Best Python code snippet using behave
bot.py
Source: bot.py
...36 'bot_pid_control': {'runtime': {'tty': 'DEBUG1', 'log': 'DEBUG2'},37 'simulation': {'tty': 'DEBUG1', 'log': 'DEBUG2'}}38 }39app_common = common.app_block(verbosities, debug_log_file_dir, geodesy='')40interprocess_common = config.template_substitute(templates_dir+'/_interprocess.pb.cfg.in',41 platform='bot'+str(bot_index)+'_fleet' + str(fleet_index))42if is_runtime():43 link_block = config.template_substitute(templates_dir+'/link_xbee.pb.cfg.in',44 subnet_mask=common.comms.subnet_mask, 45 modem_id=common.comms.xbee_modem_id(vehicle_id),46 mac_slots=common.comms.xbee_mac_slots(vehicle_id))47if is_simulation():48 link_block = config.template_substitute(templates_dir+'/link_udp.pb.cfg.in',49 subnet_mask=common.comms.subnet_mask, 50 modem_id=common.comms.wifi_modem_id(vehicle_id),51 local_port=common.udp.wifi_udp_port(vehicle_id),52 remotes=common.comms.wifi_remotes(vehicle_id, number_of_bots),53 mac_slots=common.comms.wifi_mac_slots(vehicle_id))54 55liaison_jaiabot_config = config.template_substitute(templates_dir+'/_liaison_jaiabot_config.pb.cfg.in', mode='BOT')56if common.app == 'gobyd': 57 print(config.template_substitute(templates_dir+'/gobyd.pb.cfg.in',58 app_block=app_common,59 interprocess_block = interprocess_common,60 link_block=link_block,61 persist_subscriptions='persist_subscriptions { name: "bot" dir: "' + debug_log_file_dir + '" }'))62elif common.app == 'goby_logger': 63 print(config.template_substitute(templates_dir+'/goby_logger.pb.cfg.in',64 app_block=app_common,65 interprocess_block = interprocess_common,66 goby_logger_dir=log_file_dir))67elif common.app == 'goby_liaison':68 print(config.template_substitute(templates_dir+'/goby_liaison.pb.cfg.in',69 app_block=app_common,70 interprocess_block = interprocess_common,71 http_port=30000+vehicle_id,72 jaiabot_config=liaison_jaiabot_config,73 load_protobufs=''))74elif common.app == 'goby_moos_gateway':75 print(config.template_substitute(templates_dir+'/bot/goby_moos_gateway.pb.cfg.in',76 app_block=app_common,77 interprocess_block = interprocess_common,78 moos_port=common.vehicle.moos_port(vehicle_id)))79elif common.app == 'jaiabot_simulator':80 print(config.template_substitute(templates_dir+'/bot/jaiabot_simulator.pb.cfg.in',81 app_block=app_common,82 interprocess_block = interprocess_common,83 moos_port=common.vehicle.moos_simulator_port(vehicle_id),84 gpsd_simulator_udp_port=common.vehicle.gpsd_simulator_udp_port(vehicle_id),85 pressure_udp_port=common.udp.bar30_cpp_udp_port(vehicle_id)))86elif common.app == 'bluerobotics-pressure-sensor-driver':87 print(config.template_substitute(templates_dir+'/bot/bluerobotics-pressure-sensor-driver.pb.cfg.in',88 app_block=app_common,89 interprocess_block = interprocess_common,90 bind_port=common.udp.bar30_cpp_udp_port(vehicle_id),91 remote_port=common.udp.bar30_py_udp_port(vehicle_id)))92elif common.app == 'jaiabot_adafruit-BNO055-driver':93 print(config.template_substitute(templates_dir+'/bot/jaiabot_adafruit-BNO055-driver.pb.cfg.in',94 app_block=app_common,95 interprocess_block = interprocess_common))96elif common.app == 'jaiabot_atlas-scientific-ezo-ec-driver':97 print(config.template_substitute(templates_dir+'/bot/jaiabot_atlas-scientific-ezo-ec-driver.pb.cfg.in',98 app_block=app_common,99 interprocess_block = interprocess_common))100elif common.app == 'salinity-subscriber':101 print(config.template_substitute(templates_dir+'/bot/salinity-subscriber.pb.cfg.in',102 app_block=app_common,103 interprocess_block = interprocess_common))104elif common.app == 'jaiabot_fusion':105 print(config.template_substitute(templates_dir+'/bot/jaiabot_fusion.pb.cfg.in',106 app_block=app_common,107 interprocess_block = interprocess_common,108 bot_id=bot_index))109elif common.app == 'jaiabot_mission_manager':110 print(config.template_substitute(templates_dir+'/bot/jaiabot_mission_manager.pb.cfg.in',111 app_block=app_common,112 interprocess_block = interprocess_common,113 bot_id=bot_index))114elif common.app == 'goby_gps':115 print(config.template_substitute(templates_dir+'/goby_gps.pb.cfg.in',116 app_block=app_common,117 interprocess_block = interprocess_common,118 gpsd_port=common.vehicle.gpsd_port(vehicle_id),119 gpsd_device=common.vehicle.gpsd_device(vehicle_id)))120elif common.app == 'gpsd':121 print('-S {} -N {}'.format(common.vehicle.gpsd_port(vehicle_id), common.vehicle.gpsd_device(vehicle_id)))122elif common.app == 'moos':123 print(config.template_substitute(templates_dir+'/bot/bot.moos.in',124 moos_port=common.vehicle.moos_port(vehicle_id),125 moos_community='BOT' + str(bot_index),126 warp=common.sim.warp, 127 bhv_file='/tmp/jaiabot_' + str(bot_index) + '.bhv'))128elif common.app == 'bhv':129 print(config.template_substitute(templates_dir+'/bot/bot.bhv.in')) 130elif common.app == 'moos_sim':131 print(config.template_substitute(templates_dir+'/bot/bot-sim.moos.in',132 moos_port=common.vehicle.moos_simulator_port(vehicle_id),133 moos_community='SIM' + str(bot_index),134 warp=common.sim.warp))135elif common.app == 'moos_pmv':136 print(config.template_substitute(templates_dir+'/bot/marineviewer.moos.in',137 moos_port=common.vehicle.moos_port(vehicle_id),138 moos_community='BOT' + str(bot_index),139 warp=common.sim.warp))140elif common.app == 'frontseat_sim':141 print(common.vehicle.simulator_port(vehicle_id))142else:143 print(config.template_substitute(templates_dir+f'/bot/{common.app}.pb.cfg.in',144 app_block=app_common,145 interprocess_block = interprocess_common,...
hub.py
Source: hub.py
...20vehicle_id = 0 21wifi_modem_id = common.comms.wifi_modem_id(vehicle_id)22vehicle_type= 'HUB'23templates_dir=common.jaia_templates_dir24liaison_load_block = config.template_substitute(templates_dir+'/hub/_liaison_load.pb.cfg.in')25verbosities = \26{ 'gobyd': { 'runtime': { 'tty': 'WARN', 'log': 'DEBUG1' }, 'simulation': { 'tty': 'WARN', 'log': 'QUIET' }},27 'goby_opencpn_interface': { 'runtime': { 'tty': 'WARN', 'log': 'QUIET' }, 'simulation': { 'tty': 'WARN', 'log': 'QUIET' }},28 'goby_liaison': { 'runtime': { 'tty': 'WARN', 'log': 'QUIET' }, 'simulation': { 'tty': 'WARN', 'log': 'QUIET' }},29 'goby_logger': { 'runtime': { 'tty': 'WARN', 'log': 'QUIET' }, 'simulation': { 'tty': 'WARN', 'log': 'QUIET' }},30 'goby_gps': { 'runtime': { 'tty': 'WARN', 'log': 'QUIET' }, 'simulation': { 'tty': 'DEBUG2', 'log': 'QUIET' }},31 'jaiabot_hub_manager': { 'runtime': { 'tty': 'WARN', 'log': 'QUIET' }, 'simulation': { 'tty': 'QUIET', 'log': 'DEBUG2' }},32 'jaiabot_web_portal': { 'runtime': { 'tty': 'DEBUG1', 'log': 'DEBUG1' }, 'simulation': { 'tty': 'QUIET', 'log': 'DEBUG2' }},33 }34app_common = common.app_block(verbosities, debug_log_file_dir, geodesy='')35interprocess_common = config.template_substitute(templates_dir+'/_interprocess.pb.cfg.in',36 platform='hub'+'_fleet' + str(fleet_index))37if is_runtime():38 link_block = config.template_substitute(templates_dir+'/link_xbee.pb.cfg.in',39 subnet_mask=common.comms.subnet_mask, 40 modem_id=common.comms.xbee_modem_id(vehicle_id),41 mac_slots=common.comms.xbee_mac_slots(vehicle_id))42if is_simulation():43 link_block = config.template_substitute(templates_dir+'/link_udp.pb.cfg.in',44 subnet_mask=common.comms.subnet_mask, 45 modem_id=common.comms.wifi_modem_id(vehicle_id),46 local_port=common.udp.wifi_udp_port(vehicle_id),47 remotes=common.comms.wifi_remotes(vehicle_id, number_of_bots),48 mac_slots=common.comms.wifi_mac_slots(vehicle_id))49liaison_jaiabot_config = config.template_substitute(templates_dir+'/_liaison_jaiabot_config.pb.cfg.in', mode='HUB')50if common.app == 'gobyd': 51 print(config.template_substitute(templates_dir+'/gobyd.pb.cfg.in',52 app_block=app_common,53 interprocess_block = interprocess_common,54 link_block=link_block,55 persist_subscriptions='persist_subscriptions { name: "hub" dir: "' + debug_log_file_dir + '" }'))56elif common.app == 'goby_opencpn_interface':57 print(config.template_substitute(templates_dir+'/hub/goby_opencpn_interface.pb.cfg.in',58 app_block=app_common,59 interprocess_block = interprocess_common))60elif common.app == 'goby_liaison':61 print(config.template_substitute(templates_dir+'/goby_liaison.pb.cfg.in',62 app_block=app_common,63 interprocess_block = interprocess_common,64 http_port=30000+vehicle_id,65 jaiabot_config=liaison_jaiabot_config,66 load_protobufs=liaison_load_block))67elif common.app == 'goby_gps':68 print(config.template_substitute(templates_dir+'/goby_gps.pb.cfg.in',69 app_block=app_common,70 interprocess_block = interprocess_common,71 gpsd_port=common.hub.gpsd_port(vehicle_id),72 gpsd_device=common.hub.gpsd_device(vehicle_id))) 73elif common.app == 'goby_logger': 74 print(config.template_substitute(templates_dir+'/goby_logger.pb.cfg.in',75 app_block=app_common,76 interprocess_block = interprocess_common,77 goby_logger_dir=log_file_dir))78elif common.app == 'jaiabot_hub_manager':79 start_modem_id=common.comms.wifi_modem_id(common.vehicle.bot_index_to_vehicle_id(0))80 end_modem_id=common.comms.wifi_modem_id(common.vehicle.bot_index_to_vehicle_id(number_of_bots))81 all_bot_ids='managed_bot_modem_id: ' + str(list(range(start_modem_id, end_modem_id)))82 print(config.template_substitute(templates_dir+'/hub/jaiabot_hub_manager.pb.cfg.in',83 app_block=app_common,84 interprocess_block = interprocess_common, managed_bot_ids=all_bot_ids))85else:86 print(config.template_substitute(templates_dir + f'/hub/{common.app}.pb.cfg.in',87 app_block=app_common,...
usv.pb.cfg.py
Source: usv.pb.cfg.py
...15vehicle_id = common.comms.usv_vehicle_id16vehicle_type = 'USV'17satellite_modem_id = common.comms.satellite_modem_id(vehicle_id)18acomms_modem_id = common.comms.acomms_modem_id(vehicle_id)19app_common = config.template_substitute(templates_dir+'/_app.pb.cfg.in',20 app=common.app,21 tty_verbosity = 'QUIET',22 log_file_dir = debug_log_file_dir,23 log_file_verbosity = 'QUIET',24 warp=common.sim.warp,25 lat_origin=common.origin.lat(),26 lon_origin=common.origin.lon())27interprocess_common = config.template_substitute(templates_dir+'/_interprocess.pb.cfg.in',28 platform='usv')29link_satellite_block = config.template_substitute(templates_dir+'/_link_satellite.pb.cfg.in',30 subnet_mask=common.comms.subnet_mask,31 modem_id=satellite_modem_id)32link_acomms_block = config.template_substitute(templates_dir+'/_link_acomms.pb.cfg.in',33 subnet_mask=common.comms.subnet_mask,34 modem_id=acomms_modem_id,35 mac_slots=common.comms.acomms_mac_slots(number_of_auvs))36link_block=link_satellite_block+'\n'+link_acomms_block37if common.app == 'gobyd': 38 print(config.template_substitute(templates_dir+'/gobyd.pb.cfg.in',39 app_block=app_common,40 interprocess_block = interprocess_common,41 link_block=link_block))42elif common.app == 'goby3_course_usv_health_monitor':43 print(config.template_substitute(templates_dir+'/goby3_course_usv_health_monitor.pb.cfg.in',44 app_block=app_common,45 interprocess_block = interprocess_common))46elif common.app == 'goby3_course_helm':47 print(config.template_substitute(templates_dir+'/goby3_course_helm.pb.cfg.in',48 app_block=app_common,49 interprocess_block = interprocess_common))50elif common.app == 'goby_coroner':51 print(config.template_substitute(templates_dir+'/goby_coroner.pb.cfg.in',52 app_block=app_common,53 interprocess_block = interprocess_common))54elif common.app == 'goby_frontseat_interface_basic_simulator':55 print(config.template_substitute(templates_dir+'/frontseat.pb.cfg.in',56 moos_port=common.vehicle.moos_port(vehicle_id),57 app_block=app_common,58 vehicle_type=vehicle_type,59 interprocess_block = interprocess_common,60 sim_start_lat = common.origin.lat(),61 sim_start_lon = common.origin.lon(),62 sim_port = common.vehicle.simulator_port(vehicle_id)))63elif common.app == 'goby_liaison':64 print(config.template_substitute(templates_dir+'/liaison.pb.cfg.in',65 app_block=app_common,66 interprocess_block = interprocess_common,67 http_port=50000+vehicle_id,68 goby3_course_messages_lib=common.goby3_course_messages_lib))69elif common.app == 'goby3_course_usv_manager':70 print(config.template_substitute(templates_dir+'/manager.pb.cfg.in',71 app_block=app_common,72 interprocess_block = interprocess_common,73 vehicle_id=vehicle_id,74 subscribe_to_ids='auv_modem_id: [' + ','.join([str(elem) for elem in common.comms.auv_modem_ids(number_of_auvs)]) + ']'))75elif common.app == 'moos':76 print(config.template_substitute(templates_dir+'/usv.moos.in',77 moos_port=common.vehicle.moos_port(vehicle_id),78 moos_community=vehicle_type,79 warp=common.sim.warp,80 lat_origin=common.origin.lat(),81 lon_origin=common.origin.lon(),82 bhv_file='/tmp/usv.bhv'))83elif common.app == 'bhv':84 print(config.template_substitute(templates_dir+'/usv.bhv.in'))85elif common.app == 'frontseat_sim':86 print(common.vehicle.simulator_port(vehicle_id))87elif common.app == 'goby_moos_gateway':88 print(config.template_substitute(templates_dir+'/moos_gateway.pb.cfg.in',89 app_block=app_common,90 interprocess_block = interprocess_common,91 moos_port=common.vehicle.moos_port(vehicle_id)))92else:...
auv.pb.cfg.py
Source: auv.pb.cfg.py
...22deploy_depth=10+10*auv_index23vehicle_id=auv_index+common.comms.usv_vehicle_id+124vehicle_type = 'AUV'25acomms_modem_id = common.comms.acomms_modem_id(vehicle_id)26app_common = config.template_substitute(templates_dir+'/_app.pb.cfg.in',27 app=common.app,28 tty_verbosity = 'QUIET',29 log_file_dir = debug_log_file_dir,30 log_file_verbosity = 'QUIET',31 warp=common.sim.warp,32 lat_origin=common.origin.lat(),33 lon_origin=common.origin.lon())34interprocess_common = config.template_substitute(templates_dir+'/_interprocess.pb.cfg.in',35 platform='auv'+str(auv_index))36link_acomms_block = config.template_substitute(templates_dir+'/_link_acomms.pb.cfg.in',37 subnet_mask=common.comms.subnet_mask,38 modem_id=acomms_modem_id,39 mac_slots=common.comms.acomms_mac_slots(number_of_auvs))40link_block=link_acomms_block41if common.app == 'gobyd': 42 print(config.template_substitute(templates_dir+'/gobyd.pb.cfg.in',43 app_block=app_common,44 interprocess_block = interprocess_common,45 link_block=link_block))46elif common.app == 'goby_frontseat_interface_basic_simulator':47 print(config.template_substitute(templates_dir+'/frontseat.pb.cfg.in',48 moos_port=common.vehicle.moos_port(vehicle_id),49 app_block=app_common,50 vehicle_type=vehicle_type,51 interprocess_block = interprocess_common,52 sim_start_lat = common.origin.lat(),53 sim_start_lon = common.origin.lon(),54 sim_port = common.vehicle.simulator_port(vehicle_id)))55elif common.app == 'goby_liaison':56 print(config.template_substitute(templates_dir+'/liaison.pb.cfg.in',57 app_block=app_common,58 interprocess_block = interprocess_common,59 http_port=50000+vehicle_id,60 goby3_course_messages_lib=common.goby3_course_messages_lib))61elif common.app == 'goby3_course_auv_manager':62 print(config.template_substitute(templates_dir+'/manager.pb.cfg.in',63 app_block=app_common,64 interprocess_block = interprocess_common,65 vehicle_id=vehicle_id,66 subscribe_to_ids='usv_modem_id: ' + str(common.comms.acomms_modem_id(common.comms.usv_vehicle_id))))67elif common.app == 'goby_moos_gateway':68 print(config.template_substitute(templates_dir+'/moos_gateway.pb.cfg.in',69 app_block=app_common,70 interprocess_block = interprocess_common,71 moos_port=common.vehicle.moos_port(vehicle_id)))72elif common.app == 'moos':73 print(config.template_substitute(templates_dir+'/auv.moos.in',74 moos_port=common.vehicle.moos_port(vehicle_id),75 moos_community=vehicle_type + str(auv_index),76 warp=common.sim.warp,77 lat_origin=common.origin.lat(),78 lon_origin=common.origin.lon(),79 bhv_file='/tmp/auv' + str(auv_index) + '.bhv'))80elif common.app == 'bhv':81 print(config.template_substitute(templates_dir+'/auv.bhv.in',82 trail_angle=trail_angle,83 deploy_depth=deploy_depth))84 85elif common.app == 'frontseat_sim':86 print(common.vehicle.simulator_port(vehicle_id))87else:...
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