def preproc(self, world, game):
print 'world %d x %d' % (world.width, world.height)
pprint(map(list, zip(*world.tiles_x_y)))
print world.waypoints
print '====================='
self.navigator = Navigator(world)
self.physics = Physics(world, game)
def main(): # read settings from settings file fs.read_settings_file() # run app at homepage App = QApplication(sys.argv) navigator = Navigator() navigator.show_homepage() sys.exit(App.exec())
def __init__(self, height):
self.pidInput = rospy.Publisher('pid_input',
controller_msg,
queue_size=10)
self.height = height
rospy.Subscriber('/pid/controller_command', controller_msg,
self.HandlePID)
rospy.Subscriber('/mavros/global_position/rel_alt', Float64,
self.HandleAltitude)
self.myNavigator = Navigator()
def simplest():
def print_simplest(list):
for elem in list:
print(f"Index[{elem.index}] full path : {elem.full_path}")
viz = Simplest()
nav = Navigator()
while viz.update(nav.read_next()):
pass
list = viz.visualize()
print_simplest(list)
def main(stdscr):
logging.basicConfig(
level=logging.DEBUG,
filename='app.log',
filemode='w',
format='%(name)s - %(levelname)s - [%(filename)s:%(lineno)s - %(funcName)20s() ] - %(message)s')
print('Initializing...')
display = Display()
navigator = Navigator(display)
choice_handler = ChoiceHandler(navigator)
json_handler = JsonHandler(navigator)
data_handler = EcsManager(choice_handler, json_handler)
while True:
data_handler.update()
def __init__(self):
self.vision = Vision(RobotController.model_xml,
RobotController.model_bin,
self,
is_headless=True,
live_stream=True,
confidence_interval=0.5)
self.received_frame = None
self.qr_reader = QRReader()
self.last_qr_approached = None
self.current_qr_approached = None
self.approach_complete = True
self.retrying_approach = False
self.standby_mode = True
self.standby_invoked = True
self.serial_io = SerialIO('/dev/ttyACM0', 115200, self)
self.actions = {}
self.watered = False
if config.RESPOND_TO_API:
host = config.API_HOST
if config.API_SECURE:
host = "wss://" + host
else:
host = "ws://" + host
self.remote = Remote(config.UUID, host)
self.remote.add_callback(RPCType.MOVE_IN_DIRECTION,
self.remote_move)
self.remote.add_callback(RPCType.EVENTS, self.on_events_received)
self.remote.add_callback(RPCType.SET_STANDBY, self.set_standby)
rm_thread = threading.Thread(target=self.thread_remote,
name="remote",
daemon=True)
rm_thread.start()
# rm_thread.join()
# Create the navigation system
self.navigator = Navigator(self, verbose=True)
threading.Thread(target=self.vision.start, name="vision").start()
def __init_properties(self, document):
self.__dict__['__cx'].add_global('window', self)
self.__dict__['__cx'].add_global('self' , self)
self.__dict__['__cx'].execute("window.window = window;")
self.__dict__['__cx'].add_global('document', document)
self.__dict__['__cx'].execute("window.document = document;")
self.__dict__['__cx'].add_global('location', document.location)
self.__dict__['__cx'].execute("window.location = location;")
self.__dict__['__cx'].add_global("ActiveXObject", ActiveXObject)
self.__dict__['__cx'].add_global("navigator", Navigator())
self.__dict__['__cx'].execute("window.navigator = navigator;")
self.__dict__['__cx'].add_global("screen", unknown())
self.__dict__['__cx'].execute("window.screen = screen;")
if 'top_window' in self.__dict__['__root'].__dict__:
if self.__dict__['__referrer']:
top = self.__dict__['__referrer']
else:
top = self.__dict__['__root'].top_window
else:
top = self
self.__dict__['__cx'].add_global("top", top)
self.__dict__['__cx'].execute("window.top = top;")
self.__dict__['__cx'].add_global("parent", top)
self.__dict__['__cx'].execute("window.parent = parent;")
self.__dict__['__cx'].add_global("history", History(document))
self.__dict__['__cx'].execute("window.history = history;")
self.__dict__['__cx'].execute("window.innerWidth = 400;")
self.__dict__['__cx'].execute("window.innerHeight = 200;")
self.__dict__['__cx'].execute("window.name = '';")
self.__init_undefined_properties()
def graphwise():
#setup
viz = Graphwise()
nav = Navigator()
grayscale = True
DNA_ish = not True
wid, hi = 400,400
gif_path = f'result/{"DNA" if DNA_ish else "graphwise"}_{"gray" if grayscale else "rgb"}.gif'
gif_duration = 4 #seconds
images = []
cv_cvt_format = cv.COLOR_GRAY2RGB if grayscale else cv.COLOR_BGR2RGB
def cv_img_to_PIL_img(cv_img):
return Image.fromarray(cv.cvtColor(cv_img, cv_cvt_format))
#main logic
while viz.update(nav.read_next()):
cv_img = viz.visualize(wid, hi, grayscale=grayscale, DNA_ish=DNA_ish)
images.append(cv_img_to_PIL_img(cv_img))
pass
#view results
stat = viz.stat()
print(f"[Statistics]")
print(f"\tFile count [{stat[0]}]")
print(f"\tDirectory count(including root) [{stat[1]}]")
print(f"\tMaximum file size : [{stat[2]}bytes]")
print(f"\tTotal file size : [{stat[3]}bytes]")
if images:
print("Creating gif...")
images[0].save(gif_path, save_all=True, append_images=images[1:], optimize=True, duration=int((gif_duration*1000)/len(images)), loop=0)
print("GIF saving done")
cv.imshow("Result", viz.visualize(wid, hi, grayscale=grayscale, DNA_ish=DNA_ish))
cv.waitKey(0)
map['x'] = map_x
map['y'] = map_y
nav_bot_name = str(input("Nav bot name: "))
nav_bot_x = int(input("Nav bot x coordinate: "))
nav_bot_y = int(input("Nav bot y coordinate: "))
nav_bot_dir = str(input("Nav bot direction: "))
nav_bot_inst = str(input("Nav bot movement: "))
fight_bot_name = str(input("Fight bot name: "))
fight_bot_x = int(input("Fight bot x coordinate: "))
fight_bot_y = int(input("Fight bot y coordinate: "))
fight_bot_dir = str(input("Fight bot direction: "))
fight_bot_inst = str(input("Fight bot movement: "))
nav_bot = Navigator(nav_bot_name, nav_bot_x, nav_bot_y, Direction[nav_bot_dir])
for m in [char for char in nav_bot_inst]:
nav_bot.navigate()
set_movement(m, nav_bot, map)
nav_bot.reply("I am robot")
fight_bot = Fighter(fight_bot_name, fight_bot_x, fight_bot_y, Direction[fight_bot_dir])
for m in [char for char in fight_bot_inst]:
fight_bot.fight()
set_movement(m, fight_bot, map)
fight_bot.reply()
tokota_bot = Tokota("XT009", 0, 0, Direction.N)
print(nav_bot.get_x())
print(nav_bot.get_y())
from behave import given, when, then
from Navigator import Navigator
nav = Navigator()
@given('I have Python {version} installed')
def impl(context, version):
version = version.split(".") # Create a list from the string
context.version = version # Save the list
@when('I try to check my version')
def impl(context):
context.actual = str(
nav.checkVersion(*context.version)) # Unpack the list arguments
@then('I should see "{expected}" in my message')
def impl(context, expected):
try:
if (expected == "Nothing"):
assert "" in context.actual # We aren't expecting anything
else:
assert expected in context.actual
except AssertionError as e:
e.args += ('Expected: ' + expected + ' Actual: ' + context.actual)
raise e.args
def main():
clearConsole()
nav = Navigator()
courses = []
major, minor, micro = sys.version_info[:3]
message = checkVersion(major, minor, micro)
if message != "":
print message
if "Error" in message:
sys.exit(1)
username = getpass('PID: ')
password = getpass()
print "Logging In.. "
sys.stdout.flush()
while (nav.login(username, password) is False):
print "Please Try Again"
username = raw_input('PID: ')
password = getpass()
clearConsole()
automate = raw_input("Automate?: ")
if automate:
errors = ""
CRN = "92074"
TERM = "09"
YEAR = "2013"
SUBJ = "CS"
CRSE = "2114"
else:
errors = 1
print "Logged In"
print "Please Enter The Following Information:"
error_checker = ErrorCheck()
while (errors):
CRN = raw_input('CRN: ') or "" # or "92083"
TERM = raw_input('TERM (F, S, S1, or S2) (F - Default): '
) or "09" # Default TERM if nothing is given
YEAR = raw_input('YEAR (2013 - Default): '
) or "2013" # Default YEAR if nothing is given
SUBJ = raw_input('SUBJ: ') or ""
CRSE = raw_input('CRSE: ') or ""
print "\nChecking for Errors in Course Information..\n"
errors = error_checker.obviousChecks(crn=CRN, subj=SUBJ, crse=CRSE)
if (errors):
print "Sorry, There Were Some Errors: \n"
print "Error(s): "
for error in errors:
print error
print "Please Try Again"
clearConsole()
print "Everything Looks Good.."
print "Searching for Class Information.."
if ((SUBJ and CRSE) or CRN):
course_info = nav.find(subj=SUBJ,
crse=CRSE,
term=TERM,
year=YEAR,
crn=CRN)
else:
print "Sorry.. You Didn't Enter Enough Information"
sys.exit(0)
if course_info is None:
print "Sorry.. No Sections were Found"
answer = raw_input("Try Again..? ")
sys.exit(0)
else:
course_info = Cleaner(course_info)
print "Here's What I Found.."
print course_info
answer = YesNo(
raw_input("Do You Wish to Add a Course? Enter (y)es or (n)o: "))
if answer == "Yes":
CRN = raw_input("Please Enter the CRN: ")
courses.append(CRN)
else:
sys.exit(0)
class SimpleViewer(avango.script.Script):
SceneGraph = avango.gua.SFSceneGraph()
Navigator = Navigator()
Viewer = avango.gua.nodes.Viewer()
Shell = GuaVE()
def __init__(self):
self.super(SimpleViewer).__init__()
self.window_size = avango.gua.Vec2ui(1920, 1080)
# create resolve pass
self.res_pass = avango.gua.nodes.ResolvePassDescription()
self.res_pass.EnableSSAO.value = True
self.res_pass.SSAOIntensity.value = 4.0
self.res_pass.SSAOFalloff.value = 10.0
self.res_pass.SSAORadius.value = 7.0
self.res_pass.EnvironmentLightingColor.value = avango.gua.Color(
0.1, 0.1, 0.1)
self.res_pass.ToneMappingMode.value = avango.gua.ToneMappingMode.UNCHARTED
self.res_pass.Exposure.value = 1.0
self.res_pass.BackgroundColor.value = avango.gua.Color(0.0, 0.0, 0.0)
self.res_pass.BackgroundMode.value = avango.gua.BackgroundMode.COLOR
# create anti-aliasing pass
self.anti_aliasing = avango.gua.nodes.SSAAPassDescription()
# create pipeline description
self.pipeline_description = avango.gua.nodes.PipelineDescription(
Passes=[
avango.gua.nodes.TriMeshPassDescription(),
avango.gua.nodes.LightVisibilityPassDescription(),
self.res_pass, self.anti_aliasing
])
# create window
self.window = avango.gua.nodes.GlfwWindow(
Size=self.window_size, LeftResolution=self.window_size)
avango.gua.register_window("window", self.window)
def run(self, locals, globals, show_guave_banner=True):
self.Shell.start(locals, globals, show_guave_banner)
self.Viewer.run()
def list_variabels(self):
self.Shell.list_variables()
def start_navigation(self):
self.navigation.Transform.connect_from(self.Navigator.OutTransform)
def set_background_image(self, path):
self.res_pass.BackgroundMode.value = avango.gua.BackgroundMode.SKYMAP_TEXTURE
self.res_pass.BackgroundTexture.value = path
@field_has_changed(SceneGraph)
def update_scenegraph(self):
self.navigation = avango.gua.nodes.TransformNode(Name="navigation")
cam = avango.gua.nodes.CameraNode(
Name="cam",
LeftScreenPath="/navigation/screen",
SceneGraph=self.SceneGraph.value.Name.value,
Resolution=self.window_size,
OutputWindowName="window",
Transform=avango.gua.make_trans_mat(0.0, 0.0, 1.0))
cam.PipelineDescription.value = self.pipeline_description
screen = avango.gua.nodes.ScreenNode(Name="screen",
Width=1.6,
Height=1.0)
self.navigation.Children.value = [cam, screen]
self.SceneGraph.value.Root.value.Children.value.append(self.navigation)
self.Navigator.OutTransform.connect_from(cam.Transform)
self.Navigator.RotationSpeed.value = 0.2
self.Navigator.MotionSpeed.value = 0.04
self.Viewer.SceneGraphs.value = [self.SceneGraph.value]
self.Viewer.Windows.value = [self.window]
def test_update_state(self):
mock_world = MockWorld.create('map04')
mock_game = MockGame()
navigator = Navigator(mock_world)
self.assertFalse(navigator.pathfinder is None)
self.assertFalse(navigator.pathfinder.graph is None)
self.assertEqual(len(navigator.pathfinder.graph),
mock_world.height * mock_world.width)
self.assertFalse(navigator.is_on_extra_path)
mock_car = MockCar()
mock_car.x = 10800
mock_car.y = 12400
mock_car.next_waypoint_index = 1
car = MyCar(mock_car, mock_game.track_tile_size)
navigator.update_state(car)
anchor_point = navigator.get_anchor_point(car, mock_world, mock_game)
self.assertEqual(anchor_point, (600.0, 12600.0))
self.assertEqual(navigator._prev_path_tile_idx, 0)
self.assertFalse(navigator.is_on_extra_path)
mock_car.x = 10000
mock_car.y = 12400
mock_car.next_waypoint_index = 1
car = MyCar(mock_car, mock_game.track_tile_size)
navigator.update_state(car)
self.assertEqual(navigator._prev_path_tile_idx, 1)
self.assertFalse(navigator.is_on_extra_path)
mock_car.x = 9200
mock_car.y = 12400
mock_car.next_waypoint_index = 1
car = MyCar(mock_car, mock_game.track_tile_size)
navigator.update_state(car)
self.assertEqual(navigator._prev_path_tile_idx, 2)
self.assertFalse(navigator.is_on_extra_path)
mock_car.x = 2000
mock_car.y = 12400
mock_car.next_waypoint_index = 1
car = MyCar(mock_car, mock_game.track_tile_size)
navigator.update_state(car)
self.assertEqual(navigator._prev_path_tile_idx, 11)
self.assertFalse(navigator.is_on_extra_path)
mock_car.x = 1200
mock_car.y = 12400
mock_car.next_waypoint_index = 2
car = MyCar(mock_car, mock_game.track_tile_size)
self.assertEqual(car.cur_tile, (1, 15))
navigator.update_state(car)
self.assertFalse(navigator.is_on_extra_path)
self.assertEqual(navigator._prev_path_tile_idx, 12)
mock_car.x = 1200
mock_car.y = 11600
mock_car.next_waypoint_index = 2
car = MyCar(mock_car, mock_game.track_tile_size)
self.assertEqual(car.cur_tile, (1, 14))
navigator.update_state(car)
self.assertTrue(navigator.is_on_extra_path)
self.assertEqual(navigator._prev_path_tile_idx, 13)
def __init__(self, root, dim=None, appName='BreadInterface'):
# init the app components
# self.settings = Settings(appName)
self.navigator = Navigator(root, dim)
self.appName = appName
def demo():
printWelcomeMsg()
while True:
print('\n================= MAIN MENU =================\n')
buildingId = int(input('Please enter building ID: '))
buildingName = algorithms.buildingDict[buildingId]
buildingStorey = int(input('Please enter building storey: '))
myMap = algorithms.downloadAndParseMap(buildingId, buildingName,
buildingStorey)
print(
'Please enter an option:\n 1. Path Finding\n 2. Giving Direction (cumulative)\n 3. Quit Test'
)
testType = input()
if testType == '1':
while True:
print('\n=============== NEW TEST CASE ===============\n')
srcNodeId = int(
input(
'Please enter origin node ID (enter \'0\' to return to the main menu): '
))
if srcNodeId == 0:
break
destNodeId = int(
input(
'Please enter destination node ID (enter \'0\' to return to the main menu): '
))
if destNodeId == 0:
break
result = algorithms.computeRoute(myMap, srcNodeId, destNodeId)
for i in range(len(result) - 1):
print(str(result[i]) + ' -> ', end="")
print(result[len(result) - 1])
elif testType == '2':
srcNodeId = int(input('Please enter origin node ID: '))
destNodeId = int(input('Please enter destination node ID: '))
currentX = int(
input('Please enter the x-coordinate of current location: '))
currentY = int(
input('Please enter the y-coordinate of current location: '))
currentBearing = int(
input(
'Please enter the bearing (w.r.t. geographical north) of current location: '
))
route = algorithms.computeRoute(myMap, srcNodeId, destNodeId)
navigator = Navigator(myMap, route, currentX, currentY,
currentBearing, 50)
while True:
print('\n=============== NEW TEST CASE ===============\n')
currentX = int(
input(
'Please enter the x-coordinate of current location: '))
currentY = int(
input(
'Please enter the y-coordinate of current location: '))
currentBearing = int(
input(
'Please enter the bearing (w.r.t. geographical north) of current location: '
))
navigator.updateLocation(currentX, currentY, currentBearing)
if navigator.clearedRouteIdx == len(navigator.route) - 1:
print('You have reached the destination node.')
break
naviInfo = navigator.getNaviInfo()
print('Next node ID is ' +
str(navigator.route[navigator.clearedRouteIdx + 1]) +
'.')
print('Distance from next node is ' + str(naviInfo[0]) +
' centimeters.')
bearing = (naviInfo[1] -
(currentBearing + myMap.northAt) % 360 + 360) % 360
print('Bearing of next node from current location is ' +
str(bearing) + ' degrees.')
else:
break
return
# load a path file
#p = Path("Path-around-table.json")
p = Path("Path-around-table-and-back.json")
#p = Path("Path-from-bed.json")
#p = Path("Path-to-bed.json")
path = p.getPath()
print("Path length = " + str(len(path)))
print("First point = " + str(path[0]['X']) + ", " + str(path[0]['Y']))
# make a robot to move around
robot = Robot()
converter = AngleConverter()
pathHandler = PathHandler()
navigator = Navigator()
goal = Goal()
#### Intialize variables
position = robot.getPosition()
speed = 0.25
heading = 0
nextPoint = 0
dropOut = 0
lookAheadDistance = 0.85
while (goal.notGoal(position, nextPoint, path)):
### get current status (position, heading)
position = robot.getPosition()
heading = converter.convertToDegree(robot.getHeading())
from PathHandler import PathHandler
from Navigator import Navigator
# Settings
maxSpeed = 0.5
lookAheadDistance = 0.8
lookAheadSwitchDistance = 0.5
maxTurnRate = 1.2
damperLength = 5
#### Intialize
robot = Robot()
p = Path("Path-around-table-and-back.json")
path = p.getPath()
pathHandler = PathHandler()
navigator = Navigator(maxSpeed, maxTurnRate, damperLength)
robot.setMotion(0, 0)
position = robot.getPosition()
heading = 0
nextPoint = 0
while (navigator.notGoal(position, nextPoint, path)):
### get current status (position, heading)
position = robot.getPosition()
heading = navigator.convertToDegree(robot.getHeading())
### get next point
nextPoint = pathHandler.getNextPathPoint(position, path, nextPoint,
lookAheadDistance,
lookAheadSwitchDistance)
