How to use handle_steps method in grail

Best Python code snippet using grail_python

test_bdi_step_translator.py

Source:test_bdi_step_translator.py

...114        plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)115        lc = lcm.LCM()116        lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())117        translator = BDIStepTranslator()118        def handle_steps(channel, msg_data):119            msg = atlas.behavior_step_params_t.decode(msg_data)120            self.assertAlmostEqual(msg.desired_step_spec.foot.position[0], 0.04)121            self.assertAlmostEqual(msg.desired_step_spec.foot.position[1], 0)122            self.assertAlmostEqual(msg.desired_step_spec.foot.position[2], 0)123            self.assertAlmostEqual(msg.desired_step_spec.foot.normal[0], 0)124            self.assertAlmostEqual(msg.desired_step_spec.foot.normal[1], 0)125            self.assertAlmostEqual(msg.desired_step_spec.foot.normal[2], 1)126            self.assertEqual(msg.use_spec, True)127        lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)128        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())129        lc.handle()130        # import pdb; pdb.set_trace()131        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)132        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[1], 0)133        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[2], 0)134        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[0], 0)135        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[1], 0)136        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[2], 1)137        self.assertEqual(translator.use_spec, True)138        plotter = BDIStepTranslator(mode=Mode.plotting)139        plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())140    def test_walking(self):141        plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_WALKING)142        lc = lcm.LCM()143        lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())144        translator = BDIStepTranslator()145        def handle_steps(channel, msg_data):146            msg = atlas.behavior_walk_params_t.decode(msg_data)147            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[0], 0.04)148            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[1], 0)149            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[2], 0)150            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[0], 0)151            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[1], 0)152            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[2], 1)153            self.assertEqual(msg.use_spec, True)154        lc.subscribe('ATLAS_WALK_PARAMS', handle_steps)155        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())156        lc.handle()157        plotter = BDIStepTranslator(mode=Mode.plotting)158        plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())159        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)160        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[1], 0)161        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[2], 0)162        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[0], 0)163        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[1], 0)164        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[2], 1)165        self.assertEqual(translator.use_spec, True)166    def test_stop_walking(self):167        plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)168        translator = BDIStepTranslator()169        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())170        def handle_steps(channel, msg_data):171            msg = atlas.behavior_step_params_t.decode(msg_data)172            self.assertEqual(msg.desired_step_spec.step_index, -1)173        lc = lcm.LCM()174        lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)175        translator.handle_stop_walking('STOP_WALKING', None)176        lc.handle()177    def test_stop_walking_no_queue(self):178        translator = BDIStepTranslator()179        def handle_steps(channel, msg_data):180            msg = atlas.behavior_step_params_t.decode(msg_data)181            self.assertEqual(msg.desired_step_spec.step_index, -1)182        lc = lcm.LCM()183        lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)184        translator.handle_stop_walking('STOP_WALKING', None)185        lc.handle()186    def test_atlas_status(self):187        plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)188        lc = lcm.LCM()189        lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())190        translator = BDIStepTranslator()191        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())192        self.assertEqual(translator.delivered_index, 1)193        status = atlas.status_t()194        status.step_feedback = atlas.step_feedback_t()195        status.step_feedback.next_step_index_needed = 2196        translator.executing = True197        translator.handle_atlas_status('ATLAS_STATUS', status)198        translator.executing = False199        self.assertEqual(translator.delivered_index, 2)200    def test_terrain_clearance(self):201        plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)202        translator = BDIStepTranslator()203        def handle_steps(channel, msg_data):204            msg = atlas.behavior_step_params_t.decode(msg_data)205            self.assertAlmostEqual(msg.desired_step_spec.action.lift_height, plan.footsteps[2].params.bdi_lift_height + plan.footsteps[2].terrain_height[1])206        lc = lcm.LCM()207        lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)208        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())209        lc.handle()210    def test_deprecated_stepping(self):211        plan = self.generate_deprecated_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)212        lc = lcm.LCM()213        lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())214        translator = BDIStepTranslator()215        def handle_steps(channel, msg_data):216            msg = atlas.behavior_step_params_t.decode(msg_data)217            self.assertAlmostEqual(msg.desired_step_spec.foot.position[0], 0.04)218            self.assertAlmostEqual(msg.desired_step_spec.foot.position[1], 0)219            self.assertAlmostEqual(msg.desired_step_spec.foot.position[2], 0)220            self.assertAlmostEqual(msg.desired_step_spec.foot.normal[0], 0)221            self.assertAlmostEqual(msg.desired_step_spec.foot.normal[1], 0)222            self.assertAlmostEqual(msg.desired_step_spec.foot.normal[2], 1)223            self.assertEqual(msg.use_spec, True)224        lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)225        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())226        lc.handle()227        # import pdb; pdb.set_trace()228        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)229        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[1], 0)230        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[2], 0)231        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[0], 0)232        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[1], 0)233        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[2], 1)234        self.assertEqual(translator.use_spec, True)235        plotter = BDIStepTranslator(mode=Mode.plotting)236        plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())237    def test_deprecated_walking(self):238        plan = self.generate_deprecated_plan(drc.footstep_opts_t.BEHAVIOR_BDI_WALKING)239        lc = lcm.LCM()240        lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())241        translator = BDIStepTranslator()242        def handle_steps(channel, msg_data):243            msg = atlas.behavior_walk_params_t.decode(msg_data)244            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[0], 0.04)245            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[1], 0)246            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[2], 0)247            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[0], 0)248            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[1], 0)249            self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[2], 1)250            self.assertEqual(msg.use_spec, True)251        lc.subscribe('ATLAS_WALK_PARAMS', handle_steps)252        translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())253        lc.handle()254        plotter = BDIStepTranslator(mode=Mode.plotting)255        plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())256        self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)...

binance_test.py

Source:binance_test.py

...41        print("an exception occured - {}".format(e))42        print('error : ',quantity)43        return False44    return True45def handle_steps(side='BUY',bidask_price=1,min_trade_qty=0.000001,step=0,46                 target_asset='BTC',base_asset='USDT',pair='BTCUSDT'):47    base_qty = float(client.get_asset_balance(base_asset)['free'])48    print('Step {}:Converting {} to {}'.format(step,base_asset,target_asset))49    print("Available {}: ".format(base_asset), base_qty)50    if side == "BUY":51        # bidask_price = lowest ask price52        if min_trade_qty == 1:53            tgt_qty = int(math.floor(float(base_qty/bidask_price)*0.95))54            print('Symbol Ask = ', bidask_price)55        else:56            x = float(base_qty/bidask_price)*0.9557            y = min_trade_qty58            tgt_qty = utils.floor_rounding(x,y,max_rounding=8)59            print('Symbol Ask = ', bidask_price)60    else:61        # Sell testcase62        # bidask_price = bid_price63        if min_trade_qty == 1:64            tgt_qty = base_qty - base_qty%165            print('Symbol Ask = ', bidask_price)66        else:67            x = base_qty68            y = min_trade_qty69            tgt_qty = utils.floor_rounding(x,y,max_rounding=8)70            print('Symbol Ask = ', bidask_price)71    f = order(side, tgt_qty, pair)72    print('Conversion Successful' if f==True else 'Conversion Failed')73    print()74try:75    while True:76        snap = client.get_orderbook_tickers()77        # print(snap)78        tmp = {}79        for i in snap:80            tmp[i['symbol']] = i81        # print(tmp)82        # print('Data processed')83        for i in range(len(usdt_symbols)):84            for j in range(len(symbols)):85                if 'USDT' in symbols[j]:86                    continue87                try:88                    first_usdt_ask = float(tmp[usdt_symbols[i]]['askPrice'])89                    s = usdt_symbols[i][:-len('USDT')]90                    if is_suffix(s,symbols[j]):91                        symbol_ask = float(tmp[symbols[j]]['askPrice'])92                        # print('1   ------>   ',first_usdt_ask)93                        # print('2   ------>   ',symbol_bid)94                        p = symbols[j][:-len(s)]95                        second_usdt_bid = float(tmp[p+'USDT']['bidPrice'])96                        # print('3   ------>   ',second_usdt_bid)97                        profit = ((((1/first_usdt_ask)/symbol_ask)*second_usdt_bid)-1)*10098                        profit = profit99                        # print(profit)100                        # print(usdt_symbols[i], '->', symbols[j], '->', p + 'USDT')101                        # print('q1 = ',q1,'q2 = ',q2,'q3 = ',q3)102                        if profit>0.1:103                            # Step 1104                            handle_steps(side='BUY', bidask_price=first_usdt_ask,min_trade_qty=0.000001,step=1,105                                         target_asset=usdt_symbols[i].split('USDT')[0],106                                         base_asset='USDT',pair=usdt_symbols[i])107                            # Step 2108                            handle_steps(side='BUY',bidask_price=symbol_ask,min_trade_qty=min_trade_qty[symbols[j]],step=2,109                                         target_asset=symbols[j].split(s)[0],110                                         base_asset=s,pair=symbols[j])111                            # Step 3112                            handle_steps(side='SELL',min_trade_qty=min_trade_qty[p+'USDT'],113                                         step=3,target_asset='USDT',114                                         base_asset=p,pair=p+'USDT')115                            print(usdt_symbols[i],'->',symbols[j],'->',p+'USDT','profit =',profit)116                            tmp1 = float(client.get_asset_balance('USDT')['free'])117                            print('Available USDT: ', tmp1, usdt_symbols[i])118                            print()119                            print()120                            print()121                    else:122                        # print('pofit problem')123                        continue124                        # symbol_bid = tmp[j]['bidPrice']125                        # p = j[:-len(s)]126                        # second_usdt_bid = tmp[p+'USDT']['askPrice']...

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