def GetLocation(self):
with lock:
KEY = self.cars.keys()
if self.sim:
locs = [0 for x in range(len(self.cars.keys()))]
speeds = [(0.0, 0.0) for x in range(len(self.cars.keys()))]
run = True
while True:
with lock:
run = self.runCar
for i, j in enumerate(self.cars.keys()):
locs[i] = (self.cars[j].x, self.cars[j].y,
self.cars[j].theta)
speeds[i] = (self.cars[j].lSpeed * self.simSpeed,
self.cars[j].rSpeed * self.simSpeed)
if run:
for i, j in enumerate(locs):
locs[i] = DDR.Simulate(j[0], j[1], j[2], speeds[i][0],
speeds[i][1], utils.wheelBase)
with lock:
for i, j in enumerate(self.cars.keys()):
(self.cars[j].x, self.cars[j].y,
self.cars[j].theta) = locs[i]
else:
time.sleep(0.05)
time.sleep(0.02)
else:
locs = [(0, 0, 0) for x in range(len(self.cars.keys()))]
while True:
data = positionZMQSub._get_all_car_position_data()
for index, key in enumerate(KEY):
if len(data[key]) == 0:
continue
x0, y0, x1, y1, x2, y2, x3, y3 = data[key].split()
x0 = float(x0)
x1 = float(x1)
x2 = float(x2)
x3 = float(x3)
y0 = float(y0)
y1 = float(y1)
y2 = float(y2)
y3 = float(y3)
# Middle
x = (x0 + x1 + x2 + x3) / 4.0
y = (y0 + y1 + y2 + y3) / 4.0
# Front
frontMid_x = (x0 + x1) / 2.0
frontMid_y = (y0 + y1) / 2.0
# Rare
rareMid_x = (x2 + x3) / 2.0
rareMid_y = (y2 + y3) / 2.0
theta = DDR.calculateATan(frontMid_x - rareMid_x,
frontMid_y - rareMid_y)
locs[index] = (x, y, theta)
with lock:
for i, j in enumerate(self.cars.keys()):
self.cars[j].x, self.cars[j].y, self.cars[
j].theta = locs[i]
time.sleep(0.02)
def __construct(self, t, e):
if (t == "DDR3"):
import DDR
return DDR.DDR(e)
elif (t == "QDRII"):
import QDR
return QDR.QDR(e)
elif (t == "LOCAL"):
import LOCAL
return LOCAL.LOCAL(e)
def __init__(self,title,artist):
data_dict = DDR.find_song_info(artist,title)['response']['songs'][0]
self.title = data_dict['title']
self.artist = data_dict['artist_name']
self.artist_id = data_dict['artist_id']
self.length = data_dict['audio_summary']['duration']
self.danceability = data_dict['audio_summary']['danceability']
self.tempo = data_dict['audio_summary']['tempo']
self.energy = data_dict['audio_summary']['energy']
self.song_id = data_dict['id']
def test_Timer():
mark_text0 = 'start'
mark_text1 = 'halfway'
mark_text2 = 'last one'
t = DDR.Timer()
t.mark(mark_text0)
t.mark(mark_text1)
t.mark(mark_text2)
steps = t.display()
assert len(steps) == 3
assert steps[0]['index'] == 0
assert steps[1]['index'] == 1
assert steps[2]['index'] == 2
assert steps[0]['msg'] == mark_text0
assert steps[1]['msg'] == mark_text1
assert steps[2]['msg'] == mark_text2
assert steps[2]['datetime'] > steps[1]['datetime'] > steps[0]['datetime']
def Follow(self):
locs = [0 for x in range(len(self.cars.keys()))]
paths = [0 for x in range(len(self.cars.keys()))]
speeds = [(0.0, 0.0) for x in range(len(self.cars.keys()))]
vM = 1.0
while True:
with lock:
syn = self.syn
for i, j in enumerate(self.cars.keys()):
locs[i] = (self.cars[j].x, self.cars[j].y,
self.cars[j].theta)
paths[i] = list(self.cars[j].path)
vM = self.sli_v.value / 100.0 * self.vMax
for i, j in enumerate(locs):
speeds[i] = DDR.Calculate(j[0], j[1], j[2], paths[i], vM,
utils.wheelBase)
if syn:
self.Synchronize(speeds, paths)
with lock:
for i, j in enumerate(self.cars.keys()):
self.cars[j].lSpeed = speeds[i][0]
self.cars[j].rSpeed = speeds[i][1]
self.cars[j].path = paths[i]
time.sleep(0.02)
import time
from DDR import *
print "Running DDR"
baseIP = '192.168.254.185'
robotIP = '192.168.254.141'
if len(sys.argv) > 3:
print 'Invalid number of command line arguments.'
print 'Proper syntax:'
print '>> DDR_Run.py baseIP robotIP'
print 'Example:'
print '>> DDR_Run.py ', baseIP, ' ', robotIP
sys.exit()
if len(sys.argv) >= 2:
baseIP = sys.argv[1]
if len(sys.argv) >= 3:
robotIP = sys.argv[2]
print 'Running DDR Program'
print ' Base IP: ', baseIP
print ' Robot IP: ', robotIP
DDRobot = DDR(baseIP, robotIP)
# DDRobot.setPWM([70,70])
DDRobot.run()
# DDRobot.start()
def test_natural_order_string():
assert DDR.natural_order_string('ddr-testing-123') == '123'
assert DDR.natural_order_string('ddr-testing-123-1') == '1'
assert DDR.natural_order_string('ddr-testing-123-15') == '15'
def test_natural_sort():
l = ['11', '1', '12', '2', '13', '3']
DDR.natural_sort(l)
assert l == ['1', '2', '3', '11', '12', '13']
