idx int64 0 251k | question stringlengths 53 3.53k | target stringlengths 5 1.23k | len_question int64 20 893 | len_target int64 3 238 |
|---|---|---|---|---|
227,400 | def write_json ( self , * * kwargs ) : self . stdout . write ( json . dumps ( kwargs ) + "\n" ) self . stdout . flush ( ) | Write an JSON object on a single line . | 42 | 9 |
227,401 | def handle_request ( self ) : request = self . read_json ( ) if 'method' not in request : raise ValueError ( "Received a bad request: {0}" . format ( request ) ) method_name = request [ 'method' ] request_id = request . get ( 'id' , None ) params = request . get ( 'params' ) or [ ] try : method = getattr ( self , "rpc_" + method_name , None ) if method is not None : result = method ( * params ) else : result = self . handle ( method_name , params ) if request_id is not None : self . write_json ( result = result , id = request_id ) except Fault as fault : error = { "message" : fault . message , "code" : fault . code } if fault . data is not None : error [ "data" ] = fault . data self . write_json ( error = error , id = request_id ) except Exception as e : error = { "message" : str ( e ) , "code" : 500 , "data" : { "traceback" : traceback . format_exc ( ) } } self . write_json ( error = error , id = request_id ) | Handle a single JSON - RPC request . | 271 | 8 |
227,402 | def get_source ( fileobj ) : if not isinstance ( fileobj , dict ) : return fileobj else : try : with io . open ( fileobj [ "filename" ] , encoding = "utf-8" , errors = "ignore" ) as f : return f . read ( ) finally : if fileobj . get ( 'delete_after_use' ) : try : os . remove ( fileobj [ "filename" ] ) except : # pragma: no cover pass | Translate fileobj into file contents . | 103 | 8 |
227,403 | def _call_backend ( self , method , default , * args , * * kwargs ) : meth = getattr ( self . backend , method , None ) if meth is None : return default else : return meth ( * args , * * kwargs ) | Call the backend method with args . | 57 | 7 |
227,404 | def rpc_get_calltip ( self , filename , source , offset ) : return self . _call_backend ( "rpc_get_calltip" , None , filename , get_source ( source ) , offset ) | Get the calltip for the function at the offset . | 50 | 11 |
227,405 | def rpc_get_oneline_docstring ( self , filename , source , offset ) : return self . _call_backend ( "rpc_get_oneline_docstring" , None , filename , get_source ( source ) , offset ) | Get a oneline docstring for the symbol at the offset . | 56 | 13 |
227,406 | def rpc_get_completions ( self , filename , source , offset ) : results = self . _call_backend ( "rpc_get_completions" , [ ] , filename , get_source ( source ) , offset ) # Uniquify by name results = list ( dict ( ( res [ 'name' ] , res ) for res in results ) . values ( ) ) results . sort ( key = lambda cand : _pysymbol_key ( cand [ "name" ] ) ) return results | Get a list of completion candidates for the symbol at offset . | 113 | 12 |
227,407 | def rpc_get_definition ( self , filename , source , offset ) : return self . _call_backend ( "rpc_get_definition" , None , filename , get_source ( source ) , offset ) | Get the location of the definition for the symbol at the offset . | 48 | 13 |
227,408 | def rpc_get_assignment ( self , filename , source , offset ) : return self . _call_backend ( "rpc_get_assignment" , None , filename , get_source ( source ) , offset ) | Get the location of the assignment for the symbol at the offset . | 50 | 13 |
227,409 | def rpc_get_docstring ( self , filename , source , offset ) : return self . _call_backend ( "rpc_get_docstring" , None , filename , get_source ( source ) , offset ) | Get the docstring for the symbol at the offset . | 50 | 11 |
227,410 | def rpc_get_pydoc_documentation ( self , symbol ) : try : docstring = pydoc . render_doc ( str ( symbol ) , "Elpy Pydoc Documentation for %s" , False ) except ( ImportError , pydoc . ErrorDuringImport ) : return None else : if isinstance ( docstring , bytes ) : docstring = docstring . decode ( "utf-8" , "replace" ) return docstring | Get the Pydoc documentation for the given symbol . | 99 | 11 |
227,411 | def rpc_get_refactor_options ( self , filename , start , end = None ) : try : from elpy import refactor except : raise ImportError ( "Rope not installed, refactorings unavailable" ) ref = refactor . Refactor ( self . project_root , filename ) return ref . get_refactor_options ( start , end ) | Return a list of possible refactoring options . | 78 | 10 |
227,412 | def rpc_refactor ( self , filename , method , args ) : try : from elpy import refactor except : raise ImportError ( "Rope not installed, refactorings unavailable" ) if args is None : args = ( ) ref = refactor . Refactor ( self . project_root , filename ) return ref . get_changes ( method , * args ) | Return a list of changes from the refactoring action . | 79 | 12 |
227,413 | def rpc_get_names ( self , filename , source , offset ) : source = get_source ( source ) if hasattr ( self . backend , "rpc_get_names" ) : return self . backend . rpc_get_names ( filename , source , offset ) else : raise Fault ( "get_names not implemented by current backend" , code = 400 ) | Get all possible names | 81 | 4 |
227,414 | def pos_to_linecol ( text , pos ) : line_start = text . rfind ( "\n" , 0 , pos ) + 1 line = text . count ( "\n" , 0 , line_start ) + 1 col = pos - line_start return line , col | Return a tuple of line and column for offset pos in text . | 61 | 13 |
227,415 | def linecol_to_pos ( text , line , col ) : nth_newline_offset = 0 for i in range ( line - 1 ) : new_offset = text . find ( "\n" , nth_newline_offset ) if new_offset < 0 : raise ValueError ( "Text does not have {0} lines." . format ( line ) ) nth_newline_offset = new_offset + 1 offset = nth_newline_offset + col if offset > len ( text ) : raise ValueError ( "Line {0} column {1} is not within the text" . format ( line , col ) ) return offset | Return the offset of this line and column in text . | 142 | 11 |
227,416 | def rpc_get_oneline_docstring ( self , filename , source , offset ) : line , column = pos_to_linecol ( source , offset ) definitions = run_with_debug ( jedi , 'goto_definitions' , source = source , line = line , column = column , path = filename , encoding = 'utf-8' ) assignments = run_with_debug ( jedi , 'goto_assignments' , source = source , line = line , column = column , path = filename , encoding = 'utf-8' ) if definitions : definition = definitions [ 0 ] else : definition = None if assignments : assignment = assignments [ 0 ] else : assignment = None if definition : # Get name if definition . type in [ 'function' , 'class' ] : raw_name = definition . name name = '{}()' . format ( raw_name ) doc = definition . docstring ( ) . split ( '\n' ) elif definition . type in [ 'module' ] : raw_name = definition . name name = '{} {}' . format ( raw_name , definition . type ) doc = definition . docstring ( ) . split ( '\n' ) elif ( definition . type in [ 'instance' ] and hasattr ( assignment , "name" ) ) : raw_name = assignment . name name = raw_name doc = assignment . docstring ( ) . split ( '\n' ) else : return None # Keep only the first paragraph that is not a function declaration lines = [ ] call = "{}(" . format ( raw_name ) # last line doc . append ( '' ) for i in range ( len ( doc ) ) : if doc [ i ] == '' and len ( lines ) != 0 : paragraph = " " . join ( lines ) lines = [ ] if call != paragraph [ 0 : len ( call ) ] : break paragraph = "" continue lines . append ( doc [ i ] ) # Keep only the first sentence onelinedoc = paragraph . split ( '. ' , 1 ) if len ( onelinedoc ) == 2 : onelinedoc = onelinedoc [ 0 ] + '.' else : onelinedoc = onelinedoc [ 0 ] if onelinedoc == '' : onelinedoc = "No documentation" return { "name" : name , "doc" : onelinedoc } return None | Return a oneline docstring for the symbol at offset | 517 | 11 |
227,417 | def rpc_get_usages ( self , filename , source , offset ) : line , column = pos_to_linecol ( source , offset ) uses = run_with_debug ( jedi , 'usages' , source = source , line = line , column = column , path = filename , encoding = 'utf-8' ) if uses is None : return None result = [ ] for use in uses : if use . module_path == filename : offset = linecol_to_pos ( source , use . line , use . column ) elif use . module_path is not None : with open ( use . module_path ) as f : text = f . read ( ) offset = linecol_to_pos ( text , use . line , use . column ) result . append ( { "name" : use . name , "filename" : use . module_path , "offset" : offset } ) return result | Return the uses of the symbol at offset . | 198 | 9 |
227,418 | def rpc_get_names ( self , filename , source , offset ) : names = jedi . api . names ( source = source , path = filename , encoding = 'utf-8' , all_scopes = True , definitions = True , references = True ) result = [ ] for name in names : if name . module_path == filename : offset = linecol_to_pos ( source , name . line , name . column ) elif name . module_path is not None : with open ( name . module_path ) as f : text = f . read ( ) offset = linecol_to_pos ( text , name . line , name . column ) result . append ( { "name" : name . name , "filename" : name . module_path , "offset" : offset } ) return result | Return the list of possible names | 175 | 6 |
227,419 | def options ( description , * * kwargs ) : def set_notes ( function ) : function . refactor_notes = { 'name' : function . __name__ , 'category' : "Miscellaneous" , 'description' : description , 'doc' : getattr ( function , '__doc__' , '' ) , 'args' : [ ] } function . refactor_notes . update ( kwargs ) return function return set_notes | Decorator to set some options on a method . | 97 | 11 |
227,420 | def translate_changes ( initial_change ) : agenda = [ initial_change ] result = [ ] while agenda : change = agenda . pop ( 0 ) if isinstance ( change , rope_change . ChangeSet ) : agenda . extend ( change . changes ) elif isinstance ( change , rope_change . ChangeContents ) : result . append ( { 'action' : 'change' , 'file' : change . resource . real_path , 'contents' : change . new_contents , 'diff' : change . get_description ( ) } ) elif isinstance ( change , rope_change . CreateFile ) : result . append ( { 'action' : 'create' , 'type' : 'file' , 'file' : change . resource . real_path } ) elif isinstance ( change , rope_change . CreateFolder ) : result . append ( { 'action' : 'create' , 'type' : 'directory' , 'path' : change . resource . real_path } ) elif isinstance ( change , rope_change . MoveResource ) : result . append ( { 'action' : 'move' , 'type' : ( 'directory' if change . new_resource . is_folder ( ) else 'file' ) , 'source' : change . resource . real_path , 'destination' : change . new_resource . real_path } ) elif isinstance ( change , rope_change . RemoveResource ) : if change . resource . is_folder ( ) : result . append ( { 'action' : 'delete' , 'type' : 'directory' , 'path' : change . resource . real_path } ) else : result . append ( { 'action' : 'delete' , 'type' : 'file' , 'file' : change . resource . real_path } ) return result | Translate rope . base . change . Change instances to dictionaries . | 397 | 14 |
227,421 | def get_refactor_options ( self , start , end = None ) : result = [ ] for symbol in dir ( self ) : if not symbol . startswith ( "refactor_" ) : continue method = getattr ( self , symbol ) if not method . refactor_notes . get ( 'available' , True ) : continue category = method . refactor_notes [ 'category' ] if end is not None and category != 'Region' : continue if end is None and category == 'Region' : continue is_on_symbol = self . _is_on_symbol ( start ) if not is_on_symbol and category in ( 'Symbol' , 'Method' ) : continue requires_import = method . refactor_notes . get ( 'only_on_imports' , False ) if requires_import and not self . _is_on_import_statement ( start ) : continue result . append ( method . refactor_notes ) return result | Return a list of options for refactoring at the given position . | 211 | 14 |
227,422 | def _is_on_import_statement ( self , offset ) : data = self . resource . read ( ) bol = data . rfind ( "\n" , 0 , offset ) + 1 eol = data . find ( "\n" , 0 , bol ) if eol == - 1 : eol = len ( data ) line = data [ bol : eol ] line = line . strip ( ) if line . startswith ( "import " ) or line . startswith ( "from " ) : return True else : return False | Does this offset point to an import statement? | 115 | 9 |
227,423 | def _is_on_symbol ( self , offset ) : if not ROPE_AVAILABLE : return False data = self . resource . read ( ) if offset >= len ( data ) : return False if data [ offset ] != '_' and not data [ offset ] . isalnum ( ) : return False word = worder . get_name_at ( self . resource , offset ) if word : return True else : return False | Is this offset on a symbol? | 95 | 7 |
227,424 | def get_changes ( self , name , * args ) : if not name . startswith ( "refactor_" ) : raise ValueError ( "Bad refactoring name {0}" . format ( name ) ) method = getattr ( self , name ) if not method . refactor_notes . get ( 'available' , True ) : raise RuntimeError ( "Method not available" ) return method ( * args ) | Return a list of changes for the named refactoring action . | 90 | 13 |
227,425 | def refactor_froms_to_imports ( self , offset ) : refactor = ImportOrganizer ( self . project ) changes = refactor . froms_to_imports ( self . resource , offset ) return translate_changes ( changes ) | Converting imports of the form from ... to import ... . | 54 | 12 |
227,426 | def refactor_organize_imports ( self ) : refactor = ImportOrganizer ( self . project ) changes = refactor . organize_imports ( self . resource ) return translate_changes ( changes ) | Clean up and organize imports . | 45 | 6 |
227,427 | def refactor_module_to_package ( self ) : refactor = ModuleToPackage ( self . project , self . resource ) return self . _get_changes ( refactor ) | Convert the current module into a package . | 39 | 9 |
227,428 | def refactor_rename_at_point ( self , offset , new_name , in_hierarchy , docs ) : try : refactor = Rename ( self . project , self . resource , offset ) except RefactoringError as e : raise Fault ( str ( e ) , code = 400 ) return self . _get_changes ( refactor , new_name , in_hierarchy = in_hierarchy , docs = docs ) | Rename the symbol at point . | 97 | 7 |
227,429 | def refactor_rename_current_module ( self , new_name ) : refactor = Rename ( self . project , self . resource , None ) return self . _get_changes ( refactor , new_name ) | Rename the current module . | 49 | 6 |
227,430 | def refactor_move_module ( self , new_name ) : refactor = create_move ( self . project , self . resource ) resource = path_to_resource ( self . project , new_name ) return self . _get_changes ( refactor , resource ) | Move the current module . | 59 | 5 |
227,431 | def refactor_create_inline ( self , offset , only_this ) : refactor = create_inline ( self . project , self . resource , offset ) if only_this : return self . _get_changes ( refactor , remove = False , only_current = True ) else : return self . _get_changes ( refactor , remove = True , only_current = False ) | Inline the function call at point . | 83 | 8 |
227,432 | def refactor_extract_method ( self , start , end , name , make_global ) : refactor = ExtractMethod ( self . project , self . resource , start , end ) return self . _get_changes ( refactor , name , similar = True , global_ = make_global ) | Extract region as a method . | 64 | 7 |
227,433 | def refactor_use_function ( self , offset ) : try : refactor = UseFunction ( self . project , self . resource , offset ) except RefactoringError as e : raise Fault ( 'Refactoring error: {}' . format ( e ) , code = 400 ) return self . _get_changes ( refactor ) | Use the function at point wherever possible . | 71 | 8 |
227,434 | def set_colour ( self , r , g , b ) : if not 0 <= r <= 255 : raise ValueError ( "The value for red needs to be between 0 and 255." ) if not 0 <= g <= 255 : raise ValueError ( "The value for green needs to be between 0 and 255." ) if not 0 <= b <= 255 : raise ValueError ( "The value for blue needs to be between 0 and 255." ) #print(BulbDevice) hexvalue = BulbDevice . _rgb_to_hexvalue ( r , g , b ) payload = self . generate_payload ( SET , { self . DPS_INDEX_MODE : self . DPS_MODE_COLOUR , self . DPS_INDEX_COLOUR : hexvalue } ) data = self . _send_receive ( payload ) return data | Set colour of an rgb bulb . | 179 | 7 |
227,435 | def set_white ( self , brightness , colourtemp ) : if not 25 <= brightness <= 255 : raise ValueError ( "The brightness needs to be between 25 and 255." ) if not 0 <= colourtemp <= 255 : raise ValueError ( "The colour temperature needs to be between 0 and 255." ) payload = self . generate_payload ( SET , { self . DPS_INDEX_MODE : self . DPS_MODE_WHITE , self . DPS_INDEX_BRIGHTNESS : brightness , self . DPS_INDEX_COLOURTEMP : colourtemp } ) data = self . _send_receive ( payload ) return data | Set white coloured theme of an rgb bulb . | 136 | 9 |
227,436 | def set_brightness ( self , brightness ) : if not 25 <= brightness <= 255 : raise ValueError ( "The brightness needs to be between 25 and 255." ) payload = self . generate_payload ( SET , { self . DPS_INDEX_BRIGHTNESS : brightness } ) data = self . _send_receive ( payload ) return data | Set the brightness value of an rgb bulb . | 75 | 9 |
227,437 | def set_colourtemp ( self , colourtemp ) : if not 0 <= colourtemp <= 255 : raise ValueError ( "The colour temperature needs to be between 0 and 255." ) payload = self . generate_payload ( SET , { self . DPS_INDEX_COLOURTEMP : colourtemp } ) data = self . _send_receive ( payload ) return data | Set the colour temperature of an rgb bulb . | 80 | 9 |
227,438 | def colour_rgb ( self ) : hexvalue = self . status ( ) [ self . DPS ] [ self . DPS_INDEX_COLOUR ] return BulbDevice . _hexvalue_to_rgb ( hexvalue ) | Return colour as RGB value | 50 | 5 |
227,439 | def colour_hsv ( self ) : hexvalue = self . status ( ) [ self . DPS ] [ self . DPS_INDEX_COLOUR ] return BulbDevice . _hexvalue_to_hsv ( hexvalue ) | Return colour as HSV value | 50 | 6 |
227,440 | def set_group_mask ( self , group_mask = ALL_GROUPS ) : self . _send_packet ( struct . pack ( '<BB' , self . COMMAND_SET_GROUP_MASK , group_mask ) ) | Set the group mask that the Crazyflie belongs to | 54 | 11 |
227,441 | def takeoff ( self , absolute_height_m , duration_s , group_mask = ALL_GROUPS ) : self . _send_packet ( struct . pack ( '<BBff' , self . COMMAND_TAKEOFF , group_mask , absolute_height_m , duration_s ) ) | vertical takeoff from current x - y position to given height | 69 | 12 |
227,442 | def land ( self , absolute_height_m , duration_s , group_mask = ALL_GROUPS ) : self . _send_packet ( struct . pack ( '<BBff' , self . COMMAND_LAND , group_mask , absolute_height_m , duration_s ) ) | vertical land from current x - y position to given height | 66 | 12 |
227,443 | def go_to ( self , x , y , z , yaw , duration_s , relative = False , group_mask = ALL_GROUPS ) : self . _send_packet ( struct . pack ( '<BBBfffff' , self . COMMAND_GO_TO , group_mask , relative , x , y , z , yaw , duration_s ) ) | Go to an absolute or relative position | 84 | 7 |
227,444 | def start_trajectory ( self , trajectory_id , time_scale = 1.0 , relative = False , reversed = False , group_mask = ALL_GROUPS ) : self . _send_packet ( struct . pack ( '<BBBBBf' , self . COMMAND_START_TRAJECTORY , group_mask , relative , reversed , trajectory_id , time_scale ) ) | starts executing a specified trajectory | 90 | 6 |
227,445 | def define_trajectory ( self , trajectory_id , offset , n_pieces ) : self . _send_packet ( struct . pack ( '<BBBBIB' , self . COMMAND_DEFINE_TRAJECTORY , trajectory_id , self . TRAJECTORY_LOCATION_MEM , self . TRAJECTORY_TYPE_POLY4D , offset , n_pieces ) ) | Define a trajectory that has previously been uploaded to memory . | 89 | 12 |
227,446 | def choose ( items , title_text , question_text ) : print ( title_text ) for i , item in enumerate ( items , start = 1 ) : print ( '%d) %s' % ( i , item ) ) print ( '%d) Abort' % ( i + 1 ) ) selected = input ( question_text ) try : index = int ( selected ) except ValueError : index = - 1 if not ( index - 1 ) in range ( len ( items ) ) : print ( 'Aborting.' ) return None return items [ index - 1 ] | Interactively choose one of the items . | 123 | 8 |
227,447 | def scan ( ) : # Initiate the low level drivers cflib . crtp . init_drivers ( enable_debug_driver = False ) # Scan for Crazyflies print ( 'Scanning interfaces for Crazyflies...' ) available = cflib . crtp . scan_interfaces ( ) interfaces = [ uri for uri , _ in available ] if not interfaces : return None return choose ( interfaces , 'Crazyflies found:' , 'Select interface: ' ) | Scan for Crazyflie and return its URI . | 100 | 10 |
227,448 | def connect ( self ) : print ( 'Connecting to %s' % self . _link_uri ) self . _cf . open_link ( self . _link_uri ) | Connect to the crazyflie . | 39 | 7 |
227,449 | def wait_for_connection ( self , timeout = 10 ) : start_time = datetime . datetime . now ( ) while True : if self . connected : return True now = datetime . datetime . now ( ) if ( now - start_time ) . total_seconds ( ) > timeout : return False time . sleep ( 0.5 ) | Busy loop until connection is established . | 75 | 8 |
227,450 | def search_memories ( self ) : if not self . connected : raise NotConnected ( ) return self . _cf . mem . get_mems ( MemoryElement . TYPE_1W ) | Search and return list of 1 - wire memories . | 42 | 10 |
227,451 | def _stab_log_data ( self , timestamp , data , logconf ) : print ( '[%d][%s]: %s' % ( timestamp , logconf . name , data ) ) | Callback froma the log API when data arrives | 42 | 9 |
227,452 | def fetch_platform_informations ( self , callback ) : self . _protocolVersion = - 1 self . _callback = callback self . _request_protocol_version ( ) | Fetch platform info from the firmware Should be called at the earliest in the connection sequence | 40 | 17 |
227,453 | def receive_packet ( self , time = 0 ) : if time == 0 : try : return self . in_queue . get ( False ) except queue . Empty : return None elif time < 0 : try : return self . in_queue . get ( True ) except queue . Empty : return None else : try : return self . in_queue . get ( True , time ) except queue . Empty : return None | Receive a packet though the link . This call is blocking but will timeout and return None if a timeout is supplied . | 88 | 24 |
227,454 | def add_callback ( self , cb ) : if ( ( cb in self . callbacks ) is False ) : self . callbacks . append ( cb ) | Register cb as a new callback . Will not register duplicates . | 36 | 14 |
227,455 | def read_cf1_config ( self ) : target = self . _cload . targets [ 0xFF ] config_page = target . flash_pages - 1 return self . _cload . read_flash ( addr = 0xFF , page = config_page ) | Read a flash page from the specified target | 59 | 8 |
227,456 | def set_channel ( self , channel ) : if channel != self . current_channel : _send_vendor_setup ( self . handle , SET_RADIO_CHANNEL , channel , 0 , ( ) ) self . current_channel = channel | Set the radio channel to be used | 55 | 7 |
227,457 | def set_address ( self , address ) : if len ( address ) != 5 : raise Exception ( 'Crazyradio: the radio address shall be 5' ' bytes long' ) if address != self . current_address : _send_vendor_setup ( self . handle , SET_RADIO_ADDRESS , 0 , 0 , address ) self . current_address = address | Set the radio address to be used | 84 | 7 |
227,458 | def set_data_rate ( self , datarate ) : if datarate != self . current_datarate : _send_vendor_setup ( self . handle , SET_DATA_RATE , datarate , 0 , ( ) ) self . current_datarate = datarate | Set the radio datarate to be used | 62 | 8 |
227,459 | def set_arc ( self , arc ) : _send_vendor_setup ( self . handle , SET_RADIO_ARC , arc , 0 , ( ) ) self . arc = arc | Set the ACK retry count for radio communication | 42 | 10 |
227,460 | def set_ard_time ( self , us ) : # Auto Retransmit Delay: # 0000 - Wait 250uS # 0001 - Wait 500uS # 0010 - Wait 750uS # ........ # 1111 - Wait 4000uS # Round down, to value representing a multiple of 250uS t = int ( ( us / 250 ) - 1 ) if ( t < 0 ) : t = 0 if ( t > 0xF ) : t = 0xF _send_vendor_setup ( self . handle , SET_RADIO_ARD , t , 0 , ( ) ) | Set the ACK retry delay for radio communication | 128 | 10 |
227,461 | def fetch ( self , crc ) : cache_data = None pattern = '%08X.json' % crc hit = None for name in self . _cache_files : if ( name . endswith ( pattern ) ) : hit = name if ( hit ) : try : cache = open ( hit ) cache_data = json . load ( cache , object_hook = self . _decoder ) cache . close ( ) except Exception as exp : logger . warning ( 'Error while parsing cache file [%s]:%s' , hit , str ( exp ) ) return cache_data | Try to get a hit in the cache return None otherwise | 126 | 11 |
227,462 | def insert ( self , crc , toc ) : if self . _rw_cache : try : filename = '%s/%08X.json' % ( self . _rw_cache , crc ) cache = open ( filename , 'w' ) cache . write ( json . dumps ( toc , indent = 2 , default = self . _encoder ) ) cache . close ( ) logger . info ( 'Saved cache to [%s]' , filename ) self . _cache_files += [ filename ] except Exception as exp : logger . warning ( 'Could not save cache to file [%s]: %s' , filename , str ( exp ) ) else : logger . warning ( 'Could not save cache, no writable directory' ) | Save a new cache to file | 160 | 6 |
227,463 | def _encoder ( self , obj ) : return { '__class__' : obj . __class__ . __name__ , 'ident' : obj . ident , 'group' : obj . group , 'name' : obj . name , 'ctype' : obj . ctype , 'pytype' : obj . pytype , 'access' : obj . access } raise TypeError ( repr ( obj ) + ' is not JSON serializable' ) | Encode a toc element leaf - node | 97 | 9 |
227,464 | def _decoder ( self , obj ) : if '__class__' in obj : elem = eval ( obj [ '__class__' ] ) ( ) elem . ident = obj [ 'ident' ] elem . group = str ( obj [ 'group' ] ) elem . name = str ( obj [ 'name' ] ) elem . ctype = str ( obj [ 'ctype' ] ) elem . pytype = str ( obj [ 'pytype' ] ) elem . access = obj [ 'access' ] return elem return obj | Decode a toc element leaf - node | 122 | 9 |
227,465 | def set_mode ( self , anchor_id , mode ) : data = struct . pack ( '<BB' , LoPoAnchor . LPP_TYPE_MODE , mode ) self . crazyflie . loc . send_short_lpp_packet ( anchor_id , data ) | Send a packet to set the anchor mode . If the anchor receive the packet it will change mode and resets . | 64 | 23 |
227,466 | def open_links ( self ) : if self . _is_open : raise Exception ( 'Already opened' ) try : self . parallel_safe ( lambda scf : scf . open_link ( ) ) self . _is_open = True except Exception as e : self . close_links ( ) raise e | Open links to all individuals in the swarm | 67 | 8 |
227,467 | def close_links ( self ) : for uri , cf in self . _cfs . items ( ) : cf . close_link ( ) self . _is_open = False | Close all open links | 39 | 4 |
227,468 | def sequential ( self , func , args_dict = None ) : for uri , cf in self . _cfs . items ( ) : args = self . _process_args_dict ( cf , uri , args_dict ) func ( * args ) | Execute a function for all Crazyflies in the swarm in sequence . | 55 | 14 |
227,469 | def parallel_safe ( self , func , args_dict = None ) : threads = [ ] reporter = self . Reporter ( ) for uri , scf in self . _cfs . items ( ) : args = [ func , reporter ] + self . _process_args_dict ( scf , uri , args_dict ) thread = Thread ( target = self . _thread_function_wrapper , args = args ) threads . append ( thread ) thread . start ( ) for thread in threads : thread . join ( ) if reporter . is_error_reported ( ) : raise Exception ( 'One or more threads raised an exception when ' 'executing parallel task' ) | Execute a function for all Crazyflies in the swarm in parallel . One thread per Crazyflie is started to execute the function . The threads are joined at the end and if one or more of the threads raised an exception this function will also raise an exception . | 142 | 53 |
227,470 | def take_off ( self , height = DEFAULT , velocity = DEFAULT ) : if self . _is_flying : raise Exception ( 'Already flying' ) if not self . _cf . is_connected ( ) : raise Exception ( 'Crazyflie is not connected' ) self . _is_flying = True self . _reset_position_estimator ( ) self . _activate_controller ( ) self . _activate_high_level_commander ( ) self . _hl_commander = self . _cf . high_level_commander height = self . _height ( height ) duration_s = height / self . _velocity ( velocity ) self . _hl_commander . takeoff ( height , duration_s ) time . sleep ( duration_s ) self . _z = height | Takes off that is starts the motors goes straight up and hovers . Do not call this function if you use the with keyword . Take off is done automatically when the context is created . | 173 | 38 |
227,471 | def go_to ( self , x , y , z = DEFAULT , velocity = DEFAULT ) : z = self . _height ( z ) dx = x - self . _x dy = y - self . _y dz = z - self . _z distance = math . sqrt ( dx * dx + dy * dy + dz * dz ) duration_s = distance / self . _velocity ( velocity ) self . _hl_commander . go_to ( x , y , z , 0 , duration_s ) time . sleep ( duration_s ) self . _x = x self . _y = y self . _z = z | Go to a position | 141 | 4 |
227,472 | def request_update_of_all_params ( self ) : for group in self . toc . toc : for name in self . toc . toc [ group ] : complete_name = '%s.%s' % ( group , name ) self . request_param_update ( complete_name ) | Request an update of all the parameters in the TOC | 68 | 11 |
227,473 | def _check_if_all_updated ( self ) : for g in self . toc . toc : if g not in self . values : return False for n in self . toc . toc [ g ] : if n not in self . values [ g ] : return False return True | Check if all parameters from the TOC has at least been fetched once | 63 | 15 |
227,474 | def _param_updated ( self , pk ) : if self . _useV2 : var_id = struct . unpack ( '<H' , pk . data [ : 2 ] ) [ 0 ] else : var_id = pk . data [ 0 ] element = self . toc . get_element_by_id ( var_id ) if element : if self . _useV2 : s = struct . unpack ( element . pytype , pk . data [ 2 : ] ) [ 0 ] else : s = struct . unpack ( element . pytype , pk . data [ 1 : ] ) [ 0 ] s = s . __str__ ( ) complete_name = '%s.%s' % ( element . group , element . name ) # Save the value for synchronous access if element . group not in self . values : self . values [ element . group ] = { } self . values [ element . group ] [ element . name ] = s logger . debug ( 'Updated parameter [%s]' % complete_name ) if complete_name in self . param_update_callbacks : self . param_update_callbacks [ complete_name ] . call ( complete_name , s ) if element . group in self . group_update_callbacks : self . group_update_callbacks [ element . group ] . call ( complete_name , s ) self . all_update_callback . call ( complete_name , s ) # Once all the parameters are updated call the # callback for "everything updated" (after all the param # updated callbacks) if self . _check_if_all_updated ( ) and not self . is_updated : self . is_updated = True self . all_updated . call ( ) else : logger . debug ( 'Variable id [%d] not found in TOC' , var_id ) | Callback with data for an updated parameter | 404 | 7 |
227,475 | def remove_update_callback ( self , group , name = None , cb = None ) : if not cb : return if not name : if group in self . group_update_callbacks : self . group_update_callbacks [ group ] . remove_callback ( cb ) else : paramname = '{}.{}' . format ( group , name ) if paramname in self . param_update_callbacks : self . param_update_callbacks [ paramname ] . remove_callback ( cb ) | Remove the supplied callback for a group or a group . name | 113 | 12 |
227,476 | def add_update_callback ( self , group = None , name = None , cb = None ) : if not group and not name : self . all_update_callback . add_callback ( cb ) elif not name : if group not in self . group_update_callbacks : self . group_update_callbacks [ group ] = Caller ( ) self . group_update_callbacks [ group ] . add_callback ( cb ) else : paramname = '{}.{}' . format ( group , name ) if paramname not in self . param_update_callbacks : self . param_update_callbacks [ paramname ] = Caller ( ) self . param_update_callbacks [ paramname ] . add_callback ( cb ) | Add a callback for a specific parameter name . This callback will be executed when a new value is read from the Crazyflie . | 165 | 26 |
227,477 | def refresh_toc ( self , refresh_done_callback , toc_cache ) : self . _useV2 = self . cf . platform . get_protocol_version ( ) >= 4 toc_fetcher = TocFetcher ( self . cf , ParamTocElement , CRTPPort . PARAM , self . toc , refresh_done_callback , toc_cache ) toc_fetcher . start ( ) | Initiate a refresh of the parameter TOC . | 95 | 11 |
227,478 | def _disconnected ( self , uri ) : self . param_updater . close ( ) self . is_updated = False # Clear all values from the previous Crazyflie self . toc = Toc ( ) self . values = { } | Disconnected callback from Crazyflie API | 54 | 8 |
227,479 | def request_param_update ( self , complete_name ) : self . param_updater . request_param_update ( self . toc . get_element_id ( complete_name ) ) | Request an update of the value for the supplied parameter . | 44 | 11 |
227,480 | def set_value ( self , complete_name , value ) : element = self . toc . get_element_by_complete_name ( complete_name ) if not element : logger . warning ( "Cannot set value for [%s], it's not in the TOC!" , complete_name ) raise KeyError ( '{} not in param TOC' . format ( complete_name ) ) elif element . access == ParamTocElement . RO_ACCESS : logger . debug ( '[%s] is read only, no trying to set value' , complete_name ) raise AttributeError ( '{} is read-only!' . format ( complete_name ) ) else : varid = element . ident pk = CRTPPacket ( ) pk . set_header ( CRTPPort . PARAM , WRITE_CHANNEL ) if self . _useV2 : pk . data = struct . pack ( '<H' , varid ) else : pk . data = struct . pack ( '<B' , varid ) try : value_nr = eval ( value ) except TypeError : value_nr = value pk . data += struct . pack ( element . pytype , value_nr ) self . param_updater . request_param_setvalue ( pk ) | Set the value for the supplied parameter . | 282 | 8 |
227,481 | def _new_packet_cb ( self , pk ) : if pk . channel == READ_CHANNEL or pk . channel == WRITE_CHANNEL : if self . _useV2 : var_id = struct . unpack ( '<H' , pk . data [ : 2 ] ) [ 0 ] if pk . channel == READ_CHANNEL : pk . data = pk . data [ : 2 ] + pk . data [ 3 : ] else : var_id = pk . data [ 0 ] if ( pk . channel != TOC_CHANNEL and self . _req_param == var_id and pk is not None ) : self . updated_callback ( pk ) self . _req_param = - 1 try : self . wait_lock . release ( ) except Exception : pass | Callback for newly arrived packets | 184 | 5 |
227,482 | def request_param_update ( self , var_id ) : self . _useV2 = self . cf . platform . get_protocol_version ( ) >= 4 pk = CRTPPacket ( ) pk . set_header ( CRTPPort . PARAM , READ_CHANNEL ) if self . _useV2 : pk . data = struct . pack ( '<H' , var_id ) else : pk . data = struct . pack ( '<B' , var_id ) logger . debug ( 'Requesting request to update param [%d]' , var_id ) self . request_queue . put ( pk ) | Place a param update request on the queue | 142 | 8 |
227,483 | def add_element ( self , element ) : try : self . toc [ element . group ] [ element . name ] = element except KeyError : self . toc [ element . group ] = { } self . toc [ element . group ] [ element . name ] = element | Add a new TocElement to the TOC container . | 60 | 12 |
227,484 | def get_element_id ( self , complete_name ) : [ group , name ] = complete_name . split ( '.' ) element = self . get_element ( group , name ) if element : return element . ident else : logger . warning ( 'Unable to find variable [%s]' , complete_name ) return None | Get the TocElement element id - number of the element with the supplied name . | 71 | 17 |
227,485 | def get_element_by_id ( self , ident ) : for group in list ( self . toc . keys ( ) ) : for name in list ( self . toc [ group ] . keys ( ) ) : if self . toc [ group ] [ name ] . ident == ident : return self . toc [ group ] [ name ] return None | Get a TocElement element identified by index number from the container . | 76 | 14 |
227,486 | def start ( self ) : self . _useV2 = self . cf . platform . get_protocol_version ( ) >= 4 logger . debug ( '[%d]: Using V2 protocol: %d' , self . port , self . _useV2 ) logger . debug ( '[%d]: Start fetching...' , self . port ) # Register callback in this class for the port self . cf . add_port_callback ( self . port , self . _new_packet_cb ) # Request the TOC CRC self . state = GET_TOC_INFO pk = CRTPPacket ( ) pk . set_header ( self . port , TOC_CHANNEL ) if self . _useV2 : pk . data = ( CMD_TOC_INFO_V2 , ) self . cf . send_packet ( pk , expected_reply = ( CMD_TOC_INFO_V2 , ) ) else : pk . data = ( CMD_TOC_INFO , ) self . cf . send_packet ( pk , expected_reply = ( CMD_TOC_INFO , ) ) | Initiate fetching of the TOC . | 250 | 10 |
227,487 | def _toc_fetch_finished ( self ) : self . cf . remove_port_callback ( self . port , self . _new_packet_cb ) logger . debug ( '[%d]: Done!' , self . port ) self . finished_callback ( ) | Callback for when the TOC fetching is finished | 58 | 10 |
227,488 | def _new_packet_cb ( self , packet ) : chan = packet . channel if ( chan != 0 ) : return payload = packet . data [ 1 : ] if ( self . state == GET_TOC_INFO ) : if self . _useV2 : [ self . nbr_of_items , self . _crc ] = struct . unpack ( '<HI' , payload [ : 6 ] ) else : [ self . nbr_of_items , self . _crc ] = struct . unpack ( '<BI' , payload [ : 5 ] ) logger . debug ( '[%d]: Got TOC CRC, %d items and crc=0x%08X' , self . port , self . nbr_of_items , self . _crc ) cache_data = self . _toc_cache . fetch ( self . _crc ) if ( cache_data ) : self . toc . toc = cache_data logger . info ( 'TOC for port [%s] found in cache' % self . port ) self . _toc_fetch_finished ( ) else : self . state = GET_TOC_ELEMENT self . requested_index = 0 self . _request_toc_element ( self . requested_index ) elif ( self . state == GET_TOC_ELEMENT ) : # Always add new element, but only request new if it's not the # last one. if self . _useV2 : ident = struct . unpack ( '<H' , payload [ : 2 ] ) [ 0 ] else : ident = payload [ 0 ] if ident != self . requested_index : return if self . _useV2 : self . toc . add_element ( self . element_class ( ident , payload [ 2 : ] ) ) else : self . toc . add_element ( self . element_class ( ident , payload [ 1 : ] ) ) logger . debug ( 'Added element [%s]' , ident ) if ( self . requested_index < ( self . nbr_of_items - 1 ) ) : logger . debug ( '[%d]: More variables, requesting index %d' , self . port , self . requested_index + 1 ) self . requested_index = self . requested_index + 1 self . _request_toc_element ( self . requested_index ) else : # No more variables in TOC self . _toc_cache . insert ( self . _crc , self . toc . toc ) self . _toc_fetch_finished ( ) | Handle a newly arrived packet | 557 | 5 |
227,489 | def _request_toc_element ( self , index ) : logger . debug ( 'Requesting index %d on port %d' , index , self . port ) pk = CRTPPacket ( ) if self . _useV2 : pk . set_header ( self . port , TOC_CHANNEL ) pk . data = ( CMD_TOC_ITEM_V2 , index & 0x0ff , ( index >> 8 ) & 0x0ff ) self . cf . send_packet ( pk , expected_reply = ( CMD_TOC_ITEM_V2 , index & 0x0ff , ( index >> 8 ) & 0x0ff ) ) else : pk . set_header ( self . port , TOC_CHANNEL ) pk . data = ( CMD_TOC_ELEMENT , index ) self . cf . send_packet ( pk , expected_reply = ( CMD_TOC_ELEMENT , index ) ) | Request information about a specific item in the TOC | 221 | 10 |
227,490 | def _start_connection_setup ( self ) : logger . info ( 'We are connected[%s], request connection setup' , self . link_uri ) self . platform . fetch_platform_informations ( self . _platform_info_fetched ) | Start the connection setup by refreshing the TOCs | 55 | 10 |
227,491 | def _param_toc_updated_cb ( self ) : logger . info ( 'Param TOC finished updating' ) self . connected_ts = datetime . datetime . now ( ) self . connected . call ( self . link_uri ) # Trigger the update for all the parameters self . param . request_update_of_all_params ( ) | Called when the param TOC has been fully updated | 75 | 11 |
227,492 | def _mems_updated_cb ( self ) : logger . info ( 'Memories finished updating' ) self . param . refresh_toc ( self . _param_toc_updated_cb , self . _toc_cache ) | Called when the memories have been identified | 49 | 8 |
227,493 | def _link_error_cb ( self , errmsg ) : logger . warning ( 'Got link error callback [%s] in state [%s]' , errmsg , self . state ) if ( self . link is not None ) : self . link . close ( ) self . link = None if ( self . state == State . INITIALIZED ) : self . connection_failed . call ( self . link_uri , errmsg ) if ( self . state == State . CONNECTED or self . state == State . SETUP_FINISHED ) : self . disconnected . call ( self . link_uri ) self . connection_lost . call ( self . link_uri , errmsg ) self . state = State . DISCONNECTED | Called from the link driver when there s an error | 160 | 11 |
227,494 | def _check_for_initial_packet_cb ( self , data ) : self . state = State . CONNECTED self . link_established . call ( self . link_uri ) self . packet_received . remove_callback ( self . _check_for_initial_packet_cb ) | Called when first packet arrives from Crazyflie . | 65 | 11 |
227,495 | def close_link ( self ) : logger . info ( 'Closing link' ) if ( self . link is not None ) : self . commander . send_setpoint ( 0 , 0 , 0 , 0 ) if ( self . link is not None ) : self . link . close ( ) self . link = None self . _answer_patterns = { } self . disconnected . call ( self . link_uri ) | Close the communication link . | 89 | 5 |
227,496 | def _no_answer_do_retry ( self , pk , pattern ) : logger . info ( 'Resending for pattern %s' , pattern ) # Set the timer to None before trying to send again self . send_packet ( pk , expected_reply = pattern , resend = True ) | Resend packets that we have not gotten answers to | 66 | 10 |
227,497 | def _check_for_answers ( self , pk ) : longest_match = ( ) if len ( self . _answer_patterns ) > 0 : data = ( pk . header , ) + tuple ( pk . data ) for p in list ( self . _answer_patterns . keys ( ) ) : logger . debug ( 'Looking for pattern match on %s vs %s' , p , data ) if len ( p ) <= len ( data ) : if p == data [ 0 : len ( p ) ] : match = data [ 0 : len ( p ) ] if len ( match ) >= len ( longest_match ) : logger . debug ( 'Found new longest match %s' , match ) longest_match = match if len ( longest_match ) > 0 : self . _answer_patterns [ longest_match ] . cancel ( ) del self . _answer_patterns [ longest_match ] | Callback called for every packet received to check if we are waiting for an answer on this port . If so then cancel the retry timer . | 199 | 28 |
227,498 | def send_packet ( self , pk , expected_reply = ( ) , resend = False , timeout = 0.2 ) : self . _send_lock . acquire ( ) if self . link is not None : if len ( expected_reply ) > 0 and not resend and self . link . needs_resending : pattern = ( pk . header , ) + expected_reply logger . debug ( 'Sending packet and expecting the %s pattern back' , pattern ) new_timer = Timer ( timeout , lambda : self . _no_answer_do_retry ( pk , pattern ) ) self . _answer_patterns [ pattern ] = new_timer new_timer . start ( ) elif resend : # Check if we have gotten an answer, if not try again pattern = expected_reply if pattern in self . _answer_patterns : logger . debug ( 'We want to resend and the pattern is there' ) if self . _answer_patterns [ pattern ] : new_timer = Timer ( timeout , lambda : self . _no_answer_do_retry ( pk , pattern ) ) self . _answer_patterns [ pattern ] = new_timer new_timer . start ( ) else : logger . debug ( 'Resend requested, but no pattern found: %s' , self . _answer_patterns ) self . link . send_packet ( pk ) self . packet_sent . call ( pk ) self . _send_lock . release ( ) | Send a packet through the link interface . | 327 | 8 |
227,499 | def add_port_callback ( self , port , cb ) : logger . debug ( 'Adding callback on port [%d] to [%s]' , port , cb ) self . add_header_callback ( cb , port , 0 , 0xff , 0x0 ) | Add a callback for data that comes on a specific port | 61 | 11 |
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