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How to use _analyse method in Airtest

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semantic_analyser_test.py

Source:semantic_analyser_test.py

...85                          'void y() { x = 4;}}')8687    def test_param_pass(self):88        """Test parameters can be used within the method body."""89        self._analyse('class X { void x(int y) {int x = y;}}')9091    def test_param_fail(self):92        """Test parameters of one method are not accessible elsewhere."""93        self.assertRaises(SymbolNotFoundError, self._analyse,94                          'class x { void x(int y) {} void z(){int w = y;}}')9596    def test_super_cons_params_no_cons_fail(self):97        """Test that an error is thrown when a class does not have98        a constructor, when the super class has a constructor that99        takes parameters.100        """101        self.assertRaises(ConstructorError, self.analyse_file,102                          'test_super_cons_params_no_cons_fail.jml')103104    def test_super_cons_params_no_params(self):105        """Test that an error is thrown when the super class has a constructor106        which takes parameters, and the sub class has a constructor, but it107        does not call the super classes constructor.108        """109        self.assertRaises(ConstructorError, self.analyse_file,110                          'test_super_cons_params_no_params.jml')111112    def test_multi_constructors_fail(self):113        """Test an error is thrown when a class contains multiple constructors.114        """115        self.assertRaises(ConstructorError, self._analyse,116                          'class X { X() {} X() {} }')117118    def test_method_call_pass(self):119        """Test that there is no error when a call is made to another method120        within the same class.121        """122        self._analyse('class X {void x() {y();} void y(){} }')123124    def test_method_call_fail(self):125        """Test an error is thrown when a method is called which doesn't exist.126        """127        self.assertRaises(SymbolNotFoundError, self._analyse,128                          'class X {void x() {z();} void y(){} }')129130    def test_method_call_args_pass(self):131        """Test that there is no error when the arguments match the method132        signature.133        """134        self._analyse('class X {void x() {long w = 5; y(w + 5);} ' +135                      'void y(long z){} }')136137    def test_method_call_args_length_fail(self):138        """Test an error is thrown when a method is called where no arguments139        are provided when there should be one.140        """141        self.assertRaises(MethodSignatureError, self._analyse,142                          'class X {void x() {y();} void y(long z){} }')143144    def test_method_call_args_wrong_type_fail(self):145        """Test an error is thrown when a method is called where the arguments146        are of the incorrect type.147        """148        self.assertRaises(TypeError, self._analyse,149                          'class X {void x() {boolean w = true; ' +150                          'y(w);} void y(long z){} }')151152    def test_method_return_pass(self):153        """Test that no error is raised when the correct type is returned."""154        self._analyse('class X {short x(){return 6;}}')155156    def test_method_no_return_fail(self):157        """Test that an error is raised when a method does not return anything158        when it's signature states it should.159        """160        self.assertRaises(NoReturnError, self._analyse,161                          'class X {short x(){}}')162163    def test_method_wrong_return_fail(self):164        """Test that an error is raised when a method returns an incorrect165        type.166        """167        self.assertRaises(TypeError, self._analyse,168                          'class X {short x(){return true;}}')169170    def test_method_return_array_pass(self):171        """Test no error raised when a method returns an array"""172        self._analyse('class X {byte[][] x(){return new byte[5][5];}}')173174    def test_method_return_array_fail(self):175        """Test error raised when array is not returned"""176        self.assertRaises(TypeError, self._analyse,177                          'class X {int[] x(){return 1;}}')178179    def test_method_call_external_pass(self):180        """Test no error thrown when a method is called from an object of181        another class."""182        self.analyse_file('test_method_call_external_pass.jml')183184    def test_method_call_external_not_exists_fail(self):185        """Test that an error is raised when a method is called in  another186        class which doesn't exist."""187        self.assertRaises(SymbolNotFoundError, self.analyse_file,188                          'test_method_call_external_not_exists_fail.jml')189190    def test_method_call_external_wrong_type_fail(self):191        """Test that an error is raised when a method is called in another192        class which returns an incompatible type with what the result is being193        assigned to."""194        self.assertRaises(TypeError, self.analyse_file,195                          'test_method_call_external_wrong_type_fail.jml')196197    def test_method_call_super_pass(self):198        """Test no error thrown when a method is invoked that is defined in a199        super class.200        """201        self.analyse_file('test_method_call_super_pass.jml')202203    def test_method_override_final_fail(self):204        """Test that an error is thrown when a subclass attempts to override a205        final method in a super class.206        """207        self.assertRaises(MethodSignatureError, self.analyse_file,208                          'test_method_override_final_fail.jml')209210    def test_method_call_static_pass(self):211        """Test no error thrown when a static method is called from another212        class.213        """214        self.analyse_file('test_method_call_static_pass.jml')215216    def test_method_call_static_not_static_fail(self):217        """Test an error thrown when a method is referenced in a static way218        when it is not static.219        """220        self.assertRaises(StaticError, self.analyse_file,221                          'test_method_call_static_not_static_fail.jml')222223    def test_lib_method_call(self):224        """Test a call to a library class."""225        self._analyse('class X {void x(){Random rand = new Random();' +226                      'float x = rand.nextFloat();}}')227228    def test_lib_method_call_params(self):229        """Test a call to a library class with parameters."""230        self._analyse('class X {void x(){Random rand = new Random();' +231                      'int x = rand.nextInt(10);}}')232233    def test_lib_method_in_super_call(self):234        """Test a method call to a library object where the method is defined235        in its super class.236        """237        self._analyse('class X {void x(){String s = new String();' +238                      'int h = s.hashCode();}}')239240    def test_lib_method_call_fail(self):241        """Test a call to a library class fails when the method does not exist242        in that class."""243        self.assertRaises(SymbolNotFoundError, self._analyse,244                          'class X {void x(){InputStream x = ' +245                          'new InputStream(); x.nextInt();}}')246247    def test_lib_method_interface_call_fail(self):248        """Test a method invokation on an interface, where the object has the249        method, but the interface does not.250        """251        self.assertRaises(SymbolNotFoundError, self._analyse,252                          'class X {void x(){ Readable x = ' +253                          'new BufferedReader();x.close();}}')254255    def test_ref_non_static_field_fail(self):256        """Test that an error is thrown when a non static field is referenced257        from a static method.258        """259        self.assertRaises(StaticError, self._analyse,260                          'class X {int x; X(){x=5;} static void x()' +261                          '{ int y = x;}}')262263    def test_pivate_method_pass(self):264        """Test no error thrown when a private method is called from within265        the same class.266        """267        self._analyse('class X { void x() {} void y() { x();} }')268269    def test_private_method_fail(self):270        """Test an error thrown when a private method is attempted to be271        accessed in another class.272        """273        self.assertRaises(SymbolNotFoundError, self.analyse_file,274                          'test_private_method_fail.jml')275276    def test_object_creator_fail(self):277        """Test that an error is raised when an object is assigned to a278        variable of an incorrect type."""279        self.assertRaises(TypeError, self.analyse_file,280                          'test_object_creator_fail.jml')281282    def test_object_creator_abstact_fail(self):283        """Test an error is thrown when an abstract class is attempted to be284        instantiated.285        """286        self.assertRaises(ObjectCreationError, self.analyse_file,287                          'test_object_creator_abstact_fail.jml')288289    def test_field(self):290        """Test that a field can be accessed from within a method."""291        self._analyse('class X { int x; void x() {x = 5;}}')292293    def test_final_field_assign_fail(self):294        """Test error thrown when assignment is attempted with a final field.295        """296        self.assertRaises(AssignmentError, self._analyse,297                          'class X { static final short y = 5;' +298                          'void x(){y=5;}}')299300    def test_field_ref_external_pass(self):301        """Test no error thrown when a field is referenced in another class.302        """303        self.analyse_file('test_field_ref_external_pass.jml')304305    def test_field_ref_external_fail(self):306        """Test an error thrown when a field is referenced in another class307        that doesn't exist.308        """309        self.assertRaises(SymbolNotFoundError, self.analyse_file,310                          'test_field_ref_external_fail.jml')311312    def test_field_ref_static_pass(self):313        """Test no error thrown when a static field is referenced from314        another class.315        """316        self.analyse_file('test_field_ref_static_pass.jml')317318    def test_field_ref_static_not_static_fail(self):319        """Test an error thrown when a field is referenced in a static way320        when it is not static.321        """322        self.assertRaises(StaticError, self.analyse_file,323                          'test_field_ref_static_not_static_fail.jml')324325    def test_field_ref_super_pass(self):326        """Test no error thrown when a field is referenced that is defined in327        a super class.328        """329        self.analyse_file('test_field_ref_super_pass.jml')330331    def test_pivate_field_pass(self):332        """Test no error thrown when a private field is used in the same class.333        """334        self._analyse('class X { private byte x; X(){x=1;}' +335                      'void y() { byte y = x;} }')336337    def test_private_field_fail(self):338        """Test an error thrown when a private method is attempted to be339        accessed in another class.340        """341        self.assertRaises(SymbolNotFoundError, self.analyse_file,342                          'test_private_field_fail.jml')343344    def test_lib_field_ref(self):345        """Test that a public field can be accessed that is in a library class.346        """347        self._analyse('class X { void x() { int x = Thread.MAX_PRIORITY;}}')348349    def test_lib_field_ref_fail(self):350        """Test that an error is thrown when a field doesn't exist in a351        library class.352        """353        self.assertRaises(SymbolNotFoundError, self._analyse,354                          'class X {void x(){InputStream x = ' +355                          'new InputStream(); int y = x.y;}}')356357    # There are a number of possibilities of possible name clashes -358    # these attempt to check for a few of the, but they are not359    # exhaustive tests360    def test_name_clash_field_type(self):361        """Test an error thrown when there is a name clash between a type362        (class) name and a field name.363        """364        self.assertRaises(VariableNameError, self._analyse,365                          'class X { short X; }')366367    def test_name_clash_param_field(self):368        """Test an error thrown when there is a name clash between a parameter369        name and a field name.370        """371        self.assertRaises(VariableNameError, self._analyse,372                          'class X { short x; void y(byte x){} }')373374    def test_name_clash_local_param(self):375        """Test an error thrown when there is a name clash between a parameter376        name and a local variable name.377        """378        self.assertRaises(VariableNameError, self._analyse,379                          'class X { void y(byte x){int x = 5;} }')380381    def test_name_clash_local_field(self):382        """Test an error thrown when there is a name clash between a field383        name and a local variable name."""384        self.assertRaises(VariableNameError, self._analyse,385                          'class X { double x; void y(){int x = 5;} }')386387    def test_if_pass(self):388        """Test no exception thrown when there is a boolean expression in the389        if statement.390        """391        self.analyse_stmt('if(3 > 1){}')392393    def test_if_fail(self):394        """Test exception thrown when there is no boolean expression in the if395        statement.396        """397        self.assertRaises(TypeError, self.analyse_stmt, 'if(3 - 1){}')398399    def test_while_pass(self):400        """Test no exception thrown when there is a boolean expression in the401        while statement.402        """403        self.analyse_stmt('while(3 > 1){}')404405    def test_while_fail(self):406        """Test exception thrown when there is no boolean expression in the407        while statement.408        """409        self.assertRaises(TypeError, self.analyse_stmt, 'while(3 - 1){}')410411    def test_for_pass(self):412        """Test no exception thrown when there is a boolean expression in the413        for statement.414        """415        self.analyse_stmt('for(int x = 1; x < 2; x=x+1){}')416417    def test_for_fail(self):418        """Test exception thrown when there is no boolean expression in the419        for statement.420        """421        self.assertRaises(TypeError, self.analyse_stmt,422                          'for(int x = 1; x + 2; x=x+1){}')423424    def test_assign_pass(self):425        """Test no exception thrown when the types of both child nodes are426        equal.427        """428        self.analyse_stmt('int x = 1;')429430    def test_assign_undeclared_fail(self):431        """Test exception thrown when an assignment is made, but the variable432        has not been initialised.433        """434        self.assertRaises(NotInitWarning, self.analyse_stmt,435                          'int x; int y = x;')436437    def test_lib_assign(self):438        """Test assigning a library class to a variable."""439        self.analyse_stmt('Date x = new Date();')440441    def test_array_init_pass(self):442        """Test no exception thrown when the type and dimension of the array443        is the same.444        """445        self.analyse_stmt('int arr[] = new int[10];')446447    def test_array_init_type_fail(self):448        """Test exception thrown when the type of an array initialisation is449        incorrect.450        """451        self.assertRaises(TypeError, self.analyse_stmt,452                          'int arr[] = new boolean[10];')453454    def test_array_init_dimension_fail(self):455        """Test exception thrown when the number of dimensions of an array456        initialisation is incorrect.457        """458        self.assertRaises(DimensionsError, self.analyse_stmt,459                          'int arr[] = new int[10][5];')460461    def test_array_element_assign_pass(self):462        """Test no exception thrown when the type and dimension of the array463        is the same.464        """465        self.analyse_stmt('int arr[] = new int[10]; arr[1] = 5;')466467    def test_array_element_assign_type_fail(self):468        """Test exception thrown when the type of an array element assignment469        is incorrent."""470        self.assertRaises(TypeError, self.analyse_stmt,471                          'int arr[] = new int[10]; arr[1] = "hello";')472473    def test_array_element_assign_dimension_fail(self):474        """Test exception thrown when the number of dimensions of an array475        element assignment is incorrent.476        """477        self.assertRaises(TypeError, self.analyse_stmt,478                          'int arr[] = new int[10]; arr[1][2] = 5;')479480    def test_array_assign_undeclared_fail(self):481        """Test exception thrown when an array element assignment is made, but482        the array is not initialised.483        """484        self.assertRaises(NotInitWarning, self.analyse_stmt,485                          'int arr[][]; arr[1][2] = 5;')486487    def test_matrix_init_pass(self):488        """Test no exception thrown when a matrix is initialised."""489        self.analyse_stmt('matrix m = |5,5|;')490491    def test_matrix_element_assign_pass(self):492        """Test no exception thrown when a matrix element is assigned to."""493        self.analyse_stmt('matrix m = |5,5|; m|1,3| = 1;')494495    def test_matrix_element_assign_type_fail(self):496        """Test exception thrown when the type of an array element assignment497        is incorrect."""498        self.assertRaises(TypeError, self.analyse_stmt,499                          'matrix m = |5,5|; m|4,4| = "hello";')500501    def test_matrix_assign_undeclared_fail(self):502        """Test exception thrown when a matrix element assignment is made, but503        the matrix is not initialised.504        """505        self.assertRaises(NotInitWarning, self.analyse_stmt,506                          'matrix m; m|0,0| = 5;')507508    def test_cond_pass(self):509        """Test no exception thrown when the types of both child nodes are510        boolean.511        """512        self.analyse_stmt('3 < 4 || 3 > 5;')513514    def test_cond_fail(self):515        """Test exception thrown when the child nodes are not boolean."""516        self.assertRaises(TypeError, self.analyse_stmt, '5&&6;')517518    def test_eq_pass(self):519        """Test no exception thrown when the types of both child nodes are520        equal.521        """522        self.analyse_stmt('"hi" != "hello";')523524    def test_eq_fail(self):525        """Test exception thrown when the child nodes are not equal."""526        self.assertRaises(TypeError, self.analyse_stmt, '3 == true;')527528    def test_relational_pass(self):529        """Test no exception thrown when the types of both child nodes are int.530        """531        self.analyse_stmt('3 <= 4;')532533    def test_relational_fail(self):534        """Test exception thrown when the child nodes are not int."""535        self.assertRaises(TypeError, self.analyse_stmt, 'true > "x";')536537    def test_additive_pass(self):538        """Test no exception thrown when the types of both child nodes are int.539        """540        self.analyse_stmt('2-1;')541542    def test_additive_fail(self):543        """Test exception thrown when the child nodes are not int."""544        self.assertRaises(TypeError, self.analyse_stmt, 'true+"x";')545546    def test_concat_pass(self):547        """Test that two strings can be concatenated."""548        self.analyse_stmt('"Hell" + "o";')549550    def test_concat_fail(self):551        """Test that an error is thrown when a string is concatenated with a552        non string.553        """554        self.assertRaises(TypeError, self.analyse_stmt, '"Hell" + 1;')555556    def test_mult_pass(self):557        """Test no exception thrown when the types of both child nodes are int.558        """559        self.analyse_stmt('2*1;')560561    def test_mult_fail(self):562        """Test exception thrown when the child nodes are not int."""563        self.assertRaises(TypeError, self.analyse_stmt, 'true/"x";')564565    def test_not_pass(self):566        """Test no exception thrown when the type of the child node is boolean.567        """568        self.analyse_stmt('!true;')569570    def test_not_fail(self):571        """Test exception thrown when the child node is not boolean."""572        self.assertRaises(TypeError, self.analyse_stmt, '!3;')573574    def test_neg_pass(self):575        """Test no exception thrown when the type of the child node is int."""576        self.analyse_stmt('-1;')577578    def test_neg_fail(self):579        """Test exception thrown when the child node is not int."""580        self.assertRaises(TypeError, self.analyse_stmt, '-"x";')581582    def test_inc_pass(self):583        """Test no exception thrown when the type of the child node is int."""584        self.analyse_stmt('int x = 1; x++;')585586    def test_dec_fail(self):587        """Test exception thrown when the child node is not int."""588        self.assertRaises(TypeError, self.analyse_stmt, '--"x";')589590    # The next section tests the implicit conversion of numerical primitive591    # data types592    # It would take many tests to test this exaustively, so a representative593    # subset of the possibilities is tested below594595    def test_convert_char_int(self):596        """Test a char can be multiplied by an int and the * node's type597        becomes int.598        """599        node = self.analyse_stmt("'a'*1;")600        self.assertEqual(self.get_type_node(node), "int")601602    def test_convert_int_long(self):603        """Test an int can be divided by a long and the / node's type becomes604        long.605        """606        node = self.analyse_stmt('100/10L;')607        self.assertEqual(self.get_type_node(node), "long")608609    def test_convert_long_float(self):610        """Test a long can be added to a float and the + node's type becomes611        float.612        """613        node = self.analyse_stmt('1L+10F;')614        self.assertEqual(self.get_type_node(node), "float")615616    def test_convert_int_double(self):617        """Test a float can be subtracted by a double and the - node's type618        becomes double.619        """620        node = self.analyse_stmt('10-5.5D;')621        self.assertEqual(self.get_type_node(node), "double")622623    ## HELPER METHODS ##624625    def analyse_stmt(self, stmt):626        """Helper method used so that single line code can be tested without627        having to declare a class and method for it to go in.628        """629        return self._analyse("""630                             class X {631                                 void x() {632                                     """ +633                                     stmt +634                                     """635                                 }636                             }637                             """)638639    def analyse_file(self, file_name):640        """Helper method to allow the semantic analyser to be run on a641        particular file in the test_files folder.642        """643        path = os.path.join(self._file_dir, file_name)644        return self._analyse(path)645646    def get_type_node(self, root):647        """Helper method for use by the conversion tests to get the648        type node from the AST.649        Must get the correct child of these nodes:650        class651        class_body652        method_dcl653        block654        <numerical op node>655        <the left child of that>656        """657        block_node = root[0][0].children[3].children[0].children[3]658        return block_node.children[0].type_

Robot.py

Source:Robot.py

1#-*- coding: utf-8 -*-2import sys3import threading4from naoqi import ALProxy5import Action as action6from Analyse.Analyse import *7from Node import *8import time910xml = 'C:\\Users\\Youssef\\Downloads\\ball_cascade.xml'1112class Robot(threading.Thread):13    """ 14    class define every robot15    """16    PORT = 95591718    def __init__(self,ip,role,strat,coach):19        threading.Thread.__init__(self)20        self.arretthread = False21        self.coach = coach22        self.pos = None23        self.ip = ip24        self.role = role25        self.ready = False2627        # connection to the differentes modules28        self.tpMotion = self.connectProxy("ALMotion")29        self.tpPosture = self.connectProxy("ALRobotPosture")30        self.tpLed = self.connectProxy("ALLeds")3132        # booleane to confirm if every proxy are available33        self.running = self.tpMotion[0] and self.tpPosture[0] and self.tpLed[0]34        if self.running:35            self.motionProxy = self.tpMotion[1]36            self.postureProxy = self.tpPosture[1]37            self.ledProxy = self.tpLed[1]38            self.analyse = Analyse(self.ip,PORT)3940    def stop(self):41        """42        stop threads43        """44        self.arretthread = True4546    def trace(self, frame, event, arg):47        """48        force stoping49        """50        if event=='line':51            if self.arretthread:52                raise SystemExit()53        return self.trace5455    def run(self):56        """57        run thread58        """59        if self.running:60            try:61                sys.settrace(self.trace)62                self.IA(Phase.Initial)63                self.IA(Phase.Ready)6465                sys.settrace(None)66            except:67                sys.settrace(None)6869    def connectProxy(self,module):70        """71        make a connection proxy to the robot72        """73        try:74            75            return True, ALProxy(module, self.ip, PORT)76        except Exception,e:77            print "Could not create proxy to ",module78            print "Error was: ",e79        return (False,)8081    def get_pos(self):82        return self.pos8384    def set_pos(self,pos):85        self.pos = pos8687    def play(condition,x,y):88        """89        playing routine90        91        # we scan the ground to detect the ball92        if self.scanForBall():93            # if the ball is in the playing area according to the role and in the playing area94            if condition and self.coach.perimeterGround.perimeter(self.coach.posBall):95                # we move until we are near96                if self.moveToBall():97                    # if we are in the firing range and in the alignment of the cages98                    if self.coach.perimeterShoot.perimeter() and alignement():99                        # we shoot100                        action.shoot()101                    # otherwise if there is an obstacle102                    elif obstacle():103                        # we try to make a pass104                        if self.coach.passBall():105                            action.passTo(pos)106                        # otherwise we bypass107                        else:108                            action.contourne()109                    # otherwise we place ourselves in the perimeter and we align ourselves110                    else:111                        action.moveTo(self.coach.posCage)112                        action.turn(self.motionProxy,degree)113            else:114                action.moveTo(Point2D(x,y))115        """116        pass117118    def IA(self,gamePhase):119        """120        decision per phase of robot121        """122        if gamePhase == Phase.Initial:123            # BLUE COLOR124            self.ledProxy.fadeListRGB('ChestLeds', [0x000000ff], [0])125            # declare his actual position as his origin/home (function)126            self.IA(Phase.Set)127128        elif gamePhase == Phase.Set:129            # YELLOW COLOR130            self.ledProxy.fadeListRGB('ChestLeds', [0x00f5bb19], [0])131            if self.coach.kickoff:132                if self.role == Role.LATTACKER:133                    action.moveTo(Role[2])134                    self.scanForBall()135                else:136                    action.moveTo(Role[1])137            # turn to be in front of the enemy goal138            action.turn(self.motionProxy,degresOfTurn)139            while not self.ready:140                continue141142        elif gamePhase == Phase.Ready:143            # wait sonor signal (function)144            self.IA(Phase.Playing)145146        elif gamePhase == Phase.Playing:147            # GREEN COLOR148            self.ledProxy.fadeListRGB('ChestLeds', [0x0000ff00], [0])149            # according to the role150            if self.role == Role.LATTACKER:151                # if we have the kickoff152                if self.coach.kickoff:153                    action.shoot()154                while self.coach.timer.minute < 10:155                    #play((self.coach.posBall.get_y() > -0.75 and coach.posBall.get_x() < 0),-0.75,0)156                    break157                    158            elif self.role == Role.RATTACKER:159                while self.coach.timer.minute < 10:160                    #play((self.coach.posBall.get_y() > -0.75 and coach.posBall.get_x() > 0),0.75,0)161                    break162                163            elif self.role == Role.LDEFENSE:164                while self.coach.timer.minute < 10:165                    #play((self.coach.posBall.get_y() < -0.75 and coach.posBall.get_x() > 0),-0.75,-3)166                    break167                168            elif self.role == Role.RDEFENSE:169                while self.coach.timer.minute < 10:170                    #play((self.coach.posBall.get_y() < -0.75 and coach.posBall.get_x() > 0),0.75,-3)171                    break172173            elif self.role == Role.GOAL:174                while self.coach.timer.minute < 10:175                    """176                    # if the ball comes into our camp, the robot moves according to it177                    if self.coach.posBall.get_y() > -2:178			            if self.coach.posBall.get_x() < 0:179				            action.moveTo(Point2D(-1,-4.2))180			            elif self.coach.posBall.get_() > 0:181				            action.moveTo(Point2D(1,-4.2))182                    # if it enters the perimeter of the keeper, he sits down to protect the cages183                    if self.coach.perimeterGardian.perimeter(self.coach.posBall):184                        action.defense(self.postureProxy,self.motionProxy,10)185                    """186                    break187188        elif gamePhase == Phase.Penalized:189            # RED COLOR190            self.ledProxy.fadeListRGB('ChestLeds', [0x00FF0000], [0])191            time.sleep(40)192            self.IA(Phase.Playing)193194        elif gamePhase == Phase.Finished:195            self.ledProxy.fadeListRGB('ChestLeds', [0x0000000], [0])196            self.stop()197198    def scanForBall(self):199        """200        The robot scans the field by looking around for201        the ball. Once the ball is found, it moves its202        body to face the ball203        """204        self._analyse._takeTopImage(xml)205        self._analyse._takeBottomImage(xml)206        self._motionProxy.angleInterpolation("HeadPitch", [0.1], [1.0], True)207        self._motionProxy.setStiffnesses("HeadPitch", 1)208        t1 = time.time()209        t2 = time.time() - t1210        #While ball is not found211        while (self._analyse._ballAreaTop == -1 and self._analyse._ballAreaBottom == -1 and t2 <12):212            self._analyse._takeTopImage(xml)213            self._analyse._takeBottomImage(xml)214            Action.lookAround(self._motionProxy)215            t2 = time.time() - t1216217        #The robot and head face the ball218        Action.turnBodyToHeadAngle(self._motionProxy)219220    def moveToBall(self):221        """222        The robot moves towards the ball223        :return: exit state. If ball is lost (0) or if ball is at robots feet(1)224        """225        x = 0.6226        y = 0.0227        z = 0.0228229        #Fix head angle230        self._motionProxy.angleInterpolation("HeadYaw",[0.0], [1.0],True)231        self._motionProxy.angleInterpolation("HeadPitch", [0.1], [1.0], True)232        self._motionProxy.setStiffnesses("HeadPitch", 0)233234        self._analyse._takeTopImage(xml)235        self._analyse._takeBottomImage(xml)236        #While the ball is visible in the camera and it is not near the feet237        while ((self._analyse._ballAreaBottom != -1 or self._analyse._ballAreaTop != -1) and238               (self._analyse._ballGridLocationBottom[0] != [3] and239               self._analyse._ballGridLocationBottom[1] != [1])240241        ):242            self._motionProxy.post.move(x, y, z)243            #An image is taken244            self._analyse._takeBottomImage(xml)245            self._analyse._takeTopImage(xml)246247            #If the ball is perceived towards the right248            if (self._analyse._ballGridLocationBottom[1] == 3 or249                self._analyse._ballGridLocationTop[1] == 3250            ):251                #The robot looks and moves towards the ball252                x = 0253                z = 0.2254255256            #if the ball is perceived towards the left257            elif (self._analyse._ballGridLocationBottom[1] == 0 or258                  self._analyse._ballGridLocationTop[1] == 0259            ):260                # The robot looks and moves towards the261                x = 0262                z = -0.2263264265            #If the ball is perceived around the center266            else:267                if (x<1):268                    x = x + 0.2269                z = 0.0270271        self._motionProxy.stopMove()272        self._motionProxy.move(0.0,0.0,0.0)273274        #If ball is lost return 0275        if (self._analyse._ballAreaBottom != -1):276            return False277        #If ball is at feet return 1278        elif (self._analyse._ballGridLocationBottom == [3,1] or279               self._analyse._ballGridLocationBottom ==[3,2]280        ):281            return True282283#******************     TEST Robot    *********************#284285if __name__ == "__main__":286287288    robot = Robot("faux",'role')289    #robot.moveToBall()290    #ret = robot.moveToBall()291    #print(ret)292    #robot._analyse._vision._unsubscribeAll()293294    #Action.turnBodyToHeadAngle(robot._motionProxy)
...

recipe-496984.py

Source:recipe-496984.py

...43        else:44            result[atomtype]= s[offset+12:offset+atomsize]45        offset+= atomsize46    return result47def _analyse(fp, offset0, offset1):48    "Walk the atom tree in a mp4 file"49    offset= offset050    while offset < offset1:51        fp.seek(offset)52        atomsize= struct.unpack("!i", fp.read(4))[0]53        atomtype= fp.read(4)54        if atomtype in flagged[CONTAINER]:55            data= ''56            for reply in _analyse(fp, offset+(atomtype in flagged[SKIPPER] and 12 or 8),57                offset+atomsize):58                yield reply59        else:60            fp.seek(offset+8)61            if atomtype in flagged[TAGITEM]:62                data=fp.read(atomsize-8)[16:]63                if atomtype in flagged[NOVERN]:64                    data= struct.unpack("!ii", data)65            elif atomtype in flagged[XTAGITEM]:66                data= _xtra(fp.read(atomsize-8))67            else:68                data= fp.read(min(atomsize-8, 32))69        if not atomtype in flagged[IGNORE]: yield atomtype, atomsize, data70        offset+= atomsize71def mp4_atoms(pathname):72    fp= open(pathname, "rb")73    fp.seek(0,2)74    size=fp.tell()75    for atom in _analyse(fp, 0, size):76        yield atom77    fp.close()78class M4ATags(dict):79    "An example class reading .m4a tags"80    cvt= {81        'trkn': 'Track',82        '\xa9ART': 'Artist',83        '\xa9nam': 'Title',84        '\xa9alb': 'Album',85        '\xa9day': 'Year',86        '\xa9gen': 'Genre',87        '\xa9cmt': 'Comment',88        '\xa9wrt': 'Writer',89        '\xa9too': 'Tool',...

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