def dex2jar(f):
# 如果操作的是apk，则将apk中全部的dex转换为jar文件输出到在apk同级目录下
if f.endswith('.apk'):
output_jar_prefix = os.path.splitext(f)[0] + '_'
temp_dex_dir = PathManager.get_temp_dir_path()
ZipManager.unzip_dexFile_to_dest(f, temp_dex_dir)
filenames = os.listdir(temp_dex_dir)
for dex_name in filenames:
if dex_name.endswith('.dex'):
dex_file_path = os.path.join(temp_dex_dir, dex_name)
jar_file = output_jar_prefix + os.path.splitext(
dex_name)[0] + '.jar'
retcode, msg = star.runcmd2([
PathManager.get_dex2jar_path(), dex_file_path, '-f', '-o',
jar_file
])
if retcode == 0:
star.run_cmd_asyn([PathManager.get_jdgui_path(), jar_file])
print('dex2jar ok')
shutil.rmtree(temp_dex_dir)
return retcode, msg
elif f.endswith('.dex'):
jarFile = os.path.splitext(f)[0] + '.jar'
retcode, msg = star.runcmd2(
[PathManager.get_dex2jar_path(), f, '-f', '-o', jarFile])
if retcode == 0:
star.run_cmd_asyn([PathManager.get_jdgui_path(), jarFile])
print('dex2jar ok')
return retcode, msg
else:
print(u'选择文件不合法，文件格式需要是apk或者dex格式')
os.system("pause")
return 0, None
def importMetaData(moduleName, site=None):
locPath = 'HazardServices/hazardMetaData/'
# Use the base class to get the BASE file path
scriptName = 'CommonMetaData.py'
fileName = locPath + scriptName
pathMgr = PathManager()
filePath = pathMgr.getLocalizationFile(fileName,
loctype='COMMON_STATIC',
loclevel='BASE').getFile().name
basePath = filePath.replace(scriptName, '')
# Import all the modules in the formats BASE directory using PythonOverrider.
for s in basePath.split(os.path.pathsep):
if os.path.exists(s):
scriptfiles = os.listdir(s)
for filename in scriptfiles:
split = string.split(filename, ".")
if len(split) == 2 and len(split[0]) > 0 and split[1] == "py":
if sys.modules.has_key(split[0]):
clearModuleAttributes(split[0])
tmpModule = importModule(locPath + filename,
localizedSite=site)
# Reload the desired metadata module again since above import order
# is random which may cause subclasses to have old references to superclasses.
return importModule(locPath + moduleName + '.py', localizedSite=site)
def axml2txt(f):
ret = 0
msg = None
ext = os.path.splitext(f)[1].lower()
txtFile = None
if ext == '.apk':
print('axml2txt .apk')
zfile = zipfile.ZipFile(f, 'r', compression=zipfile.ZIP_DEFLATED)
for p in zfile.namelist():
if p == "AndroidManifest.xml":
axmlFile = os.path.join(Utils.getparent(f),
'AndroidManifest.xml')
file(axmlFile, 'wb').write(zfile.read(p))
txtFile = axmlFile + '.txt'
star.runcmd2([
PathManager.get_axmlprinter_path(), axmlFile, '>', txtFile
])
break
os.remove(axmlFile)
else:
txtFile = f + '.txt'
ret, msg = star.runcmd2(
[PathManager.get_axmlprinter_path(), f, '>', txtFile])
print('axml2txt .xml')
if os.path.exists(txtFile):
star.run_cmd_asyn(['notepad', txtFile])
print('axml2txt ok')
return ret, msg
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(745, 683)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.centralwidget)
self.verticalLayout_3.setObjectName("verticalLayout_3")
self.pathWidget = PathManager(self.centralwidget)
self.pathWidget.setMinimumSize(QtCore.QSize(0, 256))
self.pathWidget.setObjectName("pathWidget")
self.verticalLayout_3.addWidget(self.pathWidget)
self.frame = QtWidgets.QFrame(self.centralwidget)
self.frame.setMaximumSize(QtCore.QSize(16777215, 25))
self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame.setObjectName("frame")
self.verticalLayout = QtWidgets.QVBoxLayout(self.frame)
self.verticalLayout.setContentsMargins(-1, 0, 0, 0)
self.verticalLayout.setSpacing(0)
self.verticalLayout.setObjectName("verticalLayout")
self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.label = QtWidgets.QLabel(self.frame)
self.label.setObjectName("label")
self.horizontalLayout_2.addWidget(self.label)
self.root = QtWidgets.QLineEdit(self.frame)
self.root.setObjectName("root")
self.horizontalLayout_2.addWidget(self.root)
self.browse = QtWidgets.QPushButton(self.frame)
self.browse.setObjectName("browse")
self.horizontalLayout_2.addWidget(self.browse)
self.verticalLayout.addLayout(self.horizontalLayout_2)
self.verticalLayout_3.addWidget(self.frame)
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 745, 21))
self.menubar.setObjectName("menubar")
self.menuFile = QtWidgets.QMenu(self.menubar)
self.menuFile.setObjectName("menuFile")
MainWindow.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.actionOpen = QtWidgets.QAction(MainWindow)
self.actionOpen.setObjectName("actionOpen")
self.actionSave = QtWidgets.QAction(MainWindow)
self.actionSave.setObjectName("actionSave")
self.actionSave_As = QtWidgets.QAction(MainWindow)
self.actionSave_As.setObjectName("actionSave_As")
self.actionNew = QtWidgets.QAction(MainWindow)
self.actionNew.setObjectName("actionNew")
self.menuFile.addAction(self.actionNew)
self.menuFile.addAction(self.actionOpen)
self.menuFile.addAction(self.actionSave)
self.menuFile.addAction(self.actionSave_As)
self.menubar.addAction(self.menuFile.menuAction())
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def writeJsonFile(self, filename, id, dataDicts, replaceFile=False):
if replaceFile:
mode = "w"
else:
mode = "w+"
pathMgr = PathManager()
vtecFile = pathMgr.getLocalizationFile(str(filename + ".json"),
'CAVE_STATIC', 'USER')
fd = vtecFile.getFile(mode)
fd.write(json.dumps(dataDicts, sort_keys=True, indent=4))
fd.close()
vtecFile.save()
def viewapk(apk_path):
infoFile = os.path.splitext(apk_path)[0] + '_apkinfo.txt'
retcode, msg = star.runcmd2(
[PathManager.get_aapt_path(), 'dump', 'badging', apk_path])
if retcode == 0:
package = star.find("package: name='(.*?)'", msg)
versionCode = star.find("versionCode='(.*?)'", msg)
versionName = star.find("versionName='(.*?)'", msg)
appName = star.find("application-label:'(.*?)'", msg)
activity = star.find("launchable-activity: name='(.*?)'", msg)
print(package)
print(versionCode)
print(versionName)
print(appName)
print(activity)
# APK类型探测
app_type, is_game_app = detectApk(apk_path)
if is_game_app:
info = '软件名称: {0}\n软件包名: {1}\n软件版本: {2} ( {3} )\n启动Activity: {4}\n该apk为游戏类型app，使用的游戏引擎为: {5}\n'.format(
appName, package, versionName, versionCode, activity,
''.join(app_type))
else:
info = '软件名称: {0}\n软件包名: {1}\n软件版本: {2} ( {3} )\n启动Activity: {4}\n'.format(
appName, package, versionName, versionCode, activity)
star.log(info, infoFile)
# 打开日志文件
if os.path.exists(infoFile):
star.run_cmd_asyn(['notepad', infoFile])
return retcode, msg
def extracticon(apk_path):
apk_dir = os.path.splitext(apk_path)[0]
retcode, msg = star.runcmd2(
[PathManager.get_aapt_path(), 'dump', 'badging', apk_path])
if retcode == 0:
icons = star.findall("icon.*?'(.+?)'", msg)
icons = list(set(icons))
# icons匹配出来的字符串可能不是图片格式，这里过滤删除下
for i in range(len(icons) - 1, -1, -1):
if not (icons[i].endswith('.png') or icons[i].endswith('.jpg') or
icons[i].endswith('.jpeg') or icons[i].endswith('.bmp')):
icons.remove(icons[i])
zfile = zipfile.ZipFile(apk_path,
'r',
compression=zipfile.ZIP_DEFLATED)
for icon in icons:
icon_name = '_' + os.path.splitext(os.path.basename(icon))[0]
icon_file = apk_dir + '_temp.png'
file(icon_file, 'wb').write(zfile.read(icon))
image = Image.open(icon_file)
image_size = '_' + str(image.size[0])
image.close() # 一定要调用close否则下面的rename会出现异常
new_icon_file = apk_dir + icon_name + image_size + '.png'
if not os.path.exists(new_icon_file):
os.rename(icon_file, new_icon_file)
else: # 如果当前目录下已存在提取后重新命名的文件，则删除临时文件而不是重命名
os.remove(icon_file)
print(u'不同分辨率的图标已经提取完成，路径位于和apk同级目录下')
return retcode, msg
def __init__(self, raw_mem, cpu, cfg):
self.raw_mem = raw_mem
self.ram_size = raw_mem.ram_size
self.cpu = cpu
self.cpu_type = cfg.cpu
self.path_mgr = PathManager( cfg )
# create a label manager and error tracker
self.label_mgr = LabelManager()
self.error_tracker = ErrorTracker(cpu, self.label_mgr)
self.label_mgr.error_tracker = self.error_tracker
# set a label for first two dwords
label = LabelRange("zero_page",0,8)
self.label_mgr.add_label(label)
# create memory access
self.mem = MainMemory(self.raw_mem, self.error_tracker)
self.mem.ctx = self
# create memory allocator
self.mem_begin = 0x1000
self.alloc = MemoryAlloc(self.mem, 0, self.ram_size, self.mem_begin, self.label_mgr)
# create segment loader
self.seg_loader = SegmentLoader( self.mem, self.alloc, self.label_mgr, self.path_mgr )
# lib manager
self.lib_mgr = LibManager( self.label_mgr, cfg)
# no current process right now
self.process = None
self.proc_list = []
def importModule(name,
loctype='COMMON_STATIC',
level=None,
localizedSite=None,
localizationUser=None):
"""
Takes a name (filename and localization path) and the localization type and finds the
file and overrides it, and returns the module
Args:
name : the name and path of the file in localization
loctype : a string representation of the localization type
level : a string representation of the localization level (BASE, SITE, etc.)
localizedSite: the site that localization information should be
retrieved for (if applicable)
localizationUser: the user that localization information should
be retrieved for (if applicable)
Returns:
a module that has all the correct methods after being overridden
"""
if not JEP_AVAILABLE:
if localizationHost is None:
localizationHost = THRIFT_HOST
if localizationPort is None:
localizationPort = THRIFT_PORT
return PythonOverriderPure.importModule(name, localizationHost,
localizationPort,
localizedSite,
localizationUser, loctype,
level)
pathManager = PathManager()
tieredFiles = pathManager.getTieredLocalizationFile(loctype, name)
availableLevels = pathManager.getAvailableLevels()
levels = PythonOverriderCore._buildLocalizationLevelsList(
availableLevels, level)
lfiles = []
for _level in levels:
if _level in tieredFiles:
lfiles.append(tieredFiles[_level].getPath())
themodule = PythonOverriderCore._internalOverride(lfiles)
return themodule
def zipalign(apk_path):
output_apk_name = os.path.splitext(
os.path.basename(apk_path))[0] + '_aligned.apk'
retcode, msg = star.runcmd2([
PathManager.get_zipaligin_tool_path(), '-f', '4', apk_path,
os.path.join(Utils.getparent(apk_path), output_apk_name)
])
if retcode == 0:
print('zipalign successed')
return retcode, msg
def viewwrapper(file_path):
dict = {'apkPath': file_path, 'aaptPath': PathManager.get_aapt_path()}
apk_detect = ApkDetect(dict)
apk_detect.getXmlInfo()
apk_detect.getWrapperSdk()
if apk_detect.is_netease_protect: # 如果是网易加固，提示使用插件获取
print(apk_detect.wrapperSdk)
print(u'要查看网易加固版本号，您可使用插件“网易加固版本号”获取')
else:
print(apk_detect.wrapperSdk)
return apk_detect.wrapperSdk, None
def __init__(self, scriptPath, localizationPath, site):
super(ProductInterface, self).__init__(scriptPath, localizationPath,
site)
self.pathMgr = PathManager()
# TODO - every file that exists in localization and is class based needs
# to be imported via PythonOverrider. Not just the 2 below directories.
# Import the textUtilities dir using PythonOverrider
self.importTextUtility(reloadModules=False)
# Import the eventUtilities dir using PythonOverrider
self.importEventUtility(reloadModules=False)
# Import all the generator modules using PythonOverrider.
self.importModules()
# Import all the formatter modules using PythonOverrider.
self.importFormatters()
self.logger = logging.getLogger("ProductInterface")
self.logger.addHandler(
UFStatusHandler.UFStatusHandler(
"com.raytheon.uf.common.hazards.productgen",
"ProductInterface",
level=logging.INFO))
self.logger.setLevel(logging.INFO)
def __init__(self, markers, occupancy_map, pos_init, pos_goal, max_speed,
min_speed, max_omega, x_spacing, y_spacing, t_cam_to_body,
mode):
"""
Initialize the class
"""
# plan a path around obstacles using dijkstra's algorithm
print('Planning path...')
path = findShortestPath(occupancy_map,
x_spacing,
y_spacing,
pos_init[0:2],
pos_goal[0:2],
dilate=2)
print('Done!')
self.path_manager = PathManager(path)
self.kalman_filter = KalmanFilter(markers, pos_init)
self.diff_drive_controller = DiffDriveController(
max_speed, min_speed, max_omega)
if 'HARDWARE' in mode:
# Handles all the ROS related items
self.ros_interface = ROSInterface(t_cam_to_body)
elif 'SIMULATE' in mode:
self.robot_sim = RobotSim(markers, occupancy_map, pos_init,
pos_goal, max_speed, max_omega,
x_spacing, y_spacing,
self.path_manager.path, mode)
self.user_control = UserControl()
self.vel = 0 # save velocity to use for kalman filter
self.goal = self.path_manager.getNextWaypoint() # get first waypoint
# for logging postion data to csv file
self.stateSaved = []
self.tagsSaved = []
self.waypoints = []
def plug_get_neprotect_ver(apk_path):
version = None
try:
import NEProtectVerManager
version = NEProtectVerManager.get_version(apk_path,
PathManager.get_aapt_path())
except Exception as e:
print(traceback.format_exc())
os.system('pause')
return None, None
if version:
print(u'当前apk使用的网易易盾加密的版本号为： ' + version)
return version, None
else:
return None, None
def viewsign(f):
infoFile = os.path.splitext(f)[0] + '_signinfo.txt'
check_v2sign_tool_path = PathManager.get_checkV2_sign_tool_path()
code, info = star.runcmd2(['java', '-jar', check_v2sign_tool_path, f])
if code == 0:
msg_dic = json.loads(info)
if msg_dic['isV1OK']: # 如果使用了v1签名，不管是否使用了v2签名检测v1签名
code, info = star.runcmd2(
[Constant.KEYTOOL_FILENAME, '-printcert', '-jarfile', f])
if msg_dic['isV2']:
info += u"该apk使用了V1+V2签名，其中V1签名信息如上所示"
else:
info += u"该apk仅仅用了V1签名，其签名信息如上所示"
if msg_dic['isV2'] and not msg_dic['isV1OK']: # 未使用v1签名，仅仅使用了v2签名
info += u"该apk仅仅使用了v2签名，未使用v1签名，具体信息如上所示"
if code == 0:
star.log(info, infoFile)
if os.path.exists(infoFile):
star.run_cmd_asyn(['notepad', infoFile])
return code, info
def __init__(self, scriptPath, localizationPath, site):
super(RecommenderInterface, self).__init__(scriptPath,
localizationPath, site)
self.pathMgr = PathManager()
# Import the textUtilities dir using PythonOverrider
self.importTextUtility(reloadModules=False)
# Import the eventUtilities dir using PythonOverrider
self.importEventUtility(reloadModules=False)
# Import all the generator modules using PythonOverrider.
self.importModules()
# This variable will be used to cache the Pythonic version of the
# event set supplied by the last call to getDialogInfo(), or the
# last call to getSpatialInfo() that included a non-None event set.
# It is then used as the event set between then and the next
# invocation of execute() for calls to the methods getSpatialInfo(),
# handleDialogParameterChange(), and isSpatialInfoComplete().
#
# This is done because event sets can have complex attributes that
# take a while to convert to Python values from the original Java
# objects (e.g. the geometry associated with CWAs if the scope is
# national), and since the event set should not change during
# parameter gathering, reusing it is OK.
self.parameterGatheringEventSet = None
def smali(f):
return star.runcmd2([PathManager.get_apktool_path(), 'b', f])
def on_command(params):
ret = 0 # 默认返回成功
msg = None
paramCount = len(params)
isMultiFiles = False
if params is None or paramCount < 3:
print(params[0])
print(params[1])
return -1, u'参数不对，需要传至少 3 个参数'
CMD_STR = params[1]
filesSelected = params[2]
if paramCount > 3:
isMultiFiles = True
if sys.platform == 'win32':
pass
# win下命令行参数为gbk编码，转换为UNICODE
# filesSelected = filesSelected.decode('gbk', 'ignore')
print(str(paramCount) + ' ' + CMD_STR + ' ' + filesSelected)
if CMD_STR == 'dex2jar':
ret, msg = dex2jar(filesSelected)
elif CMD_STR == 'axml2txt':
ret, msg = axml2txt(filesSelected)
elif CMD_STR == 'viewapk':
ret, msg = viewapk(filesSelected)
elif CMD_STR == 'viewsign':
ret, msg = viewsign(filesSelected)
elif CMD_STR == 'sign':
ret, msg = sign(filesSelected)
elif CMD_STR == 'sign_v1_v2':
ret, msg = sign_v1_v2(filesSelected)
elif CMD_STR == 'installd':
ret, msg = installd(filesSelected)
elif CMD_STR == 'installr':
ret, msg = installr(filesSelected)
elif CMD_STR == 'uninstall':
ret, msg = uninstall(filesSelected)
elif CMD_STR == 'viewwrapper':
ret, msg = viewwrapper(filesSelected)
elif CMD_STR == 'phone':
ret, msg = viewphone(filesSelected)
if ret == 0:
os.system('pause')
elif CMD_STR == 'photo':
ret, msg = photo(filesSelected)
elif CMD_STR == 'icon':
ret, msg = extracticon(filesSelected)
os.system('pause')
elif CMD_STR == 'zipalign':
ret, msg = zipalign(filesSelected)
os.system('pause')
elif CMD_STR == 'baksmali':
ret, msg = baksmali(filesSelected)
elif CMD_STR == 'smali':
ret, msg = smali(filesSelected)
elif CMD_STR == 'plug_get_neprotect_ver':
ret, msg = plug_get_neprotect_ver(filesSelected)
os.system('pause')
elif CMD_STR == 'md2html':
ret, msg = md2html(filesSelected)
elif CMD_STR == 'md2pdf':
ret, msg = md2pdf(filesSelected)
elif CMD_STR == 'plug3':
ret, msg = plug(filesSelected)
elif CMD_STR == 'about':
print(u'\n\n右键工具v3.0 by bising（https://github.com/bigsinger）\n\n')
os.system('pause')
# star.runcmd2([PathManager.get_about_path()])
elif CMD_STR == 'notepad':
ret, msg = star.run_cmd_asyn(['notepad', filesSelected])
elif CMD_STR == 'hex':
print('open with hex tool')
tool = PathManager.get_hextool_path()
ret, msg = star.run_cmd_asyn([tool, filesSelected])
elif CMD_STR == 'lua':
print('open with Lua Editor')
tool = PathManager.get_luaeditor_path()
ret, msg = star.run_cmd_asyn([tool, filesSelected])
elif CMD_STR == 'luyten':
print('open with luyten')
tool = PathManager.get_luyten_path()
ret, msg = star.run_cmd_asyn([tool, filesSelected])
if ret != 0: # 说明此时执行命令出错，暂停下让用户能够看到cmd窗口的出错信息
os.system('pause')
elif CMD_STR == 'jdgui':
print('open with jdgui')
tool = PathManager.get_jdgui_path()
ret, msg = star.run_cmd_asyn([tool, filesSelected])
elif CMD_STR == 'md5':
ret, msg = md5(filesSelected)
os.system('pause')
else:
return -1, u'\n\n未实现命令：' + CMD_STR + u'请检查您输入的命令是否正确\n\n'
return ret, msg
def baksmali(f):
print(u'反编译完成')
return star.runcmd2([PathManager.get_apktool_path(), 'd', '-f', f])
def get_package(f):
retcode, msg = star.runcmd2(
[PathManager.get_aapt_path(), 'dump', 'badging', f])
if retcode == 0:
package = star.find("package: name='(.*?)'", msg)
return package
def sign_v1_v2(f):
print(u"使用v1+v2签名")
return star.runcmd2([PathManager.get_v2_sign_tool_path(), f])
def get_value_from_confing(node_name, item_name):
config = ConfigParser.ConfigParser()
with open(PathManager.get_config_file_path(), 'r') as config_file:
config.readfp(config_file)
return config.get(node_name, item_name)
# ========== My class inport ==========
# from EncodeManager import NetManager # 呼び出すネットによって変える
NetManager = import_module(IMPORT_NET_CLS).NetManager
from DataManager import DataManager
from PathManager import PathManager
from ImageGenerator import ImageGenerator
from FitManager import FitManager
import ShareNetFunc as nfunc
import PlotFunc
# ========== NetManager呼び出し ==========
net_cls = NetManager()
# ========== PathManager呼び出し ==========
path_cls = PathManager(tfrecord_folder=TFRECORD_FOLDER,
output_rootfolder=OUT_ROOT_FOLDER,
epoch_output_rootfolder=EPOCH_OUT_ROOT_FOLDER)
path_cls.all_makedirs() # 結果保存フォルダ生成
# ========== DataSet呼び出し ==========
# プロパティデータ読み込み
df = pd.read_csv(path_cls.get_property_path())
shuf_train_ds_cls = DataManager(
tfrecord_path=path_cls.get_train_ds_path(),
img_root=IMAGE_ROOT_PATH,
batch_size=SHUF_LEARN_BATCH_SIZE,
net_cls=net_cls,
data_n=df.at[0, 'total_learn_data'],
suffle_buffer=SUFFLE_BUFFER_SIZE,
)
train_ds_cls = DataManager(
class RobotControl(object):
"""Class used to interface with the rover. Gets sensor measurements
through ROS subscribers, and transforms them into the 2D plane,
and publishes velocity commands.
"""
def __init__(self, markers, occupancy_map, pos_init, pos_goal, max_speed,
min_speed, max_omega, x_spacing, y_spacing, t_cam_to_body,
mode):
"""
Initialize the class
"""
# plan a path around obstacles using dijkstra's algorithm
print('Planning path...')
path = findShortestPath(occupancy_map,
x_spacing,
y_spacing,
pos_init[0:2],
pos_goal[0:2],
dilate=2)
print('Done!')
self.path_manager = PathManager(path)
self.kalman_filter = KalmanFilter(markers, pos_init)
self.diff_drive_controller = DiffDriveController(
max_speed, min_speed, max_omega)
if 'HARDWARE' in mode:
# Handles all the ROS related items
self.ros_interface = ROSInterface(t_cam_to_body)
elif 'SIMULATE' in mode:
self.robot_sim = RobotSim(markers, occupancy_map, pos_init,
pos_goal, max_speed, max_omega,
x_spacing, y_spacing,
self.path_manager.path, mode)
self.user_control = UserControl()
self.vel = 0 # save velocity to use for kalman filter
self.goal = self.path_manager.getNextWaypoint() # get first waypoint
# for logging postion data to csv file
self.stateSaved = []
self.tagsSaved = []
self.waypoints = []
def process_measurements(self):
"""Main loop of the robot - where all measurements, control, and
estimation are done.
"""
v, omega, wayptReached = self.user_control.compute_vel()
self.robot_sim.command_velocity(v, omega)
return
#meas = None # for testing purposes
#imu_meas = None # for testing purpose
#pdb.set_trace()
if (imu_meas is None) and (meas is None):
pass
else:
state = self.kalman_filter.step_filter(self.vel, imu_meas, meas)
if 'SIMULATE' in mode:
self.robot_sim.set_est_state(state)
#print("X = {} cm, Y = {} cm, Theta = {} deg".format(100*state[0],100*state[1],state[2]*180/np.pi))
# save the estimated state and tag statuses for offline animation
self.stateSaved.append(state)
self.waypoints.append(self.path_manager.getActiveWaypointsPos())
if meas is None:
self.tagsSaved.append(None)
else:
meas = np.array(meas)
tagIDs = [int(i) for i in meas[:, 3]]
self.tagsSaved.append(tagIDs)
v, omega, wayptReached = self.diff_drive_controller.compute_vel(
state, self.goal.pos)
self.vel = v
if wayptReached:
self.goal = self.path_manager.getNextWaypoint()
self.diff_drive_controller.done = False # reset diff controller status
if self.goal is None:
print('Goal has been reached!')
np.savez('savedState.npz',
stateSaved=self.stateSaved,
tagsSaved=self.tagsSaved,
waypoints=self.waypoints)
print('Position data saved!')
if 'HARDWARE' in mode:
self.ros_interface.command_velocity(0, 0)
elif 'SIMULATE' in mode:
self.robot_sim.command_velocity(0, 0)
self.robot_sim.done = True
return
else:
if 'HARDWARE' in mode:
self.ros_interface.command_velocity(self.vel, omega)
elif 'SIMULATE' in mode:
self.robot_sim.command_velocity(self.vel, omega)
return
def myhook():
print "shutdown time!"
def run(cls):
super(Builder, Builder).run()
saveOldFuncs()
injectNewFuncs()
Builder.pm = PathManager()
def main():
mIns = MissionManager()
PathManagerIns = PathManager()
targetPos = [7, 5] # set target position
startPos = [0, 0] # set start position
PathManagerIns.pathGenerator(0, mIns, startPos, targetPos, PathManagerIns)
class ProductInterface(HazardServicesPythonOverriderInterface.
HazardServicesPythonOverriderInterface):
def __init__(self, scriptPath, localizationPath, site):
super(ProductInterface, self).__init__(scriptPath, localizationPath,
site)
self.pathMgr = PathManager()
# TODO - every file that exists in localization and is class based needs
# to be imported via PythonOverrider. Not just the 2 below directories.
# Import the textUtilities dir using PythonOverrider
self.importTextUtility(reloadModules=False)
# Import the eventUtilities dir using PythonOverrider
self.importEventUtility(reloadModules=False)
# Import all the generator modules using PythonOverrider.
self.importModules()
# Import all the formatter modules using PythonOverrider.
self.importFormatters()
self.logger = logging.getLogger("ProductInterface")
self.logger.addHandler(
UFStatusHandler.UFStatusHandler(
"com.raytheon.uf.common.hazards.productgen",
"ProductInterface",
level=logging.INFO))
self.logger.setLevel(logging.INFO)
def executeGenerator(self, moduleName, className, **kwargs):
javaDialogInput = kwargs['dialogInputMap']
if javaDialogInput is not None:
kwargs['dialogInputMap'] = JUtil.javaObjToPyVal(javaDialogInput)
formats = kwargs.pop('formats')
javaEventSet = kwargs['eventSet']
# execute method in generators is expecting a python eventSet
kwargs['eventSet'] = PythonEventSet(kwargs['eventSet'])
dataList, events = self.runMethod(moduleName, className, 'execute',
**kwargs)
if not isinstance(dataList, list):
raise Exception('Expecting a list from ' + moduleName +
'.execute()')
kwargs['dataList'] = dataList
# executeGeneratorFrom method is expecting a javaEventSet
kwargs['eventSet'] = javaEventSet
# dialogInputMap no longer needed for executeFrom method
kwargs.pop('dialogInputMap')
genProdList = self.executeGeneratorFrom(moduleName, className,
**kwargs)
javaEventSet = EventSet()
javaEventSet.addAll(JUtil.pyValToJavaObj(events))
genProdList.setEventSet(javaEventSet)
return genProdList
def executeGeneratorFrom(self, moduleName, className, **kwargs):
eventSet = []
if 'generatedProductList' in kwargs:
updateList = True
genProdList = kwargs.pop('generatedProductList')
eventSet = PythonEventSet(genProdList.getEventSet())
dataList = []
for i in range(genProdList.size()):
# make sure dataList is a python object
dataList.append(
JUtil.javaObjToPyVal(genProdList.get(i).getData()))
kwargs['dataList'] = dataList
kwargs['eventSet'] = eventSet
else:
updateList = False
genProdList = GeneratedProductList()
eventSet = PythonEventSet(kwargs.get('eventSet'))
productParts = kwargs.get('productParts', None)
# make sure keyInfoList is a python object
if hasattr(productParts, 'java_name'):
productParts = JUtil.javaObjToPyVal(productParts)
kwargs['productParts'] = productParts
# call executeFrom from product generator
dataList = self.runMethod(moduleName, className, 'executeFrom',
**kwargs)
genProdList.setProductInfo(moduleName)
self.createProductsFromDictionary(dataList, eventSet, genProdList,
updateList)
return genProdList
def executeGeneratorUpdate(self, moduleName, className, **kwargs):
dataList = kwargs['dataList']
# make sure dataList is a python object
if hasattr(dataList, 'java_name'):
dataList = JUtil.javaObjToPyVal(dataList)
kwargs['dataList'] = dataList
formats = kwargs.pop('formats')
javaEventSet = kwargs['eventSet']
kwargs['eventSet'] = PythonEventSet(javaEventSet)
# call updateDataList from product generator
dataList, events = self.runMethod(moduleName, className,
'updateDataList', **kwargs)
if not isinstance(dataList, list):
raise Exception('Expecting a list from ' + moduleName +
'.execute()')
kwargs['dataList'] = dataList
# executeGeneratorFrom method is expected a javaEventSet
kwargs['eventSet'] = javaEventSet
genProdList = self.executeGeneratorFrom(moduleName, className,
**kwargs)
javaEventSet = EventSet()
javaEventSet.addAll(JUtil.pyValToJavaObj(events))
genProdList.setEventSet(javaEventSet)
return genProdList
def executeFormatter(self, moduleName, className, **kwargs):
generatedProductList = kwargs['generatedProductList']
formats = JUtil.javaObjToPyVal(kwargs['formats'])
# Loop over each product that has been generated and format them
for i in range(generatedProductList.size()):
generatedProduct = generatedProductList.get(i)
self.formatProduct(generatedProduct, formats)
return generatedProductList
def formatProduct(self, generatedProduct, formats):
# Retrieve the product's data to pass to the formatter
productData = JUtil.javaObjToPyVal(generatedProduct.getData())
# Retrieve the product's editableEntries if available
editableEntries = JUtil.javaObjToPyVal(
generatedProduct.getEditableEntries())
if isinstance(productData, dict):
errors = []
# Dictionary containing the formatted products
productDict = OrderedDict()
for format in formats:
try:
locPath = 'HazardServices/python/events/productgen/formats/'
scriptName = locPath + format + '.py'
if sys.modules.has_key(format):
self.clearModuleAttributes(format)
formatModule = HazardServicesPythonOverrider.importModule(
scriptName, localizedSite=self.site)
instance = formatModule.Format()
product, editableEntries = instance.execute(
productData, editableEntries)
productDict[format] = product
generatedProduct.setEditableEntries(
JUtil.pyValToJavaObj(editableEntries))
except Exception as err:
errMsg = 'ERROR: Failed to execute ' + format + '. ' + str(
err)
productDict[format] = [errMsg]
errors.append(errMsg)
exc_type, exc_value, exc_traceback = sys.exc_info()
print traceback.format_exc(limit=20)
os.sys.__stdout__.flush()
# TODO Use JUtil.pyValToJavaObj() when JUtil.pyDictToJavaMap() is fully resolved
generatedProduct.setEntries(JUtil.pyDictToJavaMap(productDict))
if errors:
generatedProduct.setErrors('\n'.join(errors))
def createProductsFromDictionary(self, dataList, eventSet, genProdList,
updateList):
if dataList is not None:
if updateList:
for i in range(len(dataList)):
data = dataList[i]
if isinstance(data, dict):
generatedProduct = genProdList.get(i)
generatedProduct.setData(JUtil.pyValToJavaObj(data))
else:
for data in dataList:
if isinstance(data, dict):
productID = data.get('productID')
generatedProduct = GeneratedProduct(productID)
generatedProduct.setData(JUtil.pyValToJavaObj(data))
javaEventSet = self.getEventSetForProduct(
data, eventSet)
generatedProduct.setEventSet(javaEventSet)
genProdList.add(generatedProduct)
def getEventSetForProduct(self, data, eventSet):
"""
@return: Returns a sub set of the eventSet passed to the generator that pertains
to this one product. This sub set will be used as a PK to save the product to the
productData table during dissemination.
"""
# Get all the eventIDs from the product
eventIDs = set()
for segment in data.get('segments', []):
for vtecRecord in segment.get('vtecRecords', []):
for eventID in vtecRecord.get('eventID', []):
eventIDs.add(eventID)
# Create a sub set of the eventSet based on the product eventIDs
productEventSet = set()
for eventID in eventIDs:
for event in eventSet:
if event.getEventID() == eventID:
productEventSet.add(event)
break
javaEventSet = EventSet()
javaEventSet.addAll(JUtil.pyValToJavaObj(productEventSet))
javaEventSet.addAttribute('runMode', eventSet.getAttribute('runMode'))
return javaEventSet
def getDialogInfo(self, moduleName, className, **kwargs):
"""
@return: Returns a map of string to string of the dialog info.
"""
kwargs['eventSet'] = PythonEventSet(kwargs['eventSet'])
val = self.runMethod(moduleName, className, 'defineDialog', **kwargs)
if val is not None:
val = JUtil.pyValToJavaObj(val)
return val
def getScriptMetadata(self, moduleName, className, **kwargs):
"""
@return: Returns a map of string to string of the metadata.
"""
val = self.runMethod(moduleName, className, 'defineScriptMetadata',
**kwargs)
return JUtil.pyValToJavaObj(val)
def importFormatters(self):
locPath = 'HazardServices/python/events/productgen/formats/'
lf = self.pathMgr.getLocalizationFile(locPath,
loctype='COMMON_STATIC',
loclevel='BASE')
basePath = lf.getPath()
# Import all the files in this directory
self.importFilesFromDir(basePath, locPath)
def importTextUtility(self, reloadModules=True):
locPath = 'HazardServices/python/textUtilities/'
self.importDirectory(locPath, reloadModules)
if reloadModules:
self.importFormatters()
def importEventUtility(self, reloadModules=True):
locPath = 'HazardServices/python/events/utilities/'
self.importDirectory(locPath, reloadModules)
if reloadModules:
self.importFormatters()
class Vamos:
def __init__(self, raw_mem, cpu, cfg):
self.raw_mem = raw_mem
self.ram_size = raw_mem.ram_size
self.cpu = cpu
self.path_mgr = PathManager( cfg )
# create a label manager and error tracker
self.label_mgr = LabelManager()
self.error_tracker = ErrorTracker(cpu, self.label_mgr)
self.label_mgr.error_tracker = self.error_tracker
# set a label for first two dwords
label = LabelRange("zero_page",0,8)
self.label_mgr.add_label(label)
# create memory access
self.mem = MainMemory(self.raw_mem, self.error_tracker)
self.mem.ctx = self
# create memory allocator
self.mem_begin = 0x1000
self.alloc = MemoryAlloc(self.mem, 0, self.ram_size, self.mem_begin, self.label_mgr)
# create segment loader
self.seg_loader = SegmentLoader( self.mem, self.alloc, self.label_mgr, self.path_mgr )
# lib manager
self.lib_mgr = LibManager( self.label_mgr, cfg.data_dir )
# no current process right now
self.process = None
self.proc_list = []
self.tr_list = []
def init(self, cfg):
self.init_managers()
self.register_base_libs(cfg)
self.init_trampoline()
self.create_old_dos_guard()
self.open_exec_lib()
return True
def cleanup(self):
self.close_exec_lib()
self.free_trampoline()
self.alloc.dump_orphans()
# ----- process handling -----
def _set_this_task(self, proc):
"""tell exec about this process and all others referencing process from here"""
self.process = proc
self.exec_lib.lib_class.set_this_task(self.exec_lib, proc)
def set_main_process(self, proc):
log_proc.info("set main process: %s", proc)
self.proc_list.append(proc)
self._set_this_task(proc)
def start_sub_process(self, proc):
log_proc.info("start sub process: %s", proc)
self.proc_list.append(proc)
self._set_this_task(proc)
# setup trampoline to enter sub process
tr_mem_size = 128
tr_mem = self.alloc.alloc_memory("SubProcJump", tr_mem_size)
tr = Trampoline(self, tr_mem)
tr.init()
tr.save_all_but_d0()
# new proc registers: d0=arg_len a0=arg_cptr
tr.set_dx_l(0, proc.arg_len)
tr.set_ax_l(0, proc.arg_base)
# to track old dos values
tr.set_ax_l(2, self.dos_guard_base)
tr.set_ax_l(5, self.dos_guard_base)
tr.set_ax_l(6, self.dos_guard_base)
# setup new stack
stack_save_addr = tr_mem.addr + tr_mem_size - 4
tr.write_ax_l(7, stack_save_addr)
new_stack = proc.stack_initial
tr.set_ax_l(7, new_stack)
# call code! (jmp - return value is on stack)
tr.jmp(proc.prog_start)
# restore stack (set a label to return from new stack - see below)
lab = tr.set_label()
tr.read_ax_l(7, stack_save_addr)
# restore regs
tr.restore_all_but_d0()
# trap to clean up sub process resources
tr.trap(lambda x : self.stop_sub_process())
tr.rts()
tr.done()
# get label addr -> set as return value of new stack
lab_addr = tr.get_label(lab)
log_proc.debug("new_stack=%06x trampoline_return=%06x", new_stack, lab_addr)
self.mem.access.w32(new_stack, lab_addr)
# push trampoline
self.tr_list.append(tr)
def stop_sub_process(self):
# get return value
ret_code = self.cpu.r_reg(REG_D0)
# pop process
proc = self.proc_list.pop()
log_proc.info("stop sub process: %s ret_code=%d", proc, ret_code)
proc.free()
# pop trampoline
tr = self.tr_list.pop()
self.alloc.free_memory(tr.mem)
# ----- init environment -----
def init_managers(self):
self.doslist_base = self.mem.reserve_special_range()
self.doslist_size = 0x010000
self.doslist_mgr = DosListManager(self.path_mgr, self.doslist_base, self.doslist_size)
self.label_mgr.add_label(self.doslist_mgr)
self.mem.set_special_range_read_funcs(self.doslist_base, r32=self.doslist_mgr.r32_doslist)
log_mem_init.info(self.doslist_mgr)
# fill dos list
volumes = self.path_mgr.get_all_volume_names()
for vol in volumes:
self.doslist_mgr.add_volume(vol)
self.lock_base = self.mem.reserve_special_range()
self.lock_size = 0x010000
self.lock_mgr = LockManager(self.path_mgr, self.doslist_mgr, self.lock_base, self.lock_size)
self.label_mgr.add_label(self.lock_mgr)
self.mem.set_special_range_read_funcs(self.lock_base, r32=self.lock_mgr.r32_lock)
log_mem_init.info(self.lock_mgr)
self.file_base = self.mem.reserve_special_range()
self.file_size = 0x010000
self.file_mgr = FileManager(self.path_mgr, self.file_base, self.file_size)
self.label_mgr.add_label(self.file_mgr)
self.mem.set_special_range_read_funcs(self.file_base, r32=self.file_mgr.r32_fh)
log_mem_init.info(self.file_mgr)
self.port_base = self.mem.reserve_special_range()
self.port_size = 0x010000
self.port_mgr = PortManager(self.port_base, self.port_size)
self.label_mgr.add_label(self.port_mgr)
log_mem_init.info(self.port_mgr)
def register_base_libs(self, cfg):
libs_cfg = cfg.libs
# register libraries
# exec
self.exec_lib_def = ExecLibrary(self.lib_mgr, self.alloc, version=libs_cfg['exec']['version'], profile=libs_cfg['exec']['profile'])
self.lib_mgr.register_int_lib(self.exec_lib_def)
# dos
self.dos_lib_def = DosLibrary(self.mem, self.alloc, version=libs_cfg['dos']['version'], profile=libs_cfg['dos']['profile'])
self.dos_lib_def.set_managers(self.path_mgr, self.lock_mgr, self.file_mgr, self.port_mgr, self.seg_loader)
self.lib_mgr.register_int_lib(self.dos_lib_def)
# icon
self.icon_lib_def = IconLibrary()
self.lib_mgr.register_int_lib(self.icon_lib_def)
# iffparse
self.iffparse_lib_def = IFFParseLibrary()
self.lib_mgr.register_int_lib(self.iffparse_lib_def)
def init_trampoline(self):
self.tr_mem_size = 256
self.tr_mem = self.alloc.alloc_memory("Trampoline", self.tr_mem_size)
self.tr = Trampoline(self, self.tr_mem)
def free_trampoline(self):
self.alloc.free_memory(self.tr_mem)
def open_exec_lib(self):
# open exec lib
self.exec_lib = self.lib_mgr.open_lib(ExecLibrary.name, 0, self)
log_mem_init.info(self.exec_lib)
def close_exec_lib(self):
self.lib_mgr.close_lib(self.exec_lib.lib_base, self)
def create_old_dos_guard(self):
# create a guard memory for tracking invalid old dos access
self.dos_guard_base = self.mem.reserve_special_range()
self.dos_guard_size = 0x010000
label = LabelRange("old_dos",self.dos_guard_base, self.dos_guard_size)
self.label_mgr.add_label(label)
log_mem_init.info(label)
def md2html(f):
return star.runcmd2([PathManager.get_mdconverter_path(), f])
def sign(f):
return star.runcmd2([PathManager.get_signtool_path(), f])
def md2pdf(f):
return star.runcmd2([PathManager.get_mdconverter_path(), f, 'pdf'])
class Vamos:
def __init__(self, raw_mem, cpu, cfg):
self.raw_mem = raw_mem
self.ram_size = raw_mem.ram_size
self.cpu = cpu
self.cpu_type = cfg.cpu
self.path_mgr = PathManager( cfg )
# create a label manager and error tracker
self.label_mgr = LabelManager()
self.error_tracker = ErrorTracker(cpu, self.label_mgr)
self.label_mgr.error_tracker = self.error_tracker
# set a label for first two dwords
label = LabelRange("zero_page",0,8)
self.label_mgr.add_label(label)
# create memory access
self.mem = MainMemory(self.raw_mem, self.error_tracker)
self.mem.ctx = self
# create memory allocator
self.mem_begin = 0x1000
self.alloc = MemoryAlloc(self.mem, 0, self.ram_size, self.mem_begin, self.label_mgr)
# create segment loader
self.seg_loader = SegmentLoader( self.mem, self.alloc, self.label_mgr, self.path_mgr )
# lib manager
self.lib_mgr = LibManager( self.label_mgr, cfg)
# no current process right now
self.process = None
self.proc_list = []
def init(self, cfg):
self.init_managers()
self.register_base_libs(cfg)
self.create_old_dos_guard()
self.open_exec_lib()
return True
def cleanup(self):
self.close_exec_lib()
self.alloc.dump_orphans()
# ----- process handling -----
def _set_this_task(self, proc):
"""tell exec about this process and all others referencing process from here"""
self.process = proc
self.exec_lib.set_this_task(proc)
def set_main_process(self, proc):
log_proc.info("set main process: %s", proc)
self.proc_list.append(proc)
self._set_this_task(proc)
def start_sub_process(self, proc):
log_proc.info("start sub process: %s", proc)
self.proc_list.append(proc)
self._set_this_task(proc)
# setup trampoline to enter sub process
tr = Trampoline(self, "SubProcJump")
# reserve a long for old stack
old_stack_off = tr.dc_l(0)
# code starts
tr.save_all_but_d0()
# new proc registers: d0=arg_len a0=arg_cptr
tr.set_dx_l(0, proc.arg_len)
tr.set_ax_l(0, proc.arg_base)
# d2=stack_size. this value is also in 4(sp) (see Process.init_stack), but
# various C programs rely on it being present (1.3-3.1 at least have it).
tr.set_dx_l(2, proc.stack_size)
# to track old dos values
tr.set_ax_l(2, self.dos_guard_base)
tr.set_ax_l(5, self.dos_guard_base)
tr.set_ax_l(6, self.dos_guard_base)
# save old stack and set new stack
tr.write_ax_l(7, old_stack_off, True) # write to data offset (dc.l above)
new_stack = proc.stack_initial
tr.set_ax_l(7, new_stack)
# call code! (jmp - return value is on stack)
tr.jmp(proc.prog_start)
# restore stack (set a label to return from new stack - see below)
return_off = tr.get_code_offset()
tr.read_ax_l(7, old_stack_off, True) # read from data offset (dc.l above)
# restore regs
tr.restore_all_but_d0()
# trap to clean up sub process resources
def trap_stop_sub_process():
self.stop_sub_process()
tr.final_rts(trap_stop_sub_process)
# realize trampoline in memory (data+code)
tr.done()
# get label addr -> set as return value of new stack
return_addr = tr.get_code_addr(return_off)
log_proc.debug("new_stack=%06x return_addr=%06x", new_stack, return_addr)
# place return address for new process
self.mem.access.w32(new_stack, return_addr)
def stop_sub_process(self):
# get return value
ret_code = self.cpu.r_reg(REG_D0)
# pop process
proc = self.proc_list.pop()
log_proc.info("stop sub process: %s ret_code=%d", proc, ret_code)
proc.free()
# ----- init environment -----
def init_managers(self):
self.doslist_base = self.mem.reserve_special_range()
self.doslist_size = 0x010000
self.doslist_mgr = DosListManager(self.path_mgr, self.doslist_base, self.doslist_size)
self.label_mgr.add_label(self.doslist_mgr)
self.mem.set_special_range_read_funcs(self.doslist_base, r32=self.doslist_mgr.r32_doslist)
log_mem_init.info(self.doslist_mgr)
# fill dos list
volumes = self.path_mgr.get_all_volume_names()
for vol in volumes:
self.doslist_mgr.add_volume(vol)
self.lock_base = self.mem.reserve_special_range()
self.lock_size = 0x010000
self.lock_mgr = LockManager(self.path_mgr, self.doslist_mgr, self.lock_base, self.lock_size)
self.label_mgr.add_label(self.lock_mgr)
self.mem.set_special_range_read_funcs(self.lock_base, r32=self.lock_mgr.r32_lock)
log_mem_init.info(self.lock_mgr)
self.file_base = self.mem.reserve_special_range()
self.file_size = 0x010000
self.file_mgr = FileManager(self.path_mgr, self.file_base, self.file_size)
self.label_mgr.add_label(self.file_mgr)
self.mem.set_special_range_read_funcs(self.file_base, r32=self.file_mgr.r32_fh)
log_mem_init.info(self.file_mgr)
self.port_base = self.mem.reserve_special_range()
self.port_size = 0x010000
self.port_mgr = PortManager(self.port_base, self.port_size)
self.label_mgr.add_label(self.port_mgr)
log_mem_init.info(self.port_mgr)
def register_base_libs(self, cfg):
# register libraries
# exec
exec_cfg = cfg.get_lib_config('exec.library')
self.exec_lib_def = ExecLibrary(self.lib_mgr, self.alloc, exec_cfg)
self.lib_mgr.register_vamos_lib(self.exec_lib_def)
# dos
dos_cfg = cfg.get_lib_config('dos.library')
self.dos_lib_def = DosLibrary(self.mem, self.alloc, dos_cfg)
self.dos_lib_def.set_managers(self.path_mgr, self.lock_mgr, self.file_mgr, self.port_mgr, self.seg_loader)
self.lib_mgr.register_vamos_lib(self.dos_lib_def)
def open_exec_lib(self):
# open exec lib
self.exec_lib = self.lib_mgr.open_lib(ExecLibrary.name, 0, self)
self.exec_lib_def.set_cpu(self.cpu_type)
log_mem_init.info(self.exec_lib)
def close_exec_lib(self):
self.lib_mgr.close_lib(self.exec_lib.addr_base, self)
def create_old_dos_guard(self):
# create a guard memory for tracking invalid old dos access
self.dos_guard_base = self.mem.reserve_special_range()
self.dos_guard_size = 0x010000
label = LabelRange("old_dos",self.dos_guard_base, self.dos_guard_size)
self.label_mgr.add_label(label)
log_mem_init.info(label)
def getUserPath(self, category):
pathMgr = PathManager()
lf = pathMgr.getLocalizationFile(str(self._localizationPath),
'CAVE_STATIC', 'USER')
fullpath = lf.getPath()
return fullpath + "/"
def main():
mIns = MissionManager()
PathManagerIns = PathManager()
targetPos = [7, 5] # set target position
startPos = [0, 0] # set start position
PathManagerIns.pathGenerator(0, mIns, startPos, targetPos, PathManagerIns)
