def sending_tcp_mess(TCP_IP, TCP_PORT):
BUFFER_SIZE = config.get_buffer_size()
MESSAGE = "VintKahn\n".encode('utf_8')
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
s.send(MESSAGE)
data = s.recv(BUFFER_SIZE)
time.sleep(2)
#game mood
start_time = time.time()
while time.time() - start_time < 10:
s.send(_Getch())
data = s.recv(BUFFER_SIZE)
while True:
try:
if msvcrt.kbhit():
MESSAGE = _Getch()
s.send(MESSAGE)
data = s.recv(BUFFER_SIZE)
if len(data) == 0:
break
print(bcolors.F_Cyan + data.decode('utf_8'))
except:
pass
print(bcolors.F_Cyan + data.decode('utf_8'))
val = input(bcolors.F_LightMagenta + "game start\n")
s.send(val.encode('utf_8'))
time.sleep(1)
data = s.recv(BUFFER_SIZE)
print(bcolors.F_LightYellow + "receiving data:", data.decode('utf_8'))
s.close()
def controller(control_queue):
getch = _Getch()
while True:
print 'Press WASD or q'
next_char = _Getch()
while True:
k = next_char()
if k == 'q':
control_queue.put(k)
return
elif k in 'wasd': control_queue.put(k)
def controller(control_queue):
getch = _Getch()
while True:
print 'Press WASD or q'
next_char = _Getch()
while True:
k = next_char()
if k == 'q':
control_queue.put(k)
return
elif k in 'wasd':
control_queue.put(k)
def get_action():
getch = _Getch()
pressed = getch()
if pressed == 'w':
return 'UP'
elif pressed == 'a':
return 'LEFT'
elif pressed == 's':
return 'DOWN'
elif pressed == 'd':
return 'RIGHT'
elif pressed == 'q':
return 'SPIN_CCW'
elif pressed == 'e':
return 'SPIN_CW'
elif pressed == ' ':
return 'STOP'
elif pressed == ',':
return 'SPEED_DEC'
elif pressed == '.':
return 'SPEED_INC'
elif pressed == 'k':
return 'KILL'
elif pressed == 'f':
return 'KICK'
def __init__(self, memory):
"""Initialize cpu with a pointer to system memory."""
self.memory = memory
# registers: r0 - r7, r_pc, r_cond
self.registers = [0, 0, 0, 0, 0, 0, 0, 0, PC_START, 0]
self.getch = getch._Getch()
self._opcodes = {
0: ('OP_BR', self._op_br), # branch
1: ('OP_ADD', self._op_add), # add
2: ('OP_LD', self._op_ld), # load
3: ('OP_ST', self._op_st), # store
4: ('OP_JSR', self._op_jsr), # jump register
5: ('OP_AND', self._op_and), # and
6: ('OP_LDR', self._op_ldr), # load register
7: ('OP_STR', self._op_str), # store register
8: ('OP_RTI', self._op_rti), # unused
9: ('OP_NOT', self._op_not), # not
10: ('OP_LDI', self._op_ldi), # load indirect
11: ('OP_STI', self._op_sti), # store indirect
12: ('OP_JMP', self._op_jmp), # jump
13: ('OP_RES', self._op_res), # reserved (unused)
14: ('OP_LEA', self._op_lea), # load effective address
15: ('OP_TRAP', self._op_trap) # execute trap
}
self._traps = {
0x20: self._trap_getc,
0x21: self._trap_out,
0x22: self._trap_puts,
0x23: self._trap_in,
0x24: self._trap_putsp,
0x25: self._trap_halt
}
def get_action():
getch = _Getch()
pressed = getch()
if pressed == 'w':
return 'UP'
elif pressed == 'a':
return 'LEFT'
elif pressed == 's':
return 'DOWN'
elif pressed == 'd':
return 'RIGHT'
elif pressed == 'q':
return 'SPIN_CCW'
elif pressed == 'e':
return 'SPIN_CW'
elif pressed == ' ':
return 'STOP'
elif pressed == ',':
return 'SPEED_DEC'
elif pressed == '.':
return 'SPEED_INC'
elif pressed == 'k':
return 'KILL'
elif pressed == 'f':
return 'KICK'
def acquisition(config):
timer = Timer()
getch = _Getch()
last_char = ""
last_char2 = ""
nl_count = 0
bs_count = 0
char_count = 0
quit = False
while (not quit):
# on lit un caractère
my_char = getch()
char_count += 1
# saut de ligne:
if my_char == "\r":
print
nl_count += 1
# reset le dernier caractère
last_char = ""
last_char2 = ""
# autre caractère
else:
nl_count = 0
# caractère BACKSPACE
if my_char == '\x08' or my_char == '\x7f':
# on compte le nb de backspace pour les stats
bs_count += 1
# écrire un backspace déplace simplement le curseur
# il faut effacer avec un espace
sys.stdout.write("\x08 \x08")
# reset le dernier caractère
last_char = ""
else:
sys.stdout.write(my_char)
# si un précédent caractère était présent
if last_char != "":
# récupérer le temps entre deux frappes
t = timer.time()
# ajout dans la configuration si l'intervalle semble correct
if t < 1:
config.add(last_char + my_char, t)
if last_char2 != "":
config.add(last_char2 + last_char + my_char, t)
# sauvegarde du dernier caractère
last_char2 = last_char
last_char = my_char
# deux appuis simultanés sur ENTER quittent la boucle
if nl_count == 2:
quit = True
# reset du chronomètre
timer.start()
return float(bs_count) / float(char_count) * 100
def print_channel_page(self):
while True:
self.print_title()
self.print_channels()
ch = getch._Getch()
k = ch()
if k == keymap.keys['UP']:
if self.selected_line == 0:
self.selected_line == 0
else:
self.selected_line -= 1
elif k == keymap.keys['DOWN']:
if self.selected_line == len(self.channel_names) - 1:
self.selected_line = len(self.channel_names) - 1
else:
self.selected_line += 1
elif k == keymap.keys['SURE']:
self.api.song = None
self.selected_channel_line = self.selected_line
self.api.channel_id = self.channel_ids[self.selected_line]
self.api.get_playlist()
self.api.get_song()
self.api.get_song()
command = '/Applications/VLC.app/Contents/MacOS/VLC --intf dummy ' + self.api.song['url'] + ' 2>/dev/null'
# 防止VLC阻止父进程
subprocess.Popen(command, shell=True, stdin=subprocess.PIPE)
elif k == keymap.keys['QUIT']:
break
def 发布指令():
shell输入 = _Getch()
rospy.init_node('keyboard', anonymous=True)
指令发送 = rospy.Publisher('/舵机控制/指令', String, queue_size=10)
循环频率 = rospy.Rate(50)
while not rospy.is_shutdown():
输入 = shell输入()
数据 = String()
if 输入 == 'w':
数据.data = "上"
指令发送.publish(数据)
rospy.loginfo(f"发送指令:{数据.data}")
elif 输入== 'a':
数据.data = "左"
指令发送.publish(数据)
rospy.loginfo(f"发送指令:{数据.data}")
elif 输入 == 's':
数据.data = "下"
指令发送.publish(数据)
rospy.loginfo(f"发送指令:{数据.data}")
elif 输入 == 'd':
数据.data = "右"
指令发送.publish(数据)
rospy.loginfo(f"发送指令:{数据.data}")
elif 输入 == 'q':
rospy.loginfo(f"退出节点")
break
循环频率.sleep()
def __init__(self, code):
self.lines = code.splitlines()
self.line_num = 0
# Get name from first line (optional)
try:
name_line = re.match("Name\s?:\s?(.+)", self.lines[0], re.I)
name = name_line.groups(0)[0]
self.lines = self.lines[1:]
except IndexError:
name = "Hero"
# Get class
try:
class_line = re.match("Class\s?:\s?(.+)", self.lines[0], re.I)
hero_class = class_line.groups(0)[0].title()
self.lines = self.lines[1:]
except IndexError:
exit("Error: Missing or invalid class line")
self.hero = Hero(name, hero_class)
self.labels = {}
self.quest = None
self.input = None
self.expected = None
self.output = None
self.quest_line_num = None
self.getch = _Getch()
def passive_watcher():
'''
Don't show progress bars. Just output 'completed' when host complets
'''
print 'Non-interactive mode enabled. You may still press ESC to (q)uit.'
length = acquire_lock(len, completed_list)
show_completed_count('create', length)
delete_length = acquire_lock(len, deleted_list)
show_completed_count('delete', delete_length)
# avoid a race condition where threads have not spawned yet
text = _Getch(timeout=1)
character = None
can_exit = False
while True:
character = text()
if threading.active_count() > 2:
can_exit = True
old_length = length
length = acquire_lock(len, completed_list)
if old_length < length:
show_completed_count('create', length)
old_delete_length = delete_length
delete_length = acquire_lock(len, deleted_list)
if old_delete_length < delete_length:
show_completed_count('delete', delete_length)
# Stop if just the main thread and us.
# queue.empty check misses some so do this.
if threading.active_count() <= 2 and can_exit:
break
if character == 'q' or character == '\x1b':
kill_all_threads()
break
def interactive_watcher():
'''
Watcher for when we want to actively display the progress
Auto draw gui hosts and whatnot.
'''
text = _Getch(timeout=1)
character = None
full = False
# avoid race condition where threads have not spawned yet
can_exit = False
# Just us and the main thread means it is time to bail out
while True:
if threading.active_count() > 2:
# Threads have spawned safe to exit
can_exit = True
if threading.active_count() <= 2 and can_exit:
# exit out because they have now closed
break
character = text()
os.system('cls' if sys.platform == 'win32' else 'clear')
acquire_lock(draw_gui_hosts, make_all=full)
print 'Press ESC to (q)uit or obtain (f)ull details.'
if character == 'f':
full = not full
if character == 'q' or character == '\x1b':
kill_all_threads()
break
print 'Exiting.'
def acquisition(config):
timer = Timer()
getch = _Getch()
last_char = ""
last_char2 = ""
nl_count = 0
bs_count = 0
char_count = 0
quit = False
while not quit:
# on lit un caractère
my_char = getch()
char_count += 1
# saut de ligne:
if my_char == "\r":
print
nl_count += 1
# reset le dernier caractère
last_char = ""
last_char2 = ""
# autre caractère
else:
nl_count = 0
# caractère BACKSPACE
if my_char == "\x08" or my_char == "\x7f":
# on compte le nb de backspace pour les stats
bs_count += 1
# écrire un backspace déplace simplement le curseur
# il faut effacer avec un espace
sys.stdout.write("\x08 \x08")
# reset le dernier caractère
last_char = ""
else:
sys.stdout.write(my_char)
# si un précédent caractère était présent
if last_char != "":
# récupérer le temps entre deux frappes
t = timer.time()
# ajout dans la configuration si l'intervalle semble correct
if t < 1:
config.add(last_char + my_char, t)
if last_char2 != "":
config.add(last_char2 + last_char + my_char, t)
# sauvegarde du dernier caractère
last_char2 = last_char
last_char = my_char
# deux appuis simultanés sur ENTER quittent la boucle
if nl_count == 2:
quit = True
# reset du chronomètre
timer.start()
return float(bs_count) / float(char_count) * 100
def __init__(self, filename=None):
if not filename:
self.filename = "/etc/mogu/mogu.conf"
else:
self.filename = filename
self.f = None
self.get_char = get._Getch()
self.try_import()
def prompt(msg):
sys.stdout.write('\r' + msg)
inkey = _Getch()
key = inkey()
if key == '\x03':
raise KeyboardInterrupt
else:
return key
def prompt(msg):
sys.stdout.write('\r' + msg)
inkey = _Getch()
key = inkey()
if key == '\x03':
raise KeyboardInterrupt
else:
return key
def __init__(self):
self.board = []
self.tempBoard = []
self.token = []
self.board = self.getAsset("Asset:gameboard")
self.setupElements()
self.setupNavDict()
self.location = [0,0]
self.getch = getch._Getch()
def char_by_char(automata):
getch = _Getch()
sys.stdout.write(
'\n In this option you input a character and the program will automatically\n'
' change state and when you press the return key sys.stdout.write if you are in an end state or '
'not.\n')
while True:
sys.stdout.write('\n (Enter a char) ')
try:
x = bytes.decode(getch())
except TypeError:
x = getch()
if x == '\r':
if any((int(s.id) in automata.ending_states)
for s in automata.current_states):
sys.stdout.write(
'\n You are in an end state!'
'\n Automata resets now!'
'\n Continue with another string or press ESC to exit.')
else:
sys.stdout.write(
'\n You are not in an end state!'
'\n Automata resets now!'
'\n Continue with another string or press ESC to exit.')
automata.self_reset()
continue
elif x == '\x1b':
sys.exit()
if x not in automata.alphabet:
sys.stdout.write('\r{}\n'.format(x))
sys.stdout.write(
' Character {} not in current automata alphabet, please try again.\n'
.format(x))
automata.self_reset()
continue
automata.change_state(x)
if any(
(s.id in automata.ending_states) for s in automata.current_states):
sys.stdout.write(' {}'.format(x))
sys.stdout.write(
'\n You are in an end state!'
'\n Automata does not reset until you press return (ENTER) key.'
'\n Continue with another character or press ESC to exit.')
else:
sys.stdout.write(' {}'.format(x))
sys.stdout.write(
'\n You are not in an end state!'
'\n Automata does not reset until you press return (ENTER) key.'
'\n Continue with another character or press ESC to exit.')
def run(self):
while True:
self.display()
i = getch._Getch()
c = i()
if c == 'k':
self.updown(-1)
if c == 'j':
self.updown(1)
if c == 'q':
break
def run(self):
while True:
self.display()
i = getch._Getch()
c = i()
if c == 'k':
self.updown(-1)
if c == 'j':
self.updown(1)
if c == 'q':
break
def Loop(self):
'Loops while self.run = True.'
thisTime = time.time()
while self.run:
char = getch._Getch()
self.snake.ChangeDirection(char.impl())
if time.time() - thisTime >= self.speed:
self.Collision()
self.snake.Move()
if self.run:
self.DrawField()
thisTime = time.time()
def Loop(self):
'Loops while self.run = True.'
thisTime = time.time()
while self.run:
char = getch._Getch()
self.snake.ChangeDirection(char.impl())
if time.time() - thisTime >= self.speed:
self.Collision()
self.snake.Move()
if self.run:
self.DrawField()
thisTime = time.time()
def main():
parser = argparse.ArgumentParser(description="Generate a Bitcoin private key using a dice.")
parser.add_argument("--faces", type=int, default=6, help="specify the number of faces on your dice")
parser.add_argument("--entropy", type=int, default=256, help="desired amount of entropy (in bits)")
args = parser.parse_args()
#calculate how many throws we need to reach the desired amount of entropy
entropy_per_throw = math.log(args.faces, 2)
THROWS = int(math.ceil(args.entropy / entropy_per_throw))
alphabet = get_alphabet(args.faces)
getch = _Getch()
print("Throw a dice %d times. After each throw, enter the value thrown..." % (THROWS))
print("Press Ctrl+C if you want to exit at any point")
result = []
for i in range(0,THROWS):
while True:
sys.stdout.write("\nDice throw %d out of %d: " % (i+1, THROWS))
char = getch_print(getch)
#exit on Ctrl+C
if ord(char[0]) == 3:
sys.exit()
if args.faces >= 10:
char += getch_print(getch)
char = char.rstrip('\r')
try:
char = str(int(char)) #strip any leading zeros
except ValueError:
pass
if char not in alphabet:
sys.stdout.write("\nSorry. Not a valid throw. Try again.")
continue
result.append(char)
break
print("\n")
addr,pkey = privaddr.throws_to_keyaddr(result, args.faces)
print("Address: %s" % (addr))
print("Private key: %s" % (pkey))
def run(self):
while True:
self.display()
c = getch._Getch()()
if self.lrc_display or self.lock_help: # 歌词界面截断
if c == self.KEYS['QUIT']:
self.lrc_display = 0
self.lock_help = 0
continue
if c == self.KEYS['UP']:
self.updown(-1)
elif c == self.KEYS['DOWN']:
self.updown(1)
elif c == self.KEYS['HELP']:
Help(self)
elif c == self.KEYS['LRC']: # o歌词
self.set_lrc()
self.thread(self.display_lrc)
elif c == self.KEYS['RATE']: # r标记红心/取消标记
self.thread(self.set_rate)
elif c == self.KEYS['NEXT']: # n下一首
self.set_next()
elif c == self.KEYS['TOP']: # g键返回顶部
self.markline = 0
self.topline = 0
elif c == self.KEYS['BOTTOM']: # G键返回底部
self.markline = self.screenline
self.topline = len(self.lines) - self.screenline - 1
elif c == ' ': # 空格选择频道,播放歌曲
if self.markline + self.topline != self.displayline:
self.displaysong()
self.set_play()
elif c == self.KEYS['OPENURL']: # l打开当前播放歌曲豆瓣页
self.set_url()
elif c == self.KEYS['BYE']: # b不再播放
self.set_bye()
elif c == self.KEYS['PAUSE']: # p暂停
self.pause_play()
elif c == self.KEYS['MUTE']: # m静音
self.mute()
elif c == self.KEYS['LOOP']: # l单曲循环
self.set_loop()
elif c == self.KEYS['QUIT']: # q退出程序
self.set_quit()
elif c == '=':
self.change_volume(1)
elif c == '-':
self.change_volume(-1)
def main():
print("鹰眼...启动")
print("方向键控制画面移动，q键退出，r键重启画面推送")
qe = queue.Queue(1)
thread_1 = Attitude_control(qe)
thread_1.name = '舵机控制线程'
thread_1.daemon = True
thread_1.start()
camera = subprocess.Popen(
['raspivid -t 0 -w 640 -h 480 -fps 25 -o - | nc -l 8090'], shell=True)
shellpid = camera.pid + 2
print(f"推流管道进程{shellpid}")
getch = _Getch()
while True:
ch = getch()
if ch == 'q':
break
elif ch == '[':
Next = getch()
try:
if Next == 'A':
qe.put_nowait("down")
elif Next == 'B':
qe.put_nowait("up")
elif Next == 'D':
qe.put_nowait("left")
elif Next == 'C':
qe.put_nowait("right")
except queue.Full:
pass
elif ch == 'r':
if camera.poll() != None: #推流子进程没在运行
camera = subprocess.Popen(
['raspivid -t 0 -w 640 -h 480 -fps 25 -o - | nc -l 8090 '],
shell=True)
shellpid = camera.pid + 2
print("重启视频流")
if 查找列表元素(psutil.pids(),
shellpid) and psutil.Process(shellpid).name() == "nc":
subprocess.run(['kill', f'{shellpid}'])
print("推流子进程结束")
camera.kill()
print("主线程结束")
def run(self):
while True:
self.display()
c = getch._Getch()()
if self.lrc_display or self.lock_help: # 歌词界面截断
if c == self.KEYS['QUIT']:
self.lrc_display = 0
self.lock_help = 0
continue
if c == self.KEYS['UP']:
self.updown(-1)
elif c == self.KEYS['DOWN']:
self.updown(1)
elif c == self.KEYS['HELP']:
Help(self)
elif c == self.KEYS['LRC']: # o歌词
self.set_lrc()
self.thread(self.display_lrc)
elif c == self.KEYS['RATE']: # r标记红心/取消标记
self.thread(self.set_rate)
elif c == self.KEYS['NEXT']: # n下一首
self.set_next()
elif c == self.KEYS['TOP']: # g键返回顶部
self.markline = 0
self.topline = 0
elif c == self.KEYS['BOTTOM']: # G键返回底部
self.markline = self.screenline
self.topline = len(self.lines) - self.screenline - 1
elif c == ' ': # 空格选择频道,播放歌曲
if self.markline + self.topline != self.displayline:
self.displaysong()
self.set_play()
elif c == self.KEYS['OPENURL']: # l打开当前播放歌曲豆瓣页
self.set_url()
elif c == self.KEYS['BYE']: # b不再播放
self.set_bye()
elif c == self.KEYS['PAUSE']: # p暂停
self.pause_play()
elif c == self.KEYS['MUTE']: # m静音
self.mute()
elif c == self.KEYS['LOOP']: # l单曲循环
self.set_loop()
elif c == self.KEYS['QUIT']: # q退出程序
self.set_quit()
elif c == '=':
self.change_volume(1)
elif c == '-':
self.change_volume(-1)
def main():
board = Board(3, 3)
cursor_pos = [0, 0]
player1_is_x = True
is_player1_turn = True
key_reader = _Getch()
print('Would you like to play as x? (y/n)')
if key_reader().lower() == 'y':
player1_is_x = True
is_player1_turn = True
else:
player1_is_x = False
is_player1_turn = False
clear_terminal()
# Game loop
while True:
render(board.state, board.height, board.width, cursor_pos)
check_if_win(board.state, player1_is_x)
key = key_reader()
if key == 'q':
exit()
elif key == 'w' and cursor_pos[1] - 1 >= 0:
cursor_pos[1] -= 1
elif key == 'a' and cursor_pos[0] - 1 >= 0:
cursor_pos[0] -= 1
elif key == 's' and cursor_pos[1] + 1 <= board.height - 1:
cursor_pos[1] += 1
elif key == 'd' and cursor_pos[0] + 1 <= board.width - 1:
cursor_pos[0] += 1
elif key == ' ' and board.state[cursor_pos[1]][cursor_pos[0]] == 0:
if player1_is_x:
board.state[cursor_pos[1]][cursor_pos[0]] = 1
render(board.state, board.height, board.width, cursor_pos)
check_if_win(board.state, player1_is_x)
ai_move(board, player1_is_x)
else:
board.state[cursor_pos[1]][cursor_pos[0]] = 2
render(board.state, board.height, board.width, cursor_pos)
check_if_win(board.state, player1_is_x)
ai_move(board, player1_is_x)
def get_action():
print("getting action")
getch = _Getch()
pressed = getch()
print("called getch")
# Show commands (help)
if pressed == 'h':
return 'HELP'
elif pressed == 'q':
return 'QUIT'
# Switch tuning variable
elif pressed == '1':
return 'X'
elif pressed == '2':
return 'Y'
elif pressed == '3':
return 'THETA'
# change tuning paramaters for current tuning variable
elif pressed == ',':
return 'KP_DOWN'
elif pressed == '.':
return 'KP_UP'
elif pressed == 'k':
return 'KD_DOWN'
elif pressed == 'l':
return 'KD_UP'
elif pressed == 'i':
return 'KI_DOWN'
elif pressed == 'o':
return 'KI_UP'
# Tools
elif pressed == 'l':
return 'LIST'
elif pressed == 's':
return 'SENSITIVITY'
# change cmd position
elif pressed == ' ':
return 'CHANGE_CMD_POS'
else:
return 'NOTHING'
def main(filename):
settings = load_settings(filename)
if not os.path.exists(settings['title']):
os.makedirs(settings['title'])
resume = False
try:
r_file = open(path_join(settings['title'], '.dump'), 'r')
print "Do you want to resume Y/n:"
while True:
r = getch._Getch()()
if r == '':
resume = True
print "Resumed"
break
if r in ('y', 'Y', '\n'):
resume = True
print "Resumed"
break
if r in ('n', 'N'):
break
except IOError:
print 'No save file found'
pass
if resume:
#Resuming from file
resumed = pickle.load(r_file)
outfile = open(resumed[2], 'a')
if settings['log_file'] != None:
settings['log_file'] = outfile
else:
if resume:
settings['log_file'] = open(resumed[2], 'a')
else:
settings['log_file'] = open(
path_join(settings['title'],
'sim' + strftime("%Y-%m-%d %H:%M:%S") + '.log'), 'w')
e = CGP(resume=resume, **settings)
if resume:
e.generation = resumed[0]
e.pool = resumed[1]
e.run()
def main(filename):
settings = load_settings(filename)
if not os.path.exists(settings['title']):
os.makedirs(settings['title'])
resume = False
try:
r_file = open(path_join(settings['title'],'.dump'),'r')
print "Do you want to resume Y/n:"
while True:
r = getch._Getch()()
if r=='':
resume = True
print "Resumed"
break
if r in ('y','Y','\n'):
resume = True
print "Resumed"
break
if r in ('n','N'):
break
except IOError:
print 'No save file found'
pass
if resume:
#Resuming from file
resumed = pickle.load(r_file)
outfile = open(resumed[2],'a')
if settings['log_file']!=None:
settings['log_file']=outfile
else:
if resume:
settings['log_file']= open(resumed[2],'a')
else:
settings['log_file']= open(path_join(settings['title'],'sim'+strftime("%Y-%m-%d %H:%M:%S")+'.log'),'w')
e = CGP(resume=resume,**settings)
if resume:
e.generation = resumed[0]
e.pool = resumed[1]
e.run()
def get_action():
print("getting action")
getch = _Getch()
pressed = getch()
print("called getch")
# Show commands (help)
if pressed == 'h':
return 'HELP'
elif pressed == 'q':
return 'QUIT'
# Switch tuning variable
elif pressed == '1':
return 'X'
elif pressed == '2':
return 'Y'
elif pressed == '3':
return 'THETA'
# change tuning paramaters for current tuning variable
elif pressed == ',':
return 'KP_DOWN'
elif pressed == '.':
return 'KP_UP'
elif pressed == 'k':
return 'KD_DOWN'
elif pressed == 'l':
return 'KD_UP'
elif pressed == 'i':
return 'KI_DOWN'
elif pressed == 'o':
return 'KI_UP'
# Tools
elif pressed == 'l':
return 'LIST'
elif pressed == 's':
return 'SENSITIVITY'
# change cmd position
elif pressed == ' ':
return 'CHANGE_CMD_POS'
else:
return 'NOTHING'
def start(self): self.play() while True: self.display() i = getch._Getch() choice = i() if choice == 'p' and self.is_playing == False: self.play() elif choice == 's' and self.is_playing == True: self.stop() elif choice == 'n': self.next() elif choice == 'i': self.pre_channel() elif choice == 'k': self.next_channel() elif choice == 'h': self.print_helper() elif choice == 'q': self.exit()
def run(self, thread):
'''
runs thread until user presses a quit-key.
'''
q = Queue()
thread.q = q
thread.start()
print('Measurement started. Enter q to quit.')
inkey = _Getch()
import sys
while True:
k=inkey()
if k=='q':
q.put('quit')
break
print('you pressed ' + k)
#import ipdb; ipdb.set_trace()
thread.join()
print("Background thread joined.")
data = q.get()
return data
def main(): # Initialize getch to read keypresses keyPress = _Getch() while True: # Read input key = keyPress() # Check if the key was pressed with numlock off and convert if key == '[': numLockConversion(key) # For testing only!!! elif key == 'q': break try: num = int(key) # Update database updatedb(num) except: print "Unexpected error:", sys.exc_info()[0]
def reprint_failed():
print "run failed tests again[stdout+stderr]?"
idx = 0
options = "t(run test)/n(next)/[0-" + ` failedcnt - 1 ` + "]/l(list)/s(see test file)/q(quit)"
while True:
path = relpath(failed_files[idx])
print ` idx ` + ":" + printYELLOW(path) + ':' + options
#char = sys.stdin.read(1)
fgetch = getch._Getch()
char = fgetch()
if char == "n":
idx = (idx + 1) % failedcnt
elif char == "q":
break
elif char == "t":
print "executing..."
execute_test(compiler, failed_files[idx], False).wait()
print "end"
elif char == "l":
i = 0
print ""
for f in failed_files:
print ` i ` + ":" + printYELLOW(relpath(failed_files[i]))
i += 1
print ""
elif char == "s":
Popen(["cat", "-n", failed_files[idx]]).wait()
else:
print char
if char.isdigit():
tmp = int(char)
if tmp < failedcnt and tmp >= 0:
idx = tmp
else:
print "index out of bounds"
else:
print "invaild input"
def reprint_failed():
print "run failed tests again[stdout+stderr]?"
idx = 0
options = "t(run test)/n(next)/[0-"+`failedcnt-1`+"]/l(list)/s(see test file)/q(quit)";
while True:
path = relpath(failed_files[idx])
print `idx` + ":" + printYELLOW(path) + ':' + options
#char = sys.stdin.read(1)
fgetch = getch._Getch()
char = fgetch()
if char == "n":
idx = (idx + 1) % failedcnt
elif char == "q":
break
elif char == "t" :
print "executing..."
execute_test(compiler,failed_files[idx],False).wait()
print "end"
elif char == "l":
i = 0
print ""
for f in failed_files:
print `i` + ":" + printYELLOW(relpath(failed_files[i]))
i += 1
print ""
elif char == "s":
Popen(["cat","-n", failed_files[idx]]).wait()
else:
print char
if char.isdigit():
tmp = int(char)
if tmp < failedcnt and tmp >= 0:
idx = tmp
else:
print "index out of bounds"
else:
print "invaild input"
def __init__(self,filename):
self.filename = filename
self.f = None
self.get_char = get._Getch()
self.try_import()
def run(self):
while True:
self.display()
i = getch._Getch()
c = i()
if self.lrc_display: # 歌词界面截断
if c == self.KEYS['QUIT']:
self.lrc_display = 0
continue
else:
continue
if c == self.KEYS['UP']:
self.updown(-1)
elif c == self.KEYS['DOWN']:
self.updown(1)
elif c == self.KEYS['TOP']: # g键返回顶部
self.markline = 0
self.topline = 0
elif c == self.KEYS['BOTTOM']: # G键返回底部
self.markline = self.screenline
self.topline = len(self.lines) - self.screenline - 1
elif c == ' ': # 空格选择频道,播放歌曲
if self.markline + self.topline != self.displayline:
self.start = 0
if self.douban.playingsong:
self.douban.playingsong = {}
self.kill_mplayer()
self.displaysong()
self.SUFFIX_SELECTED = '正在加载请稍后...'
self.display()
self.douban.set_channel(
self.douban.channels[self.markline +
self.topline]['channel_id'])
self.douban.get_playlist()
self.play()
elif c == self.KEYS['OPENURL']: # l打开当前播放歌曲豆瓣页
import webbrowser
url = "http://music.douban.com" + self.douban.playingsong[
'album'].replace('\/', '/')
webbrowser.open(url)
self.display()
elif c == self.KEYS['RATE']: # r标记红心/取消标记
if self.douban.playingsong:
if not self.douban.playingsong['like']:
self.SUFFIX_SELECTED = self.love + self.SUFFIX_SELECTED
self.display()
self.douban.rate_music()
self.douban.playingsong['like'] = 1
self.notifySend(content='标记红心')
else:
self.SUFFIX_SELECTED = self.SUFFIX_SELECTED[len(self.
love):]
self.display()
self.douban.unrate_music()
self.douban.playingsong['like'] = 0
self.notifySend(content='取消标记红心')
elif c == self.KEYS['NEXT']: # n下一首
if self.douban.playingsong:
self.loop = False
self.start = 0
self.kill_mplayer()
self.SUFFIX_SELECTED = '正在加载请稍后...'
self.display()
self.douban.skip_song()
self.douban.playingsong = {}
self.play()
elif c == self.KEYS['BYE']: # b不再播放
if self.douban.playingsong:
self.SUFFIX_SELECTED = '不再播放,切换下一首...'
self.display()
self.kill_mplayer()
self.douban.bye()
self.play()
elif c == self.KEYS['PAUSE']:
self.pause_play()
elif c == self.KEYS['MUTE']:
self.mute()
elif c == self.KEYS['LOOP']:
if self.loop:
self.notifySend(content='停止单曲循环')
self.loop = False
else:
self.notifySend(content='单曲循环')
self.loop = True
elif c == self.KEYS['QUIT']:
self.q = 1
if self.start:
self.kill_mplayer()
subprocess.call('echo -e "\033[?25h";clear', shell=True)
exit()
elif c == '=':
self.change_volume(1)
elif c == '-':
self.change_volume(-1)
elif c == self.KEYS['LRC']:
tmp = self.SUFFIX_SELECTED
self.SUFFIX_SELECTED = '正在加载歌词'
self.display()
self.lrc_display = 1
self.SUFFIX_SELECTED = tmp
self.lrc_dict = self.douban.get_lrc()
if self.lrc_dict:
self.lrc_display = 1
else:
self.lrc_display = 0
def goal2(f,k):
n= 10**(-9)
if 22*n<=f<=32*n:
return 5
#if 122*n<=f<=132*n:
# return 5
return 0
if __name__ == "__main__":
resume = False
try:
r_file = open('.dump','r')
print "Do you want to resume Y/n:"
while True:
r = getch._Getch()()
if r=='':
resume = True
print "Resumed"
break
if r in ('y','Y','\n'):
resume = True
print "Resumed"
break
if r in ('n','N'):
break
except IOError:
pass
if not resume:
outfile = open('sim'+strftime("%Y-%m-%d %H:%M:%S")+'.log','w')
def __init__(self, ):
self.getch = _Getch()
self.userinp = [None]
self.thrd = Thread(target=self.readinp, args=(self, self.userinp))
self.thrd.start()
def __init__(self, res):
threading.Thread.__init__(self)
self.res = res
self.getch = _Getch()
self.runloop = True
LUCENE_HOME = '/l/lucene.trunk2'
cp = []
cp.append('.')
cp.append('%s/lucene/build/core/classes/java' % LUCENE_HOME)
cp.append('%s/lucene/build/suggest/classes/java' % LUCENE_HOME)
cp.append('%s/lucene/build/analysis/common/classes/java' % LUCENE_HOME)
cp.append('%s/lucene/build/analysis/icu/classes/java' % LUCENE_HOME)
cp.append('%s/lucene/analysis/icu/lib/icu4j-49.1.jar' % LUCENE_HOME)
cmd = 'java -Xmx3g -cp %s FreeDBSuggest %s -server' % (':'.join(cp), sys.argv[1])
p = subprocess.Popen(cmd, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE)
print p.stdout.readline().strip()
getch = getch._Getch()
query = []
while True:
c = getch()
if c == '':
break
if c == '\r':
break
elif c == '\x7f':
query = query[:-1]
else:
query.append(c)
q = ''.join(query)
t0 = time.time()
import serial
import time
import getch
ser = serial.Serial('/dev/ttyUSB0',115200, timeout=1)
inkey = getch._Getch()
while True:
ch = inkey()
if ch == '':
continue
if ch == 'W':
ser.write('$2,300,0,0\r')
continue
if ch == 'w':
ser.write('$2,200,0,0\r')
print ser.readline()
continue
if ch == 's':
ser.write('$2,-200,0,0\r')
print ser.readline()
continue
if ch == 'd':
ser.write('$2,0,0,200\r')
print ser.readline()
continue
if ch == 'a':
ser.write('$2,0,0,-200\r')
print ser.readline()
continue
#! /usr/bin/env python2.7
import serial
import sys
import threading
import argparse
import getch
getchr = getch._Getch()
dontprint = False
def sending(seri):
while blah != 'q':
blah = getchr()
if blah == '0':
dontprint = True
if blah == '1':
dontprint = False
if blah != 'q':
seri.write(blah)
seri.flush()
def receiving(seri):
while True:
s = seri.readline()
if not dontprint:
sys.stdout.write(s)
sys.stdout.flush()
parser = argparse.ArgumentParser(description="Simple Serial reader / writer")
parser.add_argument('-s', '--serial', dest='serial_port',
# Setup prompt
readline.parse_and_bind("tab: complete")
def complete(text, state):
results = [x + " " for x in commands if x.startswith(text)] + [None]
return results[state]
readline.set_completer(complete)
# Create machine driver
mb = Makerbot.Makerbot()
# Method used to get a pressed key
getch = getch._Getch()
## Interactively ask the user for something
def ask(prompt="", choices=None, default=None, type=str):
while True:
completer = readline.get_completer()
readline.set_completer(None)
try:
answer = raw_input(prompt).lower()
except (EOFError, KeyboardInterrupt):
cmd_exit()
readline.set_completer(completer)
if answer == "":
if default != None:
return default
# # Get resulting contents
# message = box.gather()
# print("HI")
# wrapper(main)
import curses
import random
import time
import sys
from getch import _Getch
g = _Getch()
window = curses.initscr()
try:
(h, w) = window.getmaxyx()
print('Height: {} Width: {}'.format(window.getmaxyx()[0],
window.getmaxyx()[1]))
while True:
x = int(random.random() * w)
y = int(random.random() * h)
window.move(y, x)
new_char = g()
MAP_SMALL = 8 # Small map. 8x8 tiles (64 total)
MAP_MEDIUM = 16 # Medium map. 16x16 tiles (256 total)
MAP_LARGE = 32 # Large map. 32 x 32 tiles ()
AI_SLOW = 2 # Slow AI speed. Two tiles per second
AI_FAST = 4 # Fast AI Speed. Four tiles per second, same as
# the player
# Globals
mapSize = None # The size of the map to be generated
aiDifficulty = None # The Intellegence flag of the AI
aiSpeed = None # The speed of the ai
# Pointer to function that pulls a single character from
# the console (see getch.py)
get_ch = getch._Getch()
# Game over menu
def game_over(score):
os.system("clear")
print("===========================")
print("= aMAZE =")
print("===========================")
print("= GAME OVER :( =")
print("===========================")
print("= Enter your Name =")
print("= 10 Characters max =")
print("===========================")
# Get the users name
except asyncio.TimeoutError:
break
except ValueError:
pass
time.sleep(seconds)
def stop_write_to(self):
self.async_process.join()
if __name__ == "__main__":
from miniTTY import *
import sys
import getch
screen = Screen(height = 50, width = 100)
ser = AsyncSerial(baudrate = 1200)
ser.async_write_to(screen.output_putc)
getc = getch._Getch()
while(1):
c = "\n"
try:
c = getc()
except KeyboardInterrupt as e:
c = "\n"
if(e.args[0] == '\x04'):
sys.exit()
print("\f")
screen.input_putc(c)
print(str(screen))
def main():
# 実機かバーチャルロボットか選択
g = getch._Getch()
# x = g()
x = 1
if (str(x) == "1"):
m = ALProxy("ALMotion", IP, PORT)
p = ALProxy("ALRobotPosture", IP, PORT)
l = ALProxy("ALLocalization", IP, PORT)
tts = ALProxy("ALTextToSpeech", IP, PORT)
else:
m = ALProxy("ALMotion", localIP, localPORT)
p = ALProxy("ALRobotPosture", localIP, localPORT)
l = ALProxy("ALLocalization", localIP, localPORT)
tts = ALProxy("ALTextToSpeech", localIP, localPORT)
#初期位置を決定
l.learnHome()
homepos = l.getRobotPosition(True)
print "homepos:", homepos
#センサの有効範囲を設定
m.setOrthogonalSecurityDistance(0.0)
m.setTangentialSecurityDistance(0.01)
#移動中の腕を固定
m.setMoveArmsEnabled(False, False)
#腕の衝突保護を設定
m.setExternalCollisionProtectionEnabled("Arms", False)
#待機場所へ移動
"""
m.moveTo(-1.0, -0.5, 0.0)
waitpos = l.getRobotPosition(True)
print "waitpos:", waitpos
"""
#基本姿勢
p.goToPosture("StandInit", 0.5)
print("Initialized.")
time.sleep(3.0)
"""
#sを押すとスタート
print "Please push s"
#x = g()
x = "s"
if(str(x) == "s"):
start = time.time()
log(x, start - start)
print("start")
"""
loop = 0
while (1):
loop += 1
print "continue:1"
print "finish:2"
x = g()
if (str(x) == "1"):
print "loop:", loop, "round"
print "1:short"
print "2:middle"
print "3:long"
n = g()
print "n:", n
homepos = l.getRobotPosition(True)
print "homepos:", homepos
time.sleep(2.0)
ws.Beep(1000, 300)
time.sleep(1.0)
ws.Beep(1000, 300)
time.sleep(1.0)
ws.Beep(1000, 700)
num = -1
timer(num)
time.sleep(1.0)
#計測開始
#左手のマジックハンドを上げる:0
m.setAngles(jointnames, pos.Lup, 0.2)
time.sleep(2.0)
print "1:drink"
print "2:curtain"
print "3:floor"
#口パク:1
ws.Beep(1000, 300)
num = timer(num)
time.sleep(3.0)
#drink or curtain or floor:2
ws.Beep(1000, 300)
num = timer(num)
#x = g()
x = 1
if (str(x) == "1"):
#机の上のものを取ってくる
tts.say("ドリンクですね")
print("drink")
time.sleep(2.0)
"""
#m.moveTo(1.0 - 0.12, 0.5, 0.0)
position = l.getRobotPosition(True)
print (l.getRobotPosition(True))
#l.goToHome()
position = l.getRobotPosition(True)
print (l.getRobotPosition(True))
while(1):
if(position[0]>0.01 or position[1]>0.01 or position[2]>0.1):
m.moveTo(-position[0], -position[1], -position[2])
position = l.getRobotPosition(True)
print (position)
else:
break
"""
#レーザーを床に撃つ:3
ws.Beep(1000, 300)
num = timer(num)
m.setAngles(jointnames, pos.b2, 0.2)
time.sleep(2.0)
print "1:left", "2:stop", "3:right"
time.sleep(2.0)
while (1):
x = 4
#x = g()
if (str(x) == "1"):
m.moveToward(0.0, 0.0, 0.1)
elif (str(x) == "2"):
m.moveToward(0.0, 0.0, 0.0)
elif (str(x) == "3"):
m.moveToward(0.0, 0.0, -0.1)
else:
print x
tts.say("いってきますね")
break
#前進:4
time.sleep(2.0)
ws.Beep(1000, 300)
num = timer(num)
m.setOrthogonalSecurityDistance(0.0)
#移動
m.moveTo(1.5, 0.0, 0.0, 6.0)
position = l.getRobotPosition(True)
print "m.moveTo(1.5, 0.0, 0.0, 6.0):", position
m.setOrthogonalSecurityDistance(0.0)
#補正:5
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(0.0, 0.0, math.radians(7.25))
time.sleep(0.5)
m.moveTo(0.0, 0.07, 0.0)
position1 = l.getRobotPosition(True)
print "m.moveTo(0.0, 0.0, math.radians(7.252255)):", position1
homepos[2] = position1[2]
#肩調節の姿勢へ:6
ws.Beep(1000, 300)
num = timer(num)
m.setAngles(jointnames, pos.Rsearch_curtain, 0.05)
"""
m.setAngles(jointnames[7], -1.5, 0.02)
time.sleep(0.7)
theta1 = m.getAngles(jointnames[7], False)
m.setAngles(jointnames[7], theta1, 0.2)
time.sleep(0.5)
m.setAngles([jointnames[8], jointnames[10]], [0.0, 0.0], 0.2)
time.sleep(1.5)
theta2 = m.getAngles(jointnames[10], False)
"""
time.sleep(3.0)
#肩調節
"""
theta1 = []
if(n == "1"):
theta1.append(-0.27)
num = Shoulder_Reguration(num, theta1[0], 2.0, 0.05)
elif(n == "2"):
theta1.append(-0.61)
num = Shoulder_Reguration(num, theta1[0], 2.2, 0.06)
elif(n == "3"):
theta1.append(-0.94)
num = Shoulder_Reguration(num, theta1[0], 2.5, 0.1)
else:
print n
"""
while (1):
x = g()
print x
if (str(x) == "1"):
m.setAngles(jointnames, pos.Rsearch_curtain, 0.05)
print "4:left"
print "5:stop"
print "6:right"
print "0:next"
while (1):
#キー入力
y = g()
#NN使う場合↓
#shmemを介してpepperMain.cppにおけるNNのoutputを受け取る->yに
#y = DB.toPepper
if (str(y) == "4"):
m.setAngles(jointnames[7], 0.0, 0.02)
elif (str(y) == "5"):
theta1 = m.getAngles(jointnames[7], False)
m.setAngles(jointnames[7],
m.getAngles(jointnames[7], False),
0.5)
print "theta1:", theta1
elif (str(y) == "6"):
m.setAngles(jointnames[7], -1.0, 0.02)
elif (str(y) == "0"):
#theta1 = m.getAngles(jointnames[7], False)
#m.setAngles(jointnames[7], m.getAngles(jointnames[7], False), 0.5)
print "theta1:", theta1
m.setAngles([jointnames[8], jointnames[10]],
[0.0, 0.6], 0.2)
time.sleep(2.0)
theta2 = m.getAngles(jointnames[10], False)
break
else:
print y
#手首調節開始:11
time.sleep(1.0)
ws.Beep(1000, 300)
num = timer(num)
"""
if(n == "1"):
num = Wrist_Reguration(num, 0.34, 2.0)
d = 26
elif(n == "2"):
num = Wrist_Reguration(num, 0.33, 2.0)
d = 27
elif(n == "3"):
num = Wrist_Reguration(num, 0.30, 2.0)
d = 30
else:
print n
"""
"""
m.setAngles(jointnames[10], 1.5, 0.02)
time.sleep(1.0)
theta2 = m.getAngles(jointnames[10], False)
m.setAngles(jointnames[10], theta2, 0.2)
print "theta2:", theta2
#肘からペットボトルまでの距離
d = (5.0*math.cos(math.radians(theta2[0]*60))+4.0)/math.tan(math.radians(theta2[0]*60)) + 6.0
print "d:", d
"""
print "8:up"
print "5:stop"
print "2:down"
print "0:next"
while (1):
y = g()
if (str(y) == "2"):
m.setAngles(jointnames[10], 1.5, 0.01)
elif (str(y) == "5"):
theta2 = m.getAngles(jointnames[10], False)
m.setAngles(jointnames[10], theta2, 0.5)
print "theta2:", theta2
#肘からペットボトルまでの距離
d = (5.0 *
math.cos(math.radians(theta2[0] * 60)) +
4.0) / math.tan(
math.radians(theta2[0] * 60)) + 6.0
print "d:", d
elif (str(y) == "8"):
m.setAngles(jointnames[10], 0.0, 0.01)
elif (str(y) == "0"):
#m.setAngles(jointnames, pos.Rreaching1, 0.2)
break
else:
print y
#つかむ準備姿勢:14
ws.Beep(1000, 300)
num = timer(num)
m.setAngles(jointnames, pos.Rsearch_curtain, 0.2)
time.sleep(2.0)
r0 = 15 #回転軸から肩までの長さ
r1 = 18.1 #肩から肘までの長さ
r2 = 22 #肘から手のひらまでの長さ
#ペットボトルの方向に回転:15
ws.Beep(1000, 300)
num = timer(num)
theta1[0] = math.radians(theta1[0] * 60) - math.atan(
5 / (d + r1))
print math.radians(math.atan(5 / (d + r1)))
print theta1[0]
m.moveTo(0.0, 0.0, theta1[0], 1.0) #ペットボトルの方を向く
#m.setAngles(jointnames[7], theta1[0], 0.2)
SH = math.sqrt(r1 * r1 + r2 * r2) #最初の肩と手の距離
h = r2 * (1 - 1 / (math.sqrt(2))) #ERを動かすときの振幅
s = r0 * math.sin(-theta1[0])
print "SH:", SH
print "h:", h
print "s:", s
#距離が遠いと近づく:16
ws.Beep(1000, 300)
num = timer(num)
d2 = 0
if (d + s + r1 > 40):
d2 = ((d + s + r1) - 40) / 100 + 0.03
print "d2:", d2
#.moveTo(d2*math.cos(theta1[0]), d2*math.sin(theta1[0]), 0.0)
m.moveTo(d2, 0.0, 0.0, 0.5)
position = l.getRobotPosition(True)
print "m.moveTo(d2, 0.0, 0.0, 0.5):", position
d = 40 - s - r1
print "d:", d
#手を伸ばす:17
ws.Beep(1000, 300)
num = timer(num)
theta3 = math.acos(
(r1 * r1 + r2 * r2 - (d + s + r1) *
(d + s + r1)) / (2 * r1 * r2)) #腕をd伸ばすのに必要な肘の角度
ERtheta = (180 - math.degrees(theta3)
) / 60 #ElbowpRollに入力する形に変換
theta4 = theta3 - Pi / 2 #SholderPitchの計算に使う
print "theta3:", theta3
print "ERtheta:", ERtheta
print "theta4:", theta4
theta5 = math.acos(
(r1 * r1 + (d + s + r1) * (d + s + r1) - r2 * r2) /
(2 * r1 * (d + s + r1))) #手の高さを一定に保つのに必要な肩の角度
SPtheta = (math.degrees(theta5) -
10) / 60 #SholderPitchに入力する形に変換
print "SPtheta:", SPtheta
#SRtheta = math.acos(math.cos(theta1[0])/math.cos(math.radians(SPtheta*60)))
#print "SRtheta:", SRtheta
#手を伸ばす
m.setAngles([
jointnames[6], jointnames[9], jointnames[10],
jointnames[11]
], [SPtheta, ERtheta, -0.5, 1.0], 0.2)
#m.setAngles([jointnames[6], jointnames[7], jointnames[9], jointnames[10], jointnames[11]], [SPtheta, SRtheta, ERtheta, -0.5, 1.0], 0.2)
time.sleep(1.5)
#手を下ろす
SPtheta2 = SPtheta + 0.65
print "SPtheta2:", SPtheta2
#SRtheta2 = math.acos(math.cos(theta1[0])/math.cos(math.radians(SPtheta2*60)))
#print "SRtheta:", SRtheta
m.setAngles(jointnames[6], SPtheta2, 0.05)
#m.setAngles(jointnames[6:8], [SPtheta2, SRtheta2], 0.05)
time.sleep(3.0)
#持ち上げる
m.setAngles(
[jointnames[9], jointnames[10], jointnames[11]],
[1.0, 1.0, 0.0], 0.05)
time.sleep(3.0)
m.setAngles([jointnames[6], jointnames[9]], [1.0, 1.5],
0.1)
time.sleep(2.0)
position = l.getRobotPosition(True)
print "catch:", position
#近づいた分戻って補正:18
ws.Beep(1000, 300)
num = timer(num)
#m.moveTo(-d2*math.cos(theta1[0]), -d2*math.sin(theta1[0]), 0.0)
m.moveTo(-d2, 0.0, 0.0)
else:
break
position = l.getRobotPosition(True)
print "back after catch:", position
#回転の補正
m.moveTo(0.0, 0.0,
(position1[2] - position[2]) + math.radians(3.3))
position = l.getRobotPosition(True)
print position
#併進移動の補正
m.moveTo(position1[0] - position[0],
position1[1] - position[1], 0.0)
position = l.getRobotPosition(True)
print(position)
#後退:19
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(-position[0] - 0.17, -position[1] + 0.27, 0.0)
position = l.getRobotPosition(True)
print position
for i in range(2):
homepos[i] = position[i]
print "homepos:", homepos
#補正:20
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(0.0, 0.0, -math.radians(7.25))
time.sleep(1.0)
#m.moveTo(0.0, 0.0, homepos[2]-position[2])
position = l.getRobotPosition(True)
print position
#90度回転:21
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(0.0, 0.0, -Pi / 2)
#サイドテーブルへ移動:22
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(1.3, 0.1, 0.0, 4.0)
time.sleep(1.0)
#ペットボトルを置く:23
ws.Beep(1000, 300)
num = timer(num)
#手を伸ばす
m.setAngles([jointnames[6], jointnames[7], jointnames[9]],
[55 / 60, 0.0, 40 / 60], 0.15)
#m.setAngles(jointnames[7:12], putRArm, 0.2)
time.sleep(2.0)
#置く
#m.setAngles([jointnames[6], jointnames[10], jointnames[11]], [30/60, -0.5, 1.0], 0.05)
m.setAngles([jointnames[10], jointnames[11]], [-0.5, 1.0], 0.1)
time.sleep(3.0)
#手を挙げる:24
ws.Beep(1000, 300)
num = timer(num)
m.setAngles(jointnames, pos.Rsearch_curtain, 0.15)
time.sleep(2.0)
#後退:25
ws.Beep(1000, 300)
num = timer(num)
position = l.getRobotPosition(True)
print position
m.moveTo(-abs(homepos[1] - position[1]),
-abs(homepos[0] - position[0]), 0.0)
position = l.getRobotPosition(True)
print position
time.sleep(1.0)
#回転:26
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(0.0, 0.0, homepos[2] - position[2])
position = l.getRobotPosition(True)
print position
time.sleep(1.0)
#位置補正:27
ws.Beep(1000, 300)
num = timer(num)
m.moveTo(homepos[0] - position[0] - 0.1,
homepos[1] - position[1], 0.0)
position = l.getRobotPosition(True)
print position
m.moveTo(0.0, 0.0,
homepos[2] - position[2] - math.radians(3.3))
position = l.getRobotPosition(True)
print position
#m.setAngles(jointnames, pos.b2, 0.2)
p.goToPosture("StandInit", 0.3)
time.sleep(2.0)
elif (str(x) == "2"):
#カーテンの開閉
tts.say("カーテンですね")
print("curtain")
time.sleep(2.0)
elif (str(x) == "3"):
#床に落ちたものを拾う
tts.say("床ですね")
print("floor")
time.sleep(2.0)
#終了
ws.Beep(1000, 300)
time.sleep(1.0)
ws.Beep(1000, 300)
time.sleep(1.0)
ws.Beep(1000, 700)
#csvファイルへ書き込み
now = datetime.datetime.now()
filename = "log" + now.strftime("%Y%m%d%H%M%S") + ".csv"
with open(filename, "w") as f:
writer = csv.writer(f, lineterminator="\n")
writer.writerow(commandlog)
writer.writerow(timelog)
writer.writerow(countlog)
writer.writerow(freqlog)
elif (str(x) == "2"):
break
def get():
inkey = _Getch()
while (1):
k = inkey()
if k != '': break
print('you pressed' + str(k))
def __init__(self, ):
self.getch = _Getch()
self.userinp = [None]
self.thrd = Thread(target=self.readinp, args=(self, self.userinp))
self.thrd.start()
from getch import _Getch
from threading import Thread
getch = _Getch()
#s = getch()
def read(res):
res[0]=getch()
class UserInput():
def __init__(self, ):
self.getch = _Getch()
self.userinp = [None]
self.thrd = Thread(target=self.readinp, args=(self, self.userinp))
self.thrd.start()
#def start(self):
# self.thrd.start()
def readinp(self, res):
while True:
res[0] = self.getch()
def get(self):
return self.userinp[0]
if __name__ == '__main__':
import sys
import time
import json
import random
import urllib.error
import urllib.request
from collections import namedtuple
try:
from getch import _Getch
std_input = _Getch()
except ImportError:
std_input = input
Boundaries = namedtuple('Boundaries', ('min_x', 'min_y', 'max_x', 'max_y'))
def std_interface(map):
"""
Returns one of: [W,A,S,D], corresponding to [up,left,down,right]
movement
:param map: Map object containing information about state of the game
"""
# current_position = map.rover_position
# move_successful = map.move_successful
# exit_found = map.exit_found
direction = std_input().upper()
return direction
def mprint(message):
def run(self):
while True:
self.display()
i = getch._Getch()
c = i()
if self.lrc_display: # 歌词界面截断
if c == self.QUIT:
self.lrc_display = 0
continue
else:
continue
if c == self.UP:
self.updown(-1)
elif c == self.DOWN:
self.updown(1)
elif c == self.TOP: # g键返回顶部
self.markline = 0
self.topline = 0
elif c == self.BOTTOM: # G键返回底部
self.markline = self.screenline
self.topline = len(self.lines) - self.screenline - 1
elif c == ' ': # 空格选择频道,播放歌曲
if self.markline + self.topline != self.displayline:
self.start = 0
if self.douban.playingsong:
self.douban.playingsong = {}
self.kill_mplayer()
self.displaysong()
self.SUFFIX_SELECTED = '正在加载请稍后...'
self.display()
self.douban.set_channel(self.douban.channels[self.markline + self.topline]['channel_id'])
self.douban.get_playlist()
self.play()
elif c == self.OPENURL: # l打开当前播放歌曲豆瓣页
import webbrowser
url = "http://music.douban.com" + self.douban.playingsong['album'].replace('\/', '/')
webbrowser.open(url)
self.display()
elif c == self.RATE: # r标记红心/取消标记
if self.douban.playingsong:
if not self.douban.playingsong['like']:
self.SUFFIX_SELECTED = self.love + self.SUFFIX_SELECTED
self.display()
self.douban.rate_music()
self.douban.playingsong['like'] = 1
self.notifySend(content='标记红心')
else:
self.SUFFIX_SELECTED = self.SUFFIX_SELECTED[len(self.love):]
self.display()
self.douban.unrate_music()
self.douban.playingsong['like'] = 0
self.notifySend(content='取消标记红心')
elif c == self.NEXT: # n下一首
if self.douban.playingsong:
self.loop = False
self.start = 0
self.kill_mplayer()
self.SUFFIX_SELECTED = '正在加载请稍后...'
self.display()
self.douban.skip_song()
self.douban.playingsong = {}
self.play()
elif c == self.BYE: # b不再播放
if self.douban.playingsong:
self.SUFFIX_SELECTED = '不再播放,切换下一首...'
self.display()
self.kill_mplayer()
self.douban.bye()
self.play()
elif c == self.PAUSE:
self.pause_play()
elif c == self.MUTE:
self.mute()
elif c == self.LOOP:
if self.loop:
self.notifySend(content='停止单曲循环')
self.loop = False
else:
self.notifySend(content='单曲循环')
self.loop = True
elif c == self.QUIT:
self.q = 1
if self.start:
self.kill_mplayer()
subprocess.call('echo -e "\033[?25h";clear', shell=True)
exit()
elif c == '=':
self.change_volume(1)
elif c == '-':
self.change_volume(-1)
elif c == self.LRC:
tmp = self.SUFFIX_SELECTED
self.SUFFIX_SELECTED = '正在加载歌词'
self.display()
self.lrc_display = 1
self.SUFFIX_SELECTED = tmp
self.lrc_dict = self.douban.get_lrc()
if self.lrc_dict:
self.lrc_display = 1
else:
self.lrc_display = 0
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw",
"LHand", "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll",
"RWristYaw", "RHand", "HeadPitch", "HeadYaw", "HipPitch", "HipRoll"
]
"""
関節の番号の対応
jointnames = [0, 1, 2, 3, 4, 5
6, 7, 8, 9, 10, 11
12, 13, 14, 15]
"""
#akiyama 20170125
#C++mainconsoleを立ち上げてから
#DB = shmem.Shmem(True)
delay = 0.2
g = getch._Getch()
while (1):
print("1:robot, 2:virtual robot")
x = g()
if (str(x) == "1"):
m = ALProxy("ALMotion", IP, PORT)
p = ALProxy("ALRobotPosture", IP, PORT)
l = ALProxy("ALLocalization", IP, PORT)
tts = ALProxy("ALTextToSpeech", IP, PORT)
break
elif (str(x) == "2"):
m = ALProxy("ALMotion", localIP, localPORT)
p = ALProxy("ALRobotPosture", localIP, localPORT)
l = ALProxy("ALLocalization", localIP, localPORT)
MAP_SMALL = 8 # Small map. 8x8 tiles (64 total)
MAP_MEDIUM = 16 # Medium map. 16x16 tiles (256 total)
MAP_LARGE = 32 # Large map. 32 x 32 tiles ()
AI_SLOW = 2 # Slow AI speed. Two tiles per second
AI_FAST = 4 # Fast AI Speed. Four tiles per second, same as
# the player
# Globals
mapSize = None # The size of the map to be generated
aiDifficulty = None # The Intellegence flag of the AI
aiSpeed = None # The speed of the ai
# Pointer to function that pulls a single character from
# the console (see getch.py)
get_ch = getch._Getch()
# Game over menu
def game_over(score):
os.system("clear")
print("===========================")
print("= aMAZE =")
print("===========================")
print("= GAME OVER :( =")
print("===========================")
print("= Enter your Name =")
print("= 10 Characters max =")
print("===========================")
def run(self):
while True:
self.display()
i = getch._Getch()
c = i()
if c == self.UP:
self.updown(-1)
elif c == self.DOWN:
self.updown(1)
elif c == self.TOP: # g键返回顶部
self.markline = 0
self.topline = 0
elif c == self.BOTTOM: # G键返回底部
self.markline = self.screenline
self.topline = len(self.lines) - self.screenline - 1
elif c == ' ': # 空格选择频道,播放歌曲
if self.markline + self.topline != self.displayline:
if self.douban.playingsong:
self.douban.playingsong = {}
self.kill_mplayer()
self.displaysong()
self.SUFFIX_SELECTED = '正在加载请稍后...'
self.display()
self.douban.set_channel(self.douban.channels[self.markline + self.topline]['channel_id'])
self.douban.get_playlist()
self.play()
self.start = 1
elif c == self.OPENURL: # l打开当前播放歌曲豆瓣页
import webbrowser
webbrowser.open("http://music.douban.com" + self.douban.playingsong['album'].replace('\/', '/'))
self.display()
elif c == self.RATE: # r标记红心/取消标记
if self.douban.playingsong:
if not self.douban.playingsong['like']:
self.SUFFIX_SELECTED = self.love + self.SUFFIX_SELECTED
self.display()
self.douban.rate_music()
self.douban.playingsong['like'] = 1
else:
self.SUFFIX_SELECTED = self.SUFFIX_SELECTED[len(self.love):]
self.display()
self.douban.unrate_music()
self.douban.playingsong['like'] = 0
elif c == self.NEXT: # n下一首
if self.douban.playingsong:
self.kill_mplayer()
self.SUFFIX_SELECTED = '正在加载请稍后...'
self.display()
self.douban.skip_song()
self.douban.playingsong = {}
self.play()
elif c == self.BYE: # b不再播放
if self.douban.playingsong:
self.kill_mplayer()
self.douban.bye()
self.play()
elif c == self.QUIT:
self.q = 1
if self.start:
self.kill_mplayer()
subprocess.call('echo -e "\033[?25h";clear', shell=True)
exit()
# TODO: Implement temporary status changes.
# TODO: Power up the items as the level goes up...
from random import choice
from random import uniform
from functools import reduce
from getch import _Getch
from maze_object import MazeObject
poison_hp_reduction_rate = 200
getch = _Getch()
starving_ep_reduction_rate = 4
status_effect_decay_rate_in_map = 1
status_effect_decay_rate_in_fight = 10
status_effect_decay_rate_in_fight_pararalyze = 1
status_effect_decay_rate_in_map_paralyze = 1
# class Item(object):
# def __init__(self, item_name,json_data = {}, level = 1):
strength_parameters = [
"strength", "agility", "vitality", "dexterity", "smartness", "magic_power",
"mental_strength", "luckiness"
]
item_change_parameters = [
"strength_change", "agility_change", "vitality_change", "dexterity_change",
"smartness_change", "magic_power_change", "mental_strength_change",
"luckiness_change", "hp_change", "mp_change", "ep_change", "sp_change"
]
def __init__(self, res):
threading.Thread.__init__(self)
self.res = res
self.getch = _Getch()
self.runloop = True
