def __init__(self):
# # Check for correct input
# if isinstance(vehicle, Vehicle) is False:
# raise TypeError('Expected object of type Vehicle, got '+type(vehicle).__name__)
# Calling super class constructor
StoppableThread.__init__(self)
# These are the distances the drone passed in a certain direction.
# They are used to know if I need to try to pass the obstacle from another direction.
self.__right_distance = 0.0
self.__left_distance = 0.0
self.__up_distance = 0.0
# Always keep track of my last move in order to know better what to do in certain situations.
self.__last_move = None
# In case the drone need to pass an obstacle from above - keeping 2 flags. One for indicating its in the
# process of climbing, and another one to indicate it finished climbing and should now keep its altitude
# until passing the obstacle.
self.__keep_altitude = False
self.__climbing = False
# I want to maintain the drone's altitude for a short period of time before descending back to the
# original constant altitude, so for that I keep tracking of the time since it ascended.
self.__start_time_measure = 0.0
# In case of emergency, keeping a flag to order the drone to land.
self.__safety_protocol = False
# Other classes within the software for giving flight orders, get sensors data and
# calculate distances by geographic positioning system data.
# the __flight_commands & __location objects should get as a parameter the vehicle object
self.__flight_commands = FlightCommands() # FlightCommands(vehicle)
self.__sensors = Sensors()
self.__flight_data = FlightData() # FlightData(vehicle)
# Get the drone's location and height for further calculations.
self.__last_latitude = self.__flight_data.get_current_latitude()
self.__last_longitude = self.__flight_data.get_current_longitude()
self.__last_height = self.__flight_data.get_current_height()
# Counter and flag for being aware of a sequence of illegal sensor inputs in order to be aware of a
# malfunction in the system
self.__illegal_input_counter = 0
self.__last_input_legitimacy = True
self.__num_of_lines = int(self.__get_number_of_line_in_file()) # Delete when moving to a full functioning system.
# Initializing the sensors
if self.__sensors.connect() == -1:
raise ConnectionError('Cannot connect to sensors')
print("Connected Successfuly to Sensors!")
# Flag that indicates if the system is activated in order to give the user the knowledge if it should override
# other flight commands given to the drone. The flag is 'True' only for left/right/up maneuvers and False
# for all other cases including fixing the drone's altitude, since the altitude is fixed for 10 meters and
# any other running software within the drone shouldn't change its height.
self.__is_active = False
def __init__(self, queues, compute_environments, jobs):
Thread.__init__(self)
StoppableThread.__init__(self, setted=False)
self.__queues = queues
self.__compute_environments = compute_environments
self.__jobs = jobs
self.__pending_jobs = {}
def __init__(self, n, per_n_seconds=1):
assert n > 0, 'n must be greater than 0!'
assert per_n_seconds > 0, 'per_n_seconds must be greater than 0!'
self.n = n
self.per_n_seconds = per_n_seconds
self.semaphore = n
self.cv = threading.Condition(threading.Lock())
self.thread = StoppableThread(self.reset)
return
def __init__(self,file_worker,sec=10):
StoppableThread.__init__(self)
Informant.__init__(self,"BEAT")
if file_worker is not None:
self.file_worker = file_worker
else:
raise Exception("File Worker is None")
self.__sleep_seconds = sec
def saytts():
text = request.args.get("text", None)
if text is not None:
Sound.say_tts(text)
global socialscript_t
if socialscript_t != None:
socialscript_t.stop();
socialscript_t = StoppableThread(target=SocialscriptRun)
socialscript_t.start();
return {"status": "success"}
def start(opsoroapp):
# Turn servo power off, init servos, update expression
with Hardware.lock:
Hardware.servo_disable()
Hardware.servo_init()
Hardware.servo_neutral()
with Expression.lock:
Expression.set_emotion(valence=0.0, arousal=0.0)
Expression.update()
# Start update thread
global circumplex_t
circumplex_t = StoppableThread(target=CircumplexLoop)
circumplex_t.start()
def process_request(self, request, client_address):
try:
self._handler_threads[client_address]
except KeyError:
pass
else:
print 'Connection error: a connection from', client_address[0]
print ' with source port', client_address[1],
'is already open.'
return
t = StoppableThread(target = self.process_request_thread, args = (
request, client_address))
self._handler_threads[client_address] = t
t.daemon = self.daemon_threads
t.start()
def __init__(self, **kwargs):
Thread.__init__(self)
StoppableThread.__init__(self, setted=False)
SchemaConstructor.__init__(self,
schema=CONFIG_CREATE_COMPUTE_ENVIRONMENT,
default_values=self.DEFAULT_VALUES,
defined_values=kwargs)
ARNObject.__init__(self,
name=self.computeEnvironmentName,
resource="compute-environment/" +
self.computeEnvironmentName)
self.__associated_queue = queue.PriorityQueue(
maxsize=4) # Compute maxsize as parameter of CE power
self.__jobs_current = []
self.__logger = logging.getLogger(
f"[CE] {self.computeEnvironmentName} {self.getName()}")
self.__logger.info("Compute environment created")
def start_listen(self):
""" Creates and starts a listener thread.
Raises:
FBClientError if client is already listening
"""
try:
self.thread
raise FBClientError("Called start_listen when " + \
"client is already listening")
except AttributeError:
logging.info('Client is listening...')
self.thread = StoppableThread(name="listen",
target=self._listen_daemon,
args=())
self.thread.start()
def start_script(self, script):
"""
Start a new script. This method will create a new runtime, pass the
script to the runtime, and start a thread to continuously call the
script's loop function. Can only be used if no other script is running.
"""
# Check if running
if self.is_running:
raise RuntimeError("A script is already running!")
self._script = script
callback(self.on_start)()
self.is_running = True
# Initialize a new runtime
self.setup_runtime()
self.runtime_thread = StoppableThread(target=self._run)
self.runtime_thread.start()
def start(opsoroapp): # Apply overlay function for servo in Expression.servos: if servo.pin < 0 or servo.pin > 15: continue # Skip invalid pins dof_positions[servo.dofname] = 0.0 # Turn servo power off, init servos, update expression with Hardware.lock: Hardware.servo_disable() Hardware.servo_init() Hardware.servo_neutral() with Expression.lock: Expression.set_emotion(valence=0.0, arousal=0.0) Expression.update() # Start update thread global socialscriptloop_t socialscriptloop_t = StoppableThread(target=SocialscriptLoop) socialscriptloop_t.start();
def play(soundfile):
soundfiles = []
filenames = []
filenames = glob.glob(get_path("../../data/sounds/soundfiles/*.wav"))
for filename in filenames:
soundfiles.append(os.path.split(filename)[1])
if soundfile in soundfiles:
Sound.play_file(soundfile)
global socialscript_t
if socialscript_t != None:
socialscript_t.stop();
socialscript_t = StoppableThread(target=SocialscriptRun)
socialscript_t.start();
return {"status": "success"}
else:
return {"status": "error", "message": "Unknown file."}
class ThrottledSemaphore:
def __init__(self, n, per_n_seconds=1):
assert n > 0, 'n must be greater than 0!'
assert per_n_seconds > 0, 'per_n_seconds must be greater than 0!'
self.n = n
self.per_n_seconds = per_n_seconds
self.semaphore = n
self.cv = threading.Condition(threading.Lock())
self.thread = StoppableThread(self.reset)
return
def acquire(self):
"""Acquire a semaphore, decrementing internal counter by one.
If no semaphores are available, block until one is. The return value
is a boolean indicating whether a semaphore was acquired. Acquiring
can fail if the `stop` method is called while acquire is blocking.
"""
got_one = False
with self.cv:
while not self.semaphore:
self.cv.wait()
if self.thread.stopped():
break
else:
self.semaphore -= 1
got_one = True
return got_one
__enter__ = acquire
def release(self):
# NOTE: no-op to be consistent with python API
return
def __exit__(self, t, v, tb):
self.release()
return
def start(self):
self.thread.start()
return
def stop(self):
# NOTE: on return, thread dies as per python API
self.thread.stop()
return
def reset(self):
while not self.thread.stopped():
time.sleep(self.per_n_seconds)
with self.cv:
self.semaphore = self.n
self.cv.notify(self.n)
# NOTE: wake every thread so they all exit
with self.cv:
self.cv.notify_all()
return
if settings['verbose']:
print('Restart ! %.3fs after first split.' % timer.elapsed())
comparisons.restart()
timer.start()
# ===========================================
# FRAME BY FRAME COMPARISON
# ===========================================
queue = Queue()
# prepare the evaluation thread
evaluateThread = StoppableThread(evaluate)
if settings['verbose']:
print('Starting acquisition.')
while capture.shouldContinue():
# do not start too many threads
while queue.qsize() >= 75:
time.sleep(1e-6)
# start a thread that will capture a frame
t = Thread(target=getFrame)
t.start()
# limit fps here
time.sleep(1/1000)
class ScriptHost(object):
def __init__(self):
self._script = ""
self.is_running = False
self.ui = ScriptUI()
# Rising/falling edge dict
self._rising_dict = {}
self._falling_dict = {}
self.runtime = None
self.runtime_thread = None
# Callbacks
self.on_print = None
self.on_error = None
self.on_start = None
self.on_stop = None
def __del__(self):
if self.is_running:
self.stop_script()
def setup_runtime(self):
"""
Creates a new lua runtime and initializes all globals. Used by
start_script(), should not be called directly.
"""
# Create new lua instance
self.runtime = lupa.LuaRuntime(unpack_returned_tuples=True)
# Reset keys and button states
self.ui._keys = {}
self.ui._buttons = {}
# Reset rising/falling edge dict
self._rising_dict = {}
self._falling_dict = {}
# Set up API
g = self.runtime.globals()
g["Sound"] = Sound
g["Expression"] = Expression
g["Hardware"] = LuaHardware(self.runtime)
g["Animate"] = LuaAnimate
g["AnimatePeriodic"] = LuaAnimatePeriodic
g["UI"] = self.ui
g["print"] = callback(self.on_print)
g["sleep"] = self._sleep
g["rising_edge"] = self._rising_edge
g["falling_edge"] = self._falling_edge
g["seconds"] = time.time
# Basic Arduino functions
g["delay"] = lambda t: self._sleep(t / 1000)
g["min"] = min
g["max"] = max
g["abs"] = abs
g["constrain"] = lambda x, a, b: max(a, min(x, b))
g["map"] = lambda x, in_min, in_max, out_min, out_max: (x - in_min) * (
out_max - out_min) / (in_max - in_min) + out_min
g["millis"] = lambda: time.time() * 1000.0
def start_script(self, script):
"""
Start a new script. This method will create a new runtime, pass the
script to the runtime, and start a thread to continuously call the
script's loop function. Can only be used if no other script is running.
"""
# Check if running
if self.is_running:
raise RuntimeError("A script is already running!")
self._script = script
callback(self.on_start)()
self.is_running = True
# Initialize a new runtime
self.setup_runtime()
self.runtime_thread = StoppableThread(target=self._run)
self.runtime_thread.start()
def stop_script(self):
"""
Attempts to stop the current script. Returns immediately if no script is
running. If a script is running, this method will send a stop signal to
to the script thread, and then block until the thread is stopped. Note
that the thread's stopped condition is only checked during sleep() and
at the end of loop() calls, this function will not stop infinite loops.
"""
if self.is_running and self.runtime_thread is not None:
self.runtime_thread.stop()
self.runtime_thread.join()
def generate_lua_error(self, message):
"""
If a script is running, this method will generate an error inside the
script. Useful to signal script errors (e.g. bad parameter) to the user.
"""
if self.is_running and self.runtime is not None:
g = self.runtime.globals()
g["error"](message)
def _report_error(self, e):
"""
Helper function that prefixes the type of error to the exception, and
then sends the error message to the application through the on_error
callback.
"""
if type(e) == lupa.LuaSyntaxError:
callback(self.on_error)("Syntax error: %s" % str(e))
elif type(e) == lupa.LuaError:
callback(self.on_error)("Lua error: %s" % str(e))
else:
exc_type, exc_value, exc_traceback = sys.exc_info()
tb_str = "".join(traceback.format_tb(exc_traceback)).replace(
"\n", "<br>")
callback(self.on_error)("Python error: %s<br>%s" %
(str(e), tb_str))
def _sleep(self, time):
"""
Lua API
Sleep function that pauses the thread for a number of seconds. This
sleep function will return immediately if the thread's stop flag is set.
This means that loop function should come to an end instantaneously,
after which the thread is ended.
"""
if self.runtime_thread is not None:
self.runtime_thread.sleep(time)
def _rising_edge(self, identifier, status):
"""
Lua API
Helper function to detect a rising edge of a signal (e.g. button, key,
capacitive touch pad, etc). Identifier is an arbitrary string that is
used to distinguish between different signals. Internally, it's used as
a key for the dictionary that keeps track of different signals.
Usage:
if rising_edge("mybutton", UI:is_key_pressed("up")) then
-- Do something
end
"""
last_status = False
if identifier in self._rising_dict:
last_status = self._rising_dict[identifier]
self._rising_dict[identifier] = status
return status and not last_status
def _falling_edge(self, identifier, status):
"""
Lua API
Helper function to detect a falling edge of a signal (e.g. button, key,
capacitive touch pad, etc). Identifier is an arbitrary string that is
used to distinguish between different signals. Internally, it's used as
a key for the dictionary that keeps track of different signals.
Usage:
if falling_edge("mybutton", UI:is_key_pressed("up")) then
-- Do something
end
"""
last_status = False
if identifier in self._falling_dict:
last_status = self._falling_dict[identifier]
self._falling_dict[identifier] = status
return last_status and not status
def _remove_lua_overlays(self):
for dofname, dof in Expression.dofs.iteritems():
for overlay in dof.overlays:
if lupa.lua_type(overlay) is not None:
# It's a Lua value, remove it!
dof.overlays.remove(overlay)
def _run(self):
"""
Called by the worker thread when the script is run. First attempts to
call the script's setup function, then continuously calls the loop
function. When the thread's stop flag is set, the loop breaks and the
thread attempts to run the quit function. At any time, if the runtime
encounters an error, the script is stopped, and the on_error and on_stop
callbacks are triggered.
"""
g = self.runtime.globals()
# Evaluate code and run setup
try:
self.runtime.execute(self._script)
if g["setup"] is not None:
g["setup"]()
except Exception as e:
self.runtime_thread.stop()
self._report_error(e)
if g["loop"] is not None:
# Continuously run loop, until thread is stopped
while not self.runtime_thread.stopped():
try:
g["loop"]()
except Exception as e:
self._report_error(e)
self.runtime_thread.stop()
# Delay not really necessary, but can be used to limit CPU time.
# Without delay, this loop consumes about 70% CPU time on a RPi1.
# else:
# # 10ms breathing room between loops
# time.sleep(0.01)
# Run quit
if g["quit"] is not None:
try:
g["quit"]()
except Exception as e:
self._report_error(e)
callback(self.on_stop)()
self._remove_lua_overlays()
self.is_running = False
def start(opsoroapp):
global touch_t
touch_t = StoppableThread(target=TouchLoop)
touch_t.start()
class fb_client(Client):
def __init__(self, email=None, password=None, user_agent=None, \
max_tries=5, session_cookies=None, logging_level=logging.INFO):
""" Overrides parent constructor to make email and password
optional. (This helps because we primarily use session
cookies to log users back in)
Args:
| email: Facebook login email
| password: Facebook login password
| max_tries: maximum login attempts
| session_cookies: Cookies from a previous session
| logging_level: Configures the `logging level` \
Defaults to logging.INFO
Raises:
FBchatException on failed login
"""
super(fb_client, self).__init__(email=email, password=password, \
max_tries=max_tries, session_cookies=session_cookies,
logging_level=logging_level)
def _extract_mentions(self, message_text):
""" Takes message in raw text form and returns
a list of appropriate Mentions objects
Args:
message_text: message in raw text form
Returns:
A list of :class:`fbchat.models.Mention` objects
"""
# Find all occurrences of @ (for offset)
index = 0
mention = []
at_indices = []
for c in message_text:
if c is '@':
at_indices.append(index)
index += 1
# used for offset
at_count = 0
elements = message_text.split(" ")
for element in elements:
# look for @s
if element.startswith("@"):
users = self.searchForUsers(element[1:])
# @ is a valid Mention
if len(users) is not 0:
user = users[0]
mention.append( \
Mention(user.uid, offset=at_indices[at_count], \
length=len(element)))
at_count += 1
return (None if len(mention) is 0 else mention)
def _construct_message_from_text(self, message_text):
""" Takes message in raw text form and constructs a
:class:`fbchat.models.Message object`
Args:
message_text: message in raw text form
Returns:
:class:`fbchat.models.Message` object representing
raw text message input
"""
mentions = self._extract_mentions(message_text)
return Message(text=message_text, mentions=mentions)
def send_message(self, message_text, user_uid=None, group_uid=None):
""" Sends a appropriately constructed message given
raw text message input.
Args:
| message_text: message in raw text form
| user_uid: uid of user
| group_uid: uid of group
Raises:
FBClientError on missing user_uid and group_uid
or when both are provided
"""
if user_uid is None and group_uid is None:
raise FBClientError("Must provide a user_uid or group_uid")
if user_uid is not None and group_uid is not None:
raise FBClientError("Must only provide one of either a " + \
"user_uid or group_uid")
if user_uid is not None:
self.send(self._construct_message_from_text(message_text), \
thread_id=user_uid, thread_type=ThreadType.USER)
elif group_uid is not None:
self.send(self._construct_message_from_text(message_text), \
thread_id=group_uid, thread_type=ThreadType.GROUP)
def _listen_daemon(self):
""" listener that runs until the thread it is part
of is terminated. Not a true daemon, but purpose
is to make the listening process run on a separate
thread.
"""
self.startListening()
self.onListening()
while self.thread.is_running() and self.doOneListen():
pass
self.stopListening()
self.thread.stopped()
def start_listen(self):
""" Creates and starts a listener thread.
Raises:
FBClientError if client is already listening
"""
try:
self.thread
raise FBClientError("Called start_listen when " + \
"client is already listening")
except AttributeError:
logging.info('Client is listening...')
self.thread = StoppableThread(name="listen",
target=self._listen_daemon,
args=())
self.thread.start()
def stop_listen(self):
""" "Terminates" the listener thread.
Raises:
FBClientError if client has not been listening
"""
try:
self.thread
except AttributeError:
raise FBClientError("Called stop_listen when " + \
"client was not listening")
if self.thread.is_running():
print "Stopping client listen..."
self.thread.stop()
self.thread.join()
logging.info('Client stopped listening')
del self.thread
def __init__(self):
# # Check for correct input
# if isinstance(vehicle, Vehicle) is False:
# raise TypeError('Expected object of type Vehicle, got '+type(vehicle).__name__)
# Calling super class constructor
StoppableThread.__init__(self)
# These are the distances the drone passed in a certain direction.
# They are used to know if I need to try to pass the obstacle from another direction.
self.__right_distance = 0.0
self.__left_distance = 0.0
self.__up_distance = 0.0
# Always keep track of my last move in order to know better what to do in certain situations.
self.__last_move = None
# In case the drone need to pass an obstacle from above - keeping 2 flags. One for indicating its in the
# process of climbing, and another one to indicate it finished climbing and should now keep its altitude
# until passing the obstacle.
self.__keep_altitude = False
self.__climbing = False
# I want to maintain the drone's altitude for a short period of time before descending back to the
# original constant altitude, so for that I keep tracking of the time since it ascended.
self.__start_time_measure = 0.0
# In case of emergency, keeping a flag to order the drone to land.
self.__safety_protocol = False
# Other classes within the software for giving flight orders, get sensors data and
# calculate distances by geographic positioning system data.
# the __flight_commands & __location objects should get as a parameter the vehicle object
self.__flight_commands = FlightCommands() # FlightCommands(vehicle)
self.__sensors = Sensors()
self.__flight_data = FlightData() # FlightData(vehicle)
# Get the drone's location and height for further calculations.
self.__last_latitude = self.__flight_data.get_current_latitude()
self.__last_longitude = self.__flight_data.get_current_longitude()
self.__last_height = self.__flight_data.get_current_height()
# Counter and flag for being aware of a sequence of illegal sensor inputs in order to be aware of a
# malfunction in the system
self.__illegal_input_counter = 0
self.__last_input_legitimacy = True
self.__num_of_lines = int(self.__get_number_of_line_in_file(
)) # Delete when moving to a full functioning system.
# Initializing the sensors
if self.__sensors.connect() == -1:
raise ConnectionError('Cannot connect to sensors')
print("Connected Successfuly to Sensors!")
# Flag that indicates if the system is activated in order to give the user the knowledge if it should override
# other flight commands given to the drone. The flag is 'True' only for left/right/up maneuvers and False
# for all other cases including fixing the drone's altitude, since the altitude is fixed for 10 meters and
# any other running software within the drone shouldn't change its height.
self.__is_active = False
