def phraseTwo():
global phraseTwoPath
print "phase two begin"
global returnPath, phaseTwoPath
returnPath.append(startPosition)
print "RETURN PATH: "+str(returnPath)
setRunningPhrase(2)
utility.startTimer()
pathTwo = phaseTwoPath
#pathTwo=[]
print "==========="
print pathTwo
if(pathTwo==[]):
print "no optimal path find so go back on the same path as phase one"
pathTwo=returnPath
while True:
time.sleep(0.01)
if(len(pathTwo)!=0):
print "aaaaaaaaaaaa"
moveFromCurrentPositionTo(pathTwo[0])
pathTwo.pop(0)
elif(currentPosition==startPosition):
sendMessages("Reached StartPosition, total running time: "+str(utility.getTime())+" seconds",3)
break
startingCheck()
def phraseTwo():
#global phraseTwoPath
print "phase two begin"
global returnPath, phaseTwoPath
returnPath.append(startPosition)
print "RETURN PATH: "+str(returnPath)
setRunningPhrase(2)
utility.startTimer()
pathTwo = phaseTwoPath
print "==========="
print pathTwo
if(pathTwo==[]):
print "no optimal path find so go back on the same path as phase one"
pathTwo=returnPath
while True:
time.sleep(0.01)
if(len(pathTwo)!=0):
print "aaaaaaaaaaaa"
moveFromCurrentPositionTo(pathTwo[0])
pathTwo.pop(0)
elif(currentPosition==startPosition):
sendMessages("Reached StartPosition, total running time: "+str(utility.getTime())+" seconds",3)
break
def phraseOne():
setRunningPhrase(1)
threading.Thread(target=utility.startTimer).start()
path = []
goBack=False
getPath=True
#getPath = True
#turn 90 at very first
while True:
#to return on the same path used
isPath=True
time.sleep(1)
if(endPosition==currentPosition):
sendMessages("Reached EndPosition in "+str(utility.getTime())+" seconds",3)
#print "=========================>>>>> reach endpoint"
#phraseOneCheckIfAtGoal()
break
try:
if(currentPosition==path[0]):
path.pop(0)
except:
pass
#if getPath is true, get optimal path (90degrees)
if(getPath or len(path)==0):
getPath = False
sendMessages("currentAngle "+str(currentAngle),3)
sendMessages("currentPosition "+str(currentPosition[0])+" "+str(currentPosition[1]),3)
sendMessages("phraseOneFindOptimalPath",1)
pathInString = comms.getMsg()
pathInString = pathInString.translate(string.maketrans('', ''), '[] ')
pathInString = pathInString.split(',')
def findLongestSessions(sc, rddCheckins, mininum_distance, max_count, outfile):
""" task 7
"""
mininum_distance -= 0.0001 # to do greater than filtering
pointsOfInterest = [row[0] for row in \
rddCheckins \
.map(lambda x: (x[2], Point(x[5], x[6], 0))) \
.reduceByKey(calculateHaversinePoints) \
.filter(lambda x: x[1].distance > mininum_distance) \
.takeOrdered(max_count, lambda x: -x[1].distance)]
checkins = sc.broadcast(set(pointsOfInterest))
# Map: output data as csv
data = rddCheckins.filter(lambda x: x[2] in checkins.value) \
.map(lambda x: (';'.join(x[:3]) + ";"
+ getTime(x[3], x[4]) + ';' + ';'.join(x[5:]))) \
.coalesce(1)
# should I map these to cities? assignment text doesn't mention it.
# it's trivial since we have only ~2000 entries, but cartodb can read lat/longitude
data.saveAsTextFile(outfile)
header = "checkin_id\\;user_id\\;session_id\\;date\\;lat\\;lon\\;category\\;subcategory"
system("(echo " + header + " && cat " + outfile + "/part-00000 ) >> " + outfile + "/out.csv")
return data
import utility import threading import time threading.Thread(target=utility.startTimer).start() time.sleep(2) print utility.getTime() time.sleep(1) print utility.getTime() utility.startTimer() time.sleep(1) print utility.getTime() time.sleep(1) print utility.getTime()
wt = buf_wts[_i: (_i + 1)]
if 'LR' in algo:
feed_dict = {model.x_id: x_id,
model.wt: wt}
pred = model.prediction.eval(feed_dict=feed_dict)[0][0]
preds.append(pred)
labels.extend(buf_labels)
return np.array(labels), np.array(preds)
if __name__ == '__main__':
src = "vlion"
camp = "231"
algo = "LR"
tag = src + "_" + camp + "_" + algo + "_" + utility.getTime()
if src == "ipinyou":
data_path = config.ipinyouPath
camp_info = config.get_camp_info(camp, src)
elif src == 'vlion':
data_path = config.vlionPath
camp_info = config.get_camp_info(camp, src)
elif src == "yoyi":
data_path = config.yoyiPath
camp_info = config.get_camp_info(camp, src)
train_path = data_path + camp + "/urp-train/train.yzx.shuf.txt"
test_path = data_path + camp + "/urp-train/test.yzx.shuf.txt"
eval_path = data_path + camp + "/urp-train/test.yzx.eval.txt"
# mode options: train, test, write prediction
def phraseOne():
setRunningPhrase(1)
threading.Thread(target=utility.startTimer).start()
path = []
goBack=False
getPath=True
#getPath = True
#turn 90 at very first
while True:
#to return on the same path used
isPath=True
time.sleep(1)
if(endPosition==currentPosition):
sendMessages("Reached EndPosition in "+str(utility.getTime())+" seconds",3)
#print "=========================>>>>> reach endpoint"
#phraseOneCheckIfAtGoal()
break
try:
if(currentPosition==path[0]):
path.pop(0)
except:
pass
#print "dddd"
#if getPath is true, get optimal path (90degrees)
if(getPath or len(path)==0):
getPath = False
sendMessages("currentAngle "+str(currentAngle),3)
sendMessages("currentPosition "+str(currentPosition[0])+" "+str(currentPosition[1]),3)
sendMessages("phraseOneFindOptimalPath",1)
returnMsgInString = comms.getMsg()
#print "aaaaaa"
#print returnMsgInString
returnMsgInString = returnMsgInString.split(';')
pathInString = returnMsgInString[0]
pathInString = pathInString.translate(string.maketrans('', ''), '[] ')
pathInString = pathInString.split(',')
changeSafetyDistance = utility.parseBoolString(returnMsgInString[1]);
#print "bbbb"
#print changeSafetyDistance
#print pathInString
'''
if (pathInString=='[]'):
goBack=True
continue
'''
path=[]
i=0
#print "======== "+str(pathInString)
while i<len(pathInString):
path.append([int(pathInString[i]),int(pathInString[i+1])])
i=i+2
print "get new path:::"
print path
#base on path, get direction to face
directionToFace = utility.getAngle(currentPosition, path[0], currentAngle)
distanceToNextPoint = utility.getDistance(currentPosition, path[0], cmPerBox)
#print ("direction "+str(directionToFace))
#print ("distance "+str(distanceToNextPoint))
print "currentPosition = "+str(currentPosition)
if(directionToFace!=0):
if(currentPosition==startPosition):
isPath=False
elif(len(returnPath)>0):
if(returnPath[0]==currentPosition):
isPath=False
if(isPath):
newPoint=[0,0]
newPoint[0]=currentPosition[0]
newPoint[1]=currentPosition[1]
returnPath.insert(0,newPoint)
turn(directionToFace)
while arduino.getRobotMotorMovingStatus():
pass
#print (WHITE+"current position "+str(currentPosition))
#print (WHITE+"current angle "+str(currentAngle))
#print (WHITE+"disatnce to next point"+str(distanceToNextPoint))
#check left and right sensor for obs
sensorValues = arduino.getSensorStatus()
#print WHITE+"sensor values"
#print WHITE+sensorValues
sensorValues = sensorValues.split()
isLeftObstacle=utility.parseBoolString(sensorValues[4])
isRightObstacle=utility.parseBoolString(sensorValues[6])
print "sensor values:::::"
print sensorValues
if (currentPosition[0]>=34 and currentPosition[1]>=24 and (isRightObstacle or isLeftObstacle)):
sendMessages("Reached EndPosition in "+str(utility.getTime())+" seconds",3)
print "not very accurate, but regard as reached"
#print "=========================>>>>> reach endpoint"
#phraseOneCheckIfAtGoal()
break
if(isRightObstacle):#if right sensor is true
#print ("current "+str(currentPosition))
#print "currentPosition = "+str(currentPosition)
#print "left obstacle"
setObstacle("right",10)
obsTrueCoords = comms.getMsg()
sendMessages("map setObstacle "+obsTrueCoords,2)
getPath=True
#bottom sensor is for front left
if(isLeftObstacle):#if bottom sensor is true, front obs within 10cm
#print ("current "+str(currentPosition))
#print "currentPosition = "+str(currentPosition)
#print "right obstacle"
setObstacle("left",10)
obsTrueCoords = comms.getMsg()
sendMessages("map setObstacle "+obsTrueCoords,2)
getPath=True
if ((not getPath) or changeSafetyDistance):
move(10)
changeSafetyDistance=False
else:
continue
while arduino.getRobotMotorMovingStatus():
pass
continue
endingCheck()
def phraseOne():
setRunningPhrase(1)
threading.Thread(target=utility.startTimer).start()
path = []
goBack = False
getPath = True
#getPath = True
#turn 90 at very first
while True:
#to return on the same path used
isPath = True
time.sleep(1)
if (endPosition == currentPosition):
sendMessages(
"Reached EndPosition in " + str(utility.getTime()) +
" seconds", 3)
#print "=========================>>>>> reach endpoint"
#phraseOneCheckIfAtGoal()
break
try:
if (currentPosition == path[0]):
path.pop(0)
except:
pass
#print "dddd"
#if getPath is true, get optimal path (90degrees)
if (getPath or len(path) == 0):
getPath = False
sendMessages("currentAngle " + str(currentAngle), 3)
sendMessages(
"currentPosition " + str(currentPosition[0]) + " " +
str(currentPosition[1]), 3)
sendMessages("phraseOneFindOptimalPath", 1)
returnMsgInString = comms.getMsg()
#print "aaaaaa"
#print returnMsgInString
returnMsgInString = returnMsgInString.split(';')
pathInString = returnMsgInString[0]
pathInString = pathInString.translate(string.maketrans('', ''),
'[] ')
pathInString = pathInString.split(',')
changeSafetyDistance = utility.parseBoolString(
returnMsgInString[1])
#print "bbbb"
#print changeSafetyDistance
#print pathInString
'''
if (pathInString=='[]'):
goBack=True
continue
'''
path = []
i = 0
#print "======== "+str(pathInString)
while i < len(pathInString):
path.append([int(pathInString[i]), int(pathInString[i + 1])])
i = i + 2
print "get new path:::"
print path
#base on path, get direction to face
directionToFace = utility.getAngle(currentPosition, path[0],
currentAngle)
distanceToNextPoint = utility.getDistance(currentPosition, path[0],
cmPerBox)
#print ("direction "+str(directionToFace))
#print ("distance "+str(distanceToNextPoint))
print "currentPosition = " + str(currentPosition)
if (directionToFace != 0):
if (currentPosition == startPosition):
isPath = False
elif (len(returnPath) > 0):
if (returnPath[0] == currentPosition):
isPath = False
if (isPath):
newPoint = [0, 0]
newPoint[0] = currentPosition[0]
newPoint[1] = currentPosition[1]
returnPath.insert(0, newPoint)
turn(directionToFace)
while arduino.getRobotMotorMovingStatus():
pass
#print (WHITE+"current position "+str(currentPosition))
#print (WHITE+"current angle "+str(currentAngle))
#print (WHITE+"disatnce to next point"+str(distanceToNextPoint))
#check left and right sensor for obs
sensorValues = arduino.getSensorStatus()
#print WHITE+"sensor values"
#print WHITE+sensorValues
sensorValues = sensorValues.split()
isLeftObstacle = utility.parseBoolString(sensorValues[4])
isRightObstacle = utility.parseBoolString(sensorValues[6])
print "sensor values:::::"
print sensorValues
if (currentPosition[0] >= 34 and currentPosition[1] >= 24
and (isRightObstacle or isLeftObstacle)):
sendMessages(
"Reached EndPosition in " + str(utility.getTime()) +
" seconds", 3)
print "not very accurate, but regard as reached"
#print "=========================>>>>> reach endpoint"
#phraseOneCheckIfAtGoal()
break
if (isRightObstacle): #if right sensor is true
#print ("current "+str(currentPosition))
#print "currentPosition = "+str(currentPosition)
#print "left obstacle"
setObstacle("right", 10)
obsTrueCoords = comms.getMsg()
sendMessages("map setObstacle " + obsTrueCoords, 2)
getPath = True
#bottom sensor is for front left
if (isLeftObstacle): #if bottom sensor is true, front obs within 10cm
#print ("current "+str(currentPosition))
#print "currentPosition = "+str(currentPosition)
#print "right obstacle"
setObstacle("left", 10)
obsTrueCoords = comms.getMsg()
sendMessages("map setObstacle " + obsTrueCoords, 2)
getPath = True
if ((not getPath) or changeSafetyDistance):
move(10)
changeSafetyDistance = False
else:
continue
while arduino.getRobotMotorMovingStatus():
pass
continue
endingCheck()
def calculateLocalTime(rddCheckins, indexOfUtcTime1, indexOfOffsett, outfile):
""" Task 2 """
rddLocalTime = rddCheckins \
.map(lambda row: getTime(row[indexOfUtcTime1], row[indexOfOffsett]))
rddLocalTime.saveAsTextFile(outfile)
return rddLocalTime
x_id = buf_x_ids[_i:(_i + 1)]
wt = buf_wts[_i:(_i + 1)]
if 'LR' in algo:
feed_dict = {model.x_id: x_id, model.wt: wt}
pred = model.prediction.eval(feed_dict=feed_dict)[0][0]
preds.append(pred)
labels.extend(buf_labels)
return np.array(labels), np.array(preds)
if __name__ == '__main__':
src = "vlion"
camp = "231"
algo = "LR"
tag = src + "_" + camp + "_" + algo + "_" + utility.getTime()
if src == "ipinyou":
data_path = config.ipinyouPath
camp_info = config.get_camp_info(camp, src)
elif src == 'vlion':
data_path = config.vlionPath
camp_info = config.get_camp_info(camp, src)
elif src == "yoyi":
data_path = config.yoyiPath
camp_info = config.get_camp_info(camp, src)
train_path = data_path + camp + "/urp-train/train.yzx.shuf.txt"
test_path = data_path + camp + "/urp-train/test.yzx.shuf.txt"
eval_path = data_path + camp + "/urp-train/test.yzx.eval.txt"
# mode options: train, test, write prediction
