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How to use init_conf method in tempest

Best Python code snippet using tempest_python

create_random_goals.py

Source:create_random_goals.py

1#!/usr/bin/env python2import commands3import getopt4import os5import yaml6import random7import sys8import math9NUM_GOALS = 1010MIN_DIST = 0.911MIN_DIST_INIT_OTHER = 0.512real = False13if real:14    MIN_DIST_INIT_OWN = 1.5  # was 2 for exps15    X_RANGE = [-1.2, 1.2]16    Y_RANGE = [-1.6, 1.6]17else:18    MIN_DIST_INIT_OWN = 219    X_RANGE = [-2.0, 2.0]20    Y_RANGE = [-2.0, 2.0]21MAX_TRIES_SINGLE = 100022MAX_TRIES_GLOBAL = 5023def create_position():24    res = dict()25    res['x'] = random.uniform(X_RANGE[0], X_RANGE[1])26    res['y'] = random.uniform(Y_RANGE[0], Y_RANGE[1])27    res['ang'] = random.uniform(0, 2 * math.pi)28    return res29def dist(pos_a, pos_b):30    return math.hypot(pos_a['x'] - pos_b['x'], pos_a['y'] - pos_b['y'])31class CreateRandomGoals(object):32    num_robots = None33    num_obstacles = None34    def __init__(self, argv):35        self.seed = 036        try:37            opts, args = getopt.getopt(argv, "n:o:s:", ["num_robots=", "num_obstacles=", "seed="])38        except getopt.GetoptError:39            print("wrong usage")40            sys.exit(2)41        for opt, arg in opts:42            if opt in ("-n", "--num_robots"):43                self.num_robots = int(arg)44            if opt in ("-o", "--num_obstacles"):45                self.num_obstacles = int(arg)46            if opt in ("-s", "--seed"):47                self.seed = int(arg)48        if not self.num_robots or not self.num_obstacles:49            print("wrong usage")50            sys.exit(2)51        random.seed(self.seed)52        yaml_file = dict()53        for n in range(self.num_robots):54            yaml_file["_".join(['robot', str(n)])] = dict()55        yaml_file['num_robots'] = self.num_robots56        yaml_file['num_obstacles'] = self.num_obstacles57        found = False58        for g in range(MAX_TRIES_GLOBAL):59            print("generating obstacles")60            self.created_obstacles = []61            for idx in range(self.num_robots):62                yaml_file["_".join(['robot', str(idx)])]['goals'] = list()63            for obstacle in range(self.num_obstacles):64                pos = None65                while not self.check_if_valid(pos, self.created_obstacles):66                    pos = create_position()67                self.created_obstacles.append(pos)68            for idx, obst in enumerate(self.created_obstacles):69                yaml_file["_".join(['obst', str(idx)])] = obst70            init_conf = None71            for g in range(NUM_GOALS + 1):72                current_conf = []73                for _ in range(MAX_TRIES_GLOBAL):74                    found = True75                    for n in range(self.num_robots):76                        found_single = False77                        for _ in range(MAX_TRIES_SINGLE):78                            pos = create_position()79                            if self.check_if_valid(pos, current_conf, init_conf, n):80                                current_conf.append(pos)81                                found_single = True82                                break83                        if not found_single:84                            found = False85                            break86                    if found:87                        break88                    else:89                        current_conf = []90                if not found:91                    break92                for idx, p in enumerate(current_conf):93                    if g == 0:94                        print("found init conf")95                        init_conf = current_conf96                        yaml_file["_".join(['robot', str(idx)])]['init_pose'] = p97                    else:98                        if real:99                            init_conf = current_conf100                        yaml_file["_".join(['robot', str(idx)])]['goals'].append(p)101            if found:102                break103        if not found:104            print("could not find configuration")105            sys.exit(2)106        self.output_dir = commands.getoutput('rospack find collvoid_stage')107        if self.seed == 0:108            file_name = os.path.join(self.output_dir,109                                     "_".join( ['goals', 'robots', str(self.num_robots), 'obstacles', str(self.num_obstacles), 'created.yaml']))110        else:111            file_name = os.path.join(self.output_dir,112                                     "_".join( ['goals', 'robots', str(self.num_robots), 'obstacles', str(self.num_obstacles), str(self.seed), 'created.yaml']))113        with open(file_name, 'w') as f:114            yaml.dump(yaml_file, f)115    def check_if_valid(self, pos, current_conf, init_conf=None, n=0):116        if pos is None:117            return False118        for pos_b in self.created_obstacles:119            if dist(pos, pos_b) < MIN_DIST:120                return False121        if init_conf is not None:122            if dist(pos, init_conf[n]) < MIN_DIST_INIT_OWN:123                return False124            for p in init_conf:125                if dist(pos, p) < MIN_DIST_INIT_OTHER:126                    return False127        for pos_b in current_conf:128            if dist(pos, pos_b) < MIN_DIST:129                return False130        return True131if __name__ == '__main__':...

zmod4450_test.py

Source:zmod4450_test.py

1from time import sleep2from smbus import SMBus3i2cbus = SMBus(1)4#device address5dev = 0x32            #renesas zmod44506#device registers on library7ZMOD4450_I2C_ADDRESS    = 0x328ZMOD44XX_ADDR_PID       = 0x009ZMOD44XX_ADDR_CONF      = 0x2010ZMOD44XX_ADDR_PROD_DATA = 0x2611ZMOD44XX_ADDR_CMD       = 0x9312ZMOD44XX_ADDR_STATUS    = 0x9413#device registers resque14ZMOD44XX_ADDR_PREPARE   = 0xB715ZMOD44XX_LEN_PID        = 216ZMOD44XX_LEN_CONF       = 617ZMOD44XX_LEN_PROD_DATA  = 518STATUS_SEQUENCER_RUNNING_MASK   = 0x80 # Sequencer is running */19STATUS_SLEEP_TIMER_ENABLED_MASK = 0x40 # SleepTimer_enabled */20STATUS_ALARM_MASK               = 0x20 # Alarm */21STATUS_LAST_SEQ_STEP_MASK       = 0x1F # Last executed sequencer step */22STATUS_POR_EVENT_MASK           = 0x80 # POR_event */23STATUS_ACCESS_CONFLICT_MASK     = 0x40 # AccessConflict */24#device configuration defaults25data_set_4450_continuous = [ 0x20, 0x04, 0x40, 0x09,26                             0x03, 0x00, 0x00, 0x80, 0x08 ]27data_set_4450i = [0x00, 0x28, 0xC3, 0xE3,28                  0x00, 0x00, 0x80, 0x40 ]29zmod4450_continuous = {30  'start': 0xC0,31  'h': {'addr': 0x40, 'len': 2},32  'd': {'addr': 0x50, 'len': 4, 'data': data_set_4450_continuous[0:4]},33  'm': {'addr': 0x60, 'len': 1, 'data': data_set_4450_continuous[4:5]},34  's': {'addr': 0x68, 'len': 4, 'data': data_set_4450_continuous[5:9]},35  'r': {'addr': 0x99, 'len': 2}36}37zmod44xxi = {38  'start': 0x80,39  'h': {'addr': 0x40, 'len': 2},40  'd': {'addr': 0x50, 'len': 2, 'data': data_set_4450i[0:2]},41  'm': {'addr': 0x60, 'len': 2, 'data': data_set_4450i[2:4]},42  's': {'addr': 0x68, 'len': 4, 'data': data_set_4450i[4:8]},43  'r': {'addr': 0x97, 'len': 4}44}45# continuos mode46init_conf = zmod44xxi47meas_conf = zmod4450_continuous48hspf = 049pid = 050config = 051product = 052mox_lr = 053mox_er = 054data = [0,0,0,0]55def read_byte(reg):56  return i2cbus.read_byte_data(dev, reg)57def write_byte(reg, data):58  return i2cbus.write_byte_data(dev, reg, data)59def write_bytes(reg, data, length):60  for i in range(length):61    write_byte(reg + i, data[i])62def read_bytes(reg, length):63  result = []64  for i in range(length):65    result.append(read_byte(reg + i))66  return result67def print_bytes(arr):68  print(list(map(hex,arr)))69def read_status():70  result = read_byte(ZMOD44XX_ADDR_STATUS)71  print('STATUS:', result)72  73def read_sensor_info():74  global pid, config, product75  print(write_byte(ZMOD44XX_ADDR_CMD, 0))76  sleep(0.2)77  pid = read_bytes(ZMOD44XX_ADDR_PID, ZMOD44XX_LEN_PID)78  print('PID:')79  print_bytes(pid)80  81  config = read_bytes(ZMOD44XX_ADDR_CONF, ZMOD44XX_LEN_CONF)82  print('CONF:')83  print_bytes(config)84  85  product = read_bytes(ZMOD44XX_ADDR_PROD_DATA, ZMOD44XX_LEN_PROD_DATA)86  print('PROD_DATA:')87  print_bytes(product)88  89def init_sensor():90  global hspf, data, mox_lr, mox_er91  result = read_byte(ZMOD44XX_ADDR_PREPARE)92  print('PREPARE:', result)93  94  hspf = (0-(config[2] * 256.0 + config[3]) * ((config[4] + 640.0) * (config[5] + 80.0) - 512000.0)) / 12288000.0;95  print('hspf:', hspf)96  if (0.0 > hspf) or (4096.0 < hspf):97    print('... init out of range')98  99  data[0] = int(hspf) >> 8100  data[1] = int(hspf) & 0x00FF101  write_bytes(init_conf['h']['addr'], data, init_conf['h']['len'])102  write_bytes(init_conf['d']['addr'], init_conf['d']['data'], init_conf['d']['len'])103  write_bytes(init_conf['m']['addr'], init_conf['m']['data'], init_conf['m']['len'])104  write_bytes(init_conf['s']['addr'], init_conf['s']['data'], init_conf['s']['len'])105  write_byte(ZMOD44XX_ADDR_CMD, init_conf['start'])106  sleep(0.02)107  read_status()108  109  result = read_bytes(init_conf['r']['addr'], init_conf['r']['len'])110  mox_lr = result[0] << 8 | result[1]111  mox_er = result[2] << 8 | result[3]112def init_measurement():113  global data114  result = read_byte(ZMOD44XX_ADDR_PREPARE)115  print('PREPARE:',result)116  hspf = (-(config[2] * 256.0 + config[3]) *117                 ((config[4] + 640.0) * (config[5] - 600.0) - 512000.0)) / 12288000.0;118  data[0] = int(hspf) >> 8119  data[1] = int(hspf) & 0x00FF120  write_bytes(meas_conf['h']['addr'], data, meas_conf['h']['len'])121  write_bytes(meas_conf['d']['addr'], meas_conf['d']['data'], meas_conf['d']['len'])122  write_bytes(meas_conf['m']['addr'], meas_conf['m']['data'], meas_conf['m']['len'])123  write_bytes(meas_conf['s']['addr'], meas_conf['s']['data'], meas_conf['s']['len'])124print('______________________________')125read_status()126read_sensor_info()127init_sensor()128init_measurement()129print('_______________________________')130# print(i2cbus.write_byte_data(dev1, test_add1, 0xff))131# print(i2cbus.write_byte_data(dev1, test_add2, 0xff))132# print(i2cbus.read_byte_data(dev1, test_add1))133# print(i2cbus.read_byte_data(dev1, test_add2))...

base_sampling.py

Source:base_sampling.py

...4    cls_args = []5    def __init__(self, *args, **kwargs):6        ...7    @classmethod8    def get_init_conf(cls, conf):9        if not cls.cls_args:10            cls.log.warning('No parameters to initialize ?')11            return dict12        init_conf = dict()13        for arg in cls.cls_args:14            if conf.get(arg):15                init_conf[arg] = conf.get(arg)16        return init_conf17    def run(self, df: DataFrame) -> DataFrame:...

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