How to use qr method in localstack

Best Python code snippet using localstack_python

qr_reader.py

Source:qr_reader.py

1#!/usr/bin/env python2# Implementazione della classe QR_Reader. 3# Stima la posa globale (wrt MAP frame) della carrozzina utilizzando le informazioni pubblicate dal nodo visp_auto_tracker.4# NB: I qr code devono essere orientati con l'angolo vuoto in basso a destra rispetto alla posizione iniziale della carrozzina.5#6# Modalita di funzionamento: 7#    -) gazebo: viene usato l'orientamento da gazebo per la stima della posa8#    -) odom: viene usato l'orientamento dall'odometria per la stima della posa9#    -) imu: viene usato l'orientamento dall'imu per la stima della posa10#    -) qr: l'orientamento viene stimato dall'inclinazione dell'immagine. in questa modalita, per la stima vengono usati solo dati ottenuti dall'immagine.11#12# Subscribed Topics:13#    -) /visp_auto_tracker/object_position_covariance14#    -) /visp_auto_tracker/code_message15#    -) /odometry/ekf_odom                               solo in modalita odom16#    -) /odometry/ground_truth_odom                      solo in modalita gazebo17#    -) /imu/data                                        solo in modalita imu18#    19# Published Topics:20#    -) /qr_pose21# 22# Attributes: 23#    -) pose: 4x4 matrix, posizione stimata24#25# Methods: 26#    -) get_pose(): ritorna True se e possibile calcolare la posa, mettendo il risultato in obj.pose. Viceversa, ritorna False.27#    -) publish(T): pubblica la posa (T 4x4) in formato PoseWithCovarianceStamped sull'output topic /qr_pose.28import rospy29import numpy as np30import tf31import math32from geometry_msgs.msg import PoseWithCovarianceStamped33from nav_msgs.msg import Odometry34from sensor_msgs.msg import Imu35from std_msgs.msg import String36class QR_Reader ():37    def __init__(self, mode = 'gazebo'):38    39        #############      Public Attributes      #############40        41        self.pose = None                                                                # Tf finale MAP -> BASE_FOOTPRINT42        43        44        #############      Protected Attributes      #############45        46        self.t = tf.TransformListener()47        48        self._mode = mode      49        self._available_modes = ("imu", "odom", "qr", "gazebo")50        self._check_params()51        52        self.qr_pos = np.ones((4,1))                                                    # Posizione del qr dal topic object_position_covariance53        self.qr_orientation = [0,0,0,1]                                                 # Orientamento del qr dal topic object_position_covariance54        self.qr_covariance = None                                                       # Covarianza del qr dal topic object_position_covariance55        self.qr_map = np.zeros((3,1))                                                   # Posizione assoluta del qr dal topic code_message56        self.model_orientation = [0,0,0,1]                                              # Orientamento carrozzina dall'odometria57        self.imu_model_orientation = [0,0,0,1]                                          # Orientamento carrozzina dall'imu58        self.gazebo_model_position = [None,None,None]                                   # Posizione carrozzina da Gazebo59        self.gazebo_model_orientation = [0,0,0,1]                                       # Orientamento carrozzina da Gazebo60        61        62        self.room = 0                                                                   # ID dell'ambiente (attualmente inutilizzato)63        self.qr_presence = False                                                        # Presenza o no di un qr nell'inquadratura   64        65        self.T_l2r = np.array([[1,0,0,0],[0,0,1,0],[0,1,0,0],[0,0,0,1]])                # T da frame immagine sx a dx66        self.R_imm_QR = np.array([[0,0,-1,0],[1,0,0,0],[0,-1,0,0],[0,0,0,1]])           # R da frame immagine dx a QR 67        self.T_cam_bf = None                                                            # Tf CAMERA_LINK -> BASE_FOOTPRINT68        self.R_cam = None                                                               # R CAM -> CAMERA_LINK69        70        self.qr_pos_sub = rospy.Subscriber("/visp_auto_tracker/object_position_covariance", PoseWithCovarianceStamped, self._qr_pos_callback)71        self.qr_msg_sub = rospy.Subscriber("/visp_auto_tracker/code_message", String, self._qr_msg_callback)72        if self._mode == "odom": 73            self.odom_sub = rospy.Subscriber("/odometry/ekf_odom", Odometry, self._odom_sub_callback)74        if self._mode == "gazebo": 75            self.gazebo_sub = rospy.Subscriber("/odometry/ground_truth_odom", Odometry, self._gazebo_sub_callback)76        if self._mode == "imu":     77            self.imu_sub = rospy.Subscriber("/imu/data", Imu, self._imu_sub_callback)78        79        self.pub = rospy.Publisher("qr_pose", PoseWithCovarianceStamped, queue_size = 10)80        81        self._exit_code = 0 82        rospy.on_shutdown(self._shutdown)83        self._init_transforms()84        85        rospy.loginfo("QR Reader started in %s mode." % self._mode)86        87        88        89    #############      Public Methods      #############90    91    def get_pose (self):92    93        if self.qr_presence:    94            # Trasformo posizione e orientamento del qr da frame immagine sx a dx95            new_pos, new_quat = self._left_hand_to_right_hand_frame(self.T_l2r)96            97            # Trovo la rotazione R_qr per compensare la rotazione del frame immagine dovuta al yaw della carrozzina, per poi trasformarlo in QR98            R_qr = self._get_qr_orientation(new_quat)99            100            # Trasformo il vettore qr_pos dal frame immagine al frame QR, che e orientato come MAP e centrato nel qr code.101            R_qr_cam = tf.transformations.concatenate_matrices(R_qr,self.R_imm_QR)102            p_qr_cam = np.dot(R_qr_cam,new_pos) 103            104            # Calcolo la tf MAP -> QR. La traslazione corrisponde alle coordinate scritte nel qr code, mentre l'orientamento e lo stesso.105            T_map_qr = self.t.fromTranslationRotation(self.qr_map.T,(0,0,0,1))106            107            # Calcolo la tf QR -> CAM. La traslazione e il vettore trasformato p_qr_cam, la rotazione e l'orientamento della carrozzina.108            T_qr_cam = R_qr109            T_qr_cam[:,3] = p_qr_cam.T110            111            # Concateno le tf MAP -> QR -> CAM -> CAMERA_LINK -> BASE_FOOTPRINT112            T_map_bf = tf.transformations.concatenate_matrices(T_map_qr,T_qr_cam,self.R_cam,self.T_cam_bf)113            self.pose = T_map_bf114            return True115        return False116    117    def publish (self, T):118        119        pos = tf.transformations.translation_from_matrix(T)120        quat = tf.transformations.quaternion_from_matrix(T)121        122        msg = PoseWithCovarianceStamped()123        msg.header.stamp = rospy.Time.now()124        msg.header.frame_id = "map"125        msg.pose.pose.position.x = pos[0]126        msg.pose.pose.position.y = pos[1]127        msg.pose.pose.position.z = pos[2]128        msg.pose.pose.orientation.x = quat[0]129        msg.pose.pose.orientation.y = quat[1]130        msg.pose.pose.orientation.z = quat[2]131        msg.pose.pose.orientation.w = quat[3]132        133        msg.pose.covariance = self.qr_covariance134        135        self.pub.publish(msg)136    137    138    #############      Protected Methods     #############139    140    def _exit_code_bindings (self, code):141        _errors = { 142            20: "Timeout occurred while waiting for transform.",143            21: "An error occurred while getting the transform.",144        } 145        146        _warnings = { 147            10: "", 148        } 149        150        _info = { 151            0: "QR Reader is shutting down.", 152        } 153        154        if code in _info.keys():155                code_type = 0156                exit_message = _info.get(code) 157                158        if code in _warnings.keys():159                code_type = 1160                exit_message = _warnings.get(code) 161                162        if code in _errors.keys():163                code_type = 2164                exit_message = _errors.get(code) 165                166        return (code_type, exit_message)167    168    def _shutdown(self):169        type, error_message = self._exit_code_bindings(self._exit_code)170        171        if type == 0:172            rospy.loginfo(error_message)173        if type == 1:174            rospy.logwarn(error_message)175        if type == 2:176            rospy.logerr(error_message)177    def _qr_pos_callback (self, msg):        178        self.qr_pos[0] = msg.pose.pose.position.x179        self.qr_pos[1] = msg.pose.pose.position.y180        self.qr_pos[2] = msg.pose.pose.position.z181        182        self.qr_orientation[0] = msg.pose.pose.orientation.x183        self.qr_orientation[1] = msg.pose.pose.orientation.y184        self.qr_orientation[2] = msg.pose.pose.orientation.z185        self.qr_orientation[3] = msg.pose.pose.orientation.w186        187        self.qr_covariance = msg.pose.covariance188    def _qr_msg_callback (self, msg):189        # Pattern del messaggio del QR: "#xx#yy#zz#rr"        190        if msg.data != "":191            _var = msg.data.split("#")192            self.qr_map[0] = _var[1]193            self.qr_map[1] = _var[2]194            self.qr_map[2] = _var[3]195            self.room = _var[4]196            self.qr_presence = True197        else:198            self.qr_presence = False199    200    def _odom_sub_callback (self, msg):201        202        self.model_orientation[0] = msg.pose.pose.orientation.x203        self.model_orientation[1] = msg.pose.pose.orientation.y204        self.model_orientation[2] = msg.pose.pose.orientation.z205        self.model_orientation[3] = msg.pose.pose.orientation.w206        207    def _gazebo_sub_callback (self, msg):208        self.gazebo_model_position[0] = msg.pose.pose.position.x209        self.gazebo_model_position[1] = msg.pose.pose.position.y210        self.gazebo_model_position[2] = msg.pose.pose.position.z211        212        self.gazebo_model_orientation[0] = msg.pose.pose.orientation.x213        self.gazebo_model_orientation[1] = msg.pose.pose.orientation.y214        self.gazebo_model_orientation[2] = msg.pose.pose.orientation.z215        self.gazebo_model_orientation[3] = msg.pose.pose.orientation.w216        217    def _imu_sub_callback (self, msg):218    219        self.imu_model_orientation[0] = msg.orientation.x220        self.imu_model_orientation[1] = msg.orientation.y221        self.imu_model_orientation[2] = msg.orientation.z222        self.imu_model_orientation[3] = msg.orientation.w223    224    def _init_transforms (self):225        226        try:227            self.t.waitForTransform("camera_link","base_footprint",rospy.Time(),rospy.Duration(4))228        except tf.Exception:229            self._exit_code = 20230            rospy.signal_shutdown("") 231        232        try:233            _T_cam_bf = self.t.lookupTransform("camera_link","base_footprint",rospy.Time(0))234            self.T_cam_bf = self.t.fromTranslationRotation(_T_cam_bf[0],_T_cam_bf[1])235            self.R_cam = tf.transformations.quaternion_matrix([ 0, -0.7071068, 0, 0.7071068 ])   # Rotazione tra BASE_FOOTPRINT (CAM) e CAMERA_LINK236        except tf.Exception:237            self._exit_code = 21238            rospy.signal_shutdown("")239    240    def _check_params (self):241        242        if not (self._mode in self._available_modes):243            rospy.logwarn("The param mode is not correct. The default gazebo mode will be used.")244            self._mode = "gazebo"245    def _get_qr_orientation (self, qr_orient):246        247        # La rotazione del frame immagine corrisponde all'angolo di yaw della carrozzina248        if self._mode == "imu":249            R_qr = self.t.fromTranslationRotation((0,0,0),self.imu_model_orientation)250            251        if self._mode == "odom":252            R_qr = self.t.fromTranslationRotation((0,0,0),self.model_orientation)253            254        if self._mode == "gazebo":255            R_qr = self.t.fromTranslationRotation((0,0,0),self.gazebo_model_orientation)256            257        # Ricostruisco la rotazione del frame immagine dall'orientamento del qr 258        if self._mode == "qr": 259        260            # Le matrici di rotazione R_1 e R_2 sono state trovate sperimentalmente.261            # Vale la relazione R_1 * R(qr_orientation) * R_2 = R(yaw)   262            # TODO: Inizialmente si puo stimare la R_2 da: R_1 * R(qr_orientation) * R_2 = I (il yaw iniziale e sempre 0). 263            #     In questo modo si rende dinamico l'algoritmo rispetto all'orientamento dei qr.264            265            R_1 = np.array([[0,0,1,0],[1,0,0,0],[0,1,0,0],[0,0,0,1]])266            R_2 = np.array([[1,0,0,0],[0,0,-1,0],[0,1,0,0],[0,0,0,1]])           267            268            R_qr_orient = self.t.fromTranslationRotation((0,0,0),qr_orient)269            _R_qr = tf.transformations.concatenate_matrices(R_1, R_qr_orient, R_2)270            271            # Normalizzo la R_qr considerando una rotazione elementare sull'asse Z.272            R_qr = self._yaw_rotation_normalization(_R_qr)273            274        return R_qr275  276    def _left_hand_to_right_hand_frame (self, T):277        278        T_inv = np.linalg.inv(T)279        T_left = self.t.fromTranslationRotation(self.qr_pos[0:3].T,self.qr_orientation)280        T_right = tf.transformations.concatenate_matrices(T, T_left, T_inv)  281        282        pos = tf.transformations.translation_from_matrix(T_right)283        quat = tf.transformations.quaternion_from_matrix(T_right)284        return (np.append(pos,[1]), quat)285    286    def _yaw_rotation_normalization (self, R):287        288        roll, pitch, yaw = tf.transformations.euler_from_matrix(R)289        R_norm = tf.transformations.euler_matrix(0,0,yaw)290        291        return R_norm292  293#################################################################################################################################################294if __name__ == "__main__":295    rospy.init_node('qr_reader')296    297    # Check for mode param298    if rospy.has_param('~mode'):299        mode = rospy.get_param('~mode')300        obj = QR_Reader(mode) 301    else:302        obj = QR_Reader()303    304    rate = rospy.Rate(10)   305    rospy.sleep(0.5)306 307    try:308        while not rospy.is_shutdown():309            310            result = obj.get_pose()311            312            if result:313                T = obj.pose314                obj.publish(T)315                316            rate.sleep()  317            318    except rospy.exceptions.ROSInterruptException:319        pass...

Sensor_QR.py

Source:Sensor_QR.py

1# -*- coding: utf-8 -*-2import serial3import os, time4import commands5import lib.Control_Archivos  as Ca6from serial import SerialException7import RPi.GPIO as GPIO #Libreria Python GPIO8GPIO.setmode (GPIO.BOARD)9        #chicharra10CC_Pin =   3111GPIO.setup(CC_Pin, GPIO.OUT)12GPIO.output(CC_Pin, GPIO.HIGH)13Leer		         = Ca.Leer_Led14Borrar		         = Ca.Borrar_Archivo15Escrivir_Estados         = Ca.Escrivir_Estados16Escrivir                 = Ca.Escrivir_Archivo17Leer_Estado              = Ca.Leer_Estado18# Enable Serial Communication19#res = commands.getoutput('ls /dev/ttyACM*')20Puerto_Serial = '/dev/ttyS0'21print Puerto_Serial22port = serial.Serial(Puerto_Serial, baudrate=9600, timeout=1)23#port = serial.Serial(Puerto_Serial, baudrate=57600, timeout=1)24"""25port =026while True:27    #res = commands.getoutput('ls /dev/ttyACM*')28    res = commands.getoutput('/dev/ttyS0')29    print res#.find("/dev/ttyACM*")30    if res.find("/dev/ttyACM*") == -1:31        print 'abrir puerto'32        #port.close()33        port = serial.Serial(res, baudrate=9600, timeout=1)34        break35"""36#port = serial.Serial(res, baudrate=9600, timeout=1)37#port = serial.Serial("/dev/ttyACM0", baudrate=9600, timeout=1)38#port.write('Inofrmacion serial'+'\n\r')39Eliminar_antes=040N_Cade=041C_armar=''42QR =''43QR_antes =''44Tinicio =045Tfin =046Tdiferencia =047TRepeticion = 248#---------------------49def Log_QR():50    Contador = str(int(Leer_Estado(12))+1)51    print 'Log QR: '+ Contador52    Borrar(12)              # Borrar QR53    Escrivir(Contador,12)   # Guardar QR54def Leer_datos_SensorQR():55    global Eliminar_antes56    global N_Cade57    global C_armar58    global QR59    global QR_antes60    global B_sensor61    global Tinicio62    global Tfin63    global Tdiferencia64    global TRepeticion65    global port66    global res67    while True:68        try :69            #-------------------------------70            #Para dispotitos CCCB71            #-------------------------------72            rele = Leer_Estado(38)73            if len(rele)>= 1:74                print rele75                port.write(rele)76                Borrar(38)77            #-------------------------------78            rcv = port.read(250)79            #-----------------------------------------80            #       Analisis de Cadenas recojidas81            #-----------------------------------------82            T_rcv = len(rcv)83            #print T_rcv84            if T_rcv >= 1:85                QRT = rcv.split('\r')86                #print QRT87                for x in QRT:88                    #print 'x Procesando: '+x89                    N_Cade +=190                    TaCadena = len (x)91                    Inicio = x[0:1]92                    Fin = x[TaCadena-1:TaCadena]93                    if (Inicio == '<' ) and (Fin == '>'):94                        N_Cade=095                        C_armar=''96                        QR = x97                        if QR != QR_antes:98                            #print 'OK QR: '+QR99                            #-----------------------------------------100                            Tfin = time.time()101                            Tdiferencia = Tfin - Tinicio102                            if Tdiferencia >= TRepeticion:103                                print 'Procesar:'+QR + ' T_Diferencia:'+ str(Tdiferencia)104                                QR_antes = QR105                                QR = QR.replace ("<","")106                                QR = QR.replace (">","")107                                #Log_QR()108                                Borrar(7)               # Borrar QR109                                Escrivir(QR,7)          # Guardar QR110                                Escrivir_Estados('1',8) # Cambiar estado del QR111                                B_sensor = 2112                            Tinicio = time.time()113                            #-----------------------------------------114                        else:115                            #Log_QR()116                            # si la foma es la del tiiqued proceesar denuevo117                            puntos = QR.count(".")118                            print puntos119                            if puntos == 3:120                                Escrivir_Estados('1',8) # Cambiar estado del QR121                            else:122                                Escrivir_Estados('2',11) # Estado QR repetido123                                print 'QR YA: ' +QR124                    else:125                        C_armar=C_armar + x126                        if (C_armar[0:1] == '<' ) and (C_armar[len (C_armar)-1:len (C_armar)] == '>'):127                            QR = C_armar128                            if QR != QR_antes:129                                #print 'OK QR: '+QR130                                #-----------------------------------------131                                Tfin = time.time()132                                Tdiferencia = Tfin - Tinicio133                                if Tdiferencia >= TRepeticion:134                                    print 'Procesar:'+QR + ' T_Diferencia:'+ str(Tdiferencia)135                                    QR_antes = QR136                                    QR = QR.replace ("<","")137                                    QR = QR.replace (">","")138                                    #Log_QR()139                                    Borrar(7)               # Borrar QR140                                    Escrivir(QR,7)          # Guardar QR141                                    Escrivir_Estados('1',8) # Cambiar estado del QR142                                    B_sensor = 2143                                Tinicio = time.time()144                                #-----------------------------------------145                            else:146                                #Log_QR()147                                puntos = QR.count(".")148                                print puntos149                                if puntos == 3:150                                    Escrivir_Estados('1',8) # Cambiar estado del QR151                                else:152                                    Escrivir_Estados('2',11) # Estado QR repetido153                                    print 'QR YA: ' +QR154                            N_Cade=0155                            C_armar=''156                        else:157                            if len(x) >=2:158                                if (Inicio == '<' ) or (Fin == '>'):159                                    a=0160                                    #print 'pertenese a un qr valido'161                                else:162                                    print 'NO cumple parametros'163                                    print 'X: '+x164                                    QR = x165                                    if QR != QR_antes:166                                        #print 'X QR: '+QR167                                        QR_antes = QR168                                        print 'que pasa'169                                        if QR.find("Igual") != -1:170                                            """171                                            aqr = Leer_Estado(7) #QR172                                            aqr= aqr.strip()173                                            puntos = aqr.count(".")174                                            print puntos175                                            if puntos == 3:176                                                Escrivir_Estados('1',8) # Cambiar estado del QR177                                            else:178                                                Escrivir_Estados('2',11) # Estado QR repetido179                                                print 'QR YA: ' +QR180                                            """181                                            Escrivir_Estados('2',11) # Estado QR repetido182                                            print "Repetido"183                                        else:184                                            #Log_QR()185                                            Borrar(7)               # Borrar QR186                                            Escrivir(QR,7)           # Guardar QR187                                            Escrivir_Estados('1',8) # Cambiar estado del QR188                                            B_sensor = 2189                                    else:190                                        if QR.find("Igual") != -1:191                                            Escrivir_Estados('2',11) # Estado QR repetido192                                            print 'QR YA: ' +QR193                                            """194                                            aqr = Leer_Estado(7) #QR195                                            aqr= aqr.strip()196                                            puntos = aqr.count(".")197                                            print puntos198                                            if puntos == 3:199                                                Escrivir_Estados('1',8) # Cambiar estado del QR200                                            """201                                        else :202                                            Escrivir_Estados('2',11) # Estado QR repetido203                                            print 'QR YA: ' +QR204                                            205                                        print 'mmm'206                #----------------------------------207                #           fin del for208                N_Cade = 0209            else:210                #       Descartar por tiempo espirado211                Eliminar_antes +=1212                if Eliminar_antes >=5:213                    #print 'Borado de cadenas y puesta en zero'214                    Eliminar_antes=0215                    N_Cade=0216                    C_armar=''217                    B_sensor = 0218                #print 'salida del while'219                break220        except SerialException:221            print 'algo paso'222            #port.close()223            while True:224                port = serial.Serial(Puerto_Serial, baudrate=9600, timeout=1)225                break226                """227                res = commands.getoutput('ls /dev/ttyACM*')228                print res#.find("/dev/ttyACM*")229                if res.find("/dev/ttyACM*") == -1:230                    print 'abrir puerto'231                    port.close()232                    port = serial.Serial(res, baudrate=9600, timeout=1)233                    break234                """235            #res=res.replace('"',"")236            #res=res.replace('\n',"")237            #redes =res.split("ESSID:")238    #---------------------------------------239    #       fin de analisis de cadena240    #---------------------------------------241#---------------------242C_Sensor_IR_en_UNO = 0243B_sensor=0244Estado_Antes=0245GPIO.output(CC_Pin, GPIO.LOW)246while 1:...

tests.py

Source:tests.py

1import six2import qrcode3import qrcode.util4import qrcode.image.svg5try:6    import qrcode.image.pure7    import pymaging_png  # ensure that PNG support is installed8except ImportError:9    pymaging_png = None10from qrcode.exceptions import DataOverflowError11from qrcode.util import (12    MODE_NUMBER, MODE_ALPHA_NUM, MODE_8BIT_BYTE)13try:14    import unittest2 as unittest15except ImportError:16    import unittest17UNICODE_TEXT = u'\u03b1\u03b2\u03b3'18class QRCodeTests(unittest.TestCase):19    def test_basic(self):20        qr = qrcode.QRCode(version=1)21        qr.add_data('a')22        qr.make(fit=False)23    def test_overflow(self):24        qr = qrcode.QRCode(version=1)25        qr.add_data('abcdefghijklmno')26        self.assertRaises(DataOverflowError, qr.make, fit=False)27    def test_fit(self):28        qr = qrcode.QRCode()29        qr.add_data('a')30        qr.make()31        self.assertEqual(qr.version, 1)32        qr.add_data('bcdefghijklmno')33        qr.make()34        self.assertEqual(qr.version, 2)35    def test_mode_number(self):36        qr = qrcode.QRCode()37        qr.add_data('1234567890123456789012345678901234', optimize=0)38        qr.make()39        self.assertEqual(qr.version, 1)40        self.assertEqual(qr.data_list[0].mode, MODE_NUMBER)41    def test_mode_alpha(self):42        qr = qrcode.QRCode()43        qr.add_data('ABCDEFGHIJ1234567890', optimize=0)44        qr.make()45        self.assertEqual(qr.version, 1)46        self.assertEqual(qr.data_list[0].mode, MODE_ALPHA_NUM)47    def test_regression_mode_comma(self):48        qr = qrcode.QRCode()49        qr.add_data(',', optimize=0)50        qr.make()51        self.assertEqual(qr.data_list[0].mode, MODE_8BIT_BYTE)52    def test_mode_8bit(self):53        qr = qrcode.QRCode()54        qr.add_data(u'abcABC' + UNICODE_TEXT, optimize=0)55        qr.make()56        self.assertEqual(qr.version, 1)57        self.assertEqual(qr.data_list[0].mode, MODE_8BIT_BYTE)58    def test_mode_8bit_newline(self):59        qr = qrcode.QRCode()60        qr.add_data('ABCDEFGHIJ1234567890\n', optimize=0)61        qr.make()62        self.assertEqual(qr.data_list[0].mode, MODE_8BIT_BYTE)63    def test_render_svg(self):64        qr = qrcode.QRCode()65        qr.add_data(UNICODE_TEXT)66        img = qr.make_image(image_factory=qrcode.image.svg.SvgImage)67        img.save(six.BytesIO())68    def test_render_svg_path(self):69        qr = qrcode.QRCode()70        qr.add_data(UNICODE_TEXT)71        img = qr.make_image(image_factory=qrcode.image.svg.SvgPathImage)72        img.save(six.BytesIO())73    @unittest.skipIf(not pymaging_png, "Requires pymaging with PNG support")74    def test_render_pymaging_png(self):75        qr = qrcode.QRCode()76        qr.add_data(UNICODE_TEXT)77        img = qr.make_image(image_factory=qrcode.image.pure.PymagingImage)78        img.save(six.BytesIO())79    def test_optimize(self):80        qr = qrcode.QRCode()81        text = 'A1abc12345def1HELLOa'82        qr.add_data(text, optimize=4)83        qr.make()84        self.assertEqual(len(qr.data_list), 5)85        self.assertEqual(qr.data_list[0].mode, MODE_8BIT_BYTE)86        self.assertEqual(qr.data_list[1].mode, MODE_NUMBER)87        self.assertEqual(qr.data_list[2].mode, MODE_8BIT_BYTE)88        self.assertEqual(qr.data_list[3].mode, MODE_ALPHA_NUM)89        self.assertEqual(qr.data_list[4].mode, MODE_8BIT_BYTE)90        self.assertEqual(qr.version, 2)91    def test_optimize_size(self):92        text = 'A1abc12345123451234512345def1HELLOHELLOHELLOHELLOa' * 593        qr = qrcode.QRCode()94        qr.add_data(text)95        qr.make()96        self.assertEqual(qr.version, 10)97        qr = qrcode.QRCode()98        qr.add_data(text, optimize=0)99        qr.make()100        self.assertEqual(qr.version, 11)101    def test_qrdata_repr(self):102        data = b'hello'103        data_obj = qrcode.util.QRData(data)...

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