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How to use send_signal method in avocado
Best Python code snippet using avocado_python
smart_robot_driver.py
Source:smart_robot_driver.py 
1#!/usr/bin/env python2# coding=UTF-83# Copyright (c) 2011, Willow Garage, Inc.4# All rights reserved.5#6# Developer : Lin Wei-Chih , kjoelovelife@gmail.com 7#8# Redistribution and use in source and binary forms, with or without9# modification, are permitted provided that the following conditions are met:10#11# * Redistributions of source code must retain the above copyright12# notice, this list of conditions and the following disclaimer.13# * Redistributions in binary form must reproduce the above copyright14# notice, this list of conditions and the following disclaimer in the15# documentation and/or other materials provided with the distribution.16# * Neither the name of the Willow Garage, Inc. nor the names of its17# contributors may be used to endorse or promote products derived from18# this software without specific prior written permission.19#20# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"21# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE22# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE23# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE24# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR25# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF26# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS27# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN28# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)29# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE30# POSSIBILITY OF SUCH DAMAGE.31## import library32import numpy as np33from serial import Serial34class Smart_robot():35 def __init__(self,port,baud):36 37 ## setup connect parameter38 self.port = port39 self.baud = baud40 self.connected = False41 ## setup parameter42 ## initial43 ## ( vx , vy , w ) , and speed range is 0-255 , if value=127 is stop. 44 self.stop_speed = 12745 self.vx = self.stop_speed 46 self.vy = self.stop_speed47 self.w = self.stop_speed 48 self.angle = 360 ## angle of ominibot 49 self.length = 12 ## distance between center of ominibot and center of wheels 50 self.linear_speed = np.matrix( [ [self.vx] , [self.vy] , [self.w] ] ) 51 self.radian = np.pi/18052 53 ## setup speed parameter54 self.speed_parameter_1 = np.array([ -1 * np.cos(60 * self.radian) , -1 * np.sin(60 * self.radian) , self.length ])55 self.speed_parameter_2 = np.array([ 1 , 0 , self.length ])56 self.speed_parameter_3 = np.array([ -1 * np.cos(60 * self.radian) , np.sin(60 * self.radian) , self.length ])57 self.speed_parameter = np.matrix( [ self.speed_parameter_1 , self.speed_parameter_2 , self.speed_parameter_3 ] )58 ## speed formula59 self.motor_speed = np.dot(self.speed_parameter ,self.linear_speed )60 ## set motor speed61 self.motor_A = int ( round(self.motor_speed[0] , 0 ) )62 self.motor_B = int ( round(self.motor_speed[1] , 0 ) )63 self.motor_C = int ( round(self.motor_speed[2] , 0 ) )64 ## set send signal65 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!"66 ## default move_speed[ key word ][ (vx) ,(vy) ,(w) ]67 self.move_speed = {68 'w':(0 , 50, 0 ) , # forward69 's':(0 , 0, 0 ) , # stop 70 'x':(0 ,-50, 0 ) , # back 71 'a':(-50, 0, 0 ) , # left 72 'd':(50 , 0, 0 ) , # right 73 'q':(0 , 0, 50 ) , # rotation_counterclockwise74 'e':(0 , 0, -50 ) , # rotation_clockwise 75 }76 ## setup judge_sendSignal77 self.judge_sendSignal = self.send_signal78 ## connect port79 def connect(self):80 try:81 self.microcontroller = Serial(self.port , self.baud)82 self.connected = True83 except SerialException:84 print(" Seems like you dont connect the microcontroller with USB. Please checkit and restart this program. ")85 self.microcontroller.close86 87 ## Ultrasonic 88 def ultrasonic(self):89 self.distance = self.microcontroller.readline() 90 return self.distance 91 ## set speed 92 def set_speed(self,vx_speed,vy_speed,w_speed):93 self.move_speed = {94 'w':(0 , vy_speed , 0 ) , # forward95 's':(0 , 0, 0 ) , # stop 96 'x':(0 , -1 * vy_speed, 0 ) , # back 97 'a':(-1 * vx_speed, 0 , 0 ) , # left 98 'd':(vx_speed , 0 , 0 ) , # right 99 'q':(0 , 0, w_speed ) , # rotation_counterclockwise100 'e':(0 , 0, -1 * w_speed ) , # rotation_clockwise 101 }102 103 ## free action104 def free_speed(self , vx_speed , vy_speed , w_speed):105 self.vx = vx_speed + self.stop_speed106 self.vy = vy_speed + self.stop_speed107 self.w = w_speed + self.stop_speed 108 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 109 if self.judge_sendSignal != self.send_signal: 110 print(" smart robot will free moving. \nsend: {} ".format(self.send_signal) )111 self.judge_sendSignal = self.send_signal112 if self.connected == True:113 self.microcontroller.write( bytes( self.send_signal) )114 self.vx = 0115 self.vy = 0116 self.w = 0117 ## forward [speed]Y => speed > 127 118 def go(self): 119 self.vx = self.move_speed['w'][0] + self.stop_speed120 self.vy = self.move_speed['w'][1] + self.stop_speed 121 self.w = self.move_speed['w'][2] + self.stop_speed 122 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 123 if self.judge_sendSignal != self.send_signal: 124 print(" smart robot will go foward. \nsend: {} ".format(self.send_signal) )125 self.judge_sendSignal = self.send_signal126 if self.connected == True:127 self.microcontroller.write( bytes( self.send_signal) )128 ## back [speed]Y => speed < 127129 def back(self): 130 self.vx = self.move_speed['x'][0] + self.stop_speed131 self.vy = self.move_speed['x'][1] + self.stop_speed 132 self.w = self.move_speed['x'][2] + self.stop_speed 133 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 134 if self.judge_sendSignal != self.send_signal: 135 print(" smart robot will back. \nsend: {} ".format(self.send_signal) )136 self.judge_sendSignal = self.send_signal137 if self.connected == True:138 self.microcontroller.write( bytes( self.send_signal) )139 ## stop 140 def stop(self): 141 self.vx = self.move_speed['s'][0] + self.stop_speed142 self.vy = self.move_speed['s'][1] + self.stop_speed 143 self.w = self.move_speed['s'][2] + self.stop_speed 144 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 145 if self.judge_sendSignal != self.send_signal: 146 print(" smart robot will stop. \nsend: {} ".format(self.send_signal) )147 self.judge_sendSignal = self.send_signal148 if self.connected == True:149 self.microcontroller.write( bytes( self.send_signal) )150 ## left [speed]X => speed < 127 151 def left(self): 152 self.vx = self.move_speed['a'][0] + self.stop_speed153 self.vy = self.move_speed['a'][1] + self.stop_speed 154 self.w = self.move_speed['a'][2] + self.stop_speed 155 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 156 if self.judge_sendSignal != self.send_signal: 157 print(" smart robot will turn left. \nsend: {} ".format(self.send_signal) )158 self.judge_sendSignal = self.send_signal159 if self.connected == True:160 self.microcontroller.write( bytes( self.send_signal) )161 ## right [speed]X => speed > 127 162 def right(self): 163 self.vx = self.move_speed['d'][0] + self.stop_speed164 self.vy = self.move_speed['d'][1] + self.stop_speed 165 self.w = self.move_speed['d'][2] + self.stop_speed 166 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 167 if self.judge_sendSignal != self.send_signal: 168 print(" smart robot will turn right. \nsend: {} ".format(self.send_signal) )169 self.judge_sendSignal = self.send_signal170 if self.connected == True:171 self.microcontroller.write( bytes( self.send_signal) )172 ## rotate clockwise [speed]A => speed > 127 173 def rotate_clockwise(self): 174 self.vx = self.move_speed['e'][0] + self.stop_speed175 self.vy = self.move_speed['e'][1] + self.stop_speed 176 self.w = self.move_speed['e'][2] + self.stop_speed 177 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 178 if self.judge_sendSignal != self.send_signal: 179 print(" smart robot will rotate in the counterclockwise. \nsend: {} ".format(self.send_signal) )180 self.judge_sendSignal = self.send_signal181 if self.connected == True:182 self.microcontroller.write( bytes( self.send_signal) )183 ## rotate counterclockwise [speed]A => speed < 127 184 def rotate_counterclockwise(self): 185 self.vx = self.move_speed['q'][0] + self.stop_speed186 self.vy = self.move_speed['q'][1] + self.stop_speed 187 self.w = self.move_speed['q'][2] + self.stop_speed 188 self.send_signal = "$AP0:" + str(self.vx) + "X" + str(self.vy) + "Y" + str(self.w) + "A" + "360B!" 189 if self.judge_sendSignal != self.send_signal: 190 print(" smart robot will rotate in the clockwise. \nsend: {} ".format(self.send_signal) )191 self.judge_sendSignal = self.send_signal192 if self.connected == True:193 self.microcontroller.write( bytes( self.send_signal) )194 ## close port195 def disconnect(self):196 if self.connected == True:197 self.microcontroller.close...
main.py
Source:main.py
1class transistor:2 def __init__(self, _signal=False):3 self.state = bool(_signal)4 def send_signal(self, _signal):5 self.state = bool(_signal)6 return self.state7 def get_state(self):8 return self.state9class not_gate:10 def __init__(self, _signal=False):11 self.state = not bool(_signal)12 def send_signal(self, _signal):13 self.state = not bool(_signal)14 return self.state15 def get_state(self):16 return self.state17class and_gate:18 def __init__(self, _signal1=False, _signal2=False):19 self.t1 = transistor(_signal1)20 self.t2 = transistor(_signal2)21 self.state = True if self.t1.get_state() and self.t2.get_state() else False22 def send_signal(self, _signal1, _signal2):23 self.state = True if self.t1.send_signal(_signal1) and self.t2.send_signal(_signal2) else False24 return self.state25 def get_state(self):26 return self.state27class or_gate:28 def __init__(self, _signal1=False, _signal2=False):29 self.t1 = transistor(_signal1)30 self.t2 = transistor(_signal2)31 self.state = True if self.t1.get_state() or self.t2.get_state() else False32 def send_signal(self, _signal1, _signal2):33 self.state = True if self.t1.send_signal(_signal1) or self.t2.send_signal(_signal2) else False34 return self.state35 def get_state(self):36 return self.state37class xor_gate:38 def __init__(self, _signal1=False, _signal2=False):39 self.a1 = and_gate(_signal1, _signal2)40 self.o1 = or_gate(_signal1, _signal2)41 self.n1 = not_gate(self.a1.get_state())42 self.a2 = and_gate(self.n1.get_state(), self.o1.get_state())43 self.state = self.a2.get_state()44 def send_signal(self, _signal1, _signal2):45 self.state = self.a2.send_signal(self.n1.send_signal(self.a1.send_signal(_signal1, _signal2)), self.o1.send_signal(_signal1, _signal2))46 return self.state47 def get_state(self):48 return self.state49class half_adder:50 def __init__(self, _signal1=False, _signal2=False):51 self.x1 = xor_gate(_signal1, _signal2)52 self.a1 = and_gate(_signal1, _signal2)53 self.sum, self.carry = [int(self.x1.get_state()), int(self.a1.get_state())]54 def send_signal(self, _signal1=False, _signal2=False):55 self.sum, self.carry = [int(self.x1.send_signal(_signal1, _signal2)), int(self.a1.send_signal(_signal1, _signal2))]56 return [self.sum, self.carry]57 def get_state(self):58 return [self.sum, self.carry]59 def get_sum(self):60 return self.sum61 def get_carry(self):62 return self.carry63class full_adder:64 def __init__(self, _signal1 = 0, _signal2 = 0, _signal3 = 0):65 self.ha1 = half_adder(_signal1, _signal2)66 self.ha2 = half_adder(self.ha1.get_sum(), _signal3)67 self.o1 = or_gate(self.ha1.get_carry(), self.ha2.get_carry())68 self.sum, self.carry = [int(self.ha2.get_sum()), int(self.o1.get_state())]69 def send_signal(self, _signal1, _signal2, _signal3):70 self.ha1.send_signal(_signal1, _signal2)71 self.ha2.send_signal(self.ha1.get_sum(), _signal3)72 self.o1.send_signal(self.ha1.get_carry(), self.ha2.get_carry())73 self.sum, self.carry = [int(self.ha2.get_sum()), int(self.o1.get_state())]74 return [self.sum, self.carry]75 def get_state(self):76 return [self.sum, self.carry]77 def get_sum(self):78 return self.sum79 def get_carry(self):80 return self.carry81class RipCarryAdder_8:82 def __init__(self, _byte1 = [0,0,0,0,0,0,0,0], _byte2 = [0,0,0,0,0,0,0,0]):83 self.carry_flag = False84 if len(_byte1) == 8 and len(_byte2) == 8:85 self.ha1 = half_adder(int(_byte1[7]), int(_byte2[7]))86 self.fa1 = full_adder(self.ha1.get_carry(), int(_byte1[6]), int(_byte2[6]))87 self.fa2 = full_adder(self.fa1.get_carry(), int(_byte1[5]), int(_byte2[5]))88 self.fa3 = full_adder(self.fa2.get_carry(), int(_byte1[4]), int(_byte2[4]))89 self.fa4 = full_adder(self.fa3.get_carry(), int(_byte1[3]), int(_byte2[3]))90 self.fa5 = full_adder(self.fa4.get_carry(), int(_byte1[2]), int(_byte2[2]))91 self.fa6 = full_adder(self.fa5.get_carry(), int(_byte1[1]), int(_byte2[1]))92 self.fa7 = full_adder(self.fa6.get_carry(), int(_byte1[0]), int(_byte2[0]))93 self.output = [self.fa7.get_sum(), self.fa6.get_sum(), self.fa5.get_sum(), self.fa4.get_sum(), self.fa3.get_sum(), self.fa2.get_sum(), self.fa1.get_sum(), self.ha1.get_sum()]94 self.carry_flag = self.fa7.get_carry()95 if self.carry_flag:96 print("Overflow Warning!")97 else:98 print("Error: arguments must consist of eight binary bits each!")99 def add_bytes(self, _byte1, _byte2):100 if len(_byte1) == 8 and len(_byte2) == 8:101 self.ha1.send_signal(int(_byte1[7]), int(_byte2[7]))102 self.fa1.send_signal(self.ha1.get_carry(), int(_byte1[6]), int(_byte2[6]))103 self.fa2.send_signal(self.fa1.get_carry(), int(_byte1[5]), int(_byte2[5]))104 self.fa3.send_signal(self.fa2.get_carry(), int(_byte1[4]), int(_byte2[4]))105 self.fa4.send_signal(self.fa3.get_carry(), int(_byte1[3]), int(_byte2[3]))106 self.fa5.send_signal(self.fa4.get_carry(), int(_byte1[2]), int(_byte2[2]))107 self.fa6.send_signal(self.fa5.get_carry(), int(_byte1[1]), int(_byte2[1]))108 self.fa7.send_signal(self.fa6.get_carry(), int(_byte1[0]), int(_byte2[0]))109 self.output = [self.fa7.get_sum(), self.fa6.get_sum(), self.fa5.get_sum(), self.fa4.get_sum(), self.fa3.get_sum(), self.fa2.get_sum(), self.fa1.get_sum(), self.ha1.get_sum()]110 self.carry_flag = self.fa7.get_carry()111 if self.carry_flag:112 print("Overflow Warning!")113 return self.output114 else:115 print("Error: arguments must consist of eight binary bits each!")116 117 def get_state(self):118 return [self.output, self.carry_flag]119 def get_byte(self):120 return self.output121 def get_carry(self):122 return self.carry_flag123def byte_to_num_8(_byte):124 total = 0125 if len(_byte) == 8:126 for i in range(len(_byte)):127 if 0 <= int(_byte[i]) < 2:128 total += int(_byte[i])*(2**(7-i))129 else:130 print("Error: argument must be a 0 or a 1!")131 return total132 else:133 print("Error: argument must consist of eight binary bits!")134if __name__ == '__main__':135#Transistor test136 # print("transistor test:")137 # transistor1 = transistor()138 # print(f"default transistor = {transistor1.get_state()}")139 # print(f"updating transistor with signal [1]: {transistor1.send_signal(1)}")140 # print("")141#Not_gate test142 # print("not_gate test:")143 # notGate1 = not_gate()144 # print(f"default not_gate state = {notGate1.get_state()}")145 # print(f"updating not_gate with signal [1]: {notGate1.send_signal(1)}")146 # print("")147#and_gate test148 # print("and_gate test:")149 # andGate1 = and_gate()150 # print(f"default and_gate state = {andGate1.get_state()}")151 # print(f"updating and_gate with signal (1,1): {andGate1.send_signal(1,1)}")152 # print(f"updating and_gate with signal (0,1): {andGate1.send_signal(0,1)}")153 # print(f"updating and_gate with signal (1,0): {andGate1.send_signal(1,0)}")154 # print(f"updating and_gate with signal (0,0): {andGate1.send_signal(0,0)}")155 # print("")156#or_gate test157 # print("or_gate test:")158 # orGate1 = or_gate()159 # print(f"default or_gate state = {orGate1.get_state()}")160 # print(f"updating or_gate with signal (1,1): {orGate1.send_signal(1,1)}")161 # print(f"updating or_gate with signal (0,1): {orGate1.send_signal(0,1)}")162 # print(f"updating or_gate with signal (1,0): {orGate1.send_signal(1,0)}")163 # print(f"updating or_gate with signal (0,0): {orGate1.send_signal(0,0)}")164 # print("")165#xor_gate test166 # print("xor_gate test:")167 # xorGate1 = xor_gate()168 # print(f"default xor_gate state = {xorGate1.get_state()}")169 # print(f"updating xor_gate with signal (1,1): {xorGate1.send_signal(1,1)}")170 # print(f"updating xor_gate with signal (0,1): {xorGate1.send_signal(0,1)}")171 # print(f"updating xor_gate with signal (1,0): {xorGate1.send_signal(1,0)}")172 # print(f"updating xor_gate with signal (0,0): {xorGate1.send_signal(0,0)}")173 # print("")174#half_adder test175 # print("half_adder test:")176 # ha1 = half_adder()177 # print(f"default half_adder state = {ha1.get_state()}")178 # print(f"updating half_adder with signal (0,0): {ha1.send_signal(0,0)}")179 # print(f"updating half_adder with signal (0,1): {ha1.send_signal(0,1)}")180 # print(f"updating half_adder with signal (1,0): {ha1.send_signal(1,0)}")181 # print(f"updating half_adder with signal (1,1): {ha1.send_signal(1,1)}")182 # print(f"half_adder.sum = {ha1.get_sum()}, half_adder.carry = {ha1.get_carry()}")183 # print("")184#full_adder test185 # print("full_adder test:")186 # fa1 = full_adder()187 # print(f"default full_adder state = {fa1.get_state()}")188 # print(f"updating full_adder with signal (0,0,0): {fa1.send_signal(0,0,0)}")189 # print(f"updating full_adder with signal (0,0,1): {fa1.send_signal(0,0,1)}")190 # print(f"updating full_adder with signal (0,1,0): {fa1.send_signal(0,1,0)}")191 # print(f"updating full_adder with signal (1,0,0): {fa1.send_signal(1,0,0)}")192 # print(f"updating full_adder with signal (0,1,1): {fa1.send_signal(0,1,1)}")193 # print(f"updating full_adder with signal (1,1,0): {fa1.send_signal(1,1,0)}")194 # print(f"updating full_adder with signal (1,1,1): {fa1.send_signal(1,1,1)}")195 # print("")196#RipCarryAdder_8 test197 print("8 bit ripple carry adder test:")198 rca8_1 = RipCarryAdder_8()199 # print(f"default : byte = {rca8_1.get_byte()}, carry flag = {rca8_1.get_carry()}")200 byte1 = "00000001"201 byte2 = "00000110"202 rca8_1.add_bytes(byte1,byte2)203 print(f"adding {byte1} & {byte2} gives:\nbyte = {rca8_1.get_byte()}, carry flag = {rca8_1.get_carry()}")204 num1 = byte_to_num_8(byte1)205 num2 = byte_to_num_8(byte2)...
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