def setUpClass(cls):
initializer.init()
logging.getLogger("vcr").setLevel(logging.FATAL)
# Start mocks and create fake directories
cls.patch_sandbox.start()
os.makedirs(config.PATH_SANDBOX, exist_ok=True)
cls.patch_tests.start()
os.makedirs(config.PATH_TESTS, exist_ok=True)
cls.patch_testers.start()
os.makedirs(config.PATH_TESTERS, exist_ok=True)
cls.patch_checkers.start()
os.makedirs(config.PATH_CHECKERS, exist_ok=True)
cls.patch_replays.start()
os.makedirs(config.PATH_REPLAYS, exist_ok=True)
tasks = [("problems_standard_three.json", "ThreeSum"),
("problems_standard_sheep.json", "Sheep"),
("problems_checker_ruler.json", "Ruler"),
("games_two_player_uttt.json", "UTTT"),
("games_interactive_ng.json", "NG"),
("games_interactive_is.json", "ImageScanner")]
# Create an Evaluator objects for each task and copy its tests in the test_data folder
for task in tasks:
evaluator = cls.get_evaluator(
os.path.join(cls.PATH_FIXTURES, task[0]), config.LANGUAGE_CPP)
for test in evaluator.tests:
shutil.copy(
os.path.join(cls.PATH_FIXTURES, "{}/Tests".format(task[1]),
test.inpFile), test.inpPath)
shutil.copy(
os.path.join(cls.PATH_FIXTURES, "{}/Tests".format(task[1]),
test.solFile), test.solPath)
def init(self):
parser = argparse.ArgumentParser(
description='Initialize AnyConnect profile if does not exist')
parser.add_argument('init')
parser.add_argument('-r', '--rewrite', action='store_true')
args = parser.parse_args(sys.argv[1:])
initializer.init(args.rewrite)
def setUpClass(cls):
initializer.init()
cls.patch_sandbox.start()
os.makedirs(config.PATH_SANDBOX, exist_ok=True)
cls.tests_abproblem = []
for pos in range(3):
test = TestInfo(inpFile="test.in", inpHash="hash.in", solFile="test.sol", solHash="hash.sol", position=pos)
test.inpPath = os.path.join(cls.PATH_FIXTURES, "ABProblem/Tests/ABProblem.{:02d}.in".format(pos))
test.solPath = os.path.join(cls.PATH_FIXTURES, "ABProblem/Tests/ABProblem.{:02d}.sol".format(pos))
cls.tests_abproblem.append(test)
def setUpClass(cls):
initializer.init()
def main():
# Initialization
initializer.init()
global localization, final_position, us, current_index, previous_index, req_index, req_previous_index, x_index, y_index, yaw_index, xvelocity_index, yvelocity_index, yawrate_index
current_index = 0
previous_index = 1
req_index = 2
req_previous_index = 3
xfinal_index = 0
yfinal_index = 1
x_index = 0
y_index = 1
yaw_index = 2
xvelocity_index = 3
yvelocity_index = 4
yawrate_index = 5
tvelocity_index = 6
position_index = 7
localization = [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]
final_position = [0.0, 0.0]
us = [0, 0]
ts = 1.0
x = [
319.0, 319.0, 320.0, 320.0, 320.0, 321.0, 321.0, 322.0, 322.0, 322.0,
323.0, 323.0, 323.0, 324.0, 324.0, 324.0, 325.0, 325.0, 326.0, 326.0,
326.0, 327.0, 327.0, 327.0, 328.0, 328.0, 328.0, 329.0, 329.0, 329.0,
330.0, 330.0, 331.0, 331.0, 331.0, 332.0, 332.0, 332.0, 333.0, 333.0,
333.0, 334.0, 334.0, 335.0, 335.0, 335.0, 336.0, 336.0, 336.0, 337.0,
337.0, 337.0, 338.0, 338.0, 338.0, 339.0, 339.0, 340.0, 340.0, 340.0,
341.0, 341.0, 341.0, 342.0, 342.0, 342.0, 343.0, 343.0, 344.0, 344.0,
344.0, 345.0, 345.0, 345.0, 346.0, 346.0, 346.0, 347.0, 347.0, 347.0,
348.0, 348.0, 349.0, 349.0, 349.0, 350.0, 350.0, 350.0, 351.0, 351.0,
351.0, 352.0, 352.0, 353.0, 353.0, 353.0, 354.0, 354.0, 354.0, 355.0,
355.0, 355.0, 356.0, 356.0, 356.0, 357.0, 357.0, 358.0, 358.0, 358.0,
359.0, 359.0, 359.0, 360.0, 360.0, 360.0, 361.0, 361.0, 362.0, 362.0,
362.0, 363.0, 363.0, 363.0, 364.0, 364.0, 364.0, 365.0, 365.0, 365.0,
366.0, 366.0, 367.0, 367.0, 367.0, 368.0, 368.0, 368.0, 369.0, 369.0,
369.0, 370.0, 370.0, 370.0, 371.0, 371.0, 371.0, 372.0, 372.0, 372.0,
373.0, 373.0, 373.0, 374.0, 374.0, 374.0, 375.0, 375.0, 375.0, 375.0,
376.0, 376.0, 376.0, 376.0, 377.0, 377.0, 377.0, 377.0, 378.0, 378.0,
378.0, 378.0, 378.0, 379.0, 379.0, 379.0, 379.0, 379.0, 379.0, 380.0,
380.0, 380.0, 380.0, 380.0, 380.0, 380.0, 380.0, 380.0, 381.0, 381.0,
381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0,
381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0, 381.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0, 382.0,
382.0, 382.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0,
383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0,
383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0, 383.0,
383.0, 383.0, 383.0, 384.0, 384.0, 384.0, 384.0, 384.0, 384.0, 384.0,
384.0, 384.0, 385.0, 385.0, 385.0, 385.0, 385.0, 385.0, 386.0, 386.0,
386.0, 386.0, 386.0, 387.0, 387.0, 387.0, 387.0, 388.0, 388.0, 388.0,
388.0, 389.0, 389.0, 389.0, 389.0, 390.0, 390.0, 390.0, 391.0, 391.0,
391.0, 392.0, 392.0, 392.0, 393.0, 393.0, 393.0, 394.0, 394.0, 394.0,
395.0, 395.0, 395.0, 396.0, 396.0, 396.0, 397.0, 397.0, 397.0, 398.0,
398.0, 398.0, 399.0, 399.0, 400.0, 400.0, 400.0, 401.0, 401.0, 401.0,
402.0, 402.0, 402.0, 403.0, 403.0, 403.0, 404.0, 404.0, 405.0, 405.0,
405.0, 406.0, 406.0, 406.0, 407.0, 407.0, 407.0, 408.0, 408.0, 409.0,
409.0, 409.0, 410.0, 410.0, 410.0, 411.0, 411.0, 411.0, 412.0, 412.0,
412.0, 413.0, 413.0, 414.0, 414.0, 414.0, 415.0, 415.0, 415.0, 416.0,
416.0, 416.0, 417.0, 417.0, 418.0, 418.0, 418.0, 419.0, 419.0, 419.0,
420.0, 420.0, 420.0, 421.0, 421.0, 421.0, 422.0, 422.0, 423.0, 423.0,
423.0, 424.0, 424.0, 424.0, 425.0, 425.0, 425.0, 426.0, 426.0, 427.0,
427.0, 427.0, 428.0, 428.0, 428.0, 429.0, 429.0, 429.0, 430.0, 430.0,
430.0, 431.0, 431.0, 432.0, 432.0, 432.0, 433.0, 433.0, 433.0, 434.0,
434.0, 434.0, 435.0, 435.0, 436.0, 436.0, 436.0, 437.0, 437.0, 437.0,
438.0, 438.0, 438.0, 439.0, 439.0, 439.0, 440.0, 440.0, 441.0, 441.0,
441.0, 442.0, 442.0, 442.0, 443.0, 443.0, 443.0, 444.0, 444.0, 445.0,
445.0, 445.0, 446.0, 446.0, 446.0, 447.0, 447.0, 447.0, 448.0, 448.0,
448.0, 449.0, 449.0, 450.0, 450.0, 450.0, 451.0, 451.0, 451.0, 452.0,
452.0, 452.0, 453.0, 453.0, 454.0, 454.0, 454.0, 455.0, 455.0, 455.0,
456.0, 456.0, 456.0, 457.0, 457.0, 457.0, 458.0, 458.0, 459.0, 459.0,
459.0, 460.0, 460.0, 460.0, 461.0, 461.0, 461.0, 462.0, 462.0, 463.0,
463.0, 463.0, 464.0, 464.0, 464.0, 465.0, 465.0, 465.0, 466.0, 466.0,
466.0, 467.0, 467.0, 468.0, 468.0, 468.0, 469.0, 469.0, 469.0, 470.0,
470.0, 470.0, 471.0, 471.0, 472.0, 472.0, 472.0, 473.0, 473.0, 473.0,
474.0, 474.0, 474.0, 475.0, 475.0, 475.0, 476.0, 476.0, 477.0, 477.0,
477.0, 478.0, 478.0, 478.0, 479.0, 479.0, 479.0, 480.0, 480.0, 481.0,
481.0, 481.0, 482.0, 482.0, 482.0, 483.0, 483.0, 483.0, 484.0, 484.0,
484.0, 485.0, 485.0, 486.0, 486.0, 486.0, 487.0, 487.0, 487.0, 488.0,
488.0, 488.0, 489.0, 489.0, 490.0, 490.0, 490.0, 491.0, 491.0, 491.0,
492.0, 492.0, 492.0, 493.0, 493.0, 493.0, 494.0, 494.0, 495.0, 495.0,
495.0, 496.0, 496.0, 496.0, 497.0, 497.0, 497.0, 498.0, 498.0, 499.0,
499.0, 499.0, 500.0, 500.0, 500.0, 501.0, 501.0, 501.0, 502.0, 502.0,
502.0, 503.0, 503.0, 504.0, 504.0, 504.0, 505.0, 505.0, 505.0, 506.0,
506.0, 506.0, 507.0, 507.0, 508.0, 508.0, 508.0, 509.0, 509.0, 509.0,
510.0, 510.0, 510.0, 511.0, 511.0, 511.0, 512.0, 512.0, 513.0, 513.0,
513.0, 514.0, 514.0, 514.0, 515.0, 515.0, 515.0, 516.0, 516.0, 517.0,
517.0, 517.0, 518.0, 518.0, 518.0, 519.0, 519.0, 519.0, 520.0, 520.0,
520.0, 521.0, 521.0, 522.0, 522.0, 522.0, 523.0, 523.0, 523.0, 524.0,
524.0, 524.0, 525.0, 525.0, 526.0, 526.0, 526.0, 527.0, 527.0, 527.0,
528.0, 528.0, 528.0, 529.0, 529.0, 529.0, 530.0, 530.0, 531.0, 531.0,
531.0, 532.0, 532.0, 532.0, 533.0, 533.0, 533.0, 534.0, 534.0, 535.0,
535.0, 535.0, 536.0, 536.0, 536.0, 537.0, 537.0, 537.0, 538.0, 538.0,
538.0, 539.0, 539.0, 540.0, 540.0, 540.0, 541.0, 541.0, 541.0, 542.0,
542.0, 542.0, 543.0, 543.0, 544.0, 544.0, 544.0, 545.0, 545.0, 545.0,
546.0, 546.0, 546.0, 547.0, 547.0, 547.0, 548.0, 548.0, 549.0, 549.0,
549.0, 550.0, 550.0, 550.0, 551.0, 551.0, 551.0, 552.0, 552.0, 553.0,
553.0, 553.0, 554.0, 554.0, 554.0, 555.0, 555.0, 555.0, 556.0, 556.0,
556.0, 557.0, 557.0
]
y = [
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0, 276.0,
277.0, 277.0, 277.0, 277.0, 277.0, 277.0, 277.0, 277.0, 278.0, 278.0,
278.0, 278.0, 278.0, 278.0, 279.0, 279.0, 279.0, 279.0, 279.0, 280.0,
280.0, 280.0, 280.0, 281.0, 281.0, 281.0, 281.0, 282.0, 282.0, 282.0,
283.0, 283.0, 283.0, 283.0, 284.0, 284.0, 284.0, 285.0, 285.0, 285.0,
286.0, 286.0, 286.0, 287.0, 287.0, 287.0, 288.0, 288.0, 288.0, 289.0,
289.0, 290.0, 290.0, 290.0, 291.0, 291.0, 291.0, 292.0, 292.0, 292.0,
293.0, 293.0, 293.0, 294.0, 294.0, 295.0, 295.0, 295.0, 296.0, 296.0,
296.0, 297.0, 297.0, 297.0, 298.0, 298.0, 298.0, 299.0, 299.0, 300.0,
300.0, 300.0, 301.0, 301.0, 301.0, 302.0, 302.0, 302.0, 303.0, 303.0,
304.0, 304.0, 304.0, 305.0, 305.0, 305.0, 306.0, 306.0, 306.0, 307.0,
307.0, 307.0, 308.0, 308.0, 309.0, 309.0, 309.0, 310.0, 310.0, 310.0,
311.0, 311.0, 311.0, 312.0, 312.0, 313.0, 313.0, 313.0, 314.0, 314.0,
314.0, 315.0, 315.0, 315.0, 316.0, 316.0, 316.0, 317.0, 317.0, 318.0,
318.0, 318.0, 319.0, 319.0, 319.0, 320.0, 320.0, 320.0, 321.0, 321.0,
322.0, 322.0, 322.0, 323.0, 323.0, 323.0, 324.0, 324.0, 324.0, 325.0,
325.0, 325.0, 326.0, 326.0, 327.0, 327.0, 327.0, 328.0, 328.0, 328.0,
329.0, 329.0, 329.0, 330.0, 330.0, 331.0, 331.0, 331.0, 332.0, 332.0,
332.0, 333.0, 333.0, 333.0, 334.0, 334.0, 334.0, 335.0, 335.0, 336.0,
336.0, 336.0, 337.0, 337.0, 337.0, 338.0, 338.0, 338.0, 339.0, 339.0,
340.0, 340.0, 340.0, 341.0, 341.0, 341.0, 342.0, 342.0, 342.0, 343.0,
343.0, 343.0, 344.0, 344.0, 345.0, 345.0, 345.0, 346.0, 346.0, 346.0,
347.0, 347.0, 347.0, 348.0, 348.0, 349.0, 349.0, 349.0, 350.0, 350.0,
350.0, 351.0, 351.0, 351.0, 352.0, 352.0, 352.0, 353.0, 353.0, 354.0,
354.0, 354.0, 355.0, 355.0, 355.0, 356.0, 356.0, 356.0, 357.0, 357.0,
358.0, 358.0, 358.0, 359.0, 359.0, 359.0, 360.0, 360.0, 360.0, 361.0,
361.0, 361.0, 362.0, 362.0, 363.0, 363.0, 363.0, 364.0, 364.0, 364.0,
365.0, 365.0, 365.0, 366.0, 366.0, 367.0, 367.0, 367.0, 368.0, 368.0,
368.0, 369.0, 369.0, 369.0, 370.0, 370.0, 370.0, 371.0, 371.0, 372.0,
372.0, 372.0, 373.0, 373.0, 373.0, 374.0, 374.0, 374.0, 375.0, 375.0,
376.0, 376.0, 376.0, 377.0, 377.0, 377.0, 378.0, 378.0, 378.0, 379.0,
379.0, 379.0, 380.0, 380.0, 381.0, 381.0, 381.0, 382.0, 382.0, 382.0,
383.0, 383.0, 383.0, 384.0, 384.0, 385.0, 385.0, 385.0, 386.0, 386.0,
386.0, 387.0, 387.0, 387.0, 388.0, 388.0, 388.0, 389.0, 389.0, 390.0,
390.0, 390.0, 391.0, 391.0, 391.0, 392.0, 392.0, 392.0, 393.0, 393.0,
394.0, 394.0, 394.0, 395.0, 395.0, 395.0, 396.0, 396.0, 396.0, 397.0,
397.0, 397.0, 398.0, 398.0, 399.0, 399.0, 399.0, 400.0, 400.0, 400.0,
401.0, 401.0, 401.0, 402.0, 402.0, 403.0, 403.0, 403.0, 404.0, 404.0,
404.0, 405.0, 405.0, 405.0, 406.0, 406.0, 406.0, 407.0, 407.0, 408.0,
408.0, 408.0, 409.0, 409.0, 409.0, 410.0, 410.0, 410.0, 411.0, 411.0,
411.0, 412.0, 412.0, 413.0, 413.0, 413.0, 414.0, 414.0, 414.0, 415.0,
415.0, 415.0, 416.0, 416.0, 416.0, 417.0, 417.0, 417.0, 418.0, 418.0,
418.0, 418.0, 419.0, 419.0, 419.0, 420.0, 420.0, 420.0, 420.0, 421.0,
421.0, 421.0, 421.0, 422.0, 422.0, 422.0, 422.0, 422.0, 423.0, 423.0,
423.0, 423.0, 423.0, 423.0, 424.0, 424.0, 424.0, 424.0, 424.0, 424.0,
424.0, 424.0, 424.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0,
425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0,
425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 425.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0, 426.0,
426.0, 426.0, 426.0
]
x_teb = [i / 2.0 for i in x]
y_teb = [j / 2.0 for j in y]
yaw_list = [0.0] * 1033
yawreq_list = [0.0] * 1033
yawrate_list = [0.0] * 1033
yawratereq_list = [0.0] * 1033
#while not rospy.is_shutdown():
for i in range(1033):
# Listen to Multimaster
localization[x_index][current_index] = localization[x_index][
req_previous_index]
localization[y_index][current_index] = localization[y_index][
req_previous_index]
localization[yaw_index][current_index] = localization[yaw_index][
req_previous_index]
localization[yawrate_index][current_index] = localization[
yawrate_index][req_previous_index]
localization[xvelocity_index][current_index] = localization[
xvelocity_index][req_previous_index]
localization[yvelocity_index][current_index] = localization[
yvelocity_index][req_previous_index]
localization[x_index][req_index] = x_teb[i]
localization[y_index][req_index] = y_teb[i]
localization[yaw_index][req_index] = math.degrees(
math.atan2(y[i], x[i]))
#subscriber.listener()
# Estimation of the setpoints
localization[xvelocity_index][req_index], localization[
yvelocity_index][req_index] = estimator.calculate_req_velocity(
final_position[x_index], final_position[y_index],
localization[x_index][current_index],
localization[y_index][current_index])
localization[yawrate_index][
req_index] = estimator.calculate_req_yawrate(
localization[yaw_index][req_index],
localization[yaw_index][current_index],
localization[tvelocity_index][current_index])
localization[tvelocity_index][
req_index] = estimator.calculate_total_velocity_req(
localization[xvelocity_index][req_index],
localization[yvelocity_index][req_index], us[current_index],
localization[yaw_index][current_index],
localization[yaw_index][req_index])
localization[position_index][
req_index] = estimator.calculate_position_req(
final_position[x_index], final_position[y_index],
localization[x_index][current_index],
localization[y_index][current_index])
localization[position_index][
current_index] = estimator.calculate_position(
localization[x_index][current_index],
localization[y_index][current_index],
localization[x_index][previous_index],
localization[y_index][previous_index])
# Creating Lists
to_control_drive = localization[tvelocity_index][req_index]
to_control_steer = [
localization[yaw_index][current_index],
localization[yaw_index][req_index],
localization[yawrate_index][current_index],
localization[yawrate_index][req_index]
]
to_control_brake = [
localization[position_index][current_index],
localization[position_index][req_index], us[current_index]
]
yaw_list[i] = to_control_steer[0]
yawreq_list[i] = to_control_steer[1]
yawrate_list[i] = to_control_steer[2]
yawratereq_list[i] = to_control_steer[3]
# Write to Multimaster
#publisher.talker_velocity(to_control_drive)
#publisher.talker_stepper(to_control_steer, to_control_brake)
# Print values
print i
print "Localization is: "
print localization
print "Final position is: "
print final_position
print "Ultrasonic is: "
print us
print "Steer: "
print to_control_steer
print "Brake: "
print to_control_brake
print "Drive: "
print to_control_drive
# Assignment of previous states
previous_state_assignment()
#print yaw_list.__len__()
#print yawrate_list.__len__()
#print yawreq_list.__len__()
#print yawratereq_list.__len__()
plot(yaw_list, yawreq_list)
print('Best val Acc: {:4f}'.format(best_acc))
# load best model weights
model.load_state_dict(best_model_wts)
#if(save_dir and model_name):
return model
if __name__ == "__main__":
args = initializer.init_train_cmd_arguments()
image_datasets, dataloaders, dataset_sizes, class_names = initializer.init(
root_dir="flowers",
stages=['train', 'valid', 'test'],
train_stage='train')
if (args.epochs):
eps = args.epochs
else:
eps = 25
if (args.learning_rate):
learning_rate = args.learning_rate
else:
learning_rate = 0.001
if (args.hidden_units):
hidden_units = args.hidden_units
else:
hidden_units = 4096
return network.create_response(404,
"File cannot be printed to pdf.")
return flask.send_from_directory(os.path.dirname(pdf_path),
os.path.basename(pdf_path))
except RuntimeError as exception:
logger.error(
"Runtime Error while trying to create a PDF for URL: {}".format(
data["url"]))
return network.create_response(500, exception)
@app.route("/replay", methods=["POST"])
@network.requires_auth
def replay():
""" Used for returning a replay log to the front-end """
data = json.loads(flask.request.form["data"])
logger.info("Getting replay: {}".format(data["id"]))
path = os.path.abspath(os.path.join(config.PATH_REPLAYS, data["id"]))
if not os.path.isfile(path):
logger.error("No replay with ID {}.".format(data["id"]))
return network.create_response(
404, "No replay with ID {}.".format(data["id"]))
return flask.send_from_directory(os.path.dirname(path),
os.path.basename(path))
if __name__ == "__main__":
initializer.init()
app.run(host="0.0.0.0", port="5000", debug=True)
def init():
initializer.init()
return 'initialized'
def setUpClass(cls):
initializer.init()
cls.patch_sandbox.start()
if not os.path.exists(config.PATH_SANDBOX):
os.makedirs(config.PATH_SANDBOX)
import schedule
from dota.task import status_job
from initializer import get_thread_pool, init
from robot import init as init_robot
def welcome():
print("""
███╗░░░███╗███████╗██╗██████╗░░█████╗░
████╗░████║██╔════╝██║██╔══██╗██╔══██╗
██╔████╔██║█████╗░░██║██║░░██║██║░░██║
██║╚██╔╝██║██╔══╝░░██║██║░░██║██║░░██║
██║░╚═╝░██║███████╗██║██████╔╝╚█████╔╝
╚═╝░░░░░╚═╝╚══════╝╚═╝╚═════╝░░╚════╝░ system is launching...
""")
if __name__ == '__main__':
welcome()
init()
thread_pool = get_thread_pool()
mirai, session = init_robot(thread_pool)
dota_status = status_job(thread_pool, session)
schedule.every(3).seconds.do(mirai)
schedule.every().minute.do(dota_status)
while True:
schedule.run_pending()
time.sleep(1)
