marker", tracking_img[:, ::-1])
# cv2.imshow("diff", gs.tc.diff_raw[:, ::-1] / 255)
# if urc.getl_rt()[0] < -.45:
# break
# cnt += 1
c = cv2.waitKey(1) & 0xFF
if c == ord("q"):
break
##################################################################
# Record data
# 'gelsight_url' : self.gelsight_url,
# 'fabric_pose' : self.fabric_pose,
# 'ur_velocity' : self.ur_velocity,
# 'ur_pose' : self.ur_pose,
# 'slip_index' : self.slip_index,
# 'x' : self.x,
# 'y' : self.x,
# 'theta' : self.theta,
# 'phi' : self.phi,
# 'dt' : self.dt
if gs.pc.inContact:
# print("LOGGING")
# logger.gelsight = gs.pc.diff
# logger.cable_pose = pose
logger.ur_velocity = vel
logger.ur_pose = urc.getl_rt()
v = np.array([logger.ur_velocity[0], logger.ur_velocity[1]])
alpha = asin(v[1] / np.sum(v**2)**0.5)
logger.x = pose[0]
logger.y = pose[1]
logger.theta = pose[2]
# logger.phi = alpha - logger.theta
logger.dt = time.time() - tm
tm = time.time()
logger.add()
"""
Works Cited
豆瓣电影. https://movie.douban.com/. Accessed Dec. 2020.
"""
from DoubanAPI import DoubanAPI
from logger_class import Logger
def extract_id():
data_size = 3000
out = "movie.txt"
with DoubanAPI() as D:
D.find_id(False, "电影", 0, (2010, 2019), out, data_size)
if __name__ == '__main__':
logger = Logger().getLogger()
try:
extract_id()
except Exception as e:
logger.error(e)
from flask.views import MethodView
from flask import request, make_response, render_template, send_file
from logger_class import Logger
import io
logger = Logger()
class WebDavProtocol(MethodView):
"""This class handles WebDav protocol, but does not implement any FS logic"""
def __init__(self):
# self.files = __class__.files
pass
def propfind(self, path=None, pathname=None):
self.files['depth'] = request.headers['Depth']
if not pathname:
return make_response(
render_template('propfind_file_generated.xml',
values=self.get_file(pathname)), 207)
elif pathname and self.find_file(pathname):
self.files['only_files'] = True
return make_response(
render_template('propfind_one_file.xml',
values=self.find_file(pathname)), 207)
return make_response('', 404)
# -*-coding:utf8-*-
from logger_class import Logger
logger_object = Logger("logfile/log1.log")
logger_object.info('This is an info message')
from webdavprotocol import WebDavProtocol
from testwebdavprotocol import TestWebDavProtocol
from flask import Flask, request, make_response
import os
from logger_class import Logger
# Enables request logging to log file
debug = True
# Logger
logger = Logger()
logger.flush()
# Crunch, needed for path_join in jinja_handler. Temporary.
host = '192.168.88.56'
#host = '192.168.1.120'
# List of allowed methods
ALLOWED_METHODS = ['GET', 'PUT', 'PROPFIND', 'PROPPATCH', 'MKCOL', 'DELETE',
'COPY', 'MOVE', 'OPTIONS']
app = Flask(__name__)
webdav_view = TestWebDavProtocol.as_view('webdav')
app.add_url_rule('/webdav', defaults={'path': ''}, view_func=webdav_view, methods=ALLOWED_METHODS)
app.add_url_rule('/webdav/<path:pathname>', view_func=webdav_view, methods=ALLOWED_METHODS)
@app.before_request
def logging():
from logger_class import Logger
logger_object = Logger('resouces/info.log')
logger_object.info('hello, this is a test')
def test_combined():
a = 0.15
v = 0.08
urc.movel_wait(pose0, a=a, v=v)
rx_move(1200)
time.sleep(2)
gs = GelSight(
IP=IP,
corners=corners,
tracking_setting=tracking_setting,
output_sz=(400, 300),
id="right",
)
gs.start()
c = input()
rx_move(800)
grc.follow_gripper_pos = 1
time.sleep(0.5)
depth_queue = []
cnt = 0
dt = 0.05
pos_x = 0.5
tm_key = time.time()
logger = Logger()
noise_acc = 0.
flag_record = False
tm = 0
start_tm = time.time()
vel = [0.00, 0.008, 0, 0, 0, 0]
while True:
img = gs.stream.image
# get pose image
pose_img = gs.pc.pose_img
# pose_img = gs.pc.frame_large
if pose_img is None:
continue
# depth_current = gs.pc.depth.max()
# depth_queue.append(depth_current)
#
# if len(depth_queue) > 2:
# depth_queue = depth_queue[1:]
#
# if depth_current == np.max(depth_queue):
pose = gs.pc.pose
cv2.imshow("pose", pose_img)
if gs.pc.inContact:
# if cnt % 4 < 2:
# # grc.follow_gripper_pos = 1
# rx_move(810)
# else:
a = 0.02
v = 0.02
kp = .03
# kp_rot = .2
# pos_x = (2*pose[0] + (1 - pose[1])*np.tan(pose[2]))/2
pos_x = (pose[0] + (1 - pose[1]) * np.tan(pose[2]))
# pos_x = pose[0]
# e = (pos_x-0.5)*kp
# vel = [0, (pos_x-0.3)*kp, -0.008, 0, 0, 0]
# vel = [0, (pos_x-0.6)*kp, -0.008, kp_rot*gs.pc.pose[2], 0, 0]
# vel = [0, e*np.cos(th) - dy, -e*np.sin(th) - dz, kp_rot*gs.pc.pose[2], 0, 0]
noise = random.random() * 0.03 - 0.015
a = 0.8
noise_acc = a * noise_acc + (1 - a) * noise
print(pos_x)
vel = [(pos_x - 0.10) * kp + noise_acc, 0.008,
-(pos_x - 0.10) * kp * .2, 0, 0, 0]
vel = np.array(vel)
# grc.follow_gripper_pos = .885
# grc.follow_gripper_pos = .88
# rx_move(830)
# urc.speedl([(pose[0]-0.2)*kp, 0.008, 0, 0, 0, 0], a=a, t=dt*2)
ur_pose = urc.getl_rt()
if ur_pose[0] < -0.7:
vel[0] = max(vel[0], 0.)
if ur_pose[0] > -0.3:
vel[0] = min(vel[0], 0.)
if ur_pose[2] < .08:
vel[2] = 0.
if ur_pose[1] > .34:
print("end of workspace")
print("log saved: ", logger.save_logs())
gs.pc.inContact = False
vel[0] = min(vel[0], 0.)
vel[1] = 0.
print("sliding vel ", vel[0], "posx ", pos_x)
vel = np.array(vel)
urc.speedl(vel, a=a, t=dt * 2)
time.sleep(dt)
else:
print("no pose estimate")
print("log saved: ", logger.save_logs())
break
# # get tracking image
# tracking_img = gs.tc.tracking_img
# if tracking_img is None:
# continue
# slip_index_realtime = gs.tc.slip_index_realtime
# print("slip_index_realtime", slip_index_realtime)
# cv2.imshow("marker", tracking_img[:, ::-1])
# cv2.imshow("diff", gs.tc.diff_raw[:, ::-1] / 255)
# if urc.getl_rt()[0] < -.45:
# break
# cnt += 1
c = cv2.waitKey(1) & 0xFF
if c == ord("q"):
break
##################################################################
# Record data
# 'gelsight_url' : self.gelsight_url,
# 'fabric_pose' : self.fabric_pose,
# 'ur_velocity' : self.ur_velocity,
# 'ur_pose' : self.ur_pose,
# 'slip_index' : self.slip_index,
# 'x' : self.x,
# 'y' : self.x,
# 'theta' : self.theta,
# 'phi' : self.phi,
# 'dt' : self.dt
if gs.pc.inContact:
# print("LOGGING")
# logger.gelsight = gs.pc.diff
# logger.cable_pose = pose
logger.ur_velocity = vel
logger.ur_pose = urc.getl_rt()
v = np.array([logger.ur_velocity[0], logger.ur_velocity[1]])
alpha = asin(v[1] / np.sum(v**2)**0.5)
logger.x = pose[0]
logger.y = pose[1]
logger.theta = pose[2]
# logger.phi = alpha - logger.theta
logger.dt = time.time() - tm
tm = time.time()
logger.add()
