def find_lin_reg(): x = np.array(column1) y = np.array(column2) A = np.vstack([x, np.ones(len(x))]).T soln = np.linalg.lstsq(A,y) m, c = soln[0] residual= soln[1] print type(residual) r = 1 - residual/(y.size * y.var()) print r print m, c # Now I need to actually find the start and end points of the best fit line # newM and newC are calculated based on how the data points are # stretched in the javascript newM = m*(float(10)/float(100)) newC = (c)*float(10) y1 = float(600) y2 = float(0) # the width of my current svg x1 = (y1-newC)/newM x2 = (float(-1)*newC)/newM line_file = "line.csv" line_header = ["x1", "y1", "x2", "y2", "col1", "col2", "r"] rows_list_of_lists = [[x1, y1, x2, y2, column_name1, column_name2, r]] # write a new csv file that contains the information about the best # fit line for the data gd.write_data(line_file, line_header, rows_list_of_lists)
def finish(self):
global lastMode
global lastPID
lastMode = 0
data = get_data.read_data()
print("data[0]:", len(data[0]))
if data[0] != "K":
os.kill(lastPID, signal.SIGKILL)
lastPID = None
get_data.write_data(str("K"), str(lastMode))
print("disconnected\tIP:" + self.ip + "\tPort:" + str(self.port))
def find_lin_reg(): col1a = column1[3:20] col1b = column1[38:82] for i in col1b: col1a.append(i) col2a = column2[3:20] col2b = column2[38:82] for j in col2b: col2a.append(j) x = np.array(col1a) y = np.array(col2a) A = np.vstack([x, np.ones(len(x))]).T m, c = np.linalg.lstsq(A,y)[0] print m, c # Now I need to actually find the start and end points of the best fit line # newM and newC are calculated based on how the data points are # stretched in the javascript newM = m*(float(1)/float(20000)) newC = c + 300 y1 = float(600) y2 = float(0) # the width of my current svg x1 = (y1-newC)/newM x2 = (float(-1)*newC)/newM line_file = "line.csv" line_header = ["x1", "y1", "x2", "y2", "col1", "col2", "r"] rows_list_of_lists = [[x1, y1, x2, y2, column_name1, column_name2, "-0.73"]] # write a new csv file that contains the information about the best # fit line for the data gd.write_data(line_file, line_header, rows_list_of_lists)
final = final
else:
final = final + i
print "entry: " + final
new_headers.append(final)
return new_headers
def change_to_list_of_lists(list_of_dicts):
headers = gd.get_headers()
final = []
for x in range(len(list_of_dicts)):
final.append([])
for entry in headers:
col = gd.get_data_slice(entry, list_of_dicts)
for y in range(len(list_of_dicts)):
final[y].append(col[y])
return final
filename = "cleaned_headers.csv"
list_of_dicts = gd.get_data_list_of_dicts()
new_headers = cleaned_headers()
rows_list_of_lists = change_to_list_of_lists(list_of_dicts)
gd.write_data(filename, new_headers, rows_list_of_lists)
def handle(self):
global lastMode
global lastPID
Flag = True
while Flag:
try:
recv = self.request.recv(128) # 接收数据v
if recv == b'':
Flag = False # 空则推出
else:
self.buf += recv.decode() # 解码
#print(self.buf)
self.buf = re.sub(r'333333', '', self.buf,
10) # 约定客户端通过发送'3'来进行心跳， 删除字符串中的3
s = re.search(r'mode=\d{1,2}', self.buf,
re.I) # 查找字符串中的 MODE=数字 格式的字串
if s:
self.buf = "" # 只要找到一个就将所有的缓存清除
Mode = int(s.group()[5:]) # 从字串中获取mode的数值
print(Mode)
data = get_data.read_data()
if data[1] == "0":
lastMode = 0
# 根据Mode的数值 向 对于的子进程发送继续运行信号，对应的子进程运行，产生效果
if Mode == 0:
lastMode = Mode
try:
os.kill(lastPID, signal.SIGKILL)
except:
pass
self.request.sendall("OK".encode()) # 向客户端发送“OK"
elif Mode == 1:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None and get_data.read_data(
)[0] != 'K':
os.kill(lastPID, signal.SIGKILL)
ChildCvFindStream = subprocess.Popen([
"python3",
"/home/pi/human_code/cv_find_stream.py"
]) # 自动射门
lastPID = ChildCvFindStream.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 2:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None and get_data.read_data(
)[0] != 'K':
os.kill(lastPID, signal.SIGKILL)
ChildColorStream = subprocess.Popen([
"python3",
"/home/pi/human_code/cv_color_stream.py"
]) # 颜色识别
lastPID = ChildColorStream.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 3:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None and get_data.read_data(
)[0] != 'K':
os.kill(lastPID, signal.SIGKILL)
ChildCvFindHand = subprocess.Popen([
"python3",
"/home/pi/human_code/cv_find_hand.py"
]) # 手势识别
lastPID = ChildCvFindHand.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 4:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None and get_data.read_data(
)[0] != 'K':
os.kill(lastPID, signal.SIGKILL)
ChildCvLinePatrol = subprocess.Popen([
"python3",
"/home/pi/human_code/cv_line_patrol.py"
]) # 寻线
lastPID = ChildCvLinePatrol.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 5:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None and get_data.read_data(
)[0] != 'K':
os.kill(lastPID, signal.SIGKILL)
ChildCvTrackStream = subprocess.Popen([
"python3",
"/home/pi/human_code/cv_track_stream.py"
]) # 云台跟踪
lastPID = ChildCvTrackStream.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
else:
lastMode = 0
if lastPID is not None and get_data.read_data(
)[0] != 'K':
os.kill(lastPID, signal.SIGKILL)
lastPID = None
self.request.sendall("Failed".encode())
pass
except Exception as e:
print(e)
Flag = False
rows_lol[j].append(column[j])
elif i ==8:
rows_lol[j].append(column[j])
elif i==18:
rows_lol[j].append(column[j])
"""
for i in range(len(headers)):
column = gd.get_data_slice(headers[i], dicts)
for j in range(len(column)):
if i-1 in rows_with_cadences:
rows_lol[j].append(column[j])
else:
print "no cadence"
"""
new_headers = ["id","start_measure","cadence_alter","cadence_final_tone","stop_measure","cadence","cadence_kind"]
gd.write_data("test1.csv", new_headers, rows_lol)
sp_col = 5;
old_data = rows_lol
new_data = []
"""
for i in range(len(gd.get_data_slice(headers[0], dicts))):
new_data.append([])
"""
for j in range(column_length):
if (old_data[j][sp_col] == "True" or old_data[j][sp_col] == "Yes"):
new_data.append(old_data[j])
gd.write_data("test2.csv", new_headers, new_data)
changing_csv = new_data
headers = gd.get_headers()
dicts1000 = gd.get_data_list_of_dicts_for_scale(1000)
#print headers
#print dicts[0]
g_active = gd.get_data_slice('Global_active_power', dicts)
g_intensity = gd.get_data_slice('Global_intensity', dicts)
g_active1000 = gd.get_data_slice('Global_active_power', dicts1000)
g_intensity1000 = gd.get_data_slice('Global_intensity', dicts1000)
#print g_active
print len(g_active)
rows_list_of_lists = []
for i in range(len(g_active1000)):
rows_list_of_lists.append([g_active1000[i], g_intensity1000[i]])
gd.write_data('test2.csv', ['column1', 'column2'], rows_list_of_lists)
#print hello
array = np.vstack([g_active, np.ones(len(g_active))]).T
#print array
m, c = np.linalg.lstsq(array, g_intensity)[0]
print m, c
residual = 0
for i in range(len(g_active)):
residual = residual + (m*float(g_active[i]) + c - float(g_intensity[i]))**2
print residual
def handle(self):
global action_num, action_times, inf_flag
conn = self.request
recv_data = b''
Flag = True
while Flag:
try:
buf = conn.recv(1024)
if buf == b'':
Flag = False
else:
recv_data = recv_data + buf
# Send the command to the serial port until receiving the complete command to prevent error
while True:
try:
index = recv_data.index(
b'\x55\x55') # Search 0x55 0x55 in the data
if len(
recv_data
) >= index + 3: # Whether the length of the data in the cache is sufficient
recv_data = recv_data[index:]
if recv_data[2] + 2 <= len(
recv_data
): # Whether the length of the data in the cache is enough
cmd = recv_data[0:(recv_data[2] +
2)] # Take the command
recv_data = recv_data[(
recv_data[2] +
3):] # Remove the taken command
if cmd[0] and cmd[1] is 0x55:
if cmd[2] == 0x08 and cmd[
3] == 0x03: # Data length and control single servo command
print('id', cmd[7])
id = cmd[7]
pos = 0xffff & cmd[
8] | 0xff00 & cmd[9] << 8
print('pos', pos)
if id == 19:
PWMServo.setServo(1, pos, 20)
elif id == 20:
PWMServo.setServo(2, pos, 20)
else:
pass
elif cmd[2] == 0x05 and cmd[3] == 0x06:
action_num = cmd[4]
action_times = 0xffff & cmd[
5] | 0xff00 & cmd[6] << 8
print('action', action_num)
print('times', action_times)
if action_times == 0: # Infinite imes
print('action_times:',
action_times)
SSR.change_action_value(
str(action_num),
action_times)
inf_flag = True
else:
if inf_flag:
SSR.stop_action_group()
inf_flag = False
else:
SSR.change_action_value(
str(action_num),
action_times)
elif cmd[2] == 0x0b and cmd[3] == 0x03:
PWMServo.setServo(1, 1500, 100)
PWMServo.setServo(2, 1500, 100)
time.sleep(0.1)
data = get_data.read_data()
print(int(data[0]))
os.kill(int(data[0]), signal.SIGKILL)
get_data.write_data("K", "0")
if DEBUG is True:
for i in cmd:
print(hex(i))
print('*' * 30)
else:
break
else:
break
except Exception as e: # The '\x55\x55' substring cannot be found in recv_data
break
recv_data = b''
action_times = None
action_num = None
except Exception as e:
print(e)
Flag = False
break
def clean_headers(headers):
all_headers = gd.get_headers()
new_headers = []
for entry in headers:
final = ""
for i in entry:
if (i == " "):
final = final
else:
final = final + i
print "entry: " + final
new_headers.append(final)
print new_headers
return new_headers
#remove_dup_cols()
32
[0,1,3,4,5,6,7,8,9,15,23,24,25,26]
filename = "cleaned_3.csv"
list_of_dicts = gd.get_data_list_of_dicts()
new_headers = get_headers_with_cols([0,1,3,4,5,6,7,8,9])
final_headers = clean_headers(new_headers)
rows_list_of_lists = create_rows_list_of_lists_with_cols(list_of_dicts, [0,1,3,4,5,6,7,8,9])
final_headers.insert(0,"id")
gd.write_data(filename, final_headers, rows_list_of_lists)
def handle(self):
global action_num, action_times, inf_flag
conn = self.request
recv_data = b''
Flag = True
stop = False
t2 = 0
while Flag:
try:
buf = conn.recv(128)
if buf == b'':
Flag = False
else:
recv_data = recv_data + buf
if len(recv_data) <= 13:
# 解决断包问题，接收到完整命令后才发送到串口,防止出错
while True:
try:
index = recv_data.index(
b'\x55\x55') # 搜索数据中的0x55 0x55
if len(recv_data) >= index + 3: # 缓存中的数据长度是否足够
recv_data = recv_data[index:]
if recv_data[2] + 2 <= len(
recv_data): # 缓存中的数据长度是否足够
cmd = recv_data[0:(recv_data[2] +
2)] # 取出命令
#print(cmd)
recv_data = recv_data[(
recv_data[2] + 3):] # 去除已经取出的命令
if cmd[0] and cmd[1] is 0x55:
if cmd[2] == 0x08 and cmd[
3] == 0x03: # 数据长度和控制单舵机命令
id = cmd[7]
pos = 0xffff & cmd[
8] | 0xff00 & (cmd[9] << 8)
print('id:', cmd[7], 'pos:',
pos)
if id == 7:
if 1900 < pos:
pos = 1900
elif pos < 1200:
pos = 1200
PWMServo.setServo(
1, 3000 - pos, 20)
elif id == 6:
PWMServo.setServo(
2, 3000 - pos, 20)
else:
pass
elif cmd[2] == 0x05 and cmd[
3] == 0x06:
action_num = cmd[4]
action_times = 0xffff & cmd[
5] | 0xff00 & cmd[6] << 8
if action_num == 0:
SSR.stop_action_group()
SSR.change_action_value(
'stand_slow', 1)
try:
data = get_data.read_data(
)
if data[0] != 'K':
os.system(
'sudo kill -9 '
+ str(data[0]))
PWMServo.setServo(
1, 1500, 300)
PWMServo.setServo(
2, 1500, 300)
get_data.write_data(
"K", "0")
except BaseException as e:
print(e)
elif action_times == 0: # 无限次
print(
'action', action_num,
'times', action_times)
SSR.change_action_value(
str(action_num),
action_times)
stop = True
else:
print(
'action', action_num,
'times', action_times)
if stop:
SSR.stop_action_group()
SSR.change_action_value(
'stand_slow', 1)
stop = False
else:
print(
'action',
action_num,
'times',
action_times)
SSR.change_action_value(
str(action_num),
action_times)
elif cmd[2] == 0x0b and cmd[
3] == 0x03:
PWMServo.setServo(1, 1500, 100)
PWMServo.setServo(2, 1500, 100)
time.sleep(0.1)
elif cmd[2] == 0x02 and cmd[
3] == 0x0F:
if SSR.action_finish():
try:
time.sleep(0.05)
v = math.ceil(
serial_servo_read_vin(
1))
buf = [
0x55, 0x55, 0x04,
0x0F, 0x00, 0x00
]
buf[4] = v & 0xFF
buf[5] = (
v >> 8) & 0xFF
conn.sendall(
bytearray(buf))
except BaseException as e:
print(e)
if DEBUG is True:
for i in cmd:
print(hex(i))
print('*' * 30)
else:
break
else:
break
except Exception as e: # 在recv_data 中搜不到 '\x55\x55'子串
break
recv_data = b''
action_times = None
action_num = None
else:
recv_data = b''
pass
except Exception as e:
print(e)
Flag = False
break
def handle(self):
global lastMode
global lastPID
Flag = True
while Flag:
try:
recv = self.request.recv(128) # Receive datav
if recv == b'':
Flag = False # Exit if it is empty
else:
self.buf += recv.decode() # Decode
#print(self.buf)
self.buf = re.sub(
r'333333', '', self.buf, 10
) # Appoint the client sends '3' to perform the heartbeat and remove the 3 from the character string
s = re.search(
r'mode=\d{1,2}', self.buf, re.I
) # Find the MODE= number character string in the formatted string
if s:
self.buf = "" # Clear all caches as long as find one
Mode = int(
s.group()[5:]
) # Get the value of mode from the character string
print(Mode)
data = get_data.read_data()
if data[1] == "0":
lastMode = 0
# According to the value of Mode, continue sending running signal to the corresponding subprocess, and the corresponding subprocess will run
if Mode == 0:
if lastMode != Mode: # Only if the last time mode is different from the current mode, the mode should convert
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
self.request.sendall(
"OK".encode()) # Send "OK" to the client
elif Mode == 1:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
ChildCvColor = subprocess.Popen([
"python2", "/home/pi/hexapod/color.py"
]) # Colour identification
lastPID = ChildCvColor.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 2:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
ChildCvColorFollow = subprocess.Popen([
"python2",
"/home/pi/hexapod/color_follow.py"
]) # Colour tracking
lastPID = ChildCvColorFollow.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 3:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
ChildCvColorFollowMove = subprocess.Popen([
"python2",
"/home/pi/hexapod/color_follow_move.py"
]) # Ogranism colour tracking
lastPID = ChildCvColorFollowMove.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 4:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
ChildBalance = subprocess.Popen([
"python2", "/home/pi/hexapod/balance.py"
]) # Self balance
lastPID = ChildBalance.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 5:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
ChildCvFind = subprocess.Popen([
"python2", "/home/pi/hexapod/sonar.py"
]) # Ultrasonic aviodance
lastPID = ChildCvFind.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
elif Mode == 6:
if lastMode != Mode:
lastMode = Mode
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
ChildCvLineFollow = subprocess.Popen([
"python2", "/home/pi/hexapod/linefollow.py"
]) # Line following
lastPID = ChildCvLineFollow.pid
get_data.write_data(str(lastPID),
str(lastMode))
print("lastPID:", lastPID)
self.request.sendall("OK".encode())
else:
lastMode = 0
if lastPID is not None:
os.kill(lastPID, signal.SIGKILL)
lastPID = None
self.request.sendall("Failed".encode())
pass
except Exception as e:
print(e)
Flag = False
def judge_one(id, question_id, data_num, time_limit, mem_limit, language,
dblock):
"""评测一组数据"""
# low_level()
# 写入数据
write_data(id, question_id)
input_path = os.path.join(config.data_dir, str(question_id),
'data%s.in' % data_num)
# print('use %s' % input_path)
output_path = os.path.join(config.work_dir, str(id),
'out%s.txt' % data_num)
try:
input_data = open(input_path)
# print('open input data')
# print('success w')
except:
# print("False111")
return False
temp_out_data = open(output_path, 'w+')
if language == 'java':
cmd = 'java -cp %s Main' % (os.path.join(config.work_dir, str(id)))
main_exe = shlex.split(cmd)
elif language == 'python2':
cmd = 'python2 %s' % (os.path.join(config.work_dir, str(id),
'main.pyc'))
main_exe = shlex.split(cmd)
elif language == 'python3':
# print('python3')
cmd = 'python3 %s' % (os.path.join(config.work_dir, str(id),
'__pycache__/main.cpython-36.pyc'))
main_exe = shlex.split(cmd)
elif language == 'lua':
cmd = "lua %s" % (os.path.join(config.work_dir, str(id), "main"))
main_exe = shlex.split(cmd)
elif language == "ruby":
cmd = "ruby %s" % (os.path.join(config.work_dir, str(id), "main.rb"))
main_exe = shlex.split(cmd)
elif language == "perl":
cmd = "perl %s" % (os.path.join(config.work_dir, str(id), "main.pl"))
main_exe = shlex.split(cmd)
else:
main_exe = [
os.path.join(config.work_dir, str(id), 'main'),
]
# main_exe = shlex.split(main_exe)
# in_path = os.path.join('/home/bri/project_oj/Judge/testdata', '4', 'data1.in')
# out_path = os.path.join('/home/bri/project_oj/Judge/testdata', '4', 'data1.out')
# fin = open(in_path)
# ftemp = open('temp.out', 'w')
# print('my input path:', input_path)
# print('other input path:', in_path)
# print("main_exe", main_exe)
runcfg = {
'args': main_exe,
# 'args': ['cd', main_exe, '&&', 'java', 'Main'],
'fd_in': input_data.fileno(),
'fd_out': temp_out_data.fileno(),
# 'fd_in':fin.fileno(),
# 'fd_out':ftemp.fileno(),
'timelimit': time_limit, # in MS
'memorylimit': mem_limit, # in KB
}
# low_level()
rst = lorun.run(runcfg)
# print('lorun')
input_data.close()
temp_out_data.close()
logging.debug(rst)
# print(rst)
# print('result', end=': ')
# print(judge_result(id, question_id, data_num))
return rst
col2.append(float(column2[entry])) column1 = col1 column2 = col2 filename = "test.csv" # I am naming them column1 and column2 so that in my javascript I don't # have to worry about finding which different datatypes I am comparing and # just refer to them by their column new_headers = ["column1","column2"] rows_list_of_lists = [] for i in range(len(column1)): rows_list_of_lists.append([column1[i], column2[i]]) gd.write_data(filename, new_headers, rows_list_of_lists) viz_file = "visual_points.csv" # this section selects a random variety of point to display random_points_to_plot = [] for i in range(len(column1)): x = r.randrange(1, 99) if x == 42: random_points_to_plot.append([column1[i],column2[i]]) gd.write_data(viz_file, new_headers, random_points_to_plot) def find_lin_reg(): x = np.array(column1)
def check_high(self):
if self.current > self.high:
self.high = self.current
self.text = "High Score: "+ str(self.high)
write_data(self.file, str(self.high))
# I am naming them column1 and column2 so that in my javascript I don't # have to worry about finding which different datatypes I am comparing and # just refer to them by their column new_headers = ["column1","column2"] rows_list_of_lists = [] for i in range(len(column1)): rows_list_of_lists.append([column1[i], column2[i]]) rows1 = rows_list_of_lists[0:20] rows2 = rows_list_of_lists[36:82] rows_final = rows1 for i in rows2: rows_final.append(i) gd.write_data(filename, new_headers, rows1) # this section selects a random variety of point to display def find_lin_reg(): col1a = column1[3:20] col1b = column1[38:82] for i in col1b: col1a.append(i) col2a = column2[3:20] col2b = column2[38:82] for j in col2b: col2a.append(j) x = np.array(col1a) y = np.array(col2a)