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How to use _analyse method in Airtest
Best Python code snippet using Airtest
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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