def loadPage(self,
url,
uri=None,
method="GET",
params="",
additionalParams=""):
if not url:
logging.error("Request URL undefined")
tools.exitErr()
if not uri:
urlData = urlparse(url)
url = urlData.netloc
uri = urlData.path + '?' + urlData.query
# prepare params, append to uri
if params:
params = urlencode(params) + additionalParams
if method == "GET":
uri += ('?' if uri.find('?') == -1 else '&') + params
params = ""
# insert local cookies in request
headers = {
"Cookie":
'; '.join(
[key + '=' + self.cookies[key] for key in self.cookies.keys()])
}
if method == "POST":
headers["Content-type"] = "application/x-www-form-urlencoded"
logging.debug("Request URL: %s:/%s > %s # %s", url, uri,
unquote(params), headers["Cookie"])
conn = httplib.HTTPSConnection(url)
conn.request(method, uri, params, headers)
response = conn.getresponse()
data = response.read()
conn.close()
logging.debug("Response : %s > %s", response.status,
response.getheaders())
result = tools.Struct(status=response.status,
location=response.getheader('location', None),
data=data)
# update local cookies
sk = Cookie.SimpleCookie(response.getheader("Set-Cookie", ""))
for key in sk:
self.cookies[key] = sk[key].value
# delete cookies whose content is "deleteme"
for key in self.cookies.keys():
if self.cookies[key] == "deleteme":
del self.cookies[key]
return result
def setupSnakeMonsterShoulderData():
#SETUPSNAKEMONSTERDATA Initializes the data needed to run the matlab control code
#on one of our snakes.
#
# The hope is that using this function will allow us to design code that
# can be used on future snakes with different configurations, with a
# minimal amount of re-work.
#
# [snakeData] = setupSnakeMonsterData( snakeType, numModules )
# Returns a struct based on the type of snake and the number of
# modules specified. THe snake data strcut contains:
# .snakeType
#
# .modules
# .numModules
#
# .moduleLen
# .moduleDia
#
# .axisPerm
#
# .snakeShape
#
# Dave Rollinson
# Oct 2013
snakeData = tools.Struct()
# String Describing Snake Type
snakeData.snakeType = 'Snake Monster'
# Number of modules
numModules = 6
snakeData.modules = list(range(numModules))
snakeData.num_modules = numModules
##################
# KINEMATIC INFO #
##################
# Length of modules
snakeData.moduleLen = .0639 # meters
# Diameter of modules
# (for animation only, does not effect kinematics)
# (may come into play for motion models)
snakeData.moduleDia = .0508 # meters (no skin)
###########################################
# Snake Monster module degrees of freedom #
###########################################
# 1 3 5 -> same direction, 2 4 6 -> turned pi around Y axis
# Leg Numbering / Chassis Coordinate convention:
#
# 2 ----- 1 +y
# | ^
# 4 ----- 3 |
# | o--> +x
# 6 ----- 5 +z
# Rotation Matrices
R_x = lambda t: [[1, 0, 0], [0, cos(t), -sin(t)], [0, sin(t), cos(t)]]
R_y = lambda t: [[cos(t), 0, sin(t)], [0, 1, 0], [-sin(t), 0, cos(t)]]
R_z = lambda t: [[cos(t), -sin(t), 0], [sin(t), cos(t), 0], [0, 0, 1]]
snakeData.snakeShape = np.zeros((7, 4, 4))
snakeData.snakeShape[1] = np.pad(np.dot(R_y(pi / 2), R_z(-pi / 2)), (0, 1),
'constant') # should joint 1
snakeData.snakeShape[2] = np.pad(
np.dot(np.dot(R_y(pi / 2), R_z(-pi / 2)), R_y(-pi)), (0, 1),
'constant') # should joint 2
snakeData.snakeShape[3] = snakeData.snakeShape[1] # should joint 3
snakeData.snakeShape[4] = snakeData.snakeShape[2] # should joint 4
snakeData.snakeShape[5] = snakeData.snakeShape[1] # should joint 5
snakeData.snakeShape[6] = snakeData.snakeShape[2] # should joint 6
########################################
# Permutation Axis for Virtual Chassis #
########################################
# Defaults to X-Y-Z being 1st-2nd-3rd Principal Moments
snakeData.axisPerm = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
# snakeData.firmwareType = firmware;
return snakeData
def loadPage(self,
url,
uri=None,
method="GET",
params="",
additionalParams=""):
if not url:
logging.error("Request URL undefined")
tools.exitErr()
if not url.startswith("http"):
url = "https://" + url
urlData = urlparse(url)
if not uri:
url = "%s://%s" (urlData.scheme, urlData.netloc)
uri = urlData.path + '?' + urlData.query
# prepare params, append to uri
if params:
params = urlencode(params) + additionalParams
if method == "GET":
uri += ('?' if uri.find('?') == -1 else '&') + params
params = ""
# insert local cookies in request
headers = {
"Cookie":
'; '.join(
[key + '=' + self.cookies[key] for key in self.cookies.keys()])
}
if method == "POST":
headers["Content-type"] = "application/x-www-form-urlencoded"
if self._proxy is None or proxy_bypass(urlData.hostname):
host = urlData.hostname
port = urlData.port
real_host = real_port = None
else:
host = self._proxy.hostname
port = self._proxy.port
real_host = urlData.hostname
real_port = urlData.port
logging.debug("Request URL: %s:/%s > %s # %s", url, uri,
unquote(params), headers["Cookie"])
conn = httplib.HTTPSConnection(host, port)
if real_host is not None:
conn.set_tunnel(real_host, real_port, headers=self._proxy_auth)
if config.DEBUG:
conn.set_debuglevel(1)
conn.request(method, url + uri, params, headers)
response = conn.getresponse()
data = response.read()
conn.close()
logging.debug("Response : %s > %s", response.status,
response.getheaders())
result = tools.Struct(status=response.status,
location=response.getheader('location', None),
data=data)
# update local cookies
sk = Cookie.SimpleCookie(response.getheader("Set-Cookie", ""))
for key in sk:
self.cookies[key] = sk[key].value
# delete cookies whose content is "deleteme"
for key in self.cookies.keys():
if self.cookies[key] == "deleteme":
del self.cookies[key]
return result
def setUp(self):
self.notes = NotesOver()
self.testNote = tools.Struct(title="note title")
