def get_version(com: comm.Comm):
"""Get Host controller version"""
com.write(CMD_VERSION)
ver = com.read_line()
return ver.decode('utf-8').rstrip()
def on_btn_open_clicked(self):
if self.comm:
self.comm_thread_running = False
self.comm_thread.join()
self.comm_thread = None
self.comm.close()
self.comm = None
self.ui.btn_open.setText("&OPEN")
else:
try:
if _POS_UPLOAD:
self.comm = CommPosUpload(self.ui.cb_port.currentText(), int(self.ui.cb_speed.currentText()))
else:
self.comm = Comm(self.ui.cb_port.currentText(), int(self.ui.cb_speed.currentText()))
self.comm.open()
self.comm_thread_running = True
self.comm_thread = threading.Thread(target=self.run_comm_thread, daemon=True)
self.comm_thread.start()
self.ui.btn_open.setText("CL&OSE")
except Exception as ex:
self.comm = None
QMessageBox.warning(self, "OPEN", str(ex))
class Wiki():
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5006, "wiki", {"wiki": self.wiki}, self.logger,
exc_cb)
def wiki(self, params):
query = params["query"][0]
resp0 = requests.get(
"https://en.wikipedia.org/w/api.php?action=opensearch&limit=1&namespace=0&format=json&search=%s"
% query)
json0 = json.loads(resp0.text)
if len(json0) < 2:
return (404, "no search")
if len(json0[1]) < 1:
return (404, "no result")
title = json0[1][0]
resp1 = requests.get(
"https://en.wikipedia.org/w/api.php?format=json&action=query&prop=extracts&exintro&explaintext&redirects=1&titles=%s"
% title)
json1 = json.loads(resp1.text)
try:
extract = next(iter(json1['query']['pages'].values()))['extract']
except KeyError:
return (404, "wiki Error")
return (200, extract)
def shut_down(self):
print("wiki shutting down!")
self.comm.shut_down()
print("wiki shutted down!")
def get_status(com: comm.Comm):
"""Get Host controller version"""
com.write(CMD_STATUS)
count, status = com.read(8)
return status
def debugSend():
Comm.setPort('/dev/cu.usbmodemM4321001')
ser = Comm.getSerial()
print ser.name
ser.write('Hello world!')
#ser.write('Hello world?') # negative test
print 'Done sending.'
def __init__(self, logger, exc_cb):
self.logger = logger
ip_list = self.load_obj("ip_list")
alarms = self.load_obj("alarms")
self.comm = Comm(5002, "ping_server", {
"status": self.status,
"log": self.log,
"reset": self.reset
}, self.logger, exc_cb)
self.ping_thread = PingThread(60, None)
for ip in ip_list:
self.ping_thread.add_ip(ip["name"], ip["ip"])
for a in alarms:
if a["type"] == "timeofday":
self.ping_thread.add_alarm_timeofday(
a["user"],
lambda alarm: self.alarm_received(alarm, a["to"]),
a["start"], a["end"], a["weekdays"])
elif a["type"] == "dayamount":
self.ping_thread.add_alarm_dayamount(
a["user"],
lambda alarm: self.alarm_received(alarm, a["to"]),
a["amount"], a["weekdays"])
elif a["type"] == "onoffline":
self.ping_thread.add_alarm_onoffline(
a["user"],
lambda alarm: self.alarm_received(alarm, a["to"]),
a["onoff"], a["weekdays"])
def run():
daemon = DaemonManager()
daemon.start()
# Stuff that should clearly be elsewhere.
subprocess.call(['aconnect', '130:0', '129:1'])
subprocess.call(['aconnect', '24:0', '129:1'])
subprocess.call(['jack_connect', 'fluidsynth:l_00', 'system:playback_1'])
subprocess.call(['jack_connect', 'fluidsynth:r_00', 'system:playback_2'])
comm = Comm()
# Start the proactor thread. We do this after Comm() has been created so
# there are connections to manage, otherwise the proactor will just
# immediately terminate.
proactorThread = threading.Thread(target = getProactor().run)
proactorThread.start()
try:
commands = Commands(comm)
win = MyWin(Tk(), commands)
win.mainloop()
finally:
comm.close()
proactorThread.join()
def main():
# Parse command line args
parser = argparse.ArgumentParser(
description='Connect to MSP and play chess.')
parser.add_argument('-e',
'--engine',
default='./stockfish-7-64',
help='Path to a UCI compatible chess engine exe')
parser.add_argument('-p',
'--port',
default='/dev/cu.usbmodemM4321001',
help='Name of a COM port connected to (MSP) client')
parser.add_argument('-d',
'--depth',
default='1',
help='Integer depth of search space for computer move')
args = vars(parser.parse_args(sys.argv[1:]))
Comm.setPort(args['port'])
# Setup
board = chess.Board()
engine = chess.uci.popen_engine(args['engine'])
engine.uci()
difficulty = int(args['depth'])
board.reset()
# Create a game and set headers.
game = chess.pgn.Game()
game.headers["Black"] = engine.name
game.headers["White"] = engine.name
game.setup(board)
node = game
print board
while True:
node = player_move(node, board)
print board
# player won game, so send a game over signal
if board.is_game_over():
ser = Comm.getSerial()
ser.write(
'\x40\x00'
) # 2nd MSB set; empty move indicates nothing to do client side
break
node = computer_move(node, board, engine, difficulty)
#node = debug_shell_move(node, board, True)
print board
if board.is_game_over():
break
print board
print board.fen()
game.headers["Result"] = board.result()
print game
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5003, "sms_portal", {"send_sms": self.send_sms}, self.logger, exc_cb)
self.external_port = 5100
self.unicast_listener = UnicastListener(self.sms_received, self.external_port, self.logger, exc_cb)
self.sms_password = self.load_obj("sms_password")[0]
parser = argparse.ArgumentParser()
parser.add_argument('--pay', action='store_true')
self.args = parser.parse_args()
if self.args.pay:
self.logger.log("you must pay!")
else:
self.logger.log("WARNING, you can't send SMS'es")
self.sms_cmds = {
"p": self.Cmd_p(self.logger, self.comm, 0, False, 0),
"py": self.Cmd_py(self.logger, self.comm, 0, False, 0),
"pl": self.Cmd_pl(self.logger, self.comm, 0, False, 0),
"stop": self.Cmd_stop(self.logger, self.comm, 0, False, 0),
"er": self.Cmd_emoji_receive(self.logger, self.comm, 1, False, 0),
"es": self.Cmd_emoji_send(self.logger, self.comm, 1, False, 0),
"ping": self.Cmd_ping(self.logger, self.comm, 1, True, 0),
"pinglog": self.Cmd_pinglog(self.logger, self.comm, 1, True, 0),
"radio": self.Cmd_radio(self.logger, self.comm, 0, False, 0),
"skip": self.Cmd_skip(self.logger, self.comm, 0, False, 0),
"pod": self.Cmd_podcast(self.logger, self.comm, 0, False, 0),
"wiki": self.Cmd_wiki(self.logger, self.comm, 1, False, 0)
}
class Emoji():
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5004, "emoji", {
"receive": self.receive,
"send": self.send
}, self.logger, exc_cb)
self.emoji_parser = EmojiParser(self.logger.log)
# http://127.0.0.1:5004/receive?text=uni%F0%9F%A6%84corn
def receive(self, params):
if "text" not in params:
return (404, "function 'receive' requires 'text'")
text = params["text"][0]
ret = ""
for c in text:
if ord(c) >= 32 and ord(c) < 254:
ret += c
else:
ret += ',' + unicodedata.name(c) + ','
return (200, "%s" % ret)
# http://127.0.0.1:5004/send?text=See this. uni.UNICORN FACE.corn. I know you liked it.
def send(self, params):
if "text" not in params:
return (404, "function 'send' requires 'text'")
text = params["text"][0]
ret = self.emoji_parser.send(text)
self.logger.log("emoji send %s" % ret)
return (200, "%s" % ret)
def shut_down(self):
self.comm.shut_down()
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5004, "emoji", {
"receive": self.receive,
"send": self.send
}, self.logger, exc_cb)
self.emoji_parser = EmojiParser(self.logger.log)
def reset(com: comm.Comm):
""" reset the target """
time.sleep(0.050)
com.pulse_dtr(0.250)
time.sleep(0.050)
return
def read_page(com: comm.Comm, cmd_code: bytes, req_count: int) -> bytes:
"""read next program or data page"""
cmd = cmd_code + req_count.to_bytes(2, 'little')
com.write(cmd)
count, data = com.read(req_count * 2)
if count != req_count * 2:
raise RuntimeError(f"Error [c={count}|d={data}")
return data
def main():
client = Comm()
client.connect('localhost', 8089)
client.send(b'hello')
data = client.receive()
print('data:', data)
client.disconnect()
class StreamReceiver():
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5005, "stream_receiver", {
"multicast": self.multicast,
"radio": self.radio,
"off": self.off
}, self.logger, exc_cb)
self.radio = RadioReceiver()
self.multicast_receiver = MulticastReceiver()
self.running = True
self.source = None
# http://127.0.0.1:5005/radio
# http://127.0.0.1:5005/radio 24syv
def radio(self, params):
if "channel" in params:
channel = params["channel"][0]
self.radio.set_channel(channel)
self.set_source("radio")
return (200, "switched to radio ok")
# http://127.0.0.1:5005/multicast
def multicast(self, params):
self.set_source("multicast")
return (200, "switched to multicast ok")
# http://127.0.0.1:5005/off
def off(self, params):
self.set_source(None)
return (200, "switched off")
def shut_down(self):
self.set_source(None)
self.comm.shut_down()
self.running = False
def set_source(self, source):
print("setting source: '%s'" % source)
if source == self.source:
return
self.source = source
if source == "radio":
self.multicast_receiver.stop()
self.radio.start()
elif source == "multicast":
self.radio.stop()
self.multicast_receiver.start()
else:
self.radio.stop()
self.multicast_receiver.stop()
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5005, "stream_receiver", {
"multicast": self.multicast,
"radio": self.radio,
"off": self.off
}, self.logger, exc_cb)
self.radio = RadioReceiver()
self.multicast_receiver = MulticastReceiver()
self.running = True
self.source = None
def sync(com: comm.Comm):
"""sync commands stream"""
com.write(CMD_SYNC)
prompt = wait_k(com)
if prompt != b'K':
raise RuntimeError(f'Error [{prompt}] command:{CMD_SYNC} ICSP')
# There should be no characters waiting at this point
avail = com.avail()
if avail > 0:
raise RuntimeError(f'Sync Error. {avail} bytes still waiting')
def __init__(self, x, y, heading):
self.x = x
self.y = y
self.heading = heading
self.weed_volume = 0
self.manual_control = True
self.auto_turn_chance = 0.1
self.auto_turn_amount = 15
self.auto_move_amount = 10
self.auto_col_turn_max = 90
self.communicator = Comm(12345, 12346)
self.start()
def debugReceive():
Comm.setPort('/dev/cu.usbmodemM4321001')
ser = Comm.getSerial()
print ser.name
received = ''
while not received:
while ser.inWaiting() > 0:
received += ser.read(13)
if len(received) == 0:
pass
#print 'Nothing received.'
else:
print received
def __init__(self,
renderer=None,
width=None,
height=None,
frame=True,
camera_distance=10.0,
background=None,
foreground=None,
**ignored):
"""
INPUT:
- renderer -- None (automatic), 'canvas2d', or 'webgl'
- width -- None (automatic) or an integer
- height -- None (automatic) or an integer
- frame -- bool (default: True); draw a frame that includes every object.
- camera_distance -- float (default: 10); default camera distance.
- background -- None (transparent); otherwise a color such as 'black' or 'white'
- foreground -- None (automatic = black if transparent; otherwise opposite of background);
or a color; this is used for drawing the frame and axes labels.
"""
self.id = uuid()
self.comm = Comm(data={
'renderer': renderer,
'width': noneint(width),
'height': noneint(height),
'camera_distance': float(camera_distance),
'background': background,
'foreground': foreground
},
target_name='threejs')
self.comm.on_msg(self.on_msg)
self._graphics = []
def get(attraction):
url = "{}{}".format("/attraction/get/", attraction['id'])
res = Http.get(url, True)
json = res.json()
status = ''
if json['ShortWaitTimeDisplay'] == 'Closed':
status = attraction['closed_message']
else:
status = "{} {} minutes".format(attraction['open_message'], json['PostedWaitTime'])
if 'twitter_cfg' in attraction:
Comm.tweet(status, attraction['twitter_cfg'])
else:
print status
def main():
#Creating a State Machine Container
rospy.init_node("AcousticMaster")
rospy.loginfo("Initialised")
sm = smach.StateMachine(outcomes=['failed', 'surface'])
sm_server = smach_ros.IntrospectionServer("/acoustic/master", sm, "/PING")
sm_server.start()
acoustic = Comm()
rospy.loginfo("Done with comm")
with sm:
smach.StateMachine.add("DISENGAGE",
Disengage(acoustic),
transitions={
'init': 'STOP_LISTEN',
'completed': 'surface',
'aborted': 'failed'
})
smach.StateMachine.add("STOP_LISTEN",
StopListen(acoustic),
transitions={
'calculated': 'MOVING',
'aborted': 'DISENGAGE'
})
smach.StateMachine.add("MOVING",
Moving(acoustic),
transitions={
'aborted': 'DISENGAGE',
'holdPosition': 'STOP_LISTEN',
'done': 'DISENGAGE'
})
outcomes = sm.execute()
rospy.loginfo(outcomes)
def main():
#Creating a State Machine Container
rospy.init_node("acoustic_master")
rospy.loginfo("Initialised")
sm = smach.StateMachine(outcomes=['foundPinger', 'surface'])
acoustic = Comm()
rospy.loginfo("Done with comm")
with sm:
smach.StateMachine.add("DISENGAGE",
Disengage(acoustic),
transitions={
'init': 'STOP_LISTEN',
'completed': 'surface'
})
smach.StateMachine.add("STOP_LISTEN",
StopListen(acoustic),
transitions={
'calculated': 'MOVING',
'aborted': 'DISENGAGE'
})
smach.StateMachine.add("MOVING",
Moving(acoustic),
transitions={
'aborted': 'DISENGAGE',
'holdPosition': 'STOP_LISTEN',
'done': 'DISENGAGE'
})
outcomes = sm.execute()
rospy.loginfo(outcomes)
def get(attraction):
url = "{}{}".format("/attraction/get/", attraction['id'])
res = Http.get(url, True)
json = res.json()
status = ''
if json['ShortWaitTimeDisplay'] == 'Closed':
status = attraction['closed_message']
else:
status = "{} {} minutes".format(attraction['open_message'],
json['PostedWaitTime'])
if 'twitter_cfg' in attraction:
Comm.tweet(status, attraction['twitter_cfg'])
else:
print status
def __init__(self, logger, exc_cb, dt, host_mode):
self.dt = dt
self.host_mode = host_mode
self.logger = logger
self.logger.log("host_mode = %s" % host_mode)
self.comm = Comm(5008, "led", {
"set": self.set_leds,
}, self.logger, exc_cb)
self.startup_timer = None
self.num_leds = 8
self.num_layers = 3
self.leds = [[self.Led() for i in range(self.num_layers)]
for i in range(self.num_leds)]
self.meta_led = self.Led()
self.color = {
"user_k": (0, 255, 0, 0, 255),
"user_r": (0, 100, 255, 0, 255),
"user_c": (0, 255, 255, 0, 255),
"user_h": (0, 100, 0, 100, 255),
"user_a": (0, 0, 0, 140, 255),
"user_s": (0, 20, 160, 255, 255)
}
if self.host_mode:
pygame.display.init()
self.rect = 30
self.display = pygame.display.set_mode(
(self.rect * self.num_leds, 100))
else:
# We only have SPI bus 0 available to us on the Pi
bus = 0
#Device is the chip select pin. Set to 0 or 1, depending on the connections
device = 1
# Enable SPI
self.spi = spidev.SpiDev()
# Open a connection to a specific bus and device (chip select pin)
self.spi.open(bus, device)
# Set SPI speed and mode
self.spi.max_speed_hz = 500000
self.spi.mode = 0
self.set_leds({"anim": ["boot"]})
def __init__(self, logger, exc_cb):
self.logger = logger
self.comm = Comm(5009, "web_app", {}, self.logger, exc_cb)
self.loop = asyncio.get_event_loop()
app = web.Application()
app.add_routes([web.get('/', self.main_menu),
web.get('/stop', self.stop),
web.get('/search', self.search),
web.get('/get_search_result', self.get_search_result),
web.get('/play', self.play),
web.get('/radio', self.radio),
web.get('/music', self.music_menu),
web.get('/assets/apple-touch-icon.png', self.png)])
handler = app.make_handler()
self.server = self.loop.create_server(handler, port=8080)
self.loop.run_until_complete(self.server)
def init_port(self):
items = Comm.scan_ports()
item = self.ui.cb_port.currentText()
if len(item) == 0 and len(items) > 0:
item = items[0]
self.ui.cb_port.clear()
self.ui.cb_port.addItems(items)
self.ui.cb_port.setCurrentText(item)
def __init__(self, logger, exc_cb):
self.logger = logger
self.logger.log("loading music collection...")
self.music_collection = MusicCollection(self.logger,
load_collection(self.logger))
self.playlists = load_playlists(self.logger)
self.vlc_thread = VlcThread(self.logger)
self.podcaster = Podcaster()
self.comm = Comm(
5001, "music_server", {
"play": self.play,
"search": self.search,
"get_search_result": self.get_search_result,
"debug_playlist": self.debug_playlist,
"podcast": self.podcast,
"skip": self.skip,
"stop": self.stop,
"tag": self.tag
}, self.logger, exc_cb)
self.mode = "stopped"
def write_move_to_serial(board, move):
ser = Comm.getSerial()
# push move temporarily to see if it causes game over
board.push(move)
game_over = board.is_game_over()
board.pop()
# Write auxilary moves, e.g. for capture or special move
if board.is_capture(move):
capture_tile = ''
if board.is_en_passant(move):
uci = str(move)
if uci[3] == '6':
capture_tile = uci[2] + '5'
elif uci[3] == '3':
capture_tile = uci[2] + '4'
else:
raise Exception('unknown en passant command ' + str(move))
else:
capture_tile = str(move)[2:4]
code = encode_uci(capture_tile, True, game_over)
if game_over:
game_over = False # prevent next move from setting bit
ser.write(code)
elif board.is_castling(move):
king_dest = str(move)[2:4]
rook_uci = ''
if king_dest == 'c1':
rook_uci = 'a1d1'
elif king_dest == 'c8':
rook_uci = 'a8d8'
elif king_dest == 'g1':
rook_uci = 'h1f1'
elif king_dest == 'g8':
rook_uci = 'h8f8'
else:
raise Exception('unknown castling command ' + str(move))
code = encode_uci(rook_uci, True, game_over)
if game_over:
game_over = False # prevent next move from setting bit
ser.write(code)
# write the main move
code = encode_uci(str(move), False, game_over)
ser.write(code)
def main():
#Creating a State Machine Container
rospy.init_node("acoustic_master")
rospy.loginfo("Initialised")
sm = smach.StateMachine(outcomes=['foundPinger', 'surface'])
sm_server = smach_ros.IntrospectionServer("/acoustic/master", sm, "/PING")
sm_server.start()
acoustic = Comm()
signal.signal(signal.SIGINT, acoustic.quit)
rospy.loginfo("Done with comm")
with sm:
smach.StateMachine.add("DISENGAGE", Disengage(acoustic),
transitions={'init':'MOVING','completed':'surface' })
smach.StateMachine.add("MOVING", Moving(acoustic),
transitions={'aborted':'DISENGAGE','done':'DISENGAGE'})
outcomes = sm.execute()
rospy.loginfo(outcomes)
def show_sage(self, **kwds):
fig = self.figure(**kwds)
from matplotlib.backends.backend_agg import FigureCanvasAgg
canvas = FigureCanvasAgg(fig)
fig.set_canvas(canvas)
fig.tight_layout(
) # critical, since sage does this -- if not, coords all wrong
ax = fig.axes[0]
# upper left data coordinates
xmin, ymax = ax.transData.inverted().transform(
fig.transFigure.transform((0, 1)))
# lower right data coordinates
xmax, ymin = ax.transData.inverted().transform(
fig.transFigure.transform((1, 0)))
def to_data_coords(p):
# 0<=x,y<=1
return ((xmax - xmin) * p[0] + xmin,
(ymax - ymin) * (1 - p[1]) + ymin)
def on_msg(msg):
data = msg['content']['data']
x, y = data['x'], data['y']
eventType = data['eventType']
if eventType in self._events:
self._events[eventType](to_data_coords([x, y]))
file_id = uuid()
if kwds.get('svg', False):
filename = '%s.svg' % file_id
del kwds['svg']
else:
filename = '%s.png' % file_id
fig.savefig(filename)
from comm import SageCellComm as Comm
self.comm = Comm(data={"filename": filename},
target_name='graphicswidget')
import sys
sys._sage_.sent_files[filename] = os.path.getmtime(filename)
self.comm.on_msg(on_msg)
def player_move(node, board):
# Obtain the player's move by continuously polling
player_moved = False
ser = Comm.getSerial()
while not player_moved:
# throttle the read requests
time.sleep(0.05)
# Read from serial buffer
received = ''
while ser.inWaiting() > 0:
received += ser.read(2)
if len(received) == 0:
continue # did not receive anything
uci = decode_uci(received)
print "Player move: " + uci
move = chess.Move.from_uci(uci)
if move in board.legal_moves:
board.push(move)
player_moved = True
else:
# check if promotion is valid by appending 'q'
promotion = chess.Move.from_uci(uci + 'q')
if promotion in board.legal_moves:
board.push(promotion)
player_moved = True
# received an illegal move
if not player_moved:
ser.write(
'\xff\xff') # write the error code back to player and wait
node = node.add_variation(move)
return node
def main():
global ELEVATION, DOA, step_size, depth_default, count, duration
acoustic_pub = rospy.Publisher("/acoustic/pingData", pingData)
com = Comm()
rospy.loginfo("Ready to go")
generateVec()
rospy.loginfo("Steering vector generated")
while True:
adjustStep(ELEVATION)
if ELEVATION < 30 and count > 1:
rospy.loginfo("surfacing")
com.sendMovement(depth=-0.1)
break
elif overShotPinger(DOA) and count > 1:
rospy.loginfo("overshot")
com.sendMovement(forward=-(step_size/2))
com.sendMovement(depth=-0.1)
break
else:
if count > 1:
duration = 2
time.sleep(duration)
complexList = []
while len(complexList) is not sampleAmt:
message, clientAddress = serverSocket.recvfrom(BUFFER_SIZE)
print message
splitted = splitMsg(message)
if not splitted:
continue
else:
print "Number of Ping: %d" % (len(complexList)+1)
complexList.append(splitted)
count += 1
DOA, ELEVATION = music(complexList)
acoustic_pub.publish(doa, elevation)
com.sendMovement(turn=DOA, depth=depth_default)
com.sendMovement(forward=step_size, depth=depth_default)
#music_3d(complexList)
rospy.loginfo("Next")
