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How to use set_element method in hypothesis
Best Python code snippet using hypothesis
robot_v4.py
Source:robot_v4.py 
...53 54 value = helper.determine_team(OWN_ID)55 if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:56 print "I'm in com_mode now!"57 helper.set_element(flags, 'robot_type_com', True)58 elif helper.determine_team(OWN_ID) == c.VALUE_TYPE_AUTO:59 print "I'm in auto_mode now!"60 helper.set_element(flags, 'robot_type_com', False)61 local_prev_value = helper.determine_team(OWN_ID)62 # TODO: IDLE-STATE?63 prev_state = state64 state = 'IDLE'65 if state == 'IDLE':66 if prev_state != 'IDLE' or helper.get_element(flags, 'master_set_type'):67 helper.set_element(flags, 'master_set_type', False)68 if helper.get_element(flags, 'robot_type_com'):69 pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_ON)70 else: 71 pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_ON)72 pi2go.stop()73 if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):74 # Pressed = 1, Released = 075 button = pi2go.getSwitch()76 if not button:77 helper.set_element(flags, 'button_release', True)78 if button and helper.get_element(flags, 'button_release'):79 helper.set_element(flags, 'button_release', False)80 prev_mode = ''81 prev_state = state82 state = 'RUNNING'83 helper.set_element(flags, 'master_set_LED', True)84 helper.set_element(flags, 'set_motor', True)85 # change to sensor-based or master_idle type 86 data = 'new_round'87 while data != '':88 data, addr = com.receive_message(sock) 89 if data != '':90 sender_ID = com.get_id_from_ip(addr[0])91 if sender_ID == OWN_ID:92 # print 'OWN: ' , sender_ID, ' : ' , data93 continue94 if c.TEAM_END >= sender_ID >= c.TEAM_START:95 # print 'ROBOT: ', sender_ID, ' : ' , data96 if data == 'PROBLEM':97 warning[sender_ID-c.TEAM_START] = False98 elif data == 'RELEASE':99 warning[sender_ID-c.TEAM_START] = True100 else:101 command, value = com.string_to_command(data)102 print 'MASTER:', sender_ID, ' : ', data103 try:104 if command == c.COMMAND_SPEED:105 helper.set_element(flags, 'master_set_speed', True)106 prev_SPEED_RUN = SPEED_RUN107 if value == '+':108 SPEED_RUN += 5109 elif value == '-':110 SPEED_RUN -= 5111 else:112 SPEED_RUN = value113 print 'Set SPEED_RUN from ' + str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)114 elif command == c.COMMAND_DIST:115 prev_DIST_MIN = DIST_MIN116 DIST_MIN = value117 print 'Set DIST_MIN from ' + str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)118 elif command == c.COMMAND_BLINK:119 helper.blink('white')120 helper.set_element(flags, 'master_set_LED', True)121 elif command == c.COMMAND_RESET: 122 SPEED_RUN = c.SPEED_RUN123 SPEED_WARN = round(float(SPEED_RUN)/3, 0)124 SPEED_CONTROL_MAX = SPEED_RUN125 SPEED_CONTROL_MIN = SPEED_WARN126 DIST_MIN = c.DIST_MIN127 helper.set_element(times, 'prev_get_dist', 0)128 helper.set_element(flags, 'master_set_LED', True)129 helper.set_element(flags, 'master_set_speed', True)130 helper.set_element(flags, 'set_motor', True)131 warning = [True] * len(warning)132 print "Reset major values"133 elif command == c.COMMAND_STATE:134 helper.set_element(flags, 'set_motor', True)135 helper.set_element(flags, 'master_set_LED', True)136 local_prev_state = state137 if value == c.VALUE_STATE_RUNNING:138 state = 'RUNNING'139 elif value == c.VALUE_STATE_IDLE:140 state = 'IDLE'141 print 'Going from state ' + local_prev_state + ' to state ' + state142 elif command == c.COMMAND_TYPE:143 helper.set_element(flags, 'master_set_type', True)144 helper.set_element(flags, 'master_set_LED', True)145 if value == c.VALUE_TYPE_ORIGINAL:146 if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:147 helper.set_element(flags, 'robot_type_com', True)148 else:149 helper.set_element(flags, 'robot_type_com', False)150 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS,151 c.WAIT_SEND)152 elif value == c.VALUE_TYPE_COM:153 helper.set_element(flags, 'robot_type_com', True)154 elif value == c.VALUE_TYPE_AUTO:155 helper.set_element(flags, 'robot_type_com', False)156 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)157 print "MASTER: Changing from type " + local_prev_value + " to type " + value158 local_prev_value = value159 except:160 print "Error interpreting message from master! Continuing anyway"161 elif state == 'RUNNING':162 # Distance163 if mode == 'STOP':164 interval = c.WAIT_DIST_STOP165 else:166 interval = c.WAIT_DIST167 if helper.check_time_limit(times, 'prev_get_dist', c.WAIT_DIST):168 time_between = time.time() - last_meas_time169 last_meas_time = time.time() 170 new_dist = pi2go.getDistance()171 if new_dist > 1:172 prev_distance = distance173 distance = new_dist174 print 'dt:', time_between, distance175 176 # Obstacle = 1, No Obstacle = 0177 irCentre = pi2go.irCentre()178 # Obstacle Analysis179 prev_distance_level = distance_level180 if mode == 'STOP':181 if irCentre or (distance < DIST_MIN and prev_distance < DIST_MIN):182 distance_level = 0183 elif distance > c.DIST_MAX and prev_distance > c.DIST_MAX:184 distance_level = 2185 elif DIST_MIN <= distance <= c.DIST_MAX and DIST_MIN <= prev_distance <= c.DIST_MAX:186 distance_level = 1187 else:188 if irCentre or distance < DIST_MIN:189 distance_level = 0190 elif distance > c.DIST_MAX:191 distance_level = 2192 else:193 distance_level = 1194 195 # Receive196 data = 'new_round'197 while data != '':198 data, addr = com.receive_message(sock) 199 if data != '':200 sender_ID = com.get_id_from_ip(addr[0])201 if sender_ID == OWN_ID:202 # print 'OWN: ' , sender_ID, ' : ' , data203 continue204 if c.TEAM_END >= sender_ID >= c.TEAM_START:205 # print 'ROBOT: ', sender_ID, ' : ' , data206 if data == 'PROBLEM':207 warning[sender_ID-c.TEAM_START] = False208 elif data == 'RELEASE':209 warning[sender_ID-c.TEAM_START] = True210 else:211 try:212 # print 'MASTER:' , sender_ID , ' : ' , data213 command, value = com.string_to_command(data)214 if command == c.COMMAND_SPEED:215 helper.set_element(flags, 'master_set_speed', True)216 prev_SPEED_RUN = SPEED_RUN217 if value == '+':218 SPEED_RUN += 5219 elif value == '-':220 SPEED_RUN -= 5221 else:222 SPEED_RUN = value223 print 'MASTER: Set SPEED_RUN from ' + str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)224 elif command == c.COMMAND_DIST:225 prev_DIST_MIN = DIST_MIN226 DIST_MIN = value227 print 'MASTER: Set DIST_MIN from ' + str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)228 elif command == c.COMMAND_BLINK:229 helper.blink('white')230 helper.set_element(flags, 'master_set_LED', True)231 elif command == c.COMMAND_RESET: 232 SPEED_RUN = c.SPEED_RUN233 SPEED_WARN = round(float(SPEED_RUN)/3, 0)234 SPEED_CONTROL_MAX = SPEED_RUN235 SPEED_CONTROL_MIN = SPEED_WARN236 DIST_MIN = c.DIST_MIN237 helper.set_element(times, 'prev_get_dist', 0)238 helper.set_element(flags, 'master_set_LED', True)239 helper.set_element(flags, 'master_set_speed', True)240 helper.set_element(flags, 'set_motor', True)241 warning = [True] * len(warning)242 print 'MASTER: Reset major values'243 elif command == c.COMMAND_STATE:244 helper.set_element(flags, 'master_set_state', True)245 if value == c.VALUE_STATE_RUNNING:246 next_state = 'RUNNING'247 elif value == c.VALUE_STATE_IDLE:248 next_state = 'IDLE'249 print 'MASTER: Going from state ' + state + ' to state ' + next_state250 # elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:251 elif command == c.COMMAND_TYPE:252 helper.set_element(flags, 'master_set_type', True)253 helper.set_element(flags, 'master_set_LED', True)254 local_prev_value = value255 if value == c.VALUE_TYPE_ORIGINAL:256 if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:257 helper.set_element(flags, 'robot_type_com', True)258 else:259 helper.set_element(flags, 'robot_type_com', False)260 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS,261 c.WAIT_SEND)262 elif value == c.VALUE_TYPE_COM:263 helper.set_element(flags, 'robot_type_com', True)264 elif value == c.VALUE_TYPE_AUTO:265 helper.set_element(flags, 'robot_type_com', False)266 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)267 268 print "MASTER: Changing from type " + local_prev_value + " to type " + value269 except:270 print "Error interpreting message from master! Continuing anyway"271 272 # Analyse --> Calculate MODE273 if prev_state == 'RUNNING': 274 prev_mode = mode275 276 # Find Mode277 if helper.get_element(flags, 'robot_type_com'):278 if distance_level == 0:279 mode = 'STOP'280 elif distance_level == 1 and all(warning):281 mode = 'SLOW'282 elif distance_level == 2 and all(warning):283 mode = 'RUN'284 elif distance_level != 0 and not all(warning):285 mode = 'WARN'286 else:287 if distance_level == 0:288 mode = 'STOP'289 elif distance_level == 1:290 mode = 'SLOW'291 elif distance_level == 2:292 mode = 'RUN'293 # Set own Warning-Flag 294 if mode != prev_mode: 295 if mode == 'STOP':296 warning[OWN_ID-c.TEAM_START] = False297 else:298 warning[OWN_ID-c.TEAM_START] = True299 # LEDs 300 if mode != prev_mode or helper.get_element(flags, 'master_set_LED'):301 if helper.get_element(flags, 'master_set_LED'):302 helper.set_element(flags, 'master_set_LED', False)303 if mode == 'RUN':304 pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF)305 elif mode == 'SLOW':306 # pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_ON) #TODO: test307 # pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)308 pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF) # TODO: presentation309 # elif mode == 'WARN':310 # pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)311 elif mode == 'STOP':312 pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_OFF)313 # Blinking-Mode314 if mode == 'WARN' and helper.get_element(flags, 'robot_type_com'):315 if helper.check_time_limit(times, 'prev_set_LED', c.WAIT_LED):316 if helper.get_element(flags, 'status_warn_LED'):317 pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)318 helper.set_element(flags, 'status_warn_LED', False)319 else:320 pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)321 helper.set_element(flags, 'status_warn_LED', True)322 323 # Calculate new speed324 if mode == 'RUN':325 if prev_mode != 'RUN' or helper.get_element(flags, 'master_set_speed'):326 helper.set_element(flags, 'master_set_speed', False)327 helper.set_element(times, 'new_in_RUN', time.time())328 speed_new_in_RUN = speed329 dspeed = SPEED_RUN-speed_new_in_RUN330 331 if speed != SPEED_RUN:332 dt = time.time()-helper.get_element(times, 'new_in_RUN')333 new_value = round(speed_new_in_RUN + dspeed*(dt/c.TIME_TO_SPEED_UP), 1)334 335 if new_value > SPEED_RUN:336 new_value = SPEED_RUN337 338 if new_value != speed:339 speed = new_value340 helper.set_element(flags, 'set_motor', True)341 # Blocking Avoidance342 elif mode == 'SLOW':343 # linear344 gradient = float(SPEED_CONTROL_MAX - SPEED_CONTROL_MIN)/float(c.DIST_MAX-DIST_MIN)345 error = c.DIST_MAX - distance346 new_value = round(SPEED_RUN - error * gradient, 1)347 348 if new_value < SPEED_CONTROL_MIN:349 new_value = SPEED_CONTROL_MIN350 elif new_value > SPEED_CONTROL_MAX:351 new_value = SPEED_CONTROL_MAX352 353 if new_value != speed:354 speed = new_value355 helper.set_element(flags, 'set_motor', True)356 # Slow-Down in Warning-Mode 357 elif mode == 'WARN' and helper.get_element(flags, 'robot_type_com'):358 if prev_mode != 'WARN':359 helper.set_element(times, 'get_warning', time.time())360 speed_get_warning = speed361 362 if prev_distance_level == 0 and distance_level != 0:363 speed_get_warning = 50364 helper.set_element(times, 'get_warning', time.time())365 366 new_value = round(speed_get_warning * (1 - (time.time()-helper.get_element(times, 'get_warning')) /367 c.TIME_TO_SLOW_DOWN), 1)368 369 # ###############################changed from SPEED_WARN to c.SPEED_STOP370 if new_value < c.SPEED_STOP:371 new_value = c.SPEED_STOP372 #########################373 374 if new_value != speed:375 speed = new_value376 helper.set_element(flags, 'set_motor', True)377 378 elif mode == 'STOP':379 if prev_mode != 'STOP':380 speed = c.SPEED_STOP381 helper.set_element(flags, 'set_motor', True)382 # Motor383 if helper.get_element(flags, 'set_motor'):384 if speed > c.SPEED_LIMIT_MAX:385 speed = c.SPEED_LIMIT_MAX386 elif speed < c.SPEED_LIMIT_MIN:387 speed = c.SPEED_LIMIT_MIN 388 if mode == 'SLOW' or mode == 'WARN':389 if helper.check_time_limit(times, 'prev_set_motor', c.WAIT_MOTOR):390 pi2go.go(speed, speed)391 helper.set_element(flags, 'set_motor', False)392 else:393 pi2go.go(speed, speed)394 helper.set_element(flags, 'set_motor', False)395 396 # Send397 if mode != prev_mode and helper.get_element(flags, 'robot_type_com'): 398 if prev_mode == 'STOP':399 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)400 elif mode == 'STOP':401 com.send_x_broadcast_messages(c.PORT, "PROBLEM", c.SENDING_ATTEMPTS, c.WAIT_SEND)402 # Next State 403 prev_state = state404 if helper.get_element(flags, 'master_set_state'):405 helper.set_element(flags, 'master_set_state', False)406 state = next_state407 408 # Button409 if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):410 # Pressed = 1, Released = 0411 button = pi2go.getSwitch()412 if not button:413 helper.set_element(flags, 'button_release', True)414 if button and helper.get_element(flags, 'button_release'):415 helper.set_element(flags, 'button_release', False)416 prev_state = state417 state = 'IDLE'418 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)419except KeyboardInterrupt:420 print 'KEYBOARD'421finally:422 pi2go.stop()423 pi2go.cleanup()424 sock.close()...
robot_v3.py
Source:robot_v3.py
...52 53 value = helper.determine_team(OWN_ID)54 if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:55 print "I'm in com_mode now!"56 helper.set_element(flags, 'robot_type_com', True)57 elif helper.determine_team(OWN_ID) == c.VALUE_TYPE_AUTO:58 print "I'm in auto_mode now!"59 helper.set_element(flags, 'robot_type_com', False)60 local_prev_value = helper.determine_team(OWN_ID)61 # TODO: IDLE-STATE?62 prev_state = state63 state = 'IDLE'64 if state == 'IDLE':65 if prev_state != 'IDLE' or helper.get_element(flags, 'master_set_type'):66 helper.set_element(flags, 'master_set_type', False)67 if helper.get_element(flags, 'robot_type_com'):68 pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_ON)69 else: 70 pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_ON)71 pi2go.stop()72 if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):73 # Pressed = 1, Released = 074 button = pi2go.getSwitch()75 if not button:76 helper.set_element(flags, 'button_release', True)77 if button and helper.get_element(flags, 'button_release'):78 helper.set_element(flags, 'button_release', False)79 prev_mode = ''80 prev_state = state81 state = 'RUNNING'82 helper.set_element(flags, 'master_set_LED', True)83 helper.set_element(flags, 'set_motor', True)84 # change to sensor-based or master_idle type 85 data = 'new_round'86 while data != '':87 data, addr = com.receive_message(sock) 88 if data != '':89 sender_ID = com.get_id_from_ip(addr[0])90 if sender_ID == OWN_ID:91 # print 'OWN: ' , sender_ID, ' : ' , data92 continue93 if c.TEAM_END >= sender_ID >= c.TEAM_START:94 # print 'ROBOT: ', sender_ID, ' : ' , data95 if data == 'PROBLEM':96 warning[sender_ID-c.TEAM_START] = False97 elif data == 'RELEASE':98 warning[sender_ID-c.TEAM_START] = True99 else:100 command, value = com.string_to_command(data)101 #102 print 'MASTER:', sender_ID, ' : ', data103 try:104 if command == c.COMMAND_SPEED:105 helper.set_element(flags, 'master_set_speed', True)106 prev_SPEED_RUN = SPEED_RUN107 if value == '+':108 SPEED_RUN += 5109 elif value == '-':110 SPEED_RUN -= 5111 else:112 SPEED_RUN = value113 print 'Set SPEED_RUN from ' + str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)114 elif command == c.COMMAND_DIST:115 prev_DIST_MIN = DIST_MIN116 DIST_MIN = value117 print 'Set DIST_MIN from ' + str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)118 elif command == c.COMMAND_BLINK:119 helper.blink('white')120 helper.set_element(flags, 'master_set_LED', True)121 elif command == c.COMMAND_RESET: 122 SPEED_RUN = c.SPEED_RUN123 SPEED_WARN = round(float(SPEED_RUN)/3, 0)124 SPEED_CONTROL_MAX = SPEED_RUN125 SPEED_CONTROL_MIN = SPEED_WARN126 DIST_MIN = c.DIST_MIN127 helper.set_element(times, 'prev_get_dist', 0)128 helper.set_element(flags, 'master_set_LED', True)129 helper.set_element(flags, 'master_set_speed', True)130 helper.set_element(flags, 'set_motor', True)131 warning = [True] * len(warning)132 print "Reset major values"133 elif command == c.COMMAND_STATE:134 helper.set_element(flags, 'set_motor', True)135 helper.set_element(flags, 'master_set_LED', True)136 local_prev_state = state137 if value == c.VALUE_STATE_RUNNING:138 state = 'RUNNING'139 elif value == c.VALUE_STATE_IDLE:140 state = 'IDLE'141 print 'Going from state ' + local_prev_state + ' to state ' + state142 elif command == c.COMMAND_TYPE:143 helper.set_element(flags, 'master_set_type', True)144 helper.set_element(flags, 'master_set_LED', True)145 if value == c.VALUE_TYPE_ORIGINAL:146 if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:147 helper.set_element(flags, 'robot_type_com', True)148 else:149 helper.set_element(flags, 'robot_type_com', False)150 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS,151 c.WAIT_SEND)152 elif value == c.VALUE_TYPE_COM:153 helper.set_element(flags, 'robot_type_com', True)154 elif value == c.VALUE_TYPE_AUTO:155 helper.set_element(flags, 'robot_type_com', False)156 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)157 print "MASTER: Changing from type " + local_prev_value + " to type " + value158 local_prev_value = value159 except:160 print "Error interpreting message from master! Continuing anyway"161 elif state == 'RUNNING':162 # Distance 163 if helper.check_time_limit(times, 'prev_get_dist', c.WAIT_DIST):164 time_between = time.time() - last_meas_time165 last_meas_time = time.time() 166 new_dist = pi2go.getDistance()167 if new_dist > 1:168 prev_distance = distance169 distance = new_dist170 print 'dt:', time_between, distance171 172 # Obstacle = 1, No Obstacle = 0173 irCentre = pi2go.irCentre()174 # Obstacle Analysis175 prev_distance_level = distance_level176 if mode == 'STOP':177 if irCentre or (distance < DIST_MIN and prev_distance < DIST_MIN):178 distance_level = 0179 elif distance > c.DIST_MAX and prev_distance > c.DIST_MAX:180 distance_level = 2181 elif DIST_MIN <= distance <= c.DIST_MAX and DIST_MIN <= prev_distance <= c.DIST_MAX:182 distance_level = 1183 else:184 if irCentre or distance < DIST_MIN:185 distance_level = 0186 elif distance > c.DIST_MAX:187 distance_level = 2188 else:189 distance_level = 1190 # Receive191 data = 'new_round'192 while data != '':193 data, addr = com.receive_message(sock) 194 if data != '':195 sender_ID = com.get_id_from_ip(addr[0])196 if sender_ID == OWN_ID:197 # print 'OWN: ' , sender_ID, ' : ' , data198 continue199 if c.TEAM_END >= sender_ID >= c.TEAM_START:200 # print 'ROBOT: ', sender_ID, ' : ' , data201 if data == 'PROBLEM':202 warning[sender_ID-c.TEAM_START] = False203 elif data == 'RELEASE':204 warning[sender_ID-c.TEAM_START] = True205 else:206 try:207 # print 'MASTER:' , sender_ID , ' : ' , data208 command, value = com.string_to_command(data)209 if command == c.COMMAND_SPEED:210 helper.set_element(flags, 'master_set_speed', True)211 prev_SPEED_RUN = SPEED_RUN212 if value == '+':213 SPEED_RUN += 5214 elif value == '-':215 SPEED_RUN -= 5216 else:217 SPEED_RUN = value218 print 'MASTER: Set SPEED_RUN from ' + str(prev_SPEED_RUN) + ' to ' + str(SPEED_RUN)219 elif command == c.COMMAND_DIST:220 prev_DIST_MIN = DIST_MIN221 DIST_MIN = value222 print 'MASTER: Set DIST_MIN from ' + str(prev_DIST_MIN) + ' to ' + str(DIST_MIN)223 elif command == c.COMMAND_BLINK:224 helper.blink('white')225 helper.set_element(flags, 'master_set_LED', True)226 elif command == c.COMMAND_RESET: 227 SPEED_RUN = c.SPEED_RUN228 SPEED_WARN = round(float(SPEED_RUN)/3, 0)229 SPEED_CONTROL_MAX = SPEED_RUN230 SPEED_CONTROL_MIN = SPEED_WARN231 DIST_MIN = c.DIST_MIN232 helper.set_element(times, 'prev_get_dist', 0)233 helper.set_element(flags, 'master_set_LED', True)234 helper.set_element(flags, 'master_set_speed', True)235 helper.set_element(flags, 'set_motor', True)236 warning = [True] * len(warning)237 print 'MASTER: Reset major values'238 elif command == c.COMMAND_STATE:239 helper.set_element(flags, 'master_set_state', True)240 if value == c.VALUE_STATE_RUNNING:241 next_state = 'RUNNING'242 elif value == c.VALUE_STATE_IDLE:243 next_state = 'IDLE'244 print 'MASTER: Going from state ' + state + ' to state ' + next_state245 # elif command == c.COMMAND_TYPE and value != c.VALUE_TYPE_COM:246 elif command == c.COMMAND_TYPE:247 helper.set_element(flags, 'master_set_type', True)248 helper.set_element(flags, 'master_set_LED', True)249 local_prev_value = value250 if value == c.VALUE_TYPE_ORIGINAL:251 if helper.determine_team(OWN_ID) == c.VALUE_TYPE_COM:252 helper.set_element(flags, 'robot_type_com', True)253 else:254 helper.set_element(flags, 'robot_type_com', False)255 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS,256 c.WAIT_SEND)257 elif value == c.VALUE_TYPE_COM:258 helper.set_element(flags, 'robot_type_com', True)259 elif value == c.VALUE_TYPE_AUTO:260 helper.set_element(flags, 'robot_type_com', False)261 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)262 263 print "MASTER: Changing from type " + local_prev_value + " to type " + value264 except:265 print "Error interpreting message from master! Continuing anyway"266 267 # Analyse --> Calculate MODE268 if prev_state == 'RUNNING': 269 prev_mode = mode270 271 # Find Mode272 if helper.get_element(flags, 'robot_type_com'):273 if distance_level == 0:274 mode = 'STOP'275 elif distance_level == 1 and all(warning):276 mode = 'SLOW'277 elif distance_level == 2 and all(warning):278 mode = 'RUN'279 elif distance_level != 0 and not all(warning):280 mode = 'WARN'281 else:282 if distance_level == 0:283 mode = 'STOP'284 elif distance_level == 1:285 mode = 'SLOW'286 elif distance_level == 2:287 mode = 'RUN'288 # Set own Warning-Flag 289 if mode != prev_mode: 290 if mode == 'STOP':291 warning[OWN_ID-c.TEAM_START] = False292 else:293 warning[OWN_ID-c.TEAM_START] = True294 # LEDs 295 if mode != prev_mode or helper.get_element(flags, 'master_set_LED'):296 if helper.get_element(flags, 'master_set_LED'):297 helper.set_element(flags, 'master_set_LED', False)298 if mode == 'RUN':299 pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF)300 elif mode == 'SLOW':301 # pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_ON) #TODO: test302 # pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)303 pi2go.setAllLEDs(c.LED_OFF, c.LED_ON, c.LED_OFF) # TODO: presentation304 # elif mode == 'WARN':305 # pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)306 elif mode == 'STOP':307 pi2go.setAllLEDs(c.LED_ON, c.LED_OFF, c.LED_OFF)308 # Blinking-Mode309 if mode == 'WARN' and helper.get_element(flags, 'robot_type_com'):310 if helper.check_time_limit(times, 'prev_set_LED', c.WAIT_LED):311 if helper.get_element(flags, 'status_warn_LED'):312 pi2go.setAllLEDs(c.LED_OFF, c.LED_OFF, c.LED_OFF)313 helper.set_element(flags, 'status_warn_LED', False)314 else:315 pi2go.setAllLEDs(c.LED_ON, c.LED_ON, c.LED_OFF)316 helper.set_element(flags, 'status_warn_LED', True)317 # Calculate new speed318 if mode == 'RUN':319 if prev_mode != 'RUN' or helper.get_element(flags, 'master_set_speed'):320 helper.set_element(flags, 'master_set_speed', False)321 helper.set_element(times, 'new_in_RUN', time.time())322 speed_new_in_RUN = speed323 dspeed = SPEED_RUN-speed_new_in_RUN324 325 if speed != SPEED_RUN:326 dt = time.time()-helper.get_element(times, 'new_in_RUN')327 new_value = round(speed_new_in_RUN + dspeed*(dt/c.TIME_TO_SPEED_UP), 1)328 329 if new_value > SPEED_RUN:330 new_value = SPEED_RUN331 332 if new_value != speed:333 speed = new_value334 helper.set_element(flags, 'set_motor', True)335 # Blocking Avoidance336 elif mode == 'SLOW':337 # linear338 gradient = float(SPEED_CONTROL_MAX - SPEED_CONTROL_MIN)/float(c.DIST_MAX-DIST_MIN)339 error = c.DIST_MAX - distance340 new_value = round(SPEED_RUN - error * gradient, 1)341 342 if new_value < SPEED_CONTROL_MIN:343 new_value = SPEED_CONTROL_MIN344 elif new_value > SPEED_CONTROL_MAX:345 new_value = SPEED_CONTROL_MAX346 347 if new_value != speed:348 speed = new_value349 helper.set_element(flags, 'set_motor', True)350 # Slow-Down in Warning-Mode 351 elif mode == 'WARN' and helper.get_element(flags, 'robot_type_com'):352 if prev_mode != 'WARN':353 helper.set_element(times, 'get_warning', time.time())354 speed_get_warning = speed355 356 if prev_distance_level == 0 and distance_level != 0:357 speed_get_warning = 50358 helper.set_element(times, 'get_warning', time.time())359 360 new_value = round(speed_get_warning * (1 - (time.time()-helper.get_element(times, 'get_warning'))361 / c.TIME_TO_SLOW_DOWN), 1)362 363 # ###############################changed from SPEED_WARN to c.SPEED_STOP364 if new_value < c.SPEED_STOP:365 new_value = c.SPEED_STOP366 #########################367 368 if new_value != speed:369 speed = new_value370 helper.set_element(flags, 'set_motor', True)371 372 elif mode == 'STOP':373 if prev_mode != 'STOP':374 speed = c.SPEED_STOP375 helper.set_element(flags, 'set_motor', True)376 377 # Motor378 if helper.get_element(flags, 'set_motor'):379 if speed > c.SPEED_LIMIT_MAX:380 speed = c.SPEED_LIMIT_MAX381 elif speed < c.SPEED_LIMIT_MIN:382 speed = c.SPEED_LIMIT_MIN 383 if mode == 'SLOW' or mode == 'WARN':384 if helper.check_time_limit(times, 'prev_set_motor', c.WAIT_MOTOR):385 pi2go.go(speed, speed)386 helper.set_element(flags, 'set_motor', False)387 else:388 pi2go.go(speed, speed)389 helper.set_element(flags, 'set_motor', False)390 # Send391 if mode != prev_mode and helper.get_element(flags, 'robot_type_com'): 392 if prev_mode == 'STOP':393 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)394 elif mode == 'STOP':395 com.send_x_broadcast_messages(c.PORT, "PROBLEM", c.SENDING_ATTEMPTS, c.WAIT_SEND)396 # Next State 397 prev_state = state398 if helper.get_element(flags, 'master_set_state'):399 helper.set_element(flags, 'master_set_state', False)400 state = next_state401 402 # Button403 if helper.check_time_limit(times, 'prev_get_switch', c.WAIT_SWITCH):404 # Pressed = 1, Released = 0405 button = pi2go.getSwitch()406 if not button:407 helper.set_element(flags, 'button_release', True)408 if button and helper.get_element(flags, 'button_release'):409 helper.set_element(flags, 'button_release', False)410 prev_state = state411 state = 'IDLE'412 com.send_x_broadcast_messages(c.PORT, "RELEASE", c.SENDING_ATTEMPTS, c.WAIT_SEND)413 414except KeyboardInterrupt:415 print 'KEYBOARD'416finally:417 pi2go.stop()418 pi2go.cleanup()419 sock.close()...
Garabedian_to_RBC_ZBS
Source:Garabedian_to_RBC_ZBS
...4n_max = 35m_max = 26nfp = 57Delta = np.zeros((n_max*2+1, m_max+1))8def set_element(arr, n, m, value):9 arr[n + n_max, m] = value10# Optimum for the 7 DoF problem:11set_element(Delta,-1, 0,-1.498476261706249E-002)12set_element(Delta, 0, 0, 1.0)13set_element(Delta, 1, 0, 1.331244953825667E-002)14set_element(Delta,-1, 1,-9.491502726031747E-002)15set_element(Delta, 0, 1, 10.0)16set_element(Delta, 1, 1, 1.111342639510550E-003)17set_element(Delta,-1, 2, 0.310930057294306)18set_element(Delta, 0, 2,-5.604048985502819E-003)19set_element(Delta, 1, 2,-7.089557472553538E-004)20set_element(Delta,-1, 0,-0.5) # x(1)21set_element(Delta, 1, 2,-0.447368421052632) # x(7)22#set_element(Delta,-1, 0,0.5) # x(1)23#set_element(Delta, 1, 2,0.5) # x(7)24figure_size = (7,7)25##############################################326# End of input parameters27##############################################328print("Here comes the Delta array:")29print(Delta)30# Convert from the Garabedian Delta coefficients to31# VMEC's RBC and ZBS coefficients:32def get_element(arr, n, m):33 return arr[n + n_max, m]34# LIBSTELL/Optimization/unique_boundary_PG.f uses the next few lines to scale everything:35rnorm = get_element(Delta,0,0) / get_element(Delta,0,1)36r00 = get_element(Delta,0,0)37set_element(Delta,0,0,1.0)38RBC = np.zeros((n_max*2+1, m_max+1))39ZBS = np.zeros((n_max*2+1, m_max+1))40for m in range(0, m_max+1):41 n_start = -n_max42 if m==0:43 n_start = 144 for n in range(n_start, n_max+1):45 m_index = 1 - m46 term1 = 047 term2 = 048 if (m_index >= 0) and (m_index <= m_max):49 term1 = get_element(Delta,-n,m_index)50 m_index = 1 + m51 if (m_index >= 0) and (m_index <= m_max):52 term2 = get_element(Delta,n,m_index)53 # Eq (14) and (17) in https://terpconnect.umd.edu/~mattland/plasmanotes/toroidal_surface_parameterizations.pdf54 set_element(RBC, n, m, term1 + term2)55 set_element(ZBS, n, m, term1 - term2)56# Eq (12) in toroidal_surface_parameterizations.pdf57#set_element(RBC, 0, 0, get_element(Delta,0,1))58# Scaling from LIBSTELL/Optimization/unique_boundary_PG.f:59RBC *= rnorm60ZBS *= rnorm61set_element(RBC, 0, 0, r00)62print("Here comes the corresponding VMEC input data:")63for m in range(0, m_max+1):64 for n in range(-n_max, n_max+1):65 if get_element(RBC, n, m) != 0 or get_element(ZBS, n, m) != 0:66 print("RBC({:3d},{:3d}) = {:24.15E} ZBS({:3d},{:3d}) = {:24.15E}".format(n,m,get_element(RBC,n,m),n,m,get_element(ZBS,n,m)))67##################################################68# Plot the resulting surface69##################################################70import matplotlib.pyplot as plt71from mpl_toolkits.mplot3d import Axes3D72ntheta = 20073nphi = 474theta = np.linspace(0,2*np.pi,num=ntheta)75phi = np.linspace(0,2*np.pi/nfp,num=nphi,endpoint=False)...
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