def send_data_new(self, action):
# Trying out method of updating robot pos in background
# Here 1st action would be sent to arduino and temp_pos&next_pos = robot_pos + action
# Next iteration if robot_pos != next_pos: temp_pos = temp_pos + action
# Once robot_pos == next_pos, next_pos = temp_pos and send next_pos
# print("action is: {}".format(action))
if 0 < action < 6: # actions 1 - 5 = Move Up
move = int(action * 3)
elif 5 < action < 11: # actions 6 - 10 = Move Down
move = -int((action - 5) * 3)
elif action == 11:
sendBuff = "999"
send(self.SER_cnxn, str(sendBuff))
elif action == 0: # action = Do nothing
pass
if 0 < action < 11:
if self._next_robot_pos is None:
# Error handling
self._next_robot_pos = self._robot_pos + move
self._temp_robot_pos = self._next_robot_pos
elif self._next_robot_pos is not None and self._robot_pos == self._next_robot_pos:
# sends next position for robot to move to
self._temp_robot_pos += move
self._next_robot_pos = self._temp_robot_pos
elif self._next_robot_pos is not None and self._robot_pos != self._next_robot_pos:
self._temp_robot_pos += move # This updates robot pos in background while moving
self.verify_robot_pos()
# Constantly tell arduino to execute current command
if self._puck_x < -150:
send(self.SER_cnxn, "999")
else:
send(self.SER_cnxn, str(self._next_robot_pos))
def export_data(request=False):
if request is False:
return False
if "config" in request:
config = request["config"]
else:
config = {"Default_Severity": 1, "Device_Vendor": "MISP", "Device_Product": "MISP", "Device_Version": 1,
'custom1':'deviceCustomDate1'}
if request["type"] in cefmapping:
send_data.send("{} host CEF:0|{}|{}|{}|{}|{}|{}|{}={} {}={}\n".format(
datetime.datetime.now().strftime("%b %d %H:%M:%S"),
config["Device_Vendor"],
config["Device_Product"],
config["Device_Version"],
request["category"],
request["category"],
config["Default_Severity"],
cefmapping[request["type"]],
request["value"],
config["custom1"],
datetime.datetime.fromtimestamp(int(request["timestamp"])).strftime("%b %d %H:%M:%S"),
))
def reset(self):
# Resets the environment on startup and at the beginning of episode
new_state = []
# Receive Puck data from Image Processing PI
rc = recv_puck(self.TCP_cnxn)
# Move physical robot to middle of playing field
self._next_robot_pos = 150
self._temp_robot_pos = self._next_robot_pos
send(self.SER_cnxn, str(self._next_robot_pos))
# Updates robot position directly from arduino keeps previous value until new value is sent
self._robot_pos = recv_robo(self.SER_cnxn)
if self._robot_pos == None:
self._robot_pos = self._prev_robot_pos
# Update puck variables
self._puck_x = rc[0]
self._puck_y = rc[1]
self._speed_x = 0 #self.get_speed('x') start at 0 for first state
self._speed_y = 0 #self.get_speed('y')
# Resetting flags used for informing robot
# These flags should change to True only once per episode
self._goal_scored = False
# self._intercepted = False
# self._hit = False
new_state.append(self._robot_pos)
new_state.append(rc[0])
new_state.append(rc[1])
new_state.append(self._speed_x)
new_state.append(self._speed_y)
return np.array(new_state)
# Print a counter
print(i)
# Detect motion via PIR Sensor
detect = GPIO.input(4)
# When PIR sensor detect motion
if(detect):
print("Motion Detected")
print("LED ON")
GPIO.output(10,GPIO.HIGH)
# Send data to server
send_data.send("PutYourNameHere")
# Wait a moment
time.sleep(10)
print("LED OFF")
GPIO.output(10,GPIO.LOW)
i = 0
# Wait a little before detecting further motion
time.sleep(1)
# Increase a counter
i += 1
except Exception:
def move_up(intensity):
# move robot left based on intensity
send("u{}".format(intensity))
def hit_puck(direction):
# spin hockey stick in direction specified
direction = direction.split('')[0]
send("h{}".format(direction))
def move_down(intensity):
# move robot right based on intensity
send("d{}".format(intensity))
import send_data
send_data.send("BOON")