def __init__(self, start_pose: np.matrix, sensor_angles, config: de2bot.DE2Config, beacons):
state = de2bot.State(start_pose)
self.angles = sensor_angles
self.prev_controls = np.asmatrix([0, 0.]).T
self.next_sense = 0
self.last_sense = None
self.localization = Localizer(state, config, sensor_angles, beacons)
def load_localizer(params='/app/params'):
src = os.path.join(params, 'params_localization')
with open(os.path.join(src, 'post_config.json')) as file:
data = json.load(file)
localizer = Localizer(os.path.join(src, 'config.py'),
os.path.join(src, 'weights.pth'),
data['confidence_th'])
return localizer
def __init__(self, working_dir, src, buggy, oracle, tests, golden, asserts, lines, build, configure, config):
self.working_dir = working_dir
self.config = config
self.repair_test_suite = tests[:]
self.validation_test_suite = tests[:]
extracted = join(working_dir, 'extracted')
os.mkdir(extracted)
angelic_forest_file = join(working_dir, 'last-angelic-forest.json')
tester = Tester(config, oracle, abspath(working_dir))
self.run_test = tester
self.get_suspicious_groups = Localizer(config, lines)
self.reduce = Reducer(config)
if self.config['use_semfix_syn']:
self.synthesize_fix = Semfix_Synthesizer(working_dir,
config, extracted, angelic_forest_file)
self.infer_spec = Semfix_Inferrer(working_dir, config, tester)
else:
self.synthesize_fix = Synthesizer(config, extracted, angelic_forest_file)
self.infer_spec = Inferrer(config, tester, Load(working_dir))
self.instrument_for_localization = RepairableTransformer(config)
self.instrument_for_inference = SuspiciousTransformer(config, extracted)
self.apply_patch = FixInjector(config)
validation_dir = join(working_dir, "validation")
shutil.copytree(src, validation_dir, symlinks=True)
self.validation_src = Validation(config, validation_dir, buggy, build, configure)
self.validation_src.configure()
compilation_db = self.validation_src.export_compilation_db()
self.validation_src.import_compilation_db(compilation_db)
self.validation_src.initialize()
frontend_dir = join(working_dir, "frontend")
shutil.copytree(src, frontend_dir, symlinks=True)
self.frontend_src = Frontend(config, frontend_dir, buggy, build, configure)
self.frontend_src.import_compilation_db(compilation_db)
self.frontend_src.initialize()
backend_dir = join(working_dir, "backend")
shutil.copytree(src, backend_dir, symlinks=True)
self.backend_src = Backend(config, backend_dir, buggy, build, configure)
self.backend_src.import_compilation_db(compilation_db)
self.backend_src.initialize()
if golden is not None:
golden_dir = join(working_dir, "golden")
shutil.copytree(golden, golden_dir, symlinks=True)
self.golden_src = Frontend(config, golden_dir, buggy, build, configure)
self.golden_src.import_compilation_db(compilation_db)
self.golden_src.initialize()
else:
self.golden_src = None
self.dump = Dump(working_dir, asserts)
self.trace = Trace(working_dir)
def __init__(self):
self.target_identifier = TargetIdentifier()
self.localizer = Localizer()
self.bridge = CvBridge()
self.sub_cam = rospy.Subscriber("/ardrone/bottom/image_raw", Image, self.identify_targets)
self.sub_pos = rospy.Subscriber("/vicon/ARDroneCarre/ARDroneCarre", TransformStamped, self.store_pos)
self.ob_locations = []
self.radius_list = []
self.lm_locations = []
self.crop_list = []
#self.yaw_list = []
self.epsilon = Duration(5)
self.frames = 0
self.obstacle_frames = 0
self.landmark_frames = 0
self.not_pixels = 0
self.time_filtered = 0
return