def resetPos():
# Ramp both motors up to max speed backwards
xMotor.setDirection(-1)
xMotor.setSpeed(maxSpeed)
yMotor.setDirection(-1)
yMotor.setSpeed(maxSpeed)
# Run until we can't go any further
oldX, oldY = xCounter, yCounter
xDone, yDone = False, False
newX, newY = -1, -1
sleepTime = 0
while not xDone or not yDone:
if oldX - newX == 0 and not xDone:
xDone = True
xMotor.run(Adafruit_MotorHAT.RELEASE)
if oldY - newY == 0 and not yDone:
yDone = True
yMotor.run(Adafruit_MotorHAT.RELEASE)
newX, newY = oldX, oldY
sleepTime += 0.02
sleep(0.02)
oldX, oldY = xCounter, yCounter
# Offset to accommodate for round edges of frying pan
currentPos = Coordinate(0, 0)
moveTo(Coordinate(100, 200))
global currentPos
currentPos = Coordinate(0, 0)
print("Reset to (0,0) complete")
def rectangle(breadth, height):
return [
Coordinate(currentPos.x, currentPos.y),
Coordinate(breadth + currentPos.x, currentPos.y),
Coordinate(breadth + currentPos.x, height + currentPos.y),
Coordinate(currentPos.x, height + currentPos.y),
Coordinate(currentPos.x, currentPos.y)
]
def get_travel_information(origin, destination):
directions_result = gmaps.directions(origin, destination, mode="driving", departure_time=datetime.now())
distance_in_meters = directions_result[0]['legs'][0]['distance']['value']
duration_in_seconds = directions_result[0]['legs'][0]['duration']['value']
steps = directions_result[0]['legs'][0]['steps']
steps_filtered = [{'start_location':Coordinate(**i['start_location']),
'end_location':Coordinate(**i['end_location']),
'duration':i['duration']['value']} for i in steps]
return steps_filtered, distance_in_meters, duration_in_seconds
def load_limit(self):
mode_doc = self.mission.document("routes").get().to_dict()
print("LIMITE DE INTERNET")
r = []
a = Coordinate(mode_doc["a"].latitude, mode_doc["a"].longitude)
b = Coordinate(mode_doc["b"].latitude, mode_doc["b"].longitude)
for point in mode_doc["limit"]:
wgsp = Coordinate(point.latitude, point.longitude)
r.append(wgsp)
return r, a, b
def move(LatLon):
global old_pos, init, old_bearing, mesh, bearings, tractor
utm_pos = Coordinate(x=LatLon.x, y=LatLon.y)
if init is False:
tractor.m_p_s = 2
tractor.run()
init = True
old_pos = utm_pos
scene.camera.pos = vec(utm_pos.x, 4, utm_pos.y - 50)
scene.camera.axis = vec(0, -4, -50)
obj = []
for x in range(-50, 50):
for y in range(-50, 50):
a = Coordinate(x=utm_pos.x + x * 500,
y=utm_pos.y + y * 500 + 500)
b = Coordinate(x=utm_pos.x + x * 500 + 500,
y=utm_pos.y + y * 500 + 500)
c = Coordinate(x=utm_pos.x + x * 500 + 500,
y=utm_pos.y + y * 500)
d = Coordinate(x=utm_pos.x + x * 500, y=utm_pos.y + y * 500)
Q = quad(
canvas=None,
v0=vertex(pos=vec(a.x, -1, a.y)),
v1=vertex(pos=vec(b.x, -1, b.y)),
v2=vertex(pos=vec(c.x, -1, c.y)),
v3=vertex(pos=vec(d.x, -1, d.y)),
)
obj.append(Q)
compound(obj, canvas=scene, color=vec(0, .60, 0))
else:
curso = utils.bearing(utm_pos, old_pos)
a = utils.offset(utm_pos, curso - 90, distance / 2)
b = utils.offset(utm_pos, curso + 90, distance / 2)
c = utils.offset(old_pos, old_bearing + 90, distance / 2)
d = utils.offset(old_pos, old_bearing - 90, distance / 2)
Q = quad(
v0=vertex(pos=vec(a.x, .5, a.y), color=color.yellow),
v1=vertex(pos=vec(b.x, .5, b.y), color=color.yellow),
v2=vertex(pos=vec(c.x, .5, c.y), color=color.yellow),
v3=vertex(pos=vec(d.x, .5, d.y), color=color.yellow),
)
qobj.append(Q)
left.append(vec(a.x, .5, a.y))
right.append(vec(b.x, .5, b.y))
old_bearing = curso
old_pos = utm_pos
bearings.pop()
bearings.insert(0, curso)
curso = sum(bearings) / len(bearings)
camera = utils.offset(utm_pos, curso, 300)
x, z = utils.vector(curso + 180)
#scene.camera.pos=vec(camera.x, 100, camera.y)
#scene.camera.axis=200*vec(x, -0.3 , z)
tractor_3d.pos = tractor.get_vec(1.5)
def load_route(self):
mode_doc = self.mission.document("routes").get().to_dict()
print("RUTA DE INTERNET")
r = []
a = Coordinate(mode_doc["a"].latitude, mode_doc["a"].longitude)
b = Coordinate(mode_doc["b"].latitude, mode_doc["b"].longitude)
for point in mode_doc["nav"]:
wgsp = Coordinate(point.latitude, point.longitude)
utmp = utils.to_utm(wgsp)
r.append(Point(utmp.x, utmp.y))
print(utmp)
return r, a, b
def __init__(self):
Player.__init__(self)
self.coords = [Coordinate(-1,-1),
#Coordinate( 0,-1),
Coordinate( 1, 0),
#Coordinate( 1,-1),
Coordinate(-1, 0),
#Coordinate( 0, 0),
Coordinate(-1, 1),
#Coordinate( 0, 1),
#Coordinate( 1, 1)
]
def __init__(self):
Player.__init__(self)
self.coords = [#Coordinate(-1,-1),
#Coordinate( 0,-1),
Coordinate( 1, 0),
Coordinate( 1,-1),
#Coordinate(-1, 0),
#Coordinate( 0, 0),
#Coordinate(-1, 1),
#Coordinate( 0, 1),
Coordinate( 1, 1)]
self.n_moves = len(self.coords)
def count_trees(*slopes):
lines = read_lines("3.txt")
mod = len(lines[0])
pos = Coordinate(0, 0)
trees = []
for slope in slopes:
count = 0
while pos.y < len(lines):
if lines[pos.y][pos.x % mod] == '#':
count += 1
pos = pos + slope
pos = Coordinate(0, 0)
trees.append(count)
return numpy.prod(trees)
def __init__(self, seed, colors):
self.random = Random(seed)
self.specimens = {}
self.next_specimens = {}
self.changed_cells = set()
self.out_of_bounds = Square(OUT_OF_BOUNDS_COLOR)
self.out_of_bounds.killer = True
self.all_colors = [color for color in colors]
self.traps = [Trap(Coordinate(0, 0))] * len(colors)
for trap_type in trap_types:
if trap_type is TeleportationTrap:
used_traps = []
for i in range(trap_type.max_traps):
if i % 2:
used_traps.append(-used_traps[-1])
else:
used_traps.append(
self.random.choice(trap_type.possible_directions))
else:
used_traps = [
self.random.choice(trap_type.possible_directions)
for i in range(trap_type.max_traps)
]
coloring = zip(used_traps, colors)
colors = colors[len(used_traps):]
for direction, color in coloring:
self.traps[color] = trap_type(direction)
safe_colors = colors
self.squares = [[
Square(
self.random.choice(self.all_colors
if x < UNSAFE_BOARD_WIDTH else safe_colors))
for x in xrange(BOARD_EXTENDED_WIDTH)
] for __ in xrange(BOARD_HEIGHT)]
self.starting_squares = []
for y in xrange(BOARD_HEIGHT):
for x in xrange(BOARD_EXTENDED_WIDTH):
coordinate = Coordinate(x, y)
self.changed_cells.add(coordinate)
trap = self.traps[self.get_square(coordinate).color]
if trap.is_killer():
self.get_square(trap.direction + coordinate).killer = True
if trap.is_mover():
self.get_square(coordinate).teleport = trap.direction
if trap.is_wall():
self.get_square(coordinate).killer = True
self.get_square(coordinate).wall = True
class Tractor:
location = Coordinate(x=0, y=0)
bearing = 0
m_p_s = 0
pid = PID(.7, .2, .02, setpoint=0)
pid.output_limits = (-20, 20)
direccion = 0
def move(self):
while True:
self.bearing += self.direccion * -0.1
l = utils.offset(self.location, self.bearing, self.m_p_s / 10)
self.location = l
time.sleep(.01)
def run(self):
t1 = threading.Thread(target=self.move)
t1.start()
def get_vec(self, z):
return vec(self.location.x, z, self.location.y)
def doblar(self, v):
self.direccion = self.pid(v)
print("PID: ", self.direccion)
def juego_en_la_direccion(self):
self.bearing += randrange(-10, 10)
def avoid_walls_and_others(self, valid_moves):
snake = {}
body = {}
me = self.__game_state['you']['body'] # list of {'x', 'y'}
# check walls
self.check_wall_left(me, valid_moves)
self.check_wall_right(me, valid_moves)
self.check_wall_bottom(me, valid_moves)
self.check_wall_top(me, valid_moves)
print("VALID MOVES AFTER CHECKING WALLS: ", valid_moves)
# loop through 'snakes' seeing if a move is invalid
for snake in self.__game_state['board']['snakes']: # for each snake
for body in snake['body']:
coordinate = Coordinate({'x': body['x'], 'y': body['y']})
# test to see if each move in valid_moves will turn into an occupide coordinate
if (valid_moves.count("left") > 0):
self.check_left(valid_moves, me, coordinate)
if (valid_moves.count("right") > 0):
self.check_right(valid_moves, me, coordinate)
if (valid_moves.count("up") > 0):
print(
f"checking up with ME: {me[0]['x']} and other as {coordinate}")
self.check_up(valid_moves, me, coordinate)
if (valid_moves.count("down") > 0):
self.check_down(valid_moves, me, coordinate)
def non_overlapping_squares(in_list_lines):
covered = dict()
id_set = set()
for line in in_list_lines:
line_id = int(line.split('@')[0].strip().replace('#', ''))
left = int(line.split('@')[1].split(':')[0].strip().split(',')[0])
top = int(line.split('@')[1].split(':')[0].strip().split(',')[1])
wide = int(line.split(':')[1].strip().split('x')[0])
tall = int(line.split(':')[1].strip().split('x')[1])
id_set.add(line_id)
c = Coordinate(x=left, y=top)
for point_x in range(1, wide + 1):
for point_y in range(1, tall + 1):
x = c.x + point_x
y = c.y + point_y
xy_str = '{},{}'.format(x, y)
# Save id
lines = covered.get(xy_str, [])
lines.append(line_id)
covered[xy_str] = lines
for coord, ids in covered.items():
if len(ids) > 1:
for id_str in ids:
if id_str in id_set:
id_set.remove(id_str)
return id_set
def get_coord_from_step(step, location):
"""
Get coordinates from journey step and convert to Coordninate instances.
"""
return Coordinate(step[location]['lng'],
step[location]['lat'],
coord_type="geographic",
strict=True)
def move(self, origin: C, destination: C) -> str:
"""moves a piece form origin to destination. Does validiy checks. Returns a nicely formatted string message"""
if not self.is_valid_move(origin, destination):
raise InvalidMoveException
piece = self.board[origin]
print("moving from {} to {}".format(origin, destination))
self.board.pop(origin)
self.board[destination] = piece
return "Moved {} fom {} to {}".format(unicodeMappings[piece], origin.as_chess_notation(), destination.as_chess_notation())
def Data_Processing(In_Data):
Processed_Data = []
for row in In_Data:
Split_Coordinates = row[1:-1].split(', ')
x_coord = int(Split_Coordinates[0][2:])
y_coord = int(Split_Coordinates[1][2:])
z_coord = int(Split_Coordinates[2][2:])
coord = Coordinate(x=x_coord,y=y_coord,z=z_coord,x_velocity=0,y_velocity=0,z_velocity=0)
Processed_Data.append(coord)
return Processed_Data
def find_padding(sample=default_sample):
unpadded = CremiFile(cremi_path(sample=sample), "r")
unpadded_raw = unpadded.read_raw()
unpadded_shape_px = Coordinate(unpadded_raw.data.shape)
padded = CremiFile(cremi_path(sample=sample, padded=True), "r")
padded_raw = padded.read_raw()
padded_shape_px = Coordinate(padded_raw.data.shape)
fafb_res = Coordinate(unpadded_raw.resolution)
data_shape_nm = unpadded_shape_px * fafb_res
padding_px = math.ceil((padded_shape_px - unpadded_shape_px) / 2)
padding_nm = padding_px * fafb_res
print("shape (nm): {}".format(data_shape_nm))
print("padding (nm): {}".format(padding_nm))
print("l1 shape (px): {}".format(math.ceil(data_shape_nm / L1_RES)))
print("l1 padding (px): {}".format(math.ceil(padding_nm / L1_RES)))
def b_action(b):
global left, right, qtemp, qobj
qtemp.visible = False
left.visible = False
right.visible = False
del left, right
left = curve(color=color.orange, radius=0.3, retain=500)
right = curve(color=color.orange, radius=0.3, retain=500)
tractor.location = Coordinate(x=(path[0].x - 50), y=(path[0].y - 20))
for obj in qobj:
obj.visible = False
del obj
qobj = []
def overlapping_squares(in_list_lines):
covered = dict()
for line in in_list_lines:
line_id = int(line.split('@')[0].strip().replace('#', ''))
left = int(line.split('@')[1].split(':')[0].strip().split(',')[0])
top = int(line.split('@')[1].split(':')[0].strip().split(',')[1])
wide = int(line.split(':')[1].strip().split('x')[0])
tall = int(line.split(':')[1].strip().split('x')[1])
c = Coordinate(x=left, y=top)
for point_x in range(1, wide + 1):
for point_y in range(1, tall + 1):
x = c.x + point_x
y = c.y + point_y
xy_str = '{},{}'.format(x, y)
# Increase counter on every point. If the point is missing initialize it.
covered[xy_str] = covered.get(xy_str, 0) + 1
return {coord for coord, freq in covered.items() if freq >= 2}
def draw_cell(self, coordinates, board):
square = board.get_square(coordinates)
if not square.teleport == Coordinate(0, 0):
color = TELEPORT_COLOR
elif square.wall:
color = WALL_COLOR
elif square.killer:
color = DEATH_COLOR
else:
color = EMPTY_COLOR
# color_code = board.get_color(coordinates)
# if color_code not in self.colors:
# color = [random.randrange(256) for __ in range(3)]
# self.colors[color_code] = color
# else:
# color = self.colors[color_code]
self.rectangle(color, coordinates.x * CELL_SCALAR,
coordinates.y * CELL_SCALAR, CELL_SCALAR, CELL_SCALAR)
if coordinates in board.specimens and board.specimens[coordinates]:
self.rectangle(SPECIMEN_COLOR, coordinates.x * CELL_SCALAR + 1,
coordinates.y * CELL_SCALAR + 1, CELL_SCALAR - 2,
CELL_SCALAR - 2)
def to_utm(c):
xx, yy = UTM(c.x, c.y)
return Coordinate(x=xx, y=yy)
from multiprocessing import Pool
from CarSimulator import CarSim
from coordinates import Coordinate
from datetime import datetime
from pprint import pprint
cars = [
CarSim(home_coord=Coordinate(-22.255119, -45.709408),
work_coord=Coordinate(-22.257200, -45.696122),
work_start=6,
work_end=16,
weekend_coord=Coordinate(-21.677732, -45.920903),
traveled_distance=110795,
car_number=1),
CarSim(home_coord=Coordinate(-23.564407, -46.671967),
work_coord=Coordinate(-23.538597, -46.657996),
work_start=7,
work_end=17,
weekend_coord=Coordinate(-23.964221, -46.326848),
traveled_distance=26357,
car_number=2),
CarSim(home_coord=Coordinate(-23.200130, -45.894011),
work_coord=Coordinate(-23.196123, -45.906720),
work_start=8,
work_end=18,
weekend_coord=Coordinate(-22.921429, -47.073315),
traveled_distance=165469,
car_number=3),
CarSim(home_coord=Coordinate(-22.911632, -47.043178),
work_coord=Coordinate(-22.907581, -47.097748),
work_start=9,
def pos(self):
return Coordinate(self.lat, self.lon)
x, z = utils.vector(curso + 180)
#scene.camera.pos=vec(camera.x, 100, camera.y)
#scene.camera.axis=200*vec(x, -0.3 , z)
tractor_3d.pos = tractor.get_vec(1.5)
coords2 = coords.coords()
puntoA = coords.N
puntoB = coords.S
dir2 = 0
for c in coords2:
xx, yy = transform(wgs84, UTM, c.y, c.x)
limit_line.append(vec(xx, .5, yy))
xx, yy = transform(wgs84, UTM, puntoA.y, puntoA.x)
puntoA_UTM = Coordinate(x=xx, y=yy)
qtemp = box(color=color.red, size=vec(10, 10, 10), pos=vec(xx, .5, yy))
xx, yy = transform(wgs84, UTM, puntoB.y, puntoB.x)
puntoB_UTM = Coordinate(x=xx, y=yy)
qtemp = box(color=color.red, size=vec(10, 10, 10), pos=vec(xx, .5, yy))
path = nav.create_path(puntoA, puntoB, coords2, 19, dir=dir2)
for c in path:
ab.append(vec(c.x, .5, c.y))
tractor.location = path[0]
print(
"AB COURSE",
utils.bearing(puntoA_UTM, puntoB_UTM),
'dir',
dir2,
)
def coords():
c=[]
it = iter(a2)
for x in it:
c.append(Coordinate(next(it),x))
return c
from coordinates import Coordinate
Coordinate.default_order = 'yx' #LatLng
a2=[-57.60292066257994,-32.50611756255547, -57.60297205739347,-32.50615205268225, -57.60301025882248,-32.50617470213633, -57.60306136074531,-32.50620900052363, -57.60311229179947,-32.50624318409665, -57.60315100280482,-32.50627808294304, -57.60320161110209,-32.50631203538786, -57.60324003717562,-32.50634669867563, -57.60327907811094,-32.50639354568394, -57.60330524684887,-32.50642874110989, -57.60334327112344,-32.50646300064111, -57.60338116446476,-32.50649711295513, -57.60343148481905,-32.50654193763789, -57.60349347550722,-32.50658579619365, -57.60353147742442,-32.50663108191755, -57.60358115020527,-32.5066753847905, -57.60361879345019,-32.50672027558904, -57.60365576583118,-32.50675323218182, -57.60369261922703,-32.50678608322988, -57.60370487740799,-32.50679701018622, -57.60376641040818,-32.50686309155864, -57.60381461340532,-32.50689482727132, -57.60385095855327,-32.50692722505864, -57.60389888046767,-32.50695876230078, -57.6039349781674,-32.50699095684453, -57.60397096067656,-32.50702304926471, -57.6040301190629,-32.50705354381842, -57.60407743552719,-32.50708491496439, -57.60410110364376,-32.50710654019912, -57.60415983039528,-32.50714910105806, -57.60421808420042,-32.50718037135181, -57.60425301204436,-32.50721301039808, -57.60429930134742,-32.50724498169188, -57.60435692746297,-32.50728760325015, -57.6044142607694,-32.50731875140785, -57.60448276095867,-32.50736046122292, -57.60450553610863,-32.5073705858876, -57.6045622162694,-32.50741257500166, -57.60459602237726,-32.50744433264639, -57.60460726275155,-32.50745489188055, -57.60465208582236,-32.50749699869215, -57.60469668640189,-32.50753889633991, -57.60471871826886,-32.5075707171429, -57.60476285617047,-32.50761251213643, -57.60480669103636,-32.50764400073192, -57.60483899444759,-32.50768642385164, -57.60487139939696,-32.50771788100744, -57.60490367051711,-32.50774920805741, -57.60494681114196,-32.5077801213795, -57.60498942168594,-32.50782151550147, 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def coords():
c=[]
it = iter(a2)
for x in it:
c.append(Coordinate(next(it),x))
return c
-32.50833971604509,-57.60371689069293
-32.50892990458863,-57.60319591094504
-32.5092751551263,-57.60379329378993
-32.5087316327793,-57.60421818978364
a= Coordinate( -32.5088816417372, -57.6041626632114 )
b= Coordinate( -32.5081807825576, -57.6032648107830 )
N= Coordinate(-32.50833971604509,-57.60371689069293)
E= Coordinate(-32.50892990458863,-57.60319591094504)
S= Coordinate(-32.5092751551263,-57.60379329378993)
W= Coordinate(-32.5087316327793,-57.60421818978364)
import math
from pathlib import Path
from cremi.io import CremiFile
from coordinates import Coordinate
Coordinate.default_order = "zyx"
default_sample = "A"
l1_n5 = Path("/home/barnesc/shares/nearline/barnesc/data.n5")
L1_RES = Coordinate(z=50, y=3.8, x=3.8)
cremi_root = Path("/home/barnesc/work/synapse_detection/clefts/cremi/data")
cremi_date = "20160501"
cremi_fstr = "sample_{sample_id}_{padded}{date}.hdf"
def cremi_path(root=cremi_root,
sample=default_sample,
padded=False,
date=cremi_date):
fname = cremi_fstr.format(sample_id=sample,
padded="padded_" if padded else "",
date=date)
return Path(root) / fname
def find_padding(sample=default_sample):
unpadded = CremiFile(cremi_path(sample=sample), "r")
def to_wgs84(c):
yy, xx = transform(UTM, wgs84, c.x, c.y)
return Coordinate(xx, yy)
import json
import requests
import time
client = get_mongo_client()
db = client.carChain
cursor = db.raw_sim_data.find({})
to_save = {}
for document in cursor:
plate = document['car_plate']
if not plate in to_save:
to_save[plate] = []
trip = [(Coordinate.Get_coordinate_from_json(obj['location']),
str(obj['time']).split('.')[0]) for obj in document['trip']]
total_meters = [(round(Coordinate.Distance(trip[i - 1][0],
trip[i][0])), trip[i][1])
for i in range(1, len(trip))]
to_save[plate].extend(total_meters)
correct_plates = {
'1': 'TST-0001',
'2': 'TST-0002',
'3': 'TST-0003',
'4': 'TST-0004',
'5': 'TST-0005'
}
jsons = []
def toCoord(point):
return Coordinate(x=point[0], y=point[1])
