def __init__(self, options):
Subject.__init__(self)
self.log = logging.getLogger("mallorymain")
config.logsetup(self.log)
self.configured_protos = []
self.configured_plugin_managers = []
self.protoinstances = []
self.opts = options.options
self.dbname = self.opts.trafficdb
self.debugon = False
self.debugger = Debugger()
self.config_protocols = config_proto.ConfigProtocols()
self.config_rules = config_rule.ConfigRules()
self.rpcserver = rpc.RPCServer()
self.nftool = netfilter.NetfilterTool()
def __init__(self, forx, fory, Ka, da, Kb, db, delta_t, distance):
self.vision = Vision()
self.debugger = Debugger()
time.sleep(0.5)
#print(self.vision.yellow_robot[0].x)
self.Refresh_robo()
self.ox = forx
self.oy = fory
self.Ka = Ka
self.da = da
self.Kb = Kb
self.db = db
self.delta_t = delta_t
self.distance = distance
self.final_list = [[self.px, self.py]]
self.ax = 1
self.ay = 1
def debug(file: str, isAsm=False, memoryFile=None):
b = BUS()
if memoryFile is not None:
readToMemory(b.cu, memoryFile)
symtab = None
datatab = None
if file is not None:
if isAsm:
obj, symtab, datatab = assemble(file, asClass=True)
load(b.cu, None, objectCode=obj)
else:
load(b.cu, file)
d = Debugger(b.cu, symtab, datatab=datatab)
n = ''
while n.strip() != 'exit':
try:
n = input(':>')
if n.strip() != 'exit':
c = d.evaluate(n)
c.execute()
except BaseException as e:
print(e)
from APF_MOVE import APF
from action import Action
from vision import Vision
from debug import Debugger
import time
if __name__ == '__main__':
x=[-2400,2400,-2400,2400,-2400,2400,-2400,2400,-2400,2400]
y=[-1500,1500,-1500,1500,-1500,1500,-1500,1500,-1500,1500]
vision = Vision()
debugger = Debugger()
action = Action()
for i in range(10):
APF_Plan = APF(x[i], y[i], Ka=17, Kb=2 * 10 ** 12, da=400, db=800, delta_t=10, distance=200, dy=150, ## TODO db=725 Kb = 2*10**12 Ka = 15
Kt=10 * 10 ** 11,
distance_2=300, distance_3=100, cv=420,debugger=debugger,vision=vision,action=action) ## TODO distance3 = 400
max_num = 10000
for i in range(max_num):
APF_Plan.Control(1) # 得到风向标位置
if APF_Plan.checkDestination():
# APF_Plan.final_list.append([forx, fory])
print("此次避障成功")
APF_Plan.Draw()
break
else:
APF_Plan.Draw()
print("超过最大迭代次数！")
time.sleep(1)
del APF_Plan
from debug import Debugger
# Initializing main objects
# Configuration
conf = None
try:
conf = INIReader("config.ini")
except FileNotFoundError:
log.notice(
'A config.ini file was created. Fill it, then relaunch RocksmithSceneSwitcher.'
)
log.notice('Press any key to exit this program.')
input()
exit(0)
debug = Debugger(conf.get_value("Debugging", "debug", int),
conf.get_value("Debugging", "log_state_interval", int))
# OBS Web Socket Client / OBS controller abstraction
client = ObsController(conf.get_value("OBSWebSocket", "host"),
conf.get_value("OBSWebSocket", "port"),
conf.get_value("OBSWebSocket", "pass"))
sniffer = Rocksniffer(
conf.get_value("RockSniffer", "host"),
conf.get_value("RockSniffer", "port"),
)
error_wait_time = 1
def error(message):
"""
log Error with incremental wait time.
