async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
await sphero.set_power_notification(True)
power_state_change_detected = False
def handle_power_state_change(power_state):
nonlocal power_state_change_detected
power_state_change_detected = True
print("Power State Changed To: {}".format(power_state))
sphero.on_power_state_change.append(handle_power_state_change)
await sphero.set_rgb_led(green=0xFF)
for _ in range(3):
await sphero.ping()
await asyncio.sleep(10)
if power_state_change_detected:
break
if not power_state_change_detected:
print("FAIL: No Power State Change Detected")
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
locator_info = await sphero.get_locator_info()
print('Original LocatorInfo:')
print('X Pos: {}'.format(locator_info.pos_x))
print('Y Pos: {}'.format(locator_info.pos_y))
print('X Velocity: {}'.format(locator_info.vel_x))
print('Y Velocity: {}'.format(locator_info.vel_y))
print('Speed Over Ground: {}'.format(locator_info.speed_over_ground))
print('Simulating aiming the Sphero')
# Turn on the aiming LED
await sphero.set_back_led(0xFF)
# Turn off auto-correction for yaw tare
await sphero.configure_locator(False)
time.sleep(1)
# Adjust the heading by 90 degrees
await sphero.set_heading(90)
time.sleep(1)
# Turn on auto-correction for yay tare
await sphero.configure_locator(True)
await sphero.set_back_led(0)
locator_info = await sphero.get_locator_info()
print('New LocatorInfo:')
print('X Pos: {}'.format(locator_info.pos_x))
print('Y Pos: {}'.format(locator_info.pos_y))
print('X Velocity: {}'.format(locator_info.vel_x))
print('Y Velocity: {}'.format(locator_info.vel_y))
print('Speed Over Ground: {}'.format(locator_info.speed_over_ground))
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
original_bluetooth_info = await sphero.get_bluetooth_info()
print("Original Bluetooth Info:")
print("Name: {}".format(original_bluetooth_info.name))
print("Bluetooth Address: {}".format(
original_bluetooth_info.bluetooth_address))
print("ID Colors: {}".format(original_bluetooth_info.id_colors))
print("")
print("Trying to set device name to SwervySwerve.")
await sphero.set_device_name("SwervySwerve")
print("Completed set device name.")
print("")
new_bluetooth_info = await sphero.get_bluetooth_info()
print("New Bluetooth Info:")
print("Name: {}".format(new_bluetooth_info.name))
print("Bluetooth Address: {}".format(new_bluetooth_info.bluetooth_address))
print("ID Colors: {}".format(new_bluetooth_info.id_colors))
# Restore the original setting
await sphero.set_device_name(original_bluetooth_info.name)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
original_auto_reconnect_setting = await sphero.get_auto_reconnect()
print("Original Auto Reconnect Setting:")
print("Is Enabled: {}".format(original_auto_reconnect_setting.is_enabled))
print("Seconds After Boot: {}".format(
original_auto_reconnect_setting.seconds_after_boot))
print("")
print("Trying to enable auto reconnect with:")
print("Is Enabled: True")
print("Seconds After Boot: 20")
await sphero.set_auto_reconnect(True, 20)
print("Completed set auto reconnect.")
print("")
new_auto_reconnect_info = await sphero.get_auto_reconnect()
print("New Auto Reconnect Setting:")
print("Is Enabled: {}".format(new_auto_reconnect_info.is_enabled))
print("Seconds After Boot: {}".format(
new_auto_reconnect_info.seconds_after_boot))
print("")
# Restore the original setting
await sphero.set_auto_reconnect(
original_auto_reconnect_setting.is_enabled,
original_auto_reconnect_setting.seconds_after_boot)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
power_state = await sphero.get_power_state()
print("Power State:")
print("Record Version: {}".format(power_state.record_version))
battery_state_string = "Unknown"
if power_state.battery_state is spheropy.Sphero.BATTERY_STATE_CHARGING:
battery_state_string = "Charging"
elif power_state.battery_state is spheropy.Sphero.BATTERY_STATE_OK:
battery_state_string = "OK"
elif power_state.battery_state is spheropy.Sphero.BATTERY_STATE_LOW:
battery_state_string = "Low"
elif power_state.battery_state is spheropy.Sphero.BATTERY_STATE_CRITICAL:
battery_state_string = "Critical"
print("Battery State: {}".format(battery_state_string))
print("Battery Voltage: {}".format(power_state.battery_voltage))
print("Lifetime Number of Recharges: {}".format(
power_state.total_number_of_recharges))
print("Seconds Since Last Recharge: {}".format(
power_state.seconds_awake_since_last_recharge))
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
await sphero.set_back_led(255)
time.sleep(2)
await sphero.set_back_led(0)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
await sphero.set_heading(0)
await sphero.set_heading(90)
await sphero.set_heading(180)
await sphero.set_heading(0)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
locator_info = await sphero.get_locator_info()
print('LocatorInfo:')
print('X Pos: {}'.format(locator_info.pos_x))
print('Y Pos: {}'.format(locator_info.pos_y))
print('X Velocity: {}'.format(locator_info.vel_x))
print('Y Velocity: {}'.format(locator_info.vel_y))
print('Speed Over Ground: {}'.format(locator_info.speed_over_ground))
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
await sphero.set_rgb_led(red=0xFF)
time.sleep(2)
await sphero.set_rgb_led(green=0xFF)
time.sleep(2)
await sphero.set_rgb_led(blue=0xFF)
time.sleep(2)
await sphero.set_rgb_led(red=0xFF, blue=0xFF)
time.sleep(2)
await sphero.set_rgb_led(0xFF, 0xFF, 0xFF)
time.sleep(2)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
original_user_led_color = await sphero.get_rgb_led()
await sphero.set_rgb_led(red=0xFF, save_as_user_led_color=True)
time.sleep(2)
user_led_color = await sphero.get_rgb_led()
if user_led_color != [0xFF, 0x00, 0x00]:
print(
"FAIL: User LED color is not red=0xFF, green=0x00, blue=0x00 as expected. Actual = {}"
.format(user_led_color))
await sphero.set_rgb_led(green=0xFF, save_as_user_led_color=True)
time.sleep(2)
user_led_color = await sphero.get_rgb_led()
if user_led_color != [0x00, 0xFF, 0x00]:
print(
"FAIL: User LED color is not red=0x00, green=0xFF, blue=0x00 as expected. Actual = {}"
.format(user_led_color))
await sphero.set_rgb_led(blue=0xFF, save_as_user_led_color=True)
time.sleep(2)
user_led_color = await sphero.get_rgb_led()
if user_led_color != [0x00, 0x00, 0xFF]:
print(
"FAIL: User LED color is not red=0x00, green=0x00, blue=0xFF as expected. Actual = {}"
.format(user_led_color))
await sphero.set_rgb_led(red=0xFF, blue=0xFF, save_as_user_led_color=True)
time.sleep(2)
user_led_color = await sphero.get_rgb_led()
if user_led_color != [0xFF, 0x00, 0xFF]:
print(
"FAIL: User LED color is not red=0xFF, green=0x00, blue=0xFF as expected. Actual = {}"
.format(user_led_color))
# Restore the original setting
await sphero.set_rgb_led(original_user_led_color[0],
original_user_led_color[1],
original_user_led_color[2],
save_as_user_led_color=True)
time.sleep(2)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
self_level_result_received = False
def handle_complete(result):
nonlocal self_level_result_received
self_level_result_received = True
print(f'Result: {result}')
sphero.on_self_level_complete.append(handle_complete)
await sphero.self_level()
await asyncio.sleep(5)
if not self_level_result_received:
print("FAIL: Result not received.")
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
await sphero.roll(127, 0, wait_for_response=False)
time.sleep(0.5)
await sphero.roll(127, 90)
time.sleep(0.5)
await sphero.roll(127, 180)
time.sleep(0.5)
await sphero.roll(127, 270)
time.sleep(0.5)
await sphero.roll(16, 0)
time.sleep(0.5)
await sphero.roll(255, 180)
time.sleep(0.5)
await sphero.roll(0, 0)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
# Ping the sphero and wait for a response.
# Do this a few times to validate
# sequence_number handling.
await sphero.ping()
await sphero.ping()
await sphero.ping()
# Ping the Sphero a few times,
# but don't wait until all have been started.
await asyncio.gather(sphero.ping(), sphero.ping(), sphero.ping())
# Ping the sphero but don't request/wait for a response
await sphero.ping(wait_for_response=False)
# Don't reset the inactivity timeout
await sphero.ping(wait_for_response=False, reset_inactivity_timeout=False)
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
version_info = await sphero.get_version_info()
print("Version Info:")
print("Record Version: {}".format(version_info.record_version))
print("Model Number: {}".format(version_info.model_number))
print("Hardware Version: {}".format(version_info.hardware_version))
print("Main Sphero Application Version: {}".format(
version_info.main_sphero_app_version))
print("Main Sphero Application Revision: {}".format(
version_info.main_sphero_app_revision))
print("Bootloader Version: {}".format(version_info.bootloader_version))
print("OrbBasic Version: {}".format(version_info.orb_basic_version))
print("Macro Executive Version: {}".format(
version_info.macro_executive_version))
print("Firmware API Major Version: {}".format(
version_info.firmware_api_major_revision))
print("Firmware API Minor Version: {}".format(
version_info.firmware_api_major_revision))
async def main():
script_args = parse_args()
sphero = spheropy.Sphero()
await sphero.connect(num_retry_attempts=3, use_ble=script_args.use_ble)
await sphero.configure_collision_detection(True, 45, 110, 45, 110, 20)
collision_detected = False
def handle_collision(collision_data):
nonlocal collision_detected
collision_detected = True
event_loop = asyncio.new_event_loop()
event_loop.run_until_complete(sphero.roll(0, 0))
event_loop.run_until_complete(sphero.set_rgb_led(red=0xFF))
print("Collision Data:")
print("X Impact: {}".format(collision_data.x_impact))
print("Y Impact: {}".format(collision_data.y_impact))
print("Z Impact: {}".format(collision_data.z_impact))
print("Axis: {}".format(collision_data.axis))
print("X Magnitude: {}".format(collision_data.x_magnitude))
print("Y Magnitude: {}".format(collision_data.y_magnitude))
print("Speed: {}".format(collision_data.speed))
print("Timestamp: {}".format(collision_data.timestamp))
time.sleep(4)
sphero.on_collision.append(handle_collision)
await sphero.set_rgb_led(green=0xFF)
await sphero.roll(127, 0)
await asyncio.sleep(10)
if not collision_detected:
print("FAIL: collision not detected.")
await sphero.roll(0, 0)
await sphero.set_rgb_led(blue=0xFF)
await asyncio.sleep(4)
# Convert it to a numpy.array.
input_data = np.array(random_input, dtype=np.uint8)
benchmark_time = timeit.timeit(
lambda: engine.run_inference(input_data),
number=iterations)
# Time consumed for each iteration (milliseconds).
time_per_inference = (benchmark_time / iterations) * 1000
print(time_per_inference, 'ms (iterations = ', iterations, ')')
return time_per_inference
if __name__ == '__main__':
args = test_utils.parse_args()
machine = test_utils.machine_info()
test_utils.check_cpu_scaling_governor_status()
# Read references from csv file.
model_list, reference = test_utils.read_reference(
'basic_engine_reference_%s.csv' % machine)
total_models = len(model_list)
# Put column names in first row.
results = [('MODEL', 'INFERENCE_TIME')]
for cnt, model in enumerate(model_list, start=1):
print('-------------- Model ', cnt, '/', total_models, ' ---------------')
results.append((model, _run_benchmark_for_model(model)))
test_utils.save_as_csv(
'basic_engine_benchmarks_%s_%s.csv' % (
machine, time.strftime('%Y%m%d-%H%M%S')),
results)
else:
raise NotImplementedError
@timer
def fit_(pca, X, model):
pca.fit(X)
return pca
@timer
def transform_(pca, X, model):
return pca.transform(X)
pca = fit_(pca, X, model=model)
Xpca = transform_(pca, X, model=model)
pca.transformed_result = lambda: None
setattr(pca, 'transformed_result', Xpca)
return pca
if __name__ == '__main__':
args = parse_args()
write_log(args)
test_pca_mortgage(data_source=args.data,
use_assert=args.use_assert,
nrows=args.nrows,
ncols=args.ncols,
quarters=args.quarters,
random_state=args.random_state,
test_model=args.test_model,
threshold=args.threshold)
