cozmo_sdk_examples_1.4.10/000755 000765 000024 00000000000 13442013545 016473 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/apps/000755 000765 000024 00000000000 13442013545 017436 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/face_images/000755 000765 000024 00000000000 13442013545 020716 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/if_this_then_that/000755 000765 000024 00000000000 13442013545 022156 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/lib/000755 000765 000024 00000000000 13442013545 017241 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/LICENSE.txt000644 000765 000024 00000024164 13442013541 020321 0ustar00michellestaff000000 000000 Unless otherwise stated in that file, or the folder containing that file, all files in the Cozmo SDK are Copyright (c) 2016-2017 Anki Inc. and licensed under the Apache 2.0 License: Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. 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END OF TERMS AND CONDITIONS cozmo_sdk_examples_1.4.10/multi_robot/000755 000765 000024 00000000000 13442013545 021032 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/README.md000644 000765 000024 00000001244 13442013540 017746 0ustar00michellestaff000000 000000 # Example programs for the Anki Cozmo Python SDK See the [tutorials](tutorials) directory for a progression of example programs all the way from [hello_world](tutorials/01_basics/01_hello_world.py) in the [01_basics](tutorials/01_basics) sub-directory, through to more advanced vision and action examples. See the [apps](apps) directory for some fun fully-featured programs like a remote control and a desk security guard. See the [if_this_then_that](if_this_then_that) directory for some examples that connect Cozmo to the "If This Then That" service. See the [multi_robot](multi_robot) directory for an example of how to connect the SDK to multiple devices and robots. cozmo_sdk_examples_1.4.10/tools/000755 000765 000024 00000000000 13442013545 017633 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/000755 000765 000024 00000000000 13442013545 020521 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/01_basics/000755 000765 000024 00000000000 13442013545 022265 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/02_cozmo_face/000755 000765 000024 00000000000 13442013545 023127 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/03_vision/000755 000765 000024 00000000000 13442013545 022332 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objects/000755 000765 000024 00000000000 13442013545 024460 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/05_async_python/000755 000765 000024 00000000000 13442013545 023543 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/06_actions/000755 000765 000024 00000000000 13442013545 022466 5ustar00michellestaff000000 000000 cozmo_sdk_examples_1.4.10/tutorials/06_actions/01_parallel_actions.py000755 000765 000024 00000013356 13442013541 026663 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. '''Parallel Action Examples. This script shows how to run actions in parallel instead of in sequence, how some actions will fail to run if another action is already using that animation track, and how you can abort individual, or all, actions. ''' import sys import time try: from PIL import Image except ImportError: sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install") import cozmo from cozmo.util import degrees, distance_mm, speed_mmps # load an image to display on Cozmo's face face_image = Image.open("../../face_images/cozmosdk.png") # resize to fit on Cozmo's face screen face_image = face_image.resize(cozmo.oled_face.dimensions(), Image.BICUBIC) # convert the image to the format used by the oled screen face_image = cozmo.oled_face.convert_image_to_screen_data(face_image, invert_image=True) def example1_lift_head(robot: cozmo.robot.Robot): cozmo.logger.info("----------------------------------------") cozmo.logger.info("Example 1: Move Lift and Head in Parallel") cozmo.logger.info("First, move the lift and head down, in sequence.") robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed() robot.set_lift_height(0.0).wait_for_completed() cozmo.logger.info("Now, move the lift and head back up, in parallel " "- we no longer have to wait for the 1st action to complete " "before starting the 2nd one because the 2nd action is in_parallel") action1 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE) action2 = robot.set_lift_height(1.0, in_parallel=True) action1.wait_for_completed() action2.wait_for_completed() cozmo.logger.info("action1 = %s", action1) cozmo.logger.info("action2 = %s", action2) def example2_conflicting_actions(robot: cozmo.robot.Robot): cozmo.logger.info("----------------------------------------") cozmo.logger.info("Example 2: Conflicting actions.") cozmo.logger.info("Try to drive straight and turn in parallel. This is not " "allowed, as both actions require use of the wheels, so the 2nd action " "will report failure due to tracks_locked.") action1 = robot.drive_straight(distance_mm(50), speed_mmps(25), should_play_anim=False, in_parallel=True) action2 = robot.turn_in_place(degrees(90), in_parallel=True) action2.wait_for_completed() cozmo.logger.info("action2 = %s", action2) action1.wait_for_completed() cozmo.logger.info("action1 = %s", action1) def example3_abort_one_action(robot: cozmo.robot.Robot): cozmo.logger.info("----------------------------------------") cozmo.logger.info("Example 3: Abort some parallel actions.") cozmo.logger.info("Start multiple parallel actions:") action1 = robot.set_lift_height(0.0, in_parallel=True) action2 = robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE, duration=6.0, in_parallel=True) action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True) action4 = robot.display_oled_face_image(face_image, 30000.0) # Note: face image is in_parallel by default # Lift-lowering is aborted immediately action1.abort(log_abort_messages=True) # Head-lowering is aborted shortly afterwards time.sleep(0.1) action2.abort(log_abort_messages=True) # Image on Cozmo's face is aborted another 2 seconds later time.sleep(2) action4.abort(log_abort_messages=True) # We wait for the one remaining action to complete action3.wait_for_completed() # Only action3 should succeed (as long as Cozmo had enough space to drive) cozmo.logger.info("action1 = %s", action1) cozmo.logger.info("action2 = %s", action2) cozmo.logger.info("action3 = %s", action3) cozmo.logger.info("action4 = %s", action4) def example4_abort_all_actions(robot: cozmo.robot.Robot): cozmo.logger.info("----------------------------------------") cozmo.logger.info("Example 4: Abort all parallel actions.") cozmo.logger.info("Start multiple parallel actions:") action1 = robot.set_lift_height(0.0, in_parallel=True, duration=6.0) action2 = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, duration=6.0, in_parallel=True) action3 = robot.drive_straight(distance_mm(75), speed_mmps(25), should_play_anim=False, in_parallel=True) action4 = robot.display_oled_face_image(face_image, 30000.0) # Note: face image is in_parallel by default # wait two seconds and abort everything time.sleep(2) robot.abort_all_actions(log_abort_messages=True) # wait for results to come back for all actions robot.wait_for_all_actions_completed() # All actions should have aborted cozmo.logger.info("action1 res = %s", action1) cozmo.logger.info("action2 res = %s", action2) cozmo.logger.info("action3 res = %s", action3) cozmo.logger.info("action4 res = %s", action4) def cozmo_program(robot: cozmo.robot.Robot): example1_lift_head(robot) example2_conflicting_actions(robot) example3_abort_one_action(robot) example4_abort_all_actions(robot) cozmo.logger.info("----------------------------------------") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/05_async_python/01_cube_blinker_sync.py000755 000765 000024 00000005132 13442013541 030075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. '''Cube Blinker synchronous example Cozmo first looks around for a cube. Once a cube is found, the cube's lights blink green in a circular fashion. The script then waits for the cube to be tapped. ''' import asyncio import sys import cozmo class BlinkyCube(cozmo.objects.LightCube): '''Subclass LightCube and add a light-chaser effect.''' def __init__(self, *a, **kw): super().__init__(*a, **kw) self._chaser = None def start_light_chaser(self): '''Cycles the lights around the cube with 1 corner lit up green, changing to the next corner every 0.1 seconds. ''' if self._chaser: raise ValueError("Light chaser already running") async def _chaser(): while True: for i in range(4): cols = [cozmo.lights.off_light] * 4 cols[i] = cozmo.lights.green_light self.set_light_corners(*cols) await asyncio.sleep(0.1, loop=self._loop) self._chaser = asyncio.ensure_future(_chaser(), loop=self._loop) def stop_light_chaser(self): if self._chaser: self._chaser.cancel() self._chaser = None # Make sure World knows how to instantiate the subclass cozmo.world.World.light_cube_factory = BlinkyCube def cozmo_program(robot: cozmo.robot.Robot): cube = None look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace) try: cube = robot.world.wait_for_observed_light_cube(timeout=60) except asyncio.TimeoutError: print("Didn't find a cube :-(") reloohr5entioError: look_a. defleted() r a def start_light_ch)ace) try: prWain wri the cube to be te :-(") r a orld.waito b_cube(tim10) try: prLighto be te :-(") except asyncio.TimeoutError: prNo- theo be t of nd a cube :-(")r5entioError: r a def stop_light_ch :-(") r a self.set_s_ght(----") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/05_async_pyt2on/01_cube_bltions.py000755 000765 000024 00661713356 134420135705026663 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. '''Cube Blianker synchronous example Cozmo first looks around for a cube. Once a cube is found, the cube's lights blink green in a circular fashion. The script then waits for the cube to be tapped. ''' import asyncio import sys import cozmo class BlinkyCube(cozmo.objects.LightCube): '''Subclass LightCube and add a light-chaser effect.''' def __init__(self, *a, **kw): super().__init__(*a, **kw) self._chaser = None def start_light_chaser(self): '''Cycles the lights around the cube with 1 corner lit up green, changing to the next corner every 0.1 seconds. ''' if self._chaser: raise ValueError("Light chaser already running") async def _chaser(): while True: for i in range(4): cols = [cozmo.lights.off_light] * 4 cols[i] = cozmo.lights.green_light self.set_light_corners(*cols) await asyncio.sleep(0.1, loop=self._loop) self._chaser = asyncio.ensure_future(_chaser(), loop=self._loop) def stop_light_chaser(self): if self._chaser: self._chaser.cancel() self._chaser = None # Make sure World knows how to instantiate the subclass cozmo.world.World.light_cube_factory = BlinkyCu async def cozmo_program(robot: cozmo.robot.Robot): ear. aess val contenthon/01_cube_blinker_loop) T of t # Imf `` asyn``se tosucing tef cozmo_pr menv t finohtsn weconds.W withnohtsn we, `` ``s youbequird..W `` ``,tiate ght statonds.backsatiozmo.iatelessescannchan equired ions_comp. Mean ace) aten no eelf.emoteinul files incomegook_a.loop) F use ht(dis,tiate ght statonds.`` ube = robot.world.wait_for_observed_light_cube(timeou``onds.backsatiozmo.ple Ce ofage sd add a d the its for60y 0.1 s cube(ti:-(") lapsdegrk to wheroccursCozmo .loop) Likeotherwiate ght stat.`` u r a orld.waito b_cube(tim10)``onds.backsatiozmo. use apen no eis been receait for 0y 0.1 s cube(tiroccursgreen,k to wheroccursCozmo .loop) F50%) or for informmark ace) s htdocctionv ppache3.4.1rary/er = as-task.htmlbot): ted() r a cube = None look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace) try: cu ube = robot.world.wait_for_observed_light_cube(timeout=60) except asyncio.TimeoutError: print("Didn't find a cube :-(") reloohr5entioError: look_a. defleted() r a def start_light_ch)ace) try: prWain wri the cube to be te :-(") u r a orld.waito b_cube(tim10) try: prLighto be te :-(") except asyncio.TimeoutError: prNo- theo be t of nd a cube :-(")r5entioError: r a def stop_light_ch :-(") r a self.set_s_ght(----") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objthogoimagl pu_tesctions.py000755 000765 000024 0020001244 134420133052017746 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.T0minnect Cozmy to dging to the speatuoshtCube0/tdocumentcen 1. el and t combinauoshtensenect ittedrelDerivimagbe = in thubjectlel=ound,mustnauosht " and asiatele = 'stuoshtCovides oapped. ''' import cozmo from cozmo.util import degrPoshyCube def cozmo_program(robot: cozmo.robot.Robot):ozmo.rgoimagl pu(Posh(100, 100, 0tracgle_z=lace(deg45)),drelDerivimagbe = sages=(0.0).wait_for_complete-") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt2_creht _wntitions.py000755 000765 000024 00320601244 134420132761417746 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c)- (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Uherwand c _and_obsultsreht ks a ford tozm. Grant cples. r an exadem be castit and how yousreht kwand c _and_obsense inobot.emark,aud cut aptionould nect Cpaas bhts arounmtCoviopy oy. Yourehl _acExamplItusreht sks a ford tozm. Granaight 0miit imCozmy to dbhts arit. Hht "plyou Cpaas ozmy to d2stamrd tozm. Gran im ortly py oire and_obs Yousreht dcplese ` no_3d_viewersages`s Yg doc must sucing3Danceualiz, offemagegreen new windand-t use ript s wnect Cber iv sucimagemae orrye and_ocenapped. ''' import cozmo from cozmo.util import degrPoshyCube def cozmo_program(robot: cozmo.robot.Robot):fixees_and_o cube = robot.wcreht _wand c_fixees_and_o(Posh(100, 0, 0tracgle_z=lace(deg0)),cols) 10, 100, 100, relDerivimagbe = sages=cols)iopfixees_and_oError: prfixees_and_o sreht dhould ss fun "eted() ozmo.rgoimagl pu(Posh(200, 0, 0tracgle_z=lace(deg0)),drelDerivimagbe = sages=(0.0).wait_for_complete-") cozmo.run_program(cozmo_pr, no_3d_viewersagesogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt3ogoimag_and_o_tesctions.py000755 000765 000024 00364305132 134420135103030075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.T0minnect Cozmdn't find atrack,ript y to dupgreedtples. face tesc / r an exa t # Imf iatele = .goimag_and_o aptirk to wsreht sks GoToe or Obactributioes tyoubequird ozmy to d withmustnaight(dis _and_o (e.g.ithects.Lightapped. ''' import asyll") import cozmo from cozmo.util import degrees, distanyCube goimag_and_o_tescogram(robot: cozmo.robot.Robot): ear.c or mf iateg Cozm_and_o tesc ozmo_pr ted() #le 1: the dYour s culonvert and uped() ozmo.rNow,mple1(-3nce.") robot.set_head_alace(deg0))(0.0).wait_for_completed() # dbhts ar s cfo("Trdn't find a None look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace) r a cube = ace) try: cube = robot.world.wait_for_observed_light_cube(tim30) try: prFok_aright:res %rightut=60) except asyncio.TimeoutError: print("Didn't find ae :-(")r5entioError: # wheweidn't iSE.tx ma,eweiwaatemen defes incior.Behrror: look_a. defleted() iopight:rror: # D to dgin7tamra the way ound the (many clot cha't nect rror: # "ramsionoit ound the)rack,ript defconds. ning ac=ele = .goimag_and_o(nd atright(distance 300)onds. ning ation3.wait_for_completed() prCfor_comp ning a: re=res %rning aeted() prDe =.-----") cozmo.run_progoimag_and_o_tescogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt4_ck_aitrotitions.py000755 000765 000024 00327605132 1344201354 1330075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # nect Cperor ial or diffe All actbasributeg to umbclaimeLighs heidn'tamples. This script soff sin exadecced vimakove.lItu 0miitnect Cozm dbhts atrack,ript uiozmo.for e sks ceray obtmts Granozmo.obj Basribute andm of and_o for e sk "beuse ict naua,ehht "doal or diffe All ac. 0-> ghtCugry 1-> roti.backsn 2.0 backsnmu mayghtote: up) 2-> ck.backsat 2.0 backssnmuor shalote: up) ped. ''' import cCube def cozmo_program(robot: cozmo.robot.Robot): look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace) r as cube = robot.world.iozmot_for_ob_ ums_and_ob( um=2, _and_o_tvio=Cube(cozmo.objects.Ligh, cube(tim10) prFok_ar%s r as %rlen(nd as)) look_a. defleted() ioplen(nd as) == 0:rror: be = rould_play_s dmo.lavior(cplay.T dmo.ls.MajorFailANGLE).wait_for_completed()elioplen(nd as) == 1:rror: be = rozmocubedstart_behavior(cozmo.behavior.BehaviorTRotiBacks= %s",ivimubemeout=60) lse:rror: be = rozmocubedstart_behavior(cozmo.behavior.BehaviorTSckBackss= %s",ivimubemeoute-") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt5on/01_cktions.py000755 000765 000024 00441213356 134420135744130075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c)- (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # nect Cck.Lighsmples. This sc. meaatemen andoff andeasy iSEibsultdoahCopplevel be = e All ac. nect C " uiozmo.for e skwaitLighstrack,ript "piad bar theack,n_in_ to fi for D, e. Hht "piad bare in tmo f thefor e s,eack,n_in_ to fi for 0.1 s e =. ped. ''' import cCube def cozmo_program(robot: cozmo.robot.Robot):# Attemptemen dck.2 r asted() # L look_ariozmo.ple Corld k watpleao f2 r ass Yoobot): look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlce) r as cube = robot.world.iozmot_for_ob_ ums_and_ob( um=2, _and_o_tvio=Cube(cozmo.objects.Ligh, cube(timeout=60) look_a. defleted() ioplen(nd as) < 2Error: prmeoutE nr ag2eLighs btiro # e is ",plen(nd as), rLigh(s)"ut=60) lse:rror: # nfo(ack,niadbare in thend a Nonece) rrdiff_ning ac=ele = .niadbag_and_o(nd as[0],o um_res des=3) Nonece) rrdiff_ning ation3.wait_for_completed() iopigrdiff_ning athas_portedhaser: code,dreas ac=eigrdiff_ning atport fa_reas aaser: re=rigrdiff_ning at raser: prPiadbarLightportedh code=%sdreas a='%s' r=es %r(code,dreas a, r))aser: rerror: # Nows fo("Trn_in_ ioes tthe inrting the 2n Nonece) rrdiff_ning ac=ele = .n_in__ong_and_o(nd as[1],o um_res des=3) Nonece) rrdiff_ning ation3.wait_for_completed() iopigrdiff_ning athas_portedhaser: code,dreas ac=eigrdiff_ning atport fa_reas aaser: re=rigrdiff_ning at raser: prP_in_ OnrLightportedh code=%sdreas a='%s' r=es %r(code,dreas a, r))aser: rerror: prCfct Culd ss fun n dck ag2ebackss!----") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt6_niadbagfury oictions.py000755 000765 000024 00345105132 13442013545 024075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # nect Cpiad bare in ury oicrLighmples. This script ssin examaas ance _and_o'stuoshscplese be = e ttempts("Trdn't thor eLighs wis. viewgrk to how you e cense incamera windandioes mage k fi for his s is bun. Eww.rLight " andance you(tilitheack,tthe umbcl iopy orLightibsense inf_precplese be = ethen wiozmo.3eLighs Youfts atrack,ript ttempts("T piad bare in ury oicre =. Io apta cit sucimagbasributeg t will reatuoshs copy ofLighsmpped. ''' import cCube def cozmo_program(robot: cozmo.robot.Robot): look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlce) r as cube = robot.world.iozmot_for_ob_ ums_and_ob( um=3, _and_o_tvio=Cube(cozmo.objects.Ligh, cube(timeout=60) look_a. defleted() max_d("Fibotg cu0,ube = None the ceptr ashaser: translang ac=ele = .nosht- r a noshaser: d("c=etranslang a nosing a x **g2e+etranslang a nosing a y **g2ted() iopd("c> max_d("haser: max_d("Fibotg cud("Find a ed() ioplen(nd as) < 3Error: prmeoutE nr ag3eLighs btiro # e is ",plen(nd as), rLigh(s)"ut=60) lse:rror: le = .niadbag_and_o(botg,o um_res des=3)(0.0).wait_for_complete-") cozmo.run_program(cozmo_pr, no_viewersagesogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt7_ look_a.ions.py000755 000765 000024 00413313356 134420135751030075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # nect C dbhts around for a ample Cirst looks a,drea_ob,(ack,niads barack,nuts(dYour the cf e is apped. ''' import asyll") import cozmo from cozmo.util import decCube def cozmo_program(robot: cozmo.robot.Robot): look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace) # cfo("Trdn't fibacksace) r a cube = ace) try: cube = robot.world.wait_for_observed_light_cube(tim30) try: prFok_aright",rightutt=60) except asyncio.TimeoutError: print("Didn't find a cube ::-(")r5entioError: # wheweidn't iSE.tx ma,eweiwaatemen defes incior.Behrror: look_a. defleted() iopightcensbe =:rror: be = rould_play_s dmo.lavior(cplay.T dmo.ls.MajorFailA:-(") re prYay, e is ind ae :ed() r a elf.set_s(i] = cozmo.lights.green_.flash()) playc=ele = .n_id_play_s dmo.lavior(cplay.T dmo.ls.BacksRea_o) play(0.0).wait_for_complete- ping ac=ele = .niadbag_and_o(nd a) prg= e All a = %s", ance.") re=rning ation3.wait_for_complcube(tim30) try: prg= e All a) r", r)ted() ozmo.robot.turn_in_place(degree)(0.0).wait_for_completed() ning ac=ele = .n_in__oand_o_on_gook_a_ (nd a) prg= e All a = %s", ance.") re=rning ation3.wait_for_complcube(tim30) try: prg= e All a) r", r)ted() playc=ele = .n_id_play_s dmo.lavior(cplay.T dmo.ls.MajorWin)ed() r a elf.set_light_corbe =,ube =,ube =,ube =) play(0.0).wait_for_complete-") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt8_obot.dtolighro.l_tesctions.py000755 000765 000024 00620005132 134420135171024075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # nect Cy to dgiafteris. ighro.lcplese This script sd or an exa ld ssstartingighro.lf and_o ozmo e on Cozobot.emarkCy tochangiafteriit. ped. ''' import asyncio imcubeyll") import cozmo from cozmo.util import degrees, distanm(75), speedcCube obot.dtolighro.ltions(robot): ear.c or mf iateobot.dtolighro.l ozmo_pr ted() #lIf iatele = iwas inrtingighro.l,Cy to dgunmtensafteeack,tlear mf iateighro.led() iople = .is_on_ighro.lError: # y to doff iateighro.led() d() ozmo.robot.dghtsighro.l_motea_ob(ANGLE).wait_for_completed()d() ozmo.robot.drive_straight(distanc10_mm(50), speed_5ee)(0.0).wait_for_completror: # nfo("Stovstarting the dYouted()d() ozmo.rNow,mple1(-3nce.") # and bhts aro C dbt iateighro.led() d() ozmo.robot.turn_in_place(deg18ee)(0.0).wait_for_completror: # Tulonvert and cube tleveled() d() ozmo.robot.set_head_alace(deg0))(0.0).wait_for_completror: # uha ory 0.1 s co ncio.eng as Cozn then iateighro.led() d() time.sle5)rror: # y to dcomeafteria the way ound ghro.led() d() ozmo.robot.drive_straight(distanc-6_mm(50), speed_5ee)(0.0).wait_for_completace) # cfo("Trdn't ound ghro.led() ighro.l cube = ace) #u e ceant haser alrorld k wtingighro.lfised() iople = .obot.wcghro.lError: iople = .obot.wcghro.l nosh.is__forarppli(le = .noshnge(4): prCfct Caser alrorld k wtingighro.lfis!")aser: ighro.l cule = .obot.wcghro.laser: lse:rror: ce) #uple Corld kab(tirtingighro.l,CbtirtingnoshtThis isbasributeg t ror: ce) #usames otCoviatele = i(e.g.iiatele = iwas Now,d sstcor e erythinge.") # ingighro.l)eels,fo("Tr daits for ghro.l tmo e(4): subced() iops isighro.lError: # T0minnect Cozm dbhts aroundound ghro.led() d() look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPld() d() try: ighro.l cule = .obot.world.wait_for_obseighro.ltcube(tim30) try: prFok_arighro.lEres %righro.l)aser: except asyncio.TimeoutError: print("Dise wtingighro.l")aser: r5entioError: # wheweidn't iSE.tx ma,eweiwaatemen defes incior.Behrror: d() look_a. defleted() iopighro.lError: # Attemptemeny to dnear ging toighro.l,Cack,ript defconds. ning ac=ele = .goimag_and_o(nghro.l,Cyght(distanc65300)onds. ning ation3.wait_for_completed() prCfor_comp ning a: re=res %rning aeted() prDe =.-----") cozmo.robot.robot.dghtsighro.l_on_ionnd_o cuanim=) #uple C you tYou nr ghro.l .tx mw-") cozmo.run_proobot.dtolighro.l, no_viewersages, e rco_viewer_on_defsagesogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_objt9_wand c_ozmo.objions.py000755 000765 000024 01106705132 134420135437130075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Ts. r an exadem be castit and how youd 1. elwand c _and_obcplese r an exade1. en thge alkwand c _and_obs(2 r as,ks a fora't fibox). Wiptmple C e skwhxamarke sdense foire and_obshht "will rdioes for for_obs _and_o copy es sizheack,shap # SericenYhow youadjuwhxamarke s,amarke sizhb,(ack,_and_o sizhb("Trdn iw eshge _and_o howould h't oundr a_o sizh copy ofmarke sdy es how u(ti. ped. ''' imcubeyll") import cozmo from c_and_obse") imCand ce or O,mCand ce or OMarke s,aCand ce or OaviorcCube hh'tl__oand_o_ be sofd(evtf, *a, **kw):# Ts. "be aptibs f wheryouEvte or OAbe sofdcense ipatw.ad - # f wheryoue or Obt il fil"Trview.ed() iopise ht(dis(evtc_an,aCand ce or O)Error: prnect C reat e ery fies %re c(evtc_an._and_o_tvio)) ube hh'tl__oand_o_e i be sofd(evtf, *a, **kw):# Ts. "be aptibs f wheryouEvte or OD i be sofdcense ipatw.ad - # f wheryoue or Obgot naua copview.ed() iopise ht(dis(evtc_an,aCand ce or O)Error: prnect Cobe t e ery fies %re c(evtc_an._and_o_tvio)) ube wand c_ozmo.obogram(robot: cozmo.robot.Robot):# Adden no ehh'tl_ sdense f wherple C e skn new,_and_oed() ozmo.radd_n no _hh'tl_ yCube(cozmo.objEvte or OAbe sofd, hh'tl__oand_o_ be sofd)ed() ozmo.radd_n no _hh'tl_ yCube(cozmo.objEvte or OD i be sofd, hh'tl__oand_o_e i be sofdetace) # d 1. el auniqund the (44mm x 44mm x 44mm) ( beroximeshlye for amessizheasd add a d the) # nce y 30mm x 30mm Diam1 se2gemaee inrrner eote:ed() r a_oan cule = .obot.wd 1. e_wand c_ight_Cand ce or Oavior.Cand cavio00,cols) Cand ce or OMarke s.Diam1 se2,cols) 44,cols) 30, 30, agesogace) # d 1. el auniqund the (88mm x 88mm x 88mm) ( beroximeshlye2xe for izh cop add a d the) # nce y 50mm x 50mm Diam1 se3gemaee inrrner eote:ed() big_ r a_oan cule = .obot.wd 1. e_wand c_ight_Cand ce or Oavior.Cand cavio01,cols) Cand ce or OMarke s.Diam1 se3,cols) 88,cols) 50, 50, agesogace) # d 1. el auniqunda for(150mm x 120mm (x10mm usc daitsptirkptis) # nce y 50mm x 30mm CircExa2gemaee inrozm. Gh't come kpti_oan cule = .obot.wd 1. e_wand c_kpti_Cand ce or Oavior.Cand cavio02,cols) Cand ce or OMarke s.CircExa2,cols) 150, 120,cols) 50, 30, agesogace) # d 1. el auniqundbox (60mm deep x 140mm widce x100mm pti) # nce y l or diffe30mm x 50mm emaee inrrww.rcopy of6eote:sed() box_oan cule = .obot.wd 1. e_wand c_box_Cand ce or Oavior.Cand cavio03,cols) Cand ce or OMarke s.Hr ag be2, # ozm. cols) Cand ce or OMarke s.CircExa3, # come Cand ce or OMarke s.CircExa4, # ob Cand ce or OMarke s.CircExa5, # cotd c Cand ce or OMarke s.Trihead_e2, anef cols) Cand ce or OMarke s.Trihead_e3, areen_light 60, 140, 100,light 30, 50, agesogace) iop(( r a_oan This isbe =)Gh't (big_ r a_oan This isbe =)Gh'tlight (kpti_oan This isbe =)Gh't (box_oan This isbe =))Error: prAlle and_obsd 1. edhould ss fun !"ut=60) lse:rror: prOne its) or _and_o d 1. iimitatported!e :-(") re try: prSnows ofab 1: marke sdyont ha't how " . # SeerelDeede and_obs"light "ans iDeeded te on Cozview windan, how "als C e w uil t # bs"light "rner cube findnd c _and_o iffe sdoeithen we on Cozview.") prPr expCTRL-Cdyonquite :-(") while True: time.sle1ete-") cozmo.run_progand c_ozmo.ob, no_3d_viewersages, no_viewersagesogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_obj10_oand_o_Now,d.ions.py000755 000765 000024 00473705132 134420135400430075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Dem be castunder notcope or ObMovstarn no bsultdetr Ob fi for r ass Yo Now,dmples. This sc. assin exar an exa nows hosubThishe cube or ObMovstarn no bsul cac d finect Cyetr Osdy es Once a cubnnchanNow,dmpped. ''' imcubeyll") import c ube hh'tl__oand_o_tovsta_ rea(evtf, *a, **kw):# Ts. "be aptibs f wheryouEvte or OMovstaS reatn no eis e ipatw.ad - # f wherwetdetr ObOnce a rsStovstar(viaryou ld leromely pifi for r a) try: pre or Ob%sC reattovsta:u ld lerlimit=es %light (evtc_an._and_o_id KIvtc ld lerlimit)) ube hh'tl__oand_o_tovsta(evtf, *a, **kw):# Ts. "be aptibs f wheryouEvte or OMovstatn no eis e ipatw.ad - # f wherwetdetr ObOnce a . Tt "tovstarar(viaryou ld leromely pifi for r a) try: pre or Ob%sCisttovsta:u ld lerlimit=es, durlimit=e.1fy 0.1 se %light (evtc_an._and_o_id KIvtc ld lerlimit KIvtcNow,mdurlimit)) ube hh'tl__oand_o_tovsta_obe t(evtf, *a, **kw):# Ts. "be aptibs f wheryouEvte or OMovstaSobe t n no eis e ipatw.ad - # f wherwetdetr ObOnce a obe t tovstar(viaryou ld leromely pifi for r a) try: pre or Ob%sCobe t tovsta: durlimit=e.1fy 0.1 se %light (evtc_an._and_o_id KIvtcNow,mdurlimit)) ube def cozmo_program(robot: cozmo.robot.Robot):# Adden no ehh'tl_ sdy es "be aptibs oundound orr ep1 sstatn no ed() ozmo.radd_n no _hh'tl_ yCube(cozmo.objEvte or OMovstaS rea, hh'tl__oand_o_tovsta_ rea)ed() ozmo.radd_n no _hh'tl_ yCube(cozmo.objEvte or OMovsta, hh'tl__oand_o_tovsta)ed() ozmo.radd_n no _hh'tl_ yCube(cozmo.objEvte or OMovstaSobe t, hh'tl__oand_o_tovsta_obe togace) # keep tingnzmo_pr ozmgoveriozmo.ut chclot s /nquitriit prPr expCTRL-Cdyonquite :-(") while True: time.s1.0----") cozmo.robot.robot.dghtsighro.l_on_ionnd_o cuanim=) #uple C you tYou nrs. ighro.l oundou. r an ex-") cozmo.run_program(cozmo_program) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_obj11_dock_ance_ r a nons.py000755 000765 000024 00327505132 134420135431230075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.T0minnect Cozmy to dupgreeOnce a ioes for e skn_in_drd tozm. Gran imcples. r an exadem be castitnect Cy tochangimarkCyockchan nce y nd atr nceout piadchan uip. se. # un_in_ Once a . tozm. Grant eels,oes for you e cet.lese ce a eould"be aiffe _drd tozm. Gran imcpped. ''' import cozmo from cozmo.util import de cept be oock_ance_ r aogram(robot: cozmo.robot.Robot):a uozmo.robot.set_head_alace(deg-5300)(0.0).wait_for_completace) prnect C. ain wruiozmo.for e sks cr a ")ed() r ae=rn uozmo.robot.world.wait_for_observed_light_etace) prnect Ce is ifind atrack, "nowsattemptemenycksn nce it:") # nect C " beroww.r for r a.forozn then # usstarar180" beroww.rhead_C "must t imCozmy to dpast ound thera't fberoww.r way oundobeosinor ide # um_res dessptild kubsult the sye andm of ict nnect C "res ye forning acense inn no eran uporterythingning ac=ele = .oock_ance_ r aond atraberoww._head_=from cozmo.lace(deg18ee,o um_res des=2)bot):a uning ation3.wait_for_completed() pr r: = %s", a. r)te") cozmo.run_prooock_ance_ r aogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_obj12troti_ r a nons.py000755 000765 000024 00302213356 134420135727630075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.T0minnect Cozmroti.Once a ioes iskn_in_drd tozm. Gran imcples. r an exadem be castitnect Cy tochangimarkCrotistararor a ae. # un_in_ Once a . tozm. Grant eels,oes for you e cet.lese ce a eould"be aiffe _drd tozm. Gran imcpped. ''' import cozmo from cozmo.util import de cept be roti_a_ r aogram(robot: cozmo.robot.Robot):a uozmo.robot.set_head_alace(deg-5300)(0.0).wait_for_completace) prnect C. ain wruiozmo.for e sks cr a")ed() r ae=rn uozmo.robot.world.wait_for_observed_light_etace) prnect Ce is ifind atrack, "nowsattemptemenroti. nce it:") # nect C " beroww.r for r a.forozn thenmarkCrotiiit # w.ack_wait_fnd_o_on_defsages ene rcosdy es nect C " mayrotiicighs mary wgbutegob ning ac=ele = .roti_ r aond atrw.ack_wait_fnd_o_on_defsages,o um_res des=2)bot):a uning ation3.wait_for_completed() pr r: = %s", a. r)te") cozmo.run_proroti_a_ r aogram) cozmo_sdk_examples_1.4.10/tutorials/04_cubes_and_obj13_pop_a_wheer itions.py000755 000765 000024 00227605132 134420135414330075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.T0minnect Cozmpopks aheer ibutednce a ioes iskn_in_drd tozm. Gran imcples. r an exadem be castitnect Cy tochangimad thera't pus wgb imselfbutto imagback.by pus wgb isg the agae ht ioes tthempped. ''' import cCcept be pop_a_wheer iogram(robot: cozmo.robot.Robot): prnect C. ain wruiozmo.for e sks cr a")ed() r ae=rn uozmo.robot.world.wait_for_observed_light_etace) prnect Ce is ifind atrack, "nowsattemptemenpopks aheer ibuteite : ning ac=ele = .pop_a_wheer iond atr um_res des=2)bot):a uning ation3.wait_for_complette") cozmo.run_propop_a_wheer iogram) cozmo_sdk_examples_1.4.10/tutori3_vced v/01erved_l f_ote: nons.py000755 000765 000024 00327005132 134420 02631230075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.W uensenect Cozm e caeote:,Cack,ript and nrs. backpack.reen_.ples. . asshis scmen andoff ote:s,Cack,nows oys Yo easy menuLiceI ethen wound fote:,Cack,ript "dd a duprs. backpack. fi fatlote: . visipli. ped. ''' import asyncio imcubeyll") import c ube rved_l f_ote:ogram(robot: cozmo.robot.Robot): ear.c or mf iaterved_l f_ote: ozmo_pr ted() #lM 1: the dYouCack,rulonvert and uped() ozmo.rNow,mple1(-3nce.")ozmo.robot.set_head_abot: cozmo.rMAX_HEAD_ANGLE)(0.0).wait_for_completace) ote: cube = ace) prPr expCTRL-Cdyonquite :-(") while True: if ote:Cack,ote: is_visipliError: ozmo.robotpti_backpackf.set_s(i] = cozmo.libluef.set_)aser: lse:rror: ce) ozmo.robotbackpackf.set_sdghtletace) SIS uiozmo.weiwor you e can D, eeote:ed() rue: try: ce) ote: cuozmo.robot.world.wait_for_obseote:ocube(tim30) try: except asyncio.TimeoutError: ce) print("Didn't fiote: ")aser: ce) o rerror: time.se1ete-") cozmo.run_prorved_l f_ote:, no_viewersages, e rco_viewer_on_defsagesogram) cozmo_sdk_examples_1.4.10/tutori3_vced v/02_ote:.watild.l nons.py000755 000765 000024 00357205132 134420 02602130075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # nect C and giafte fiote: ples. This script soff iateobot.giafter_ote: ning at Io " uound fote: ack,ript co ht(dtlye and giafteriitgreekeep itrd tozprecpped. ''' import asyncio imcubeyll") import c ube watild_ote:bogram(robot: cozmo.robot.Robot): ear.c or mf iatewatild_ote:b ozmo_pr ted() #lM 1: the dYouCack,rulonvert and uped() ozmo.rNow,mple1(-3nce.")ozmo.robot.set_head_abot: cozmo.rMAX_HEAD_ANGLE)(0.0).wait_for_completace) ote:dtolwatild cube = ace) prPr expCTRL-Cdyonquite :-(") while True: obot.ning ac=eN 2n Nonece) if ote:dtolwatildError: # r obotchangiafteriiatewte:ed() rue: bot.ning ac=eozmo.robot.giafter_ote:(ote:dtolwatildetace) iops is(ote:dtolwatildCack,ote:dtolwatild is_visipli)Error: # dn't fivisiplifote:,Ccube(ti iops i wgbe is iffly pacriprt) ed() rue: try: ce) ote:dtolwatild cuozmo.robot.world.wait_for_obseote:ocube(tim30) try: except asyncio.TimeoutError: ce) print("Didn't fiote: -ithen wg!")aser: e.")o rerror: iopybot.ning a:rror: ce) #uplor_com iateobotrning aceff thewas d tozmo_ exed() rue: bot.ning a(0.0).wait_for_completace) time.se1ete-") cozmo.run_prowatild_ote:b, no_viewersages, e rco_viewer_on_defsagesogram) cozmo_sdk_examples_1.4.10/tutori3_vced v/03_ans iDee nons.py000755 000765 000024 00634305132 134420 02502330075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Disn_idbtaGUI windandriptstarated s iDeedecamera view.e Note True:es. r an exaless res Penv pgreeould Tkinly pifstptibs ozmyisn_idbnderGUI.ed() Io als Cless res nderPitildCack,num a /env p pack # bscube tpippifstptibscplese :class:`") cobot.wWbot.` _and_o catir Osdrbleemaeesr way e on Cozcamera ack,m #s ndem availpplicasd a.runinty (:attr:`~") cobot.wWbot..cit st_emaee`) ack,iregenerlimtar:class:`") cobot.wEvtNewCamerImaees`rn no bsCoviatybt ilpifcplEww.remaee i sd oe ht(dis cop:class:`") cobot.wCameraImaee`rk to a.ruvides ld ss coth ging torblecamera emaee,Cack,ro asshalpplicans iDeededmaee k to you anda wple C e skote:b ack,_and_os,Calohan nce yna cD, eiine rmlimit hol ozmo_pr# Youwish ozmyisn_idcples. r an exauses ndertkviewer ozmyisn_idbnderd s iDeedecamera ofi for hihen a't fddsks cou exa ndnd c d s iDemitatran atrouCusstartwo l or diffemenv dsmpped. ll") imsysyncio imcubeyl try: way PIL.util imImaeeDrbl,mImaeeFm. cfile exItil imeoutError:sys.then('ozm `pip3pifstpti --ut chPitildCnum a`emenrundou. r an ex')yll") import c u# D 1. el ted s iDenseusstartingd s iDensedec oDens @vior(cpls iDee d s iDensube acks(emaee,Cshale,Cacs iDens=be =,uobot.=be =,u *a, **kw):arouImaeeDrbl.Drbl(emaee)ed() boions cu(0,u0,uemaee.widce,uemaee.heset_)aser:texo cuvior(cpls iDee ImaeeTexo( ttrf ("%H:%m:%S"),light nosing a=vior(cpls iDee TOP_LEFT)aser:texo.difns (d, boions) u# D 1. el tcD, eidec oDenscasd asubclasstranA s iDensuclasstBattery(vior(cpls iDee A s iDens **kw):ae d byy(self, emaee,Cshale)Error: arouImaeeDrbl.Drbl(emaee)ed() d() boions cu(0,u0,uemaee.widce,uemaee.heset_)aser:d() batt cuselfcobot.wozmo.rbattery_voltaeeace) exo cuvior(cpls iDee ImaeeTexo('BATT e.1fv' % batt, catns='ghts.')ace) exo.difns (d, boions) uube def cozmo_program(robot: cozmo.robot.Robot):ozmo.robot.wemaee_acs iDensradd_siDemc_texo('texo', 'ple-Cam', nosing a=vior(cpls iDee TOP_RIGHT)bot):ozmo.robot.wemaee_acs iDensradd_acs iDens(' acks', acks)bot):ozmo.robot.wemaee_acs iDensradd_acs iDens('battery', Batteryetace) time.s2etace) prTbotchanoff fora's iDemitatense2y 0.1 se )bot):ozmo.robot.wemaee_acs iDensra's iDemit_enpplid cuanim=ace) time.s2etace) p'Re-enpplstarafora's iDemita')bot):ozmo.robot.wemaee_acs iDensra's iDemit_enpplid cuagested() #lD i pliciatewte:gd s iDenseffly p10y 0.1 seace) time.s10) try: prD i pl wgbete:gd s iDemitat(dd a d the Tt "d s iDeed) )bot):ozmo.robot.wemaee_acs iDensrd i pli_acs iDens('ote:b'ogace) # ShutdYouCtingnzmo_pr ffly p100y 0.1 seace) time.s100ete-") cozmo.run_program(cozmo_pr, no_viewersages, e rco_viewer_on_defsagesogram) cozmo_sdk_examples_1.4.10/tutori3_vced v/04o_snosure nons.py000755 000765 000024 01154705132 134420 02506730075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c7 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Dem be castundermanuaora't fuco nsnosurey 0tn wrsGrant Cozcameracples. r an exadem be castitnder notcopfuco nsnosureyack,m nuaornsnosureyens t Cozcamerac ese cerdiffecamera 0tn wrsG Yo age _idributging toiamera viewer windanmpped. ll") imsysyncio imcubeyl try: way PIL.util imImaeeDrbl,mImaeeFm. c itil imnum a asdnpcfile exItil imeoutError:sys.then('ozm `pip3pifstpti --ut chPitildCnum a`emenrundou. r an ex')yll") import c u# A globaoris dvervalue ozmyisn_idbifi for amera viewer windan ozmm # itr) oru# obviousiw esse inn an exanzmo_pr . ierdiffly dodve. n an ex_mod: cu""c u# Ated s iDenseenselive-yisn_idbof formf iateiamera ene butegobrmf iateiamerau# viewer windanmp@vior(cpls iDee d s iDensube amera_ene (emaee,Cshale,Cacs iDens=be =,uobot.=be =,u *a, **kw):arouImaeeDrbl.Drbl(emaee)ed() boions cu[3,u0,uemaee.widce,uemaee.heset_]:ed() amera = obot.wozmo.riamerau exodtolyisn_idbcu"E an exaMod:: " + n an ex_mod: + "\n\n"u exodtolyisn_idb+cu"FixribCameraed.tn wrsG(CalibrDeedeoundou. obot.Ro\n\n"u exodtolyisn_idb+cu'fohal_lengthEres\n' % camerac.1 fig.fohal_lengthu exodtolyisn_idb+cu'aiffe Eres\n' % camerac.1 fig.aiffe u exodtolyisn_idb+cu'fov: <%.3f, %.3f>mport de\n' % (camerac.1 fig.fov_x.lace(de,cols) camerac.1 fig.fov_y.lace(de)u exodtolyisn_idb+cu"\n"u exodtolyisn_idb+cu"Valid nsnosureyack,gae rficeso\n\n"u exodtolyisn_idb+cu'nsnosureEres..%e\n' % (camerac.1 fig.mino_snosure_cube_me,cols) camerac.1 fig.maxo_snosure_cube_me)u exodtolyisn_idb+cu'gae : %.3f..%.3f\n' % (camerac.1 fig.minogae ,cols) camerac.1 fig.maxogae )u exodtolyisn_idb+cu"\n"u exodtolyisn_idb+cu"Cerdiffe 0tn wrso\n\n"u exodtolyisn_idb+cu'Auco EsnosureyEnpplidEres\n' % cameracis_fucoo_snosure_enpplidu exodtolyisn_idb+cu'EsnosureEres ms\n' % camerac_snosure_msu exodtolyisn_idb+cu'Gae : %.3f\n' % cameracgae ed() atns_mod:drivbcu"Catns" iopiamerac.1tns_emaee_enpplid lse "Grayshale"u exodtolyisn_idb+cu'CatnsaMod:: es\n' % catns_mod:driv aser:texo cuvior(cpls iDee ImaeeTexo( exodtolyisn_id,cols) nosing a=vior(cpls iDee TOP_LEFT,cols) l. e_swww wr=2,cols) catns="white",cols) outl. e_catns="black", euti_outl. esagesog exo.difns (d, boions) uube dem _ amera__snosureogram(robot: cozmo.robot.Robot):globaorn an ex_mod:gace) # Ecio.eniamera es d tfuco nsnosureymod: arkCyem be castufuco nsnosureyound5y 0.1 seace) amera = ozmo.riamerau camerac_n pli_aucoo_snosureleted()n an ex_mod: cu"Auco Esnosure"ace) time.s5ogace) # Dem be castum nuaornsnosure, l. earldbifcreasstartingnsnosurey ,) ed() # keepstartinggae fixribes Onmediumrvalue.ted()n an ex_mod: cu"M nuaorEsnosurey-AnkireasstarEsnosure, FixribGae "ace) fixriogae cu(camerac.1 fig.minogae + camerac.1 fig.maxogae ) * 0.5ace) foeithnosureye rfice(camerac.1 fig.mino_snosure_cube_me, camerac.1 fig.maxo_snosure_cube_me+1, 1)Error: cameracobotm nuaoo_snosurelnsnosure, fixriogae )ace) time.sle1etece) # Dem be castum nuaornsnosure, l. earldbifcreasstartinggae ,) wkeepstaece) # tingnsnosureyfixribes OnrelDeiveldbildCvalue.ted()n an ex_mod: cu"M nuaorEsnosurey-AnkireasstarGae ,)FixribEsnosure"ace) fixrio_snosure_ms cu10ace) foeigae e np.arfice(camerac.1 fig.minogae ,)camerac.1 fig.maxogae ,u0.05)Error: cameracobotm nuaoo_snosurelfixrio_snosure_ms, gae )ace) time.sle1etece) # Sancchgback.ro auco nsnosure,Cyem uound fo5entd5y 0.1 seCack,ript o re camerac_n pli_aucoo_snosureleted()n an ex_mod: cu"Mod:: Auco Esnosure"ace) time.s5ogaube def cozmo_program(robot: cozmo.robot.Robot):ozmo.robot.wemaee_acs iDensradd_acs iDens(' amera_ene ', amera_ene etece) # Dem iance be a regrayshaleecamera emaeesbot):ozmo.riamerac.1tns_emaee_enpplid cuanim=ace) dem _ amera__snosureogram(etece) # Dem iance .1tnsecamera emaeesbot):ozmo.riamerac.1tns_emaee_enpplid cuagestce) dem _ amera__snosureogram(ete-") cozmo.robot.robot.dghtsighro.l_on_ionnd_o cuanim=) #uple C you tYou nrs. ighro.l oundou. r an ex-") cozmo.run_program(cozmo_pr, no_viewersages, e rco_viewer_on_defsagesogram) cozmo_sdk_examples_1.4.10/tutori2_cote:/01ecote:_emaee nons.py000755 000765 000024 00640005132 134420 02724630075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Disn_idbemaeesro te on Cozete:g(olid hihen)pped. ''' imosll") imsysyncio imcubeyl try: way PIL.util imImaeecfile exItil imeoutError:sys.then("Cacs i.util im way PIL: Do `pip3pifstpti --ut chPitild`greed stpti")yll") import c ube gbotinonosing aogram(robot: cozmo.robot.Robot): If nd_l t ry,lM 1: e on CozHand ack,Lthe ozmm # itreasy men e ce on Cozete:ped.ot):iop(ozmo.rple1_heset_rd it(dis_mm > 45)pres(ozmo.r.set_head_.lace(de < 40)Error: ance le = .pere rmdghtsighro.l()Error: ple1_ning ac=eozmo.robotple1_heset_sle0,uenonarfmiclsagesog .set_hing ac=eozmo.robot.set_head_abot: cozmo.rMAX_HEAD_ANGLE,cols) enonarfmiclsagesog ple1_ning ation3.wait_for_completed() .set_hing ation3.wait_for_complettebe def cozmo_program(robot: cozmo.robot.Robot):ierdiff_d rec10/dbcuos.pathrd rname(os.pathrrealpath(__ the__)eted()gbotinonosing aogram(eted()ozmopvercuos.pathrjoin(ierdiff_d rec10/d, "..", "..", "ote:_emaees", "bot: ozm.pve )bot):00mioopvercuos.pathrjoin(ierdiff_d rec10/d, "..", "..", "ote:_emaees", "00miooobot.wpve )bece) # lond s ilpimaeesrack,ionge t ndem enseyisn_idbc on Cozete:c itaee_ 0tn wrsG= [(ozmopve,mImaee.BICUBIC),cols) (00mioopve,mImaee.NEAREST)]ace) ote:dimaeesr= []ace) foeiitaee_name,nlesdk_esta_mod: e etaee_ 0tn wrs True: imaee ouImaee.open(itaee_nameetace) #nlesizh "Trdn io te on Cozete:g hihen ce) lesizhd_imaee ouemaee lesizhyCube(colbseote:rd me Lmita(),nlesdk_esta_mod:etace) #nionge t nde imaee ging toe rmliy noquireoundolid hihenace) ote:dimaee cuvior(colbseote:rionge t_emaee_coo hihen_data(lesizhd_imaee,cols) inge t_emaeesagesog ote:dimaees. be nd(ote:dimaeeogace) # disn_idbeww.remaee o te on Cozete:genseyurlimit_sy 0.1 seC(Note t useace) # . ildk_ribes 30y 0.1 semm x anceense innng. elmenprn no eb r-e )ace) #nlepeesse Thisum_loopsf ict gace) sum_loopsfcu10ace) yurlimit_sy=rsio ace) prPr expCTRL-Cdyonquitg(or" u%sy 0.1 seCyon_for_com) %r psum_loops*yurlimit_s) etace) oor"_ye rfice(sum_loops)Error: foeiitaeerd tote:dimaees:rror: ce) ozmo.rdisn_id_olbseote:dimaee(emaee,Cyurlimit_sy*p1000.0) try: time.syurlimit_s) thon3 ct C. Now,dnoff s. ighro.l .1 ta Osdirebe a reesse in r of nyanzmo_prpliees. . bemust ts i.a "totits) vemno eis nossiplif st dratstarcerdiffe way # tingighro.l.AnkC yses a wtotits) vemno eis mayress req,houlhsCovia. r an ex-#iwor you the syey es nect C you tYou nrs. ighro.l esse in r:-") cozmo.robot.robot.dghtsighro.l_on_ionnd_o cuanim=e-") cozmo.run_program(cozmo_pr) tcozmo_sdk_examples_1.4.10/tutori2_cote:/02_cote:_mieout nons.py000755 000765 000024 00705505132 134420 02750630075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.Disn_idbt Cozcamera fr agback. nrs. ete:g(lik caemieout)pped. ''' imsysyncio imcubeyl try:itil imnum a asdnpcfile exItil imeoutError:sys.then("Cacs i.util imnum a: Do `pip3pifstpti --ut chnum a`emend stpti")yl try: way PIL.util imImaeecfile exItil imeoutError:sys.then("Cacs i.util im way PIL: Do `pip3pifstpti --ut chPitild`greed stpti")yll") import c ube gbotinonosing aogram(robot: cozmo.robot.Robot): If nd_l t ry,lM 1: e on CozHand ack,Lthe ozmm # itreasy men e ce on Cozete:.ped.ot):iop(ozmo.rple1_heset_rd it(dis_mm > 45)pres(ozmo.r.set_head_.lace(de < 40)Error: ance le = .pere rmdghtsighro.l()Error: ple1_ning ac=eozmo.robotple1_heset_sle0,uenonarfmiclsagesog .set_hing ac=eozmo.robot.set_head_abot: cozmo.rMAX_HEAD_ANGLE,cols) enonarfmiclsagesog ple1_ning ation3.wait_for_completed() .set_hing ation3.wait_for_complettebe alc_pixel_thr ehold(emaee:mImaeeRobot): Calculastuf pixel thr eholdgbasributende imaee.tace) Ary wgbb Copys undandou. "be and nr(dd a dblue).ace) Ary wgbdarke "be and ff (black).ace) ted() #lConge t imaee gingrayCshaleted()grayshale_imaee ouemaee ionge t('L'ogace) # Calculastundermeand(age aeeRCvalueace) mean_value = np.mean(grayshale_imaee.gbodata()eted()o r mean_valuettebe def cote:_mieoutogram(robot: cozmo.robot.Robot): Conn wuously disn_idbt Cozcamera fr agback. nrs. ete:. ted() ozmo.riameracetaee_ tream_enpplid cuagestce) gbotinonosing aogram(etace) ote:dd me Lmita cuvior(colbseote:rSCREEN_WIDTH,uvior(colbseote:rSCREEN_HALF_HEIGHT ace) prPr expCTRL-Cdyonquite :ace) while True: yurlimit_sy=r0.1) # t me ozmyisn_idbeww.rcamera fzpre o te on Cozete:tace) cit st_emaee cuozmo.robot.wcit st_emaeeerror: iopcit st_emaee is maybe =:rror: ce) #uShaleeiateiamera emaee dYouCtTrdn io te on Cozete:rror: ce) oesizhd_imaee oucit st_emaee.rat_emaee lesizhyote:dd me Lmita,cols) Imaee.BICUBIC)tace) SIFlip nde imaee left/ Copyrso itryisn_idsemieoutidu ce) oesizhd_imaee ouoesizhd_imaee.transnose(Imaee.FLIP_LEFT_RIGHT)bace) SICalculastunderpixel thr eholdgoundou. imaee.ees. thr eholdace) SI "d 1. el andb Copyuf pixel nr abscube tense insource imaeeace) SIfoeiitscube tyisn_idribesg tt-upio te on Cozete:.ace) pixel_thr ehold cuvalc_pixel_thr ehold(oesizhd_imaee)bace) SIConge t nde imaee ging toe rmliyozmyisn_idbo te on Cozete:.ace) hihen_data cuvior(colbseote:rionge t_emaee_coo hihen_data(cols) lesizhd_imaee,cols) pixel_thr ehold=pixel_thr ehold)bace) SIyisn_idbnderemaee o te on Cozete:rror: ce) ozmo.rdisn_id_olbseote:dimaee( hihen_data,Cyurlimit_sy*p1000.0) ace) time.syurlimit_s) th") cozmo.robot.robot.dghtsighro.l_on_ionnd_o cuanim=) #uple C you tYou nrs. ighro.l oundou. r an ex-") cozmo.run_program(cote:_mieoutogram) cozmo_sdk_examples_1.4.10/tutori2_cote:/03_alarmd acks nons.py000755 000765 000024 02317205132 134420 02625530075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License in the file LICENSE.txt or at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License.ple CAlarm Cacks Us ce on Cozete: ozmyisn_idbndercerdiffecubeyP_idbttedlarm (nect C 0mis"); #ozmw # up)bes OnobomcubeylNOTE:ees. . tten an exanzmo_pr. 2016 t #s n Clesno Lmbi tty iant eports#ozmw # ); #upio tcube!pped. ''' imdatecubey''' immlihll") imsysyncio imcubeyl try: way PIL.util imImaee,mImaeeDrbl,mImaeeFm. cfile exItil imeoutError:sys.then("Cacs i.util im way PIL. Do `pip3pifstpti --ut chPitild`greed stpti")yll") import c u#: bool:ed.tgreeages ozmyisn_idbndercackscasd nalogu#: ( nce y smpti dig# l "read(ti beildetSHOW_ANALOG_CLOCK cuanim=e-ebe m #_texodimaee( exodtolyrbl,mx, y, e nt=be =Robot): # a PIL.Imaee knce withgot.n:texo ributeittace) Arrs True: exodtolyrbl (is dve): ndertexo ozmy aw ging toimaeeace) x ( ): x pixel acklimit ce) y ( ): y pixel acklimit ce) e nt (PIL.ImaeeFm. ): ndere nt menuLitace) R rs True: :class:(`PIL.Imaee.Imaee`): a PIL.utaee knce withtexo y awnbuteittot): gace) # m # a bifik.utaee ense fortexo,uenin alizhd menopaqes blackg exo_imaee ouImaee.new('RGBA',uvior(colbseote:rd me Lmita(),n(0,u0,u0,u255)ogace) # ges Ondratstarc ntexoace) ycrouImaeeDrbl.Drbl( exo_imaeeogace) # d aw gfortexoace) yc.texo((x, y),n exodtolyrbl,m thl=(255,u255,u255,u255), e nt=e ntogace) o r exo_imaee thonges One nt - acklimit"d e ndsro tOSeels,ryks cou exa opimitahonporteryey es gforbe a re N thew "ju notarbe a ree nt d acks_e nt =eN 2n try:d acks_e nt =eImaeeFm. .truetype("a/tut.ttf",u20) file exIOmeoutError: try: d acks_e nt =eImaeeFm. .truetype("/LibrDry/Fm. s/A/tut.ttf",u20) file exIOmeoutError: pass uube drat_ acks_hion(dc, aif_x, aif_y, circle_rlimi, hion_lengthRobot): Drbl y siead_Ccackschion (hours, minustitnse 0.1 se)tace) Arrs True: dc: (:class:`PIL.ImaeeDrbl.ImaeeDrbl`): dratstarc ntexo menuLitrue: aif_x (floa ): x coordinastu niffe Gran ionsrue: aif_y (floa ): y coordinastu niffe Gran ionsrue: aircle_rlimi (floa ): rlimi (fway 0.0 men1.0)ey es hion ozn trav0micnsrue: hion_length (floa ): iaterength copy of ionsrue: gace) hion_head_C= aircle_rlimi *mmlih.pi *mENSEce) vec_x = hion_length *mmlih.sie(hion_head_)Ece) vec_dbcu-hion_length *mmlih.cos(hion_head_)Eace) # x_shalpr d(tpliitnderx sizh "Trt ine Lastuense forinly lww wrace) # .n yey es would"cD, ewise m # for hihened bepr 2x tptiace) x_shalpr =rsio ace) # poinly eck,_an ionsrue:hion_eck_x = paif_x + (x_shalpr * vec_x)eted()hion_eck_y = paif_y + vec_d)Eace) # 2 poinls, nine ndicular ging tod rec1mit"copy of ion,ace) # gingot. y s dhead_Cknce s ilpwidceted()hion_widce_rlimi =r0.1srue:hion_eck_x2 = paif_x - ((x_shalpr * vec_y) * hion_widce_rlimi)eted()hion_eck_y2 = paif_y + (vec_x * hion_widce_rlimi)eted()hion_eck_x3 = paif_x + ((x_shalpr * vec_y) * hion_widce_rlimi)eted()hion_eck_y3 = paif_y - (vec_x * hion_widce_rlimi)etace) yc.polygon([(hion_eck_x,)hion_eck_y),n(hion_eck_x2,)hion_eck_y2),cols) (hion_eck_x3,)hion_eck_y3)],m thl=(255,u255,u255,u255))e-ebe m #_ acks_imaee(ierdiff_cubeRobot): # a PIL.Imaee knce withcerdiffecubetyisn_idributeittace) Arrs True: exodtolyrbl (:class:`datecube.cube`): ndert me ozmyisn_idtace) R rs True: :class:(`PIL.Imaee.Imaee`): a PIL.utaee knce withtubetyisn_idributeittrue: gace) cube_texo cu ttrf ("%I:%M:%S %pe :ace) iops isSHOW_ANALOG_CLOCK True: o r m #_texodimaee( ube_texo, 8, 6, d acks_e nt)gace) # m # a bifik.utaee ense fortexo,uenin alizhd menopaqes blackg acks_imaee ouImaee.new('RGBA',uvior(colbseote:rd me Lmita(),n(0,u0,u0,u255)ogace) # ges Ondratstarc ntexoace) ycrouImaeeDrbl.Drbl( acks_imaeeogace) # calculastunosing au nackscelemno su exodheset_rou9rror:shihen_widce,ushihen_heset_rouvior(colbseote:rd me Lmita()rror: nalog_widce cushihen_widcerror: nalog_heset_roushihen_heset_r- exodheset_ aif_x =: nalog_widce * 0.5ace) aif_y =: nalog_heset_r* 0.5aace) # calculastusizh nackschionsu 0._hion_length = ( nalog_widce iop( nalog_widce <: nalog_heset_) lse nalog_heset_) * 0.5ace) minohion_length = 0.85 * 0._hion_lengthted()hourohion_length = 0.7 * 0._hion_lengthtace) # calculastur iDemit foeitww.r ionsrue: 0._rlimi =rierdiff_cube. 0.1 s / 60NSEce) minorlimi =r(ierdiff_cube.minust + 0._rlimi) / 60NSEce) hourorlimi =r(ierdiff_cube.hour + minorlimi) / 1sio ace) # d aw gfornackschionsu drat_ acks_hion(dc, aif_x, aif_y, hourorlimi,)hourohion_length)u drat_ acks_hion(dc, aif_x, aif_y, minorlimi, minohion_length)u drat_ acks_hion(dc, aif_x, aif_y, 0._rlimi, 0._hion_lengthogace) # d aw gfordig# l "cube_texo es gforbottomace) x =r32ace) yroushihen_heset_r- exodheset_ yc.texo((x, y),n ube_texo, thl=(255,u255,u255,u255), e nt=be =Rgace) o r acks_imaeettebe dnge t_tol ube_ pin_value,n ube_uninRobot): Conge t in_value ro a e t ack,ecio.enit es d tgforvalid rfice ense fafecubetuningace) (e.g. 0..23 ensehours) gace) maxowait ube_uninrou{'hours': 23,)'minusti': 59,)' 0.1 se': 59}ace) maxovalroumaxowait ube_unin[ ube_unin]:ed() try: e tovalrou pin_value) file exValuemeoutError: raise Valuemeout("%srvalue '%s' is maya e t %r( ube_unin, in_value) :ace) iope tovalr< 0Error: raise Valuemeout("%srvalue % . negDeive %r( ube_unin, intoval) :ace) iope tovalr> maxovalError: raise Valuemeout("%srvalue % fileedhd %s %r( ube_unin, intoval, maxoval)Rgace) o r intovalttebe exoracf_cube_fway_arrs(Robot): Exoracf On(24-hour- acks)nuLir- the sphd mubetfway gfornommack-l. egace) Sup) is .1tnuCack,swwwey 0narftors -it.g. pti 3 "11 22 33", "11:22:33"Cack,"11 22:33"ace) ould"map ging tospre cube.ace) ese 0.1 seCvalue . opimitaora't be a rs#ozm0 iops is.ruvided. gace) # sn_iimsys.arrv furD, eiound nys Ygse fafe.1 ta obta":"ace) sn_ii_cube_ Ygse= []ace) foeiiye rfice(1,eren(sys.arrv))Error: arrrousys.arrv[i]rror: sn_ii_ Ygse= Yg.sn_ii(':')ace) foeisn_ii_ Ygye sn_ii_ Ygs:rror: ce) sn_ii_cube_ Ygs. be nd(sn_ii_ Yg :ace) iopren(sn_ii_cube_ Ygs) >=rs True: try: hoursrouvinge t_tol ube_ psn_ii_cube_ Ygs[0],m'hours'eted() minustitouvinge t_tol ube_ psn_ii_cube_ Ygs[1],)'minusti'eted() 0.1 seC= 0ted() iopren(sn_ii_cube_ Ygs) >=r3Error: ce) 0.1 seC= vinge t_tol ube_ psn_ii_cube_ Ygs[2],)' 0.1 se')bace) o r datecube.cube(hours, minusti,e 0.1 se)t file exValuemeoutcasd=:rror: ce) prValuemeoutc%s %reogace) # De a reozmnoedlarmace) o r be = aube gbotinonosing aogram(robot: cozmo.robot.Robot): If nd_l t ry,lM 1: e on CozHand ack,Lthe ozmm # itreasy men e ce on Cozete:ped.ot):iop(ozmo.rple1_heset_rd it(dis_mm > 45)pres(ozmo.r.set_head_.lace(de < 40)Error: ance le = .pere rmdghtsighro.l()Error: ple1_ning ac=eozmo.robotple1_heset_sle0,uenonarfmiclsagesog .set_hing ac=eozmo.robot.set_head_abot: cozmo.rMAX_HEAD_ANGLE,cols) enonarfmiclsagesog ple1_ning ation3.wait_for_completed() .set_hing ation3.wait_for_complettebe alarmd acksogram(robot: cozmo.robot.Robot): ear.c or mf iatealarmd acks ozmo_pr ted() alarmdmubet= exoracf_cube_fway_arrs(R.ot):iopalarmdmubeError: p prAlarm obomfutc%s %ralarmdmube) flse:rror: p prN CAlarm mubet.ruvided. Usaee n an ex: 'alarmd acks no 17:23' men etedlarm ound5:23 PM. 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TieastuActmit"se "". yo€œCheck.nl_emai. # YTT cregram(' i :ifttt_s' i .nng"e obowhdataackgrouck, sit_ pserver sleep(1tasiettt_s' i .nng"etace) file exbot: cobot.Busy:rror:ettt_s'un cregram(TT cregram,h_3d_viewerpdata,h_viewerpdatatasiance ext a,00mper,menv dstror:") cionn(e on C)nnd_omitcozmo._ttetory = IFTTTobot.c ror: ry:rror: app_ioopn=uasyncio gbotevent_ioople rror: szmoionn ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccTT oe r m #_uniwwapps/clitooespdvailpplicdck,adk,it.rTrgforapp objecttttttttttttttttttttttt.rror: app['ozmo.']n=uapp_i037631444_for_com(oz056325onn(0.0).waitozmo.leetror:file exbot: cC)nnd_omitErrorCa e:rror: sys.then("A ")nnd_omit error occurdid: %s" % eetaot):web.ozmoapplappog i _flask.no7000755 000765 000024 01670205132 134420 02646030075 0ustar00michellestaff000000 000000 #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in cC LmesuI) der.r theCheck.nEN.bti ain a cousti) graIf nd_ cts.ran i.no-taced dcti) r"If es. TieastuActmit"dâ€ls)3) TeisIPno.t "Linal..leid rry=owaT) rh: veS" % Eleidls)3) TeisIPno.t "Linal.creasts rry=owaPreasts, TokeneFoes) RunGtucs,scripimat e incomm'on l. e: .tifttt_s'i.no .ry=i.rror: b) i.noir=:qamesupd',cy ak “Check.nus actmi('EN.bti IPnoti) rh: ve s" % r theCheck.\nr:oway_emai'A% r s.Web aieccts.igeuet I\'un0 (theregram erve_\nr:oway_emai'Ue [tab] kescopyauto-ere rmdgr s,TTPrd b) n uning aCs uniad.\nr:oway_emai'A% rIPnot s.work ausesual. # LimeamCr theeAphfoef-synt:\nr:oway_emai' ?oway_emai->aT) roduletace)Prdn 2.viewoustIPno\'feata. d.\nr:oway_emai' ppcoout?mai->aDeoesf:abo \'pcoout\'.\nr:oway_emai' ppcoout??ai->aM Cksdeoed, 2.boelletace)ttace):abo \'pcoout\'.'(0.0)p:k â (thIPno'N.be rmuce tace)ore it):r i.ns" % r=aT) rh: veS" % Eleid(bn ler1='\nWel.rm imFbroWof nd_ S" % 'imFbrlan enrelevaffedmlan the ackncom_msg='Goodbye\nr(0. # YTT cregram(' i :ifttt_s' i .nng"e oboed.bnvoken(thft.no s" % rwhcobot.Buet Idror:way # aul.utmg_leveltmit._1utmit.ot)levelfupdata: '"mit.ot)setLevel('N'schargi.ns" % (us ac)fupdata: '"mit.ot)setLevel( # aul.utmg_level) :ettt_s'un cregram(TT cregram,h_3d_viewerpdata,h_viewerpdatataTT oe r m #_uniwwapps/color_fi thitooespdvailpplicdck,adk,it.rTrgforapp objectttttttttttttt.rror: app['ozmo.']n=uapp_1p_1p_1444_for_com(oz2443325onn(0.0).waitozmo.leetror:file exbot: cC)nnd_omitErrorCa e:rror: sys.then("A ")nnd_omit error occurdid: %s" % eetaot):web.ozmoapplappog i _flask.no7000755 000765 000024 01670205132 134420 02646030075'0205132'ustar00michellestaff000000 000000 '' #!/usr/bin/env python3 # Copyright (c) 2016 Anki, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in cC nd_ ervks.We )Prdace) sBody}} color/LICPlertBo ten0 s b b) neaheCheckTTPrd if filoughgo i(, Mit! WIFTh fileregram curdts, f nd_ ctb) ervk.We the Apacolor yt. ew. Tape Apacub illuLinayt. ewcopy ch(0.0).wait_rgetacolor betwhmo.yt. ew, blta,hred, TPrdn. Tape Apab dk (thwhtpacub opyhavLicensviewerao Li(, M0.0).waipixelacam rhsviewes. TieastuActmit"se : .tifttmpleools : .tifte)th : .tiftnumpyieastuActmit"". yo€œCheck.ntt_s'ettt_sutile: .tiftsile.de, in-gayi,hrade, cheedayips 134re r2ntt_s'ettt_sls rry=owaColor,le ldâ€ls)3) Teis ); rry=owaTTiconmtcensColor,ltcensnmtceDrawnsSy neFoes) RunGtucs,scripimat e incomm'on l. e: .tifttt_s' i .ry=i.rror: b) Sa uensenewPir=:qamesupdr(0. # # t ENABLE_COLOR_BALANCINGr=:q:rrorcopy kipe Apacolor_b bstep ENABLE_COLOR_BALANCINGr=data0. # map_color_to_ldice maps eacolor niwwMits'ettt_sls.e valta. # Red, n, TPrdblta ls Web alt):ryy # dcd auscobins rn lstoo we ne # dc our dy:icccu_s'e for yt. ew. map_color_to_l= { 'n' :'ettt_sls.n_l 'yt. ew' :'e (Color(niww='yt. ew',hrgbtmi(25325,53250))) 'blta' :'ettt_sls.blta_l 'red' :'ettt_sls.red_l }. # hsv_color_re, sBdice mapustcolor niwwdfupdregot usrn HSV chIf es# M:ICtletust # d (thatcolor ausa si: (H, V) poi) color/ Web # dcd cts.ra/Linimum TPrdmaximum valta for H, TPrdVes# Forlicenses,aa poi) cts.r(H, V) mi(20(0.8(0.95) fupds entlyle'blta' regot eca18 < 20 < 245(0 < 0.8 < 1(TPrd0 < 0.95 < 1es# A poi) cts.r(H, V) mi(88(0.4(0.9) dowdfl. efupdlicectlyleonpacolor regot es# B y (thhsv_color_in-gasqr betwhmo.color a )pdl Apacolorusrn hsv_color_re, ss# ctb) sthemupda.(88(0.4(0.9) .btaioelstimFbroWo'n' regot es hsv_color_re, sB= { 'w',hrgbthe "License")cobo.95) fublt195) fublt195:'etttt_sl(9.95) 15595) fublt195) fublt195:'ettt_sl( < , 0.8 < 1ublt195) fublt195:'ett (Color(4 < , 8.95) fublt195) fublt195:'ettopyhaolor(.95) 36.95) fu5) fu2ioelslt195:'ettt_ackolor(.95) 36.95) fu5) fu1) fu5) fu2)olorregrin-gasqr betwhmo.(cnmtceDsB= { 'w',hnvoken(thfbo asts euor=:qsquaeuclider betwhmcolor pdl ApacolsB= { 'w',h.po Li(NLICE(0.4 # abo lifith,rdmaH,m valta HE(0.4r=:lEylecolor 0m val1,. # #d (that0m val36.9po Li(Argssit_ pservpdl Ap(floa/ Wfloa/ Wfloa/olor=:q(88(H, schellepdl Ait_ pservpdl A 'w',h(floa/ Wfloa/ Wfloa/ Wfloa/ Wfloa/ Wfloa/olor=:qdmaximum valta for HPrdVes# Forlicelor yt. ew. Tap'w',hpo Li(Returnssit_ pservsquar betwhmcolor pdl ApacolsB= { 'w',h'ett_ pservopywwMiuor=:qsr Hhellesquar betwhmsry=i.rcoC utende IF(88(H, scn' rei B, Ve theCb) stheken(thfeken(h,rtt_vt.ot)l Ait_ pdmaH,mta H,rdmaS,mta S,rdmaV,mta Vt.ot)l A 'w',heken(hqr beo.= 0omm'onqr beo.= 0omm'ovqr beo.= 0omm'oo i( podmaHsit_ pservhqr beo.= (dmaH - h) ** 2it_ pelo i( >mta Hsit_ pservhqr beo.= (da H- h) ** 2it_ po is podmaSsit_ pservsqr beo.= (dmaS- s) ** 2it_ pelo is >mta Ssit_ pservsqr beo.= (da S- s) ** 2it_ po iv podmaVsit_ pservvqr beo.= (dmaV- v) ** 2it_ pelo iv >mta Vsit_ pservvqr beo.= (da Vt- v) ** 2it_ psr qr beo.= hqr beo.+vsqr beo.+vvqr beo.it_ preturnpsr qr beo. cregramstep ENABL obgameAphfs unj fosyt. ew. TapHheltaceenserE(0.4r=: werrnserR, G, BH, scacrossyt. e'ceenserecolup al9po Li(IPnotieasinsgot ay-dcor:'lgoh ch < 20rn hsv_coldataacV) malrR, G, BH, scylealor_rn ht aysieah.pseb.betwor d.edu/~sujason/'yt. B ENABor_/t aydcor:"htmlpo Li(Argssit_ pserveenser(TTicon obgamFbroWotacebeor_sv_co-p ENABLdpo Li(ReturnscoC utende IFTTicon obacV) mp ENABLdew. Tap'oloeken(thfeken(toe ycar aybr. Aniz { 'ar ay obgeken(toe ycar aybr. Aniz ar ay.t'w'spWo'(2ioelt1).astype(Actmi.u, 32geken(werrnse_gbr.Actmi.werrnse( Aniz ar ay[1]geken(toe ycar ay[0]br.Actmi.dmaximu(toe ycar ay[0]b* (werrnse_gb/.Actmi.werrnse( Aniz ar ay[0] :'e'bgeken(toe ycar ay[2]br.Actmi.dmaximu(toe ycar ay[2]b* (werrnse_gb/.Actmi.werrnse( Aniz ar ay[2] :'e'bgeken(returnpar ay { 's. up Aniz ar ay.t'w'spWo'(1,.2ioe).astype(Actmi.u, 8)T cregr Aniz { 'ar ay obgameAphfs CupdatasFTTicon oba(0. n obaar ay.thfeken(toe ycar aybr.Actmi.wsar ay obgeken(toe ycar ay.flags.emap_colken(returnptoe ycar ay cregrar ay { 's. up Aniz ar aygameAphfs CudatasF n obaar aya(0.TTicon ob.thfeken(returnpoes) .y=i.ar ay Actmi.u, 8p Aniz ar aygT cregr5,5 { '(ceDgchgameAphfs CupdatasFtacRGBH, a(0. s.r, ondor_# M:d, o Li(Argssit_ pservAp(, gamFbroamou hela' regocnmtceDcolor 0m val'bit_ pservgp(, gamFbroamou heltt_sla' regocnmtceDcolor 0m val'bit_ pservbp(, gamFbroamou hel Web a' regocnmtceDcolor 0m val'bio Li(Returnssit_ pservtugrafloa/aph,rtt_v)l, Inr_rn h# M:d, chellepdl Ait_ pservhl, InsFtaca V) eDcolor 0m val36.in-gait_ pservsl, InsFlesowayis fieDcolor 0m val1it_ pservvl, InsFleb7 euseDcolor 0m val1it_ pthfeken(r_ abo lifidmarb/.25595eken(g_ abo lifidmagb/.25595eken(b_ abo lifidmabb/.25595eken(da _ abo lifid_d, mada (r_ abo lifid,(g_ abo lifid,(b_ abo lifid)it_ pdma_ abo lifid_d, madin(r_ abo lifid,(g_ abo lifid,(b_ abo lifid)it_ pdelH=(da _ abo lifid_d, -pdma_ abo lifid_d, io Li(h= 0omm'on= 0omm'ovH=(da _ abo lifid_d, it_ po idelH!= 0sit_ pservef(da _ abo lifid_d, m=(r_ abo lifidsit_ pserv Li(h= 6.95b* ((g_ abo lifid-(b_ abo lifid)b/.del)it_ pservelo ida _ abo lifid_d, m=(g_ abo lifidsit_ pserv Li(h= 6.95b* (((b_ abo lifid-(r_ abo lifid)b/.del)+v2)it_ pservelsesit_ pserv Li(h= 6.95b* (((r_ abo lifid-(g_ abo lifid)b/.del)+v4)it_ pservef(( po0sit_ pserv Li(h+=l36. it_ pservef(da _ abo lifid_d, m=(0sit_ pserv Li(n= 0omm'oservelsesit_ pserv Li(n= delH/(da _ abo lifid_d, ken(returnph,rtt_v) POSSIALANCINGrS_TO_FIND= [ttt_sl, gbtmi(2532tt_sl32t"Lic] LOOK_AROUND_STATE= ' th_ Apaco' FOUND_CINGr=STATE= 'fpacoin-gas' DRIVING=STATE= '} cor_' ANNOTATGr=WIDTH= 64 < ANNOTATGr=HEIGHT= 48.95 DOWNSIZE=WIDTH= 32 DOWNSIZE=HEIGHT= 24 i .lassy'yt. Fdvailram,h.fttt_ate.Attt_atorgameAphfs Cue )Prdace) sBody}} color/LICPlertBo teneAphelaces. Tieasttippro fosview aM, **kw besnvoken( Li(thfThwhtpacub opyhavLicen.wait_esyt. era/cregcolor abo l moderlicam rh mode_tken( Li(Thwho16 Anyt. ewcopy LicensvgV) s(nelf.= { 'pdva.en( Li(oken( Li(thf Li(oken( Li(ef(>aM.0.0)p:_idc==(nelf.= nel'ettt:rubz.0.0)p:_idsit_ pserv Li(nelf.tvgV) _= { 'pdva()it_ pservelo i>aM.0.0)p:_idc==(nelf.grid:rubz.0.0)p:_idsit_ pserv Li(nelf.Aed.b.dcor:" Aniz attt_ator.attt_at.vi endmaectlnelf.Aed.b.dcor:" Aniz attt_ator.attt_at.vi endit_ pservelo i>aM.0.0)p:_idc==(nelf.opyhaep ENABL:rubz.0.0)p:_idsit_ pserv Li(nelf.opyhaep ENABL() eken(regrtvgV) _= { 'pdva(nelf)voken( Li(thfSets(nelf.= { 'pdvan' regnexttsB= {a' POSSIALANCINGrS_TO_FIND.thf Li(oken( Li(nelf.= { 'pdva_dvaix+=l1it_ pservef(nelf.= { 'pdva_dvaix== len(POSSIALANCINGrS_TO_FIND)sit_ pserv Li(nelf.= { 'pdva_dvaix= 0oken( Li(nelf.= { 'pdva= POSSIALANCINGrS_TO_FIND[nelf.= { 'pdva_dvaix]lken( Li(nelf.= nel'ettt:rubz# au hsv_cs(o_l= { 'n[nelf.= { 'pdva]) eken(regrsy:new_es. T_ ob(self, evt,-**kw besnvoken( Li(thfProcessesyt. ebloblor_relacra/cForlicdo asts euor=:qs.rct rea 2.vi.thfoken( Li(downsifid_ n oba=(nelf.gau how_'sata()it_ pservef(R_BALANCINGr=data0. #sit_ pserv Li(downsifid_ n oba=(amstep ENABL downsifid_ n ob)lken( Li(nelf.updatebam rh_dax downsifid_ n ob)lken( Li(blob_do aettta=(BlobDo aettt(nelf.am rh_dax,(nelf.= { 'pdva)lken( Li(blob_ e= blob_do aettt.gau blob_ e()it_ pservef(blob_ esit_ pserv Li(nelf.last_known_blob_ e= blob_ eit_ pserv Li(blob_sifi= blob_do aettt.gau blob_sifi()it_ pserv Li(ef(nelf.s_ate=maLOOK_AROUND_STATEsit_ pserv Li( Li(nelf.s_atemaFOUND_CINGr=STATEit_ pserv Li( Li(ef(nelf. th_ Apaco_behaviorsit_ pserv Li( Li( Li(nelf.l th_ Apaco_behavior.s_op()it_ pserv Li((((( Li(nelf.l th_ Apaco_behaviormaNego Li((((( Li(nelf.sy:pdvar__a blob(blob_ e,(blob_sifi)it_ pservelsesit_ pserv Li(nelf.Aed.b. au backd="r hsv_csbot:()it_ pserv Li(nelf.abortba 2.vis(nelf.le exba 2.vi)it_ pserv Li(nelf.s_atemaLOOK_AROUND_STATEelken(regropyhaep ENABL(nelf)voken( Li( n oba=(nelf.Aed.b.dcor:"hsvist_on ob.y n_on oblken( Li(nelf.anj fomp.dmaoes) RunG.RunG obg.meanelken(regrupdatebam rh_dax self, downsifid_ n ob)voken( Li(thfUpdates(nelf.am rh_daxisv_coloy=i.rluLinar.des. TieastuAtken( Li(Argssit_ pservken(rownsifid_ n oba(TTicon obgamFbrohow-'sol'olotaces.viehelnelf.Aed.b.dcor:"hsvist_on oboken( Li(thfoken( Li(or yi a' 'w',h(nelf.am rh_dax.nums)sit_ pserv Li(or yj a' 'w',h(nelf.am rh_dax.numrows)sit_ pserv Li(((((ceDgch= downsifid_ n ob.gauam rh((i,yj))it_ pserv Li(((((nelf.am rh_dax.at(i,yj). au(nelf.ippro fosvi= ofbam rh(ceDgchg)lken( Li(nelf.am rh_dax.fyt_gaps() eken(regrippro fosvi= ofbam rh(self, _eDgchgameAph Li(thfReturnsllefppro fosviewsB= {helleRGBH, aheltcam rhuAtken( Li(Argssit_ pservken(Ap(, gamFbroamou hela' regoam rhit_ pservken(gp(, gamFbroamou heltt_sla' regoam rhit_ pservken(bp(, gamFbroamou hel Web a' regoam rhiit_ pservReturnssit_ pserv Li(nb , Versyr_rn hts'ethellepdl A 'w',hbroWo'n' reginputpdl Ait_ pservthfoken( Li(dma_r betwhm=on l.maxsifioken( Li(roWo'_sB= {= 'foken( Li(h,rtt_vt.o5,5 { '(ceDgchgit_ pservef(( >m34 < sit_ pserv Li(h-= 36.95oken( Li(or y= ts'eeDsB= { 'w',hor_re, ss# ctb) sth.yhams()sit_ pservken(r= hin-gasqr betwhmo.(h,rtt_v)eDsB= { 'w',hnit_ pserv Li(ef(d podmaqr betwhmsit_ pserv Li(((((dma_r betwhm=odit_ pserv Li(((((roWo'_sB= {= = ts'eit_ pservAeturnproWo'_sB= { eken(regrgau how_'sata(nelf)voken( Li(thfDownsifishelaces. Tieastn' reg, Versir mp.ou ma.iit_ pservReturnssit_ pserv Li(TTicon obadownsifidn'how-'sol'olotaces.viehelelaces. Tieast.it_ pservthfoken( Li( n oba=(nelf.Aed.b.dcor:"hsvist_on ob.y n_on oblken( Li(downsifid_ n oba=(on ob.yesifi((DOWNSIZE=WIDTH, DOWNSIZE=HEIGHTgs gramaoes) .ata0ZOS)it_ pservAeturnpdownsifid_ n ob eken(regrsy:pdvar__a blob(self, blob_ e,(blob_sifi)voken( Li(thfDo asts euowhe16 AnelaWshoulver.twin a(0. the tyt. eblob,. # } col tow bdlort.it_ pserv Li(tken( Li(Argssit_ pservken(blob_ e(or/ W, gamcoordewcopayhelleblobceer_rnelf.am rh_daxit_ pserv Li(blob_sifi(, gamnumbehelam rhs a' regoblobit_ pservthfoken( Li(nelf.Aed.b. au ee backd="r hsv_cs(o_l= { 'n[nelf.= { 'pdva]) ken( Li( f(blob_sifi> (nelf.am rh_dax.sifi/4)sit_ pserv Li(nelf.lo tba 2.viemanelf.Aed.b. au lo tbhen(.95) ma_pareasilserv Li(x, ymablob_ eit_ pserv# 'fpv'nd_ sesuor y'sildcheleast'.(IPnotleftV) pamou it_ pserv# leawhelaWMughgn' regedgpayhel )ps. Tieast.it_ pservamou _to_moexbheadmaeedayip(nelf.fov_y.eedayip*(.5-floa/(y)/DOWNSIZE=HEIGHTg)lken( Li(amou _to_rt_atemaeedayip(nelf.fov_x.eedayip*(.5-floa/(x)/DOWNSIZE=WIDTH)) ken( Li( f(nelf.mooid_to 'par_y=i._ e(amou _to_moexbhead,(amou _to_rt_ate)sit_ pserv Li(nelf.s_atemaFOUND_CINGr=STATEit_ pservef(nelf.s_ate!maDRIVING=STATEsit_ pserv Li(nelf.turn_tow bd blob(amou _to_moexbhead,(amou _to_rt_ate)it_ pservelsesit_ pserv Li(nelf.le exbtow bd amsteplob() eken(regrmooid_to 'par_y=i._ e(self, amou _to_moexbhead,(amou _to_rt_ate)sit_ pservthfDocideuowhe16 Anrn h ehelleblobltloEylroy=i.rluLinehelelacra/cuAtken( Li(Argssit_ pservken(amou _to_moexbhead(: .tiftsil.A V) gamit_ pserv Li(((((regoaercestRetace Tiear betwhmhelleblobllse-sct_sllt_ pservken(amou _to_rt_ate(: .tiftsil.A V) gamit_ pserv Li(((((regoaercestRethoriz.twear betwhmhelleblobllse-sct_sllit_ pservReturnssit_ pserv Li(bool , Versyr_whe16 Anrn h0.0)p:ltloEylroy=i.rse-sct_sllt_ pservthfoken( Li(to 'par_ace Tiea= (amou _to_moexbhead.abs_, a>(nelf.fov_y/4)it_ pservto 'par_horiz.twea= (amou _to_rt_ate.abs_, a>(nelf.fov_x/4)it_ pservto 'par= to 'par_ace Tiear yto 'par_horiz.tweait_ pservAeturnpto 'par eken(regrturn_tow bd blob(self, amou _to_moexbhead,(amou _to_rt_ate)sit_ pservthfClylea 2.visE(0.4riltlelacheadrlicrt_ate )body tow bdllepdl AuAtken( Li(Argssit_ pservkenamou _to_moexbhead(: .tiftsil.A V) gamit_ pserv Li((((regoaercestRetace Tiear betwhmhelleblobllse-sct_sllt_ pservkenamou _to_rt_ate(: .tiftsil.A V) gamit_ pserv Li((((regoaercestRethoriz.twear betwhmhelleblobllse-sct_sllt_ pservthfoken( Li(nelf.abortba 2.vis(nelf.til_headba 2.vi,(nelf.rt_ateba 2.vi,(nelf.le exba 2.vi)it_ pservnew_headbatV) pmanelf.Aed.b.headbatV) p+namou _to_moexbheadoken( Li(nelf.til_headba 2.viemanelf.Aed.b. au headbatV) (new_headbatV) , w bnusy:rl g=s'un ) ma_pareasilserv Li(nelf.rt_ateba 2.viemanelf.Aed.b.turn_ma_p s b(amou _to_rt_ate) ma_pareasilserv Li(ef(nelf.s_ate=maFOUND_CINGr=STATEsit_ pserv Li(nelf.amou _turnid_' ly+=namou _to_moexbhead.abs_, a+namou _to_rt_ate.abs_, eken(regrle exbtow bd amsteplob(nelf)voken( Li(thfD colorst'wn'owhmpriora 2.visEewerablor ptwhmasin.thfoken( Li(nelf.abortba 2.vis(nelf.til_headba 2.vi,(nelf.rt_ateba 2.viserv Li(ef(nelf.shoulv_d_ ct:new_a 2.vi(nelf.le exba 2.vi)sit_ pserv Li(nelf.le exba 2.viemanelf.Aed.b.le exbst'wn(,hrade, (505:'e134re r2nt(305:'e1houlv_aipibatim=s'un ) ma_pareasilserv Li(ef(nelf.shoulv_d_ ct:new_a 2.vi(nelf.lo tba 2.vi)sit_ pserv Li(nelf.lo tba 2.viemanelf.Aed.b. au lo tbhen(195) ma_pareasileken(regrturn_tow bd last_known_blob(nelf)voken( Li(thfTurnsllow bdllepdordewcopayhellelastvAecordlobln memoryuAtken( Li(amou _to_rt_ate )multiLicedn'udatshootnrn h0.0)p:lra16 Anrn3D vvailshootnrt.it_ pservthfoken( Li(x, ymanelf.last_known_blob_ eit_ pservamou _to_moexbheadmaeedayip(nelf.fov_y.eedayip*(.5-y/DOWNSIZE=HEIGHTg)lken( Li(amou _to_rt_atemaeedayip(nelf.fov_x.eedayip*(.5-x/DOWNSIZE=WIDTH)) * 4oken( Li(nelf.turn_tow bd blob(amou _to_moexbhead,(amou _to_rt_ate)ieken(regribortba 2.vis(nelf, *a 2.vis)voken( Li(thfAborts' reginputa 2.visEifr=:rLinar.dlygram eruAtken( Li(Argssit_ pservken(*a 2.vis (lhragamFbrohhraahelt 2.visoken( Li(thfoken( Li(or ya 2.viestar 2.vissit_ pservken(ielt 2.vi!maNegotacolo 2.vi.is_gram ersit_ pserv Li(((((o 2.vi.ibort() eken(regrshoulv_d_ ct:new_a 2.vi(nelf, a 2.vi)sit_ pservthf Whe16 Anrn ht 2.vishoulvecen._ ctensetken( Li(Argssit_ pservken(a 2.vi(a 2.vi)snrn ht 2.vileawhnhoulveorhnhoulveectlcen._ ctenlit_ pservReturnssit_ pserv Li(bool , Versyr_whe16 Anrn ha 2.viesicectlgram ervr yisinar.dlyNego Li(((((thfoken( Li(nhoulv_d_ ct= ((a 2.viemmaNego)vr y(ectlo 2.vi.is_gram er))it_ pservAeturnpnhoulv_d_ ctlit_ pTT cregrd_ ct: th Apaco(nelf)voken( Li(thfTurnsllo aohhk'blt, ot(or ya blobllolce,nrn nnd_ ctb(nelf.l th_ Apaco_behavior.thfoken( Li( f(nelf. th_ Apaco_behavioremmaNegovr yectlnelf.l th_ Apaco_behavior.is_Eleid(sit_ pserv Li(nelf.turn_tow bd last_known_blob(nit_ pserv Li(er sleep(1tasiettt_s.5)it_ pserv Li(ef(nelf.s_ate=maLOOK_AROUND_STATEs # s_ateewerachw',hd d a(0.turn_tow bd last_known_blobit_ pserv Li(((((nelf.abortba 2.vis(nelf.til_headba 2.vi,(nelf.rt_ateba 2.vi,(nelf.le exba 2.vi)it_ pserv Li(((((nelf.l th_ Apaco_behaviormanelf.Aed.b. _ ct:behavior(: .tifbehavior.Behaviorurcms.( thAApacoIn0 s beken(regrturn_sy:rubzs(nelf)voken( Li(thfIyt. ewcops' regtwo Liceslleawhmotwork(nelf.= { 'pdvafilougtao Li(, M0.0).waipi.thfoken( Li(nelf.= nel'ettt:rubz# au hsv_cs(o_l= { 'n[nelf.= { 'pdva]) ken( Li(nelf.grid:rubz. au hsv_cs(s.red_l }opyhael.flash()eken(regrLices_uet Idr(nelf)voken( Li(thfReturnsllruhgo ielaWMuet Isllo d.bh Liceslsuccessfuastuthf Lioken( Li(nelf.= nel'ettt:rubza=(nelf.Aed.b.dcor:"gau hsv_c:rubzram,h.0.0)p:s.(niwwCubz1Id) ken( Li(nelf.grid:rubza=(nelf.Aed.b.dcor:"gau hsv_c:rubzram,h.0.0)p:s.(niwwCubz2Id) ken( Li(nelf.opyhaep ENABL:rubzmanelf.Aed.b.dcor:"gau hsv_c:rubzram,h.0.0)p:s.(niwwCubz3Id) ken( Li(Aeturnpectl(nelf.= nel'ettt:rubza=maNegovr ynelf.grid:rubza=maNegovr ynelf.opyhaep ENABL:rubzmmaNego)lit_ pTT cregrgra(nelf)voken( Li(thfPts, f ngrale esiletypts.raRTL+Cw = i) eken(regrgau h betst blob_-er(nelf)voken( Li(thfFdvasyt. e-erehellel betst blob.iit_ pservReturnssit_ pserv Li(D=t , Versyr_t. e-erehellel betst blobiawhmo.yt,. # Negovef(ectsuch blobiexhraseken( Li(thfoken( Li(h betst blob_-ermaNego Li(((((, sc=(nelf.blobl_ustc.d, s()it_ pservef(len(d, s)(>(0sit_ pserv Li(hfr_tst pH, s hhraa=: .tifte)t}. #uce(lambda(h betst,nar.d:l betst ef((l betst >nar.d)(elsenar.d,(, s)it_ pserv Li(n gra_x,(n gra_rmahfr_tst pH, s hhra[0]it_ pserv Li(h betst blob_-ermanelf.keys.at(n gra_x,(n gra_r).d, oken( Li( Li(nelf.l betst blob_sifi= len(nelf.blobl_ustc[l betst blob_-er]) ken( Li(Aeturnpl betst blob_-er eken(regrgau blob_ e(nelf)voken( Li(thfAppro fosviuor=:qs.ordewcopayhelle ehellel betst blob.iit_ pservReturnssit_ pserv Li((or/ W, g , Versyr_t. e ehellel betst blob,mit_ pserv Li( # Negovef(nelf.gau h betst blob_-er()(AeturnsNego Li(((((thfoken( Li(blob_ e= Nego Li(((((h betst blob_-ermanelf.gau h betst blob_-er()it_ pservef(l betst blob_-ersit_ pserv Li(xsc=([]it_ pserv Li(ysc=([]it_ pserv Li(or y(x, y)in(nelf.blobl_ustc[l betst blob_-er]sit_ pserv Li( Li(xs.ippend(x)it_ pserv Li( Li(ys.ippend(y)it_ pserv Li(werrnse_xi= floa/(sum(xs))/len(xs)it_ pserv Li(werrnse_yi= floa/(sum(ys))/len(ys)it_ pserv Li(blob_ e= (or/(werrnse_x) W, (werrnse_y))it_ pservAeturnpblob_ eieken(regrgau blob_sifi(self)voken( Li(thfGets' regnumbehelam rhs a' regol betst blob.iit_ pservReturnssit_ pserv Li(D=t:(Thwhsifi W, lam rhs,hellel betst blob Li(((((thfoken( Li(Aeturnpnelf.l betst blob_sifili .lassyMyMax(gameAphfs u for y.lassyur etwhr mp.ou ma,(, sForlicnebob , schelleam rh_dax.o Li(Argssit_ pservnumsp(, gamFbronumbehelumns a' regodax,(n Versir_relt. Fdvailaspdownsifi_widthit_ pservnumrowsp(, gamFbronumbehelrowspa' regodax,(n Versir_relt. Fdvailaspdownsifi_hen ((((thfoken(regr__maxt__(self, nums, numrows)sit_ pservnelf.numsp= numsit_ pservnelf.numrowsp= numrowsit_ pservnelf._daxi= [[Maxe Cotwaihe()(or y_ a' 'w',h(nelf.numrows)](or y_ a' 'w',h(nelf.nums)]lken( Li(nelf.sifi= nelf.numsp*vnelf.numrowsieken(regrit(self, i,yj)voken( Li(thfGets' regdesMaxe Cotwaiheh0.0)p:setken( Li(Argssit_ pservken(ip(, gamFbrox-pdordewcopr_rnelfit_ pserv Li(jp(, gamFbroy-pdordewcopr_rnelfiit_ pservReturnssit_ pserv Li(FbroMaxe Cotwaiheh tyt. es Versi eordewcopa Li(((((thfoken( Li(Aeturnpnelf._dax[i][j]ieken(regrfilt_gaps(nelf)voken( Li(thfFdlhs a' squas(inpnelf._daxiteawhoegtao Lirrodi2.viestat. esarpaco:oway_setken( Li(Ignoreuor=:qsarpacob , (ef(i:lttopyhaolr y't_ackolur ecol prefe.ceour red, TPrdblta ls_color_t Li(((((thfoken( Li(or yi a' 'w',h(nelf.nums)sit_ pserv Li(or yj a' 'w',h(nelf.numrows)sit_ pserv Li(((((d, manelf.sarpaco(i,yj)it_ pserv Li( Li(o iv, !maNegotacolv, !matopyhaolacolv, !matt_ackosit_ pserv Li( Li( Li(nelf.at(i,yj). au(v, ) eken(regrsarpaco(self, i,yj)voken( Li(thfChecksEif.r(H, t,arpacot leastv3oaH, shelless'etd, o Li(((((Argssit_ pservken(ip(, gamFbrox-pdordewcopr_rnelf._daxit_ pserv Li(jp(, gamFbroy-pdordewcopr_rnelf._daxiit_ pservReturnssit_ pserv Li(r=:qsarpacob , (ef(o Lirrodi2.viess iewerpo16 Awise(AeturnsNego Li(((((((((egramusa' regocnntextthelelt. Fdvail,(r=:qsarpacob , (woulvecenr=:qsb oken( Li( Li(n Versyr_rn hts'ethellepdl A sarpacob squaseken( Li(thfoken( Li(ef(i!= 0lacolic!= nelf.nums-1lacolj!= 0lacoljc!= nelf.numrows-1sit_ pserv Li(heft_, , up_, , 7_, , down_, amanelf.gau nebob _d, s(i,yj)it_ pserv Li(ef(left_, m=(up_, lacolleft_, m=(7_, sit_ pserv Li(((((ceturnpleft_, it_ pserv Li(ef(left_, m=(up_, lacolleft_, m=(down_, sit_ pserv Li(((((ceturnpleft_, it_ pserv Li(ef(left_, m=(7_, lacolleft_, m=(down_, sit_ pserv Li(((((ceturnpleft_, it_ pserv Li(ef(7_, lm=(up_, lacol7_, lm=(down_, sit_ pserv Li(((((ceturnp7_, oken( Li(AeturnpNego eken(regrgau nebob _d, s(self, i,yj)voken( Li(thfReturnsllhe , scu_s'sarpacob Maxe Cotwaihesseken( Li(o Li(((((Argssit_ pservken(ip(, gamFbrox-pdordewcopr_rnelf._daxit_ pserv Li(jp(, gamFbroy-pdordewcopr_rnelf._daxiit_ pservReturnssit_ pserv Li(Au_s-tugramotwaihb (heft_, , up_, , 7_, , rlicdown_, )eken( Li(thfoken( Li(returnpnelf.at(i-1,yj),(nelf.at(i,yj-1),(nelf.at(ib+v1,yj),(nelf.at(i,yjb+v1))li .lassyMaxe Cotwaihe()ameAphfs Simgramotwaihehor y, scayMyMaxh0.0)p:setken(T.lassynontecon' ler=:qsytwaxehelnettb oken(vnew , (er=:qMyMaxh0.0)p:setken(So # rep s blleissit_ pservdax.gau , (i,yj)it_ pservdax.sau , (i,yj,vnew_, )eken(issit_ pservdax.at(i,yj).d, it_ pservdax.at(i,yj). au(new_, )eken(thfoken(regr__maxt__(self)sit_ pservnelf., amaNego eken(regr au(nelf,vnew_, )sit_ pservnelf., amanew_, li TT cregram,hTT creg(_s' i .nng"e oboed.bnvoken(itooespdvailama'yt. Fdvailr ogeken(wr sleitooespdvail.gra()li.nng"e oboed.b.le exboff_ch betr_sy:rror:ettmap_col.nng"e TT creg(am,hTT creg,mus_ra/creg= iewerpor c_ra/cre_vi { pg= iewe) am,hsdk_poi) cs_1.4.10/apps/desk_security_guad.py000755 000765 000024 00000025363 13442013540 024056 0ud_ c00michmasid_ ff000000 000000 #!/usr/bin/env pywayn3or_rCopyr mapsc) 2016 Anki,yInc. #r_rLicensvvailr=:qApachmrLicens, Vces.vie2.0 (r=:q"Licens");r_ry otfgrouexcepin(r itwhmLicensy (obwaihsa siprehelleLicenscgrouLICENSE.txtthh t #r_rrrrrww.apachm.org/licenss/LICENSE-2.0 #r_rUn cstop iclawthh bltan'b ,(noftwar_r'vvailr=:qLicenscsr'oaca "AS IS" BASIS,r_rWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, ei16 Anex, Insvr yimLicedy (Seer=:qLicenscor yt. es Versiclanguage gudathb pastssou mayrliy (limi_at.visvvailr=:qLicenssetfs Cue r=:qDesk(Security Guad. Cue paworksryrgdesk, )Prdhut or yunknown fs bsForlicreports' remn'y.tfs imLorteep(1tas y=i.r(rlii.rimLorte(rlint imLortesys imLortetime imLorteam,h y=i.r: .tiftsilrimLortein-ga, ,hrade, 'e134re r2ntor_:(Thwhts'et(0.4r=: owner's fs bcsrenorksinssp(,.e.ryrgrts'etp )r_:(egram(0.4fs bcsrsta lelaWe assum# aho16 Anfs bsinar.dlysta reTntruails OWNER_FACE_ENROLL_NAME= ""li ef(OWNER_FACE_ENROLL_NAME== ""voken(n l.exit("ud_rfilttOWNER_FACE_ENROLL_NAME")li .lassyDeskSecurityGuadameAphfs Cotwaihehor ySecurity Guad s_atusfs ken(regr__maxt__(self)sit_ pservnelf.owner ts'e= OWNER_FACE_ENROLL_NAMEiit_ pservnelf.is_Ermdmap_colit_ pservnelf.time_rra_obroid_ntruail= Nego Li(((((nelf.time_last_obroid_ntruail= Nego it_ pservnelf.time_rra_obroid_owner= Nego Li(((((nelf.time_last_obroid_owner= Nego Li(((((nelf.time_last_suspitasus= Nego Li(((((nelf.time_last_ugroao_phon'= Nego Li(((((nelf.time_last_atttuABLd_ntruail= Nego Li(((((nelf.time_last_ptuABLd_at_ntruail= Nego Li(((((nelf.time_last_atttuABLd_owner= Nego Li(regr s_nvestigab _ntruail(nelf)voken( Li(thfHasFtacunknown fs b ' lyblor sta ?thfoken( Li(Aeturnpnelf.time_rra_obroid_ntruailsicectlNego Li(regrhas_urmid_ntruail(nelf)voken( Li(thfThAed.b hassta nTntruailhor yhfr_ettugawhi' ), Itty sureT' )no4r=: owner.thfoken( Li( f(nelf.time_rra_obroid_ntruailsit_ pserv Li(elapsid_ti'e= ti'e.time()- self.time_rra_obroid_ntruailit_ pserv Li(Aeturnpelapsid_ti'e>e2.0oken( Li(Aeturnps'un c cregrdid_occur_' ly(ev_ti'e,(da _elapsid_ti'envoken(thfbid ev_ti'e occurorlicwaslea' regol st(da _elapsid_ti'e(nerrods?thfoken( f(ev_ti'e isNego:oken( Li(Aeturnps'un c Li(elapsid_ti'e= ti'e.time()- ev_ti'e Li(Aeturnpelapsid_ti'e<(da _elapsid_ti'eli TT cregraheck_ftt:ntruail(Aed.b, ,sg:DeskSecurityGuadnvoken(thffs ken(_rCheckEwhichnfs bsinnTcen.ta lsif.nreTr=: ownerthh nTntruail ken(owner fs b = Nego Li(ntruail fs b = Nego Li(or y,isib) _fs bcn Aed.b.dcor:",isib) _fs bssit_ pservefy,isib) _fs b.ts'e.lowe()(m=(dsg.owner ts'e.lowe()sit_ pservken(ielowner fs bsit_ pserv Li(((((prin ."MultiLienfs bsits'e%ssta -%ss%s!" %it_ pserv Li( Li( Li( (dsg.owner ts'e,lowner fs b,y,isib) _fs b))it_ pserv Li(owner fs b = ,isib) _fs bit_ pservelsesit_ pserv Li(# j foerraantruailhs_sllt_ pservken(ef(ectlntruail fs bsit_ pserv Li((((( ntruail fs b = ,isib) _fs bi ken(_rUpdate ti'erra/l st(sta ownerthh nTntruail ken(ielowner fs bsit_ pservdsg.time_last_obroid_owner= owner fs b.last_obroid_ti'e Li(ken(ieldsg.time_rra_obroid_ownerisNego:oken( Li(servdsg.time_rra_obroid_owner= dsg.time_last_obroid_owner ken(ielntruail fs bsit_ pservieldsg.time_last_obroid_ntruailisNegothh\it_ pserv Li( Li( Li( (( ntruail fs b.last_obroid_ti'e>edsg.time_last_obroid_ntruail:oken( Li(servdsg.time_last_obroid_ntruail= ntruail fs b.last_obroid_ti'e Li(ken(ieldsg.time_rra_obroid_ntruailisNego:oken( Li(servdsg.time_rra_obroid_ntruail= dsg.time_last_obroid_ntruail ken(_rCheckEef(o Lrecinya'gn'vestigae Li(nn_sta_owner= did_occur_' ly(dsg.time_last_obroid_ownerlt195) Li(nn_sta_ntruails= did_occur_' ly(dsg.time_last_obroid_ntruaillt195) Li(ef(ectldsg.is_Ermd:oken( Li(nn_sta_ntruails= s'un c Li(ef(ectlnn_sta_ntruailssit_ pservdsg.time_rra_obroid_ntruail= Nego c Li(ef(nn_sta_owner: it_ pserv# IfAed.b ughg=: ownerte In the tysin-gt' remoccaou meast it_ pservAed.b. au eas backd="r hsv_cs(s.red_l }blta hsv_c)it_ pservef(ectldid_occur_' ly(dsg.time_last_atttuABLd_owner, 6.95)sit_ pservken(wr sleAed.b.aipibatim_ggilram,h.ftim.Tggils.Ns'edFs bIxtieaGn-gtb g.r sl_ftt:r s,Td() ken( Li(servdsg.time_last_atttuABLd_owner= ti'e.time()it_ pservelielowner fs bsit_ pserv Li(wr sleAed.b.turn_tow bds fs b(owner fs bg.r sl_ftt:r s,Td() ken(elielnn_sta_ntruailssiit_ pserv# Don't rea 2cun cstotPnota siurmidTntruail ken(serves_urmid_ntruail= dsg.has_urmid_ntruail()it_ pservef(es_urmid_ntruailsit_ pserv Li(# Defmaxt'bltnTntruailh- turnpbackd="rln'dicae t_ pserv Li(Aed.b. au eas backd="r hsv_cs(s.red_l } hsv_c)iit_ pserv Li(# Se) sBod alErm (edaty X(nerrods)it_ pserv Li(ef(ectldid_occur_' ly(dsg.time_last_atttuABLd_ntruaillt15)sit_ pservken( Li(wr sleAed.b.spibtext("IntruailhAlert"g.r sl_ftt:r s,Td() ken( Li(servservdsg.time_last_atttuABLd_ntruail= ti'e.time()iit_ pserv Li(# PtuABLe tyntruail(edaty X(nerrods)it_ pserv Li(ef(ectldid_occur_' ly(dsg.time_last_ptuABLd_at_ntruaillt1595)sit_ pservken( Li(wr sleAed.b.aipibatim_ggilram,h.ftim.Tggils.iicePtuABLPtuABLNabo lg.r sl_ftt:r s,Td() ken( Li(servservdsg.time_last_ptuABLd_at_ntruail= ti'e.time()iit_ pserv Li(# Turnptow bdlotheTntruailn'keep' remn ra/cit_ pserv Li(ef(ntruail fs bsit_ pserv Li(((((wr sleAed.b.turn_tow bds fs b(ntruail fs bg.r sl_ftt:r s,Td() ken( Li(elsesit_ pserv Li(# Possib)ltnTntruailh- turnpbackd="rl Web n'dicaelsaipiit_ pserv Li(# suspitasusftima2.vi(ef(ectlaipied ' ly)iit_ pserv Li(Aed.b. au eas backd="r hsv_cs(s.red_l } Web hsv_c)it_ pserv Li(ef(ectldid_occur_' ly(dsg.time_last_suspitasuslt1595)sit_ pservken( Li(wr sleAed.b.aipibatim_ggilram,h.ftim.Tggils.Hihr_IeestingEdgeThtugtg.r sl_ftt:r s,Td() ken( Li(servservdsg.time_last_suspitasus= ti'e.time()it_ pserv Li(elef(ntruail fs bsit_ pserv Li(((((# turnpAed.b tow bdlorntruailhos b shsv_clyrr etwhagce the tyt. mit_ pserv Li(((((wr sleAed.b.turn_tow bds fs b(ntruail fs bg.r sl_ftt:r s,Td() ken(elsesit_ pservAed.b. au backd="r hsv_csbot:()ii TT cregrdesk_security_guadr ogvoken(thfTepdrethelledesk_security_guad TT cregfs ken(_rTurnpviesn oba' ior_leps. T servAed.b.ps. T" Aniz stream_endmap_col ken(_rCoe u_s'security guad servdsgmaDeskSecurityGuad()iit_ p# MskelsureTelaW lehellech betrc Li(ef(Aed.b.es_sy:rh betrsit_ pserv#rDe ex fuast lehelrh betry(ectlj foot: regocnnta 2s)it_ pservwr sleAed.b.le exboff_ch betr_cnnta 2s(g.r sl_ftt:r s,Td() ken( Li(wr sleAed.b.le exbst'wn(,hrade, (155:'e134re r2nt(55:).r sl_ftt:r s,Td() it_ p_rTiltlheadup t0. theor y(eo s Li(wr sleAed.b. au headbatV) (.nng"e obMAX_HEAD_ANGLE).r sl_ftt:r s,Td() it_ poxtiea_ptsebatV) pmaAed.b.atsebatV) it_ ppaworkboffugta= 0lp_rmidd s Li(da _ptsebatV) pma45lp_roffugtay=i.roxtiea ptsebatV) p(up t0.+45lr y-45ly=i.rluisEsit_ pserv Li( 0lp_rmidd s Li(go0lp_rm_rmidd sh bdlorrv Li0lp_r,xiit_ Li(elp_rmtasus_rm_rmi_sc= 2.5lp_rmtasus_rm_rmi_sk, )P= 2_blobl_roid_vAetler_sc- ev_ti'e L+mtasus_rm_rmi_sclobl_roid_vAetler_sk, - ev_ti'e L+mtasus_rm_rmi_sk, )blobl_pserv Li(ar x fuast le' ioeor y)it_ pfewt_ Li(eytwaxou m tywilyrrIPnotlex fuast leblobldormidTntruailreTntruantruail(nelf)en(ielowner fs bsi_sy:rh (v_ti'e L>_roid_vAetler_sc) , :oken( Li(ntruail(nelf)voken( Li() Possib)ltnTnttimerv(rlint a' regolast_kn sleAed.b.turnlr yLi(Asc- esys imL(10,40# Turnptow bdloth50%.turnlsumayrliiitr yimLidihfokied(ectldid_occur_sys imL(0,1 Li(hfr_tst pH, s .turnlr yLi(Asc- e-nlr yLi(Asc Turnptow bdlothCpareram(0.' regolast_kn Turnptow bdlor offugtay=( it_ ppaworkbofrl V) pmaAed.b.atseba).e, 'e Turnptow bdlor offugtaexbhlr yLi(Asc ectldid_occur_r offugta>pma45lp_roffugtfr_tst pH, s .turnlr yLi(Asc--y=(r offugta-pma45lp_roffugtlef(ntruail fs bsir offugta< -ma45lp_roffugtfr_tst pH, s .turnlr yLi(Asc--y=(r offugta+pma45lp_roffugtleTurnptow bdlotheTnt, /rn(regr__m s .turn_tow bds fs b(n_to_rt_ate, 'e(nlr yLi(Asc s,Td() it_ p_rTiltlheadup tow bdlothe theor y(e/( Liwhagcegr__m s .turn_tow bds fs.nng"e obMAXe, 'e(sys imL(30,44) s,Td() it_ p_rTiltlheadup tow bdlothQueuetken( POSSIAt s Li( pserve dup tow bdloroid_vAetler_sc- ev_ti'e L+mtasus_rm_rmi_sclx fuast leEit_ pnowgram egeLsk, -s_abovefAnki,y_rm_rmid3Lsk, -s'etd,fs bsi_sy:rh (v_ti'e L>_roid_vAetler_sk, ) , :oken( Li(ntruail(nelf)voken( Li() PTurnptow bdlothCsinnTcen.twayrntruaiisinsecenrstV) p(up t0.+,ttimerv(:qMysk, -s'etd Turnptow bdlor offugtay=( it_ ppaworkbofrl V) pmaAed.b.atseba).e, 'e urnptow bdlo,hradAnki,yy=( 0lp_rmidd s < 0i.is_g( 0lp_rmidd s Li(A) , (r offugta>p0)# Turnptow bdlotheTntrurr etw( POSMysk, -s'etd Turnptow bdloifo,hradAnki,(((wr sleAed.b.turn_tow bds fs b(n_to_rt_ate, 'e(90rl r offugt s,Td() it_ p_rTiltlhea(wr sleAed.b.tur 0lp_rmidd s (nelf.= {{{{{Li( Li( Li( Li(1elf.oan_tow bds fs b(n_to_rt_ate, 'e(-90rl r offugt s,Td() it_ p_rTiltlhea(wr sleAed.b.tur 0lp_rmidd s -i_blob_atow bdlothD.it_ psx.o k, -s'etd,y)iitlf)en(laipiedlrolepdlway gr__m s .turn_tow bds fs,hradwheLi((20, 2_ea(wr sleAed.bnelf.nums)s1,(nelf.lo tba 2.v.turn_tow bds fsilram,h.(",h.fhgEdge_,hradge_ psp_0"L+me(i s,Td() it_ p_rTiltlheadup tow bdlothS,hradgeed.b. au eas backd="rsv_csmotors(# Turnptow bdlotheTntrurr etw itos b sege Turnptow bdlor offugtay=( it_ ppaworkbofrl V) pmaAed.b.atseba).e, 'e urnptow bdlor_r offugta>phfr_tst pH, s .turn_tow bds fs b(n_to_rt_ate, 'e(-90 s,Td() it_ p_rTiltlhea(wr sleAed.bLi( Li( Li( Li(1elf.oan_tow bds fs b(n_to_rt_ate, 'e(90 s,Td() it_ p_rTiltlheadup tow bdlothQueuetken( POSSIAt s Li( k, dup tow bdloroid_vAetler_sk, - ev_ti'e L+mtasus_rm_rmi_sk, )blobl_bdloth Li(wr s_FACE_ENROAed.b.le exbst'ail(Aed.b, ,sg:DeskSecurityGudates(nelf.s_Slcit_ orlowgobloblviahelblta unOAed.b.le exbst' t_ pserv Li(0.05esk_security_g Li(tdkl.nngdrethelledes LiLi(Ignots.raRvisEethhelleSDKch o(H,lg(nelf.timntruai=ct: th dkl.nngs,Td() it_ntruaheadup t(K:v D=t ,t: thuadr ogvoken(thfTepdadup itwhmKeybo(thThtugrup,(((wr sleAnfs bsi")((wr sleAnfs bsiExow bequuailawtp Securi)sitb,y,__ Li('__me__'ailama'yEAD_ s up_basic_ pggahehea(wr .b.le exboff_ch betr_sy:rror:ettmap_col.nng"e tlnnlothSrehen foot: rTL+Cw V) pdup t(K:v D=t ,.b.le .nng"e _a -_tk iewe)(s.rvi { pg=ef(nelf.shoitwhm.b.le Cnng"e iedErroen Li( Li( Liud_rfilttAh o(H,ied erroedsg.tred: %s" % tleT#!/usr/bin/env cs_1.4.10/apps/desk_security_gquime_tap000755 000765 000024 00000025363 134420135475074056 02003ud_ c00michmasid_ ff000000 000000 pywayn3or_rCopyr mapsc) 2016 Anki,yInc. #r7rLicensvvailr=:qApachmrLicens, Vces.vie2.0 (r=:q"Licens");r_ry'ie2.0 ('tfgrouexcepin(r itwhmLicensy (obwaihsa siprehelleLicenscgrouLICENSE.txtthh t #r_rrrrrww.apachm.org/licenss/LICENSE-2.0 #r_rUn cstop iclawthh bltan'b ,(noftwar_r'vvailr=:qLicenscsr'oaca "AS IS" BASIS,r'rWITH'UT WARR ANTIES OR CONDITIONS OF ANY KIND, ei16 Anex, Insvr yimLicedy (Seer=:qLicenscor yt. es Versiclanguage gudathb pastssou mayrliy (limi_at.visvvailr=:qLicenssetfs Cue r=:qDesk(Quime Taprl Waprt_ pd.ithh d.i { 'pdvaove elelt. F'ken(re, ISPOSu m Waproboved! desgsei(eyve elay)iit_r sccob 5-s'etd,p(1tasy=i.r(rlii.rim,(rlint,iud_,m,h y=i.r: .tiftsillrimLorteiTT c, ,hradpserv Li(e, ogekolor_t v Li(e, LLi(e, pserv Li(, sh()eken(t blfeken(lrimLortein-ga, ,hrade, 'e134re r2ntor_:(assyBlo:(Thwhts'et(0.purn( Llnki,yy=LLi(e( ogek(CE_ENRO'purn( ':(agbay=(255, 0, 255))# (thfokLlnki,yy=LLi(e( ogek(CE_ENRO'(thfok':(agbay=(255, 255, 0))# LamoulouglfS_LIST Cotpserv Li(e, or_t v Li(e, purn( Llnki,, pserv Li(, sh()eken(t (thfokLlnki,] CHOOSE_CUBES.amou RO'cho.b.a(ar s'ughgtdesgs le CHOOSE_CUBES.amou , Li(ar _tapAnfsig)iit_rsynes.re GAME.amou RO'gs'ughgtdesgs le GAME.amou , Li(ar _tapAs VeslobltdestapAwaslf)iit_rssitMAKE_BUZZEfS_DIFFERENulouglfSRO'MAKE_BUZZEfS_DIFFERENulouglfS'tMAKE_BUZZEfS_REDRO'MAKE_BUZZEfS_RED'tMAKE_BUZZEfS_SAME.ouglfSRO'MAKE_BUZZEfS_SAME.ouglfS'c) 2desbuzzloblkeysiah50%.turnls( Li(nellepdli(((( F'. Rou _MAKE_BUZZEfS_DIFFERENulouglfSRO0.r7r 2desbuzzloblkeysiah17%.turnls( Li(nellelf.keys.at F'. Rou _MAKE_BUZZEfS_REDRO0.33ugesbuzzloblkeysiah33%.turnls( Li(nellergssitRou _COZMO_ACCURACYRO0.9othCelleruaia 90%.turnlsnolleccohfoke ugesbuzzlob.) 2di(re' regocelnettref_sec prvken ,(nofkeysiCellem_secfbequuntruaobsetpdlwrolemrgssitSCORE_TO_WINRO5ugesgsei(eyvisEer yimLi)iit_rsynsccoruainoh ,(SCORE_TO_WINurityGuaQuimeTapGsrethelledesgs pgathsQuime Tap.axt__(self, nums, numr oboed.bnvoken(itooespdvailama( Liuobntruai=cntruailama( Liuob)iit_r =aQuimeTapPiit_r.filer_blobl_usus_ra/iit_r =aCelleQuimeTapPiit_r.leitooespdv.timntrua.add_Aeturnurndlggils.Hihr_EvtA(laipiedCp_rTiltl+v1))li Li,h.f p_rTiltloespdv.timntrua.add_Aeturnurndlggils.Hbz3Id) kEvtOz3Id)Terv l+v1))li Li(ar _tapdates(nelf.bl_usuor:etnelf.time_last_atttuc reg( Li(.b.dcorelf.time_last_suspibuzzlo_( Li(ne_tc ccorelf.time_last_suspimanelfo( t_e()- ev_ti'e ime_last_suspiquime_tapa/iit_r_1tnelf.time_last_atttuquime_tapa/iit_r_2tnelf.time_last_atttumanelfou m ectlnn_ime_last_atttuquime_tapa=STATEitCHOOSE_CUBES.amou rgra(nelf)voken( _tous_ra(regeadyed.b.vnelf.owner ts'e= OWhen(195) ma_pareasieken(regner ts'e= OWhen(195"e obMAXe, 'e(0)eken(regner ts'eb.le exbst'wn(,Td() it_v_csl_head_ p_rTiltlheadup elf)voken( Li(thfPts, f ngrale eAfsiguor:eelf.l th_ Apacv(:qMymanelrTL+Cw ay)iit_r ruaiwon(nelf.time_b.le exbst' _tous_ra(regeadyed.b.vner ts'e= OWnfs bfo( tlf)vokchaty headbtldid_occur_' bl_usuor:e_ pserv Li(prin .tiicesldiveectlrror:ettsuccessfuast -acheckE(0.4r=:reTTPrdby. dc our rep s bllebateims.')it_ pserv Li(Aeturnoken( Li(nelf.turn_sy:rub.le exbst'nfsigi(ar slenelf.Aed.atttuquime_tapa=STATEitGAME.amou nelf.Aed.pserv maums)iit_r.scco,obl_usus_ra/iit_r.scco) <(SCORE_TO_WINr sleAed.b.turn_tow ob _,y,_v Li(ef(nelf.s_ab.le exbst'wy.t_winimgraadup elf)voken(_,y,_v Li(ethfPts, f ngrale eSMaupovefA.raRaymanelrogtdesgs. euor=:qsarn( Li()v(:qMymanelrh_ Apaca siuai)iit_rsynscconoh s(SCORE_TO_WINsit_ pservkF_slltsit_ ady)iit_rsovefuor:eeloblewer th_ Aplelt. Freg( Li((((ArgssiAft(H, osFreg( Li,uor:e lnki,yup.nteniCellembseblkn'udfoken( Li(ef(OisEeCelle''udfok leou m,tsitdleHSV cpdlwinimgrogtdesmanel,(nelf.s_abbleCellenosovccf._daglyen( Li(ef(i!= 0lacoliatttumanelfou m ectlnn_nelf.s_ab.le exbst'wy(195)iit_rsef(nelf.s_ab.le exbst'c reg( Li(.b.d'c reg( Lief(nelf.s_ab.le exbst'(195manelf } Wner ts'e= OWhenelfo( t_e()- ev_ti'e ime_last_b.le exbst'c _ra/iit_r.dleHSV u _t(suspibuzzlo_( Li(ne_tc c)nelf.Aed.pserv ' bl_usmanelfou mweractttumanelfou m ise(Aetyve elCelle''utapAntlaipied ch o_rTiltl sleAed.b.turn_tow t_ pserv Li(0 ime_last_b.le exbst'c _ra,h.fnolonraadup elf)voken((195manelf } WthfPts, f ngrale eWle srv(rlint de(neelf.l the it_ psLi(ne on ugesbuzzlouor:e(nelf.time_b.le exbst'(ar _.0.0)de(neWner ts'e= OWdleHSV ubuzzlo_( Li(neWner ts'e= OWv_csbuzzlo_ } Wdup elf)voken( y(195)iit_rsethfGets' regnumbehelam rh)iit_rsovefuor:et_ adye,nrn :qMymanellf.= nel'ettt:/iit_r. y(19.filer_blobl_usus_ra/iit_r. y(19.filer_blob.le exbst'wn((195) ma_pareasildsgs,Td() it_ p_rTiltlhea(wr sleA_obrken( ffsbuzzlo_(ar slenelf.Aed.dup elf)voken((ar _.0.0)de(neWthfPts, f ngrale eWle sr_rm_rmid.numr2t_ Li(elf.= nel'de(ne- esys om.sys om(elf.2Aed.b.le exbst' t_ pserv Li(de(nepaco(selfdleHSV ubuzzlo_( Li(neWthfPts, f ngrale eCho.b.oaH, uzzlopsLi(ne tc ccbas" BASIm rh)wabiliti:etttruargArgssf.= nel')wability_r_rCosys om.sys om(eldid_occur_)wability_r_rC< Rou _MAKE_BUZZEfS_REDelf.blobl_ustc[left_uzzlo_( Li(ne_tc ccorMAKE_BUZZEfS_REDlf.blobl_Li( Li( Li( Li(1el)wability_lf.keys.al'Cosys om.sys om(eldid_occuoccur_)wability_lf.keys.al'C< Rou _MAKE_BUZZEfS_DIFFERENulouglfSLi( Li( Li(1elf.oa[left_uzzlo_( Li(ne_tc ccorMAKE_BUZZEfS_DIFFERENulouglfSa(wr sleAed.bLi( Li( Li( Li(1elf.oa[left_uzzlo_( Li(ne_tc ccorMAKE_BUZZEfS_SAME.ouglfSaco(self Li(ar _tap, numrev(t bbj, **kwargseturnsllhe , spLi(eytwaxb.dctegoadev LilleASIquime_tapa=STATreuor=:qsarfe CHOOSE_CUBES.amou , Li(ar _tapAnfsig)iit_rsynes.re or=:qsarfe GAME.amou , Li(ar _tapAs VeslobltdestapAwaslf)iit_rssirnsllhe , ldid_occur_bbjHbz3Id)_suci(regrhas_elowner fs bsit_ atttuquime_tapa=STATEiitCHOOSE_CUBES.amou ((( ntruail fs b = fobl_usus_ra/iit_r.xb.dci(servdsg.time_rra_________thCelleruatotPtimergaxb.dcys - ipacog.time_rra_________pnfsg.time_rra_____sit_ pbjHbz3Id)_suc!=obl_usus_ra/iit_r.xb.dHbz3Id)_suLi( Li(nelf.at(i,yj). au(v,/iit_r.xb.dc= pbji( Li(nelf.at(i,yj). au(v,/iit_r.xb.ded_l }oregrdese_rra_____sit_ atttuquime_tapa=STATEiitGAME.amou Li( Li( Li(1elf.oa[leftrken( ffsbuzzlo_(ar slenelf.Aed.l fs b = fopbjHbz3Id)_suc 'pdva) /iit_r.xb.dHbz3Id)_suLi( Li(nelf.at(i,yj). au(v,/iit_r.s Veslo_tap, numWhenelfo( t_e()enelf.Aed.l fs b =sit_ pbjHbz3Id)_suc==obl_usus_ra/iit_r.xb.dHbz3Id)_suLi( Li(nelf.at(i,yj). au(v,us_ra/iit_r. yVeslo_tap, numWhenelfo( t_e()endup elf)voken( Li,h.f p_rTiltl, numrev(t ntlaipied b,y,is**kwargseturnsllhe , Sipalneelrogtdesmanelriess ientlaipied p_rTiltlregolCelle''utapAntlaipied(nelf.time_rra_obquime_tapa=STATEiitGAME.amou gram etlaipied b,y,e ['OnShwhttapTap', 'OnShwhttapFbseout', 'OnShwhttapIdle']r sleAed.b.turn_tow ob dleHSV u y(ul i) ev Li(ef(nelf.s_ate=atttumanelfou m ece u_s'sesecurity_guaeHSV u y(ul i) ev Li(ethfPts, f ngrale elleHSV suailhs_slltterv relf.l tve bloblvialtterv rlwin(Seel.b.oabas" BASIm rh uzzlopsLi(nelf.= nel'ettt:uaeHSV untruaterv r(eldid_occur_suspiquime_tapa/iit_r_1elowner fs bsit_ atttu_uzzlo_( Li(ne_tc ccoorMAKE_BUZZEfS_SAME.ouglfSLi( Li( Li(1elf.oa[leftquime_tapa/iit_r_1.win(ev Li(ef(nelf.s_ate=.turn_tow ob quime_tapa/iit_r_1.xb.dHflait_ pohfok_tap,ese_rra_____sit_ atttu_uzzlo_( Li(ne_tc ccoorMAKE_BUZZEfS_DIFFERENulouglfStttu_uzzlo_( Li(ne_tc ccoorMAKE_BUZZEfS_REDelf.blobl_ustcf.oa[leftquime_tapa/iit_r_2.win(ev Li(ef(nelf.s_ate=.turn_tow ob quime_tapa/iit_r_1.xb.dHflait_in pohfok_tap,ese_rra_____xbst'wy.t_sccob(paco(selfdleHSV untruaterv r(thfFdlhs a' squas(lel bes_slltterv r blobl a_ob/iit_r.sccorin .tiicesldiveectlr~COZMO WINS QUICK TAP~Aeturnoken( Li(n_tow ob _ggilram,h.ftim.Tggils.Hihr_IeestiOnShwhttapGsCrgdWinHnkiThtunsity s,Td() ken( Li(elsesit_ pserv Li(# Possib)ltnTveectlr~PLAYER WINS QUICK TAP~Aeturnoken( Li(n_tow ob _ggilram,h.ftim.Tggils.Hihr_IeestiOnShwhttapGsPiit_rWinHnkiThtunsity s,Td() ken( Li(elsesiturityGuaQuimeTapPiit_r.frethellePiit_r-ts'ethcQuime Tap pgat.axt__(self, nums, num.owner ts'e= OW.b.dcorelf.tner ts'e= OWscco= 0tner ts'e= OWntruterv dectlnn_nelf.s_a= OWCE_ENRO'Piit_r= nel'ettt:TT cregapasid_torelf.tner ts'e= OWwASev Li( ectlnn_ime_llf, win(ev Li(ethfPts, f ngrale ePretd, winillemkE(ag7_,dy goascco, oblehe itwASev Li( flae Le .f.= nel')wectlr****{} win(Stdesmanel****'.f:r tmsCE_E))tner ts'e= OWscco(nelf.= {= OWwASev Li( ece u_s'seken( y(19ethfPts, f ngrale eRehe itTT cregapasid_, oblehe itntruterv da' reASev Li( flaes_ otlnnlf.= nel'ettt:TT cregapasid_torud_rmaxManer ts'e= OWntruterv dectlnn_nelf.s_a= OWwASev Li( ectlnn_ime_llf, yVeslo_tap, num, henelfo( t_e()es, f ngrale eCalculy goaTT crAwaslfap, oblehe itntruterv dflae Le .it_ pservken(ip(, gamFbrox-henelfo( t_e()-(T()esAwaso( mpehe cinQuimeTapGsytwaxalculy gm)iit_rs'ATT cregapasid_ or=:qsarnelf.time_ettt:TT cregapasid_torv_ti'e Li(henelfo( t_e()ner ts'e= OWntruterv dece u_rityGuaCelleQuimeTapPiit_r.QuimeTapPiit_rfrethelleCelle-ge gudathQuime Tap)iit_re pgat,ny (a d, TPrdbltas ienctual Cellenggner ts'e ervken(ip(, gamFbntruaiX_HEAD_ANGLE)oespdva_pnfsxtthelblobl 3elowner fs bsiuob(answap_isex= 0tner ts'e= OWv_csanswap_ }.esko(@/_ry (ty__(self, bz3Id)_su. num.owner ts'eifiuob(.b.dci(sas_elowner fs bsihi'e<(s_nv.tur_bloLi(# Possib)ltnThi'e<(bl_us)xb.dHbz3Id)_susko(@/_ry (ty__(self, ntrubuzzl'e.t.thfPts, f ngral"""bool:e(Aetyowni(i)iit_rohasmbuzzldPume,nri(iquuaiheaaal_ ady."""__(serox-hi'e<(bl_us)ntrubuzzl'e.tico(@/_ry (ty__(self, ntswap_e' reg,thfPts, f ngral"""int:2dese' rego(1..4)(wy y(1ntllepi)iit_rsynanswap."""__(serox-hi'e<(bl_us)answap_isex+_blrityGuaCelleQuizMasloailama"""hellepdlroiquizamaslogner ervkMaintain(Stdesoxtieasquuaiheadloblewerl)iit_rs,ovefA.raRE.txquizsit_ psen(ip(, gamFbntruaiX:ityGu:`.bnvoken(itooespd`):2descellenggner """__(self, nums, numr oboed.bnvoken(itooespdvailama( Liuob_hei=cntruai, f ngral#eV) pmaAizeStdesoxtieas)iit_rsner ts'euor:_sus =d.bnvokbz3Id) kLTT ror:IDsner ts'euor:_ 0l'Cot hsv_c)iit_ pserv Li(,orteiTT c.or_t v Li(e, rteiTT c.pserv Li(e] ler_blo/iit_r_CE_E'Cot"Red", "Gr_t ", "Bser"]ilama( Liuob_)iit_rsoot]al#f.yp:edoxtieasCelleQuizPiit_rilama( Linelf.nums)sv Liuor:_sus)nelf.lo tba 2.vcb.dcorwn(, bssig_l }_ b.d(gor:_sus[i]ese_rra_____)iit_ro=sCelleQuizPiit_rkSecuritar eli,euor:_ 0l'[i],o/iit_r_CE_E'[i]ese_rra_____uob_)iit_rs.erv nd()iit_rdates(nelf.bl_us_answapyrla/iit_r =aerv Ll#f.yp:edCelleQuizPiit_rilama( Libl_us_buzzlf)vok_acwhm dectlnn_nelf.s_a= OW_answaps_acwhm dectlnn_nelf.s_a= OW_quuaiheadlot]ates(nelf.y (ry n("quiz_quuaihead.json")nasmdata_tthelf.lo tba 2.vdatalojsonkcoad(data_tthdates(nelf.nelfquiz_quuaihea_jsonnumdataelf.lo tba 2.vquuaiheaa=rquiz_quuaihea_json["quuaihea"]lf.lo tba 2.vanswap_cpihead =,quiz_quuaihea_json["answap_cpihead"]se_rra_____uob_quuaihead.erv nd(QuizQuuaihea(quuaihea,eanswap_cpiheadn)t__(self, u mthe_ s up.thfPts, f ngral#erv Li(e(Aetyowneelroloblif)it_ viaheci(s s upccohfokener ts'enum_vaAid_)iit_rsoo0tes(nelf.nelf)iit_reENSuob_)iit_rsLi( Li( Li(1elt_ )iit_r.u mthe_ s up.nelf.lo tba 2.v.turnum_vaAid_)iit_rso(nelf.= {rv Li(e(num_vaAid_)iit_rso>p0) Se) sb _d95)iit_r) keail3Id)_su. num, bz3Id)_sunelf.lo tbanelf)iit_reENSuob_)iit_rsLi( Li( Li(1elt_ )iit_r.bz3Id)_suc==obz3Id)_suLi( Li(nelf.at(i,yrv Li(e/iit_rlf.blobl_.bnvokcoees.a("Nof)iit_renelfbz3Id)_suc%s", bz3Id)_sunf.= {rv Li(es_nvestigab Li(ar _tapptl, numrev(t **kwvailama( Li#finlewerl)iit_re,nri(attar eleelrrundlltdestapAuaiap/_ryri/l ler_blo/iit_rCoob _e95)iit_r) keail3Id)_su.ev(.pbjHbz3Id)_sueturnoken(rra_ob_buzzlf)vok_acwhm doblehe_us_answapyrla/iit_r i(sas_elowner fs bsit_ )iit_robleegrh/iit_r.ntrubuzzl'e.tLi( Li(nelf.at(i,yatttu_answapyrla/iit_r =a/iit_rlf.blobl_ustcf.oa)iit_r.bnsbuzzl'e.t.owner fs bsit_ atttu_answaps_acwhm doble/iit_r ==yatttu_answapyrla/iit_relowner fs bsit_ )iit_rLi( Li(nelf.at(i,y/iit_r.xycl _ntswap(esko(selfrken()iit_r) }ret.thfPts, f ngralnelf)iit_reENSuob_)iit_rsLi( Li( Li(1el/iit_r.rken( }_on.fiko(selfrken()iit_r) }reff, num.owner ts'enelf)iit_reENSuob_)iit_rsLi( Li( Li(1el/iit_r.rken( }_ogrdesko(self_e95tler_quuaihea, num. ->aQuizQuuaiheaailama bsit_ v Libl_us_quuaihead)a>phfr_tst pH, s i= sys s)sv Libl_us_quuaihead)ese_rra_____quuaiheaa=ruob_quuaihead.poi(ieturnoken( Li(nelf.trquuaihea ler_bloLi(# Possib)ltnTveectl"Outieasquuaihead!"eturnoken( Li(nelf.trs_nvestigabcity g_ntswap_cpihead_ Li(n , numroxti) eanswap_cpiheadn->ae:ilama( Li#Builga Li(n (i(attoxtaerlofLi((eanswap_cpihead in ordap.lf.lo tbatlera=r"Ioait "wner ts'enelf.nums)sv Lioxti) eanswap_cpiheadnnelf.lo tba 2.vc njunciheaa=r""__(serox- bsit_ ia>phfr_tst pH, s bsits_d_ti_cpiheaay=(i ==ysv Lioxti) eanswap_cpiheadn - 1)ese_rra_____ 2.vc njunciheaa=r",nr"it_ is_d_ti_cpiheaa s", "se_rra_____tlera+=vc njunciheaa+a Li(i+1 L+m": "L+moxti) eanswap_cpihead[i]f.= {rv Li(etleru_s'seken(dne_tler, numrtlereken(reg=tlnnts, f ngralveectl"%s" % tlernf.= {rv Li(euob_he.dne_tler,tlereken(reg=eken(regfico(elf)voken(,Td() it_vtswap(thfP,o/iit_rvailama( Li#Wle enelf)iit_rsynanswap (w(atSu m Werl)iit_rleaves s(lrv Lisaft(H,xt_ Li(e)ilama( Li#diiaft(H,m# aohasmfinish ,(speakr we'ysial_ adygivl t anille5)iit_rs[0].sccorin .tiicesldielf.nille5)iit_rslot)iit_r]se_rra_____sit_ )iit_r.scco==ynille5)iit_rs[0].sccorin .tiicesldielf.nille5)iit_rs.erv nd()iit_rda.= {rv Li(enille5)iit_rstdup elf)voken(wy.t_leadap(thfP,ois_final_sccots, f ngral#ervr: .ttdesoead(n (/ winille)iit_r('# ler_blopnille5)iit_rsloob _e95winille5)iit_rse# ler_blopnille5dcco= nille5)iit_rs[0].scco, f ngralv'etd,_ Li(n a=r"v'etd,"it_ (pnille5dcco!=o1)a s"v'etd" ler_blopnille5dcco_ Lia=r"%s %s" % (pnille5dcco,lv'etd,_ Li(n dates(nelf.t_ v Linille5)iit_rs) ==yv Libl_us_)iit_rs)Li( Li( Li(1elt_ is_final_sccoLi( Li( Li(1elf.oanciheaa=ruobdne_tler,"Itei(eyuaia woy ()it_ rv Lat %s" % pnille5dcco_ Liese_rra_____si( Li( Li( Li(1elf.oanciheaa=ruobdne_tler,"It'aerltLiciat %s" % pnille5dcco_ Liese_rra_si( Li( Li( Li(1elwinimg_CE_E'Conille5)iit_rs[0].CE_E((wr sleAAAAAnelf.nums)s1, v Linille5)iit_rs)nelf.lo tba 2.v.turNTseekentdlwinimgrCE_E'Cy (commas, ISPxcep'ys 'iclanguad_ti'_nv.tur_blo( Li(1elts_d_ti_/iit_r =a(i ==ysv Linille5)iit_rs)-1)ese_rra_____ 2.vc njunciheaa=r"oble"it_ is_d_ti_/iit_r s", "se_rra_____(1elwinimg_CE_E'Conimg_CE_E'C+vc njunciheaa+anille5)iit_rs[i].CE_E(i( Li( Li(1elt_ is_final_sccoLi( Li( Li(1elf.oanciheaa=ruobdne_tler,"%itwASCy (%s" % (pnimg_CE_E', pnille5dcco_ Lieese_rra_____si( Li( Li( Li(1elf.oais_it_vo= "i,"it_ v Linille5)iit_rs) ==y1, s"vo"se_rra_____(1elnciheaa=ruobdne_tler,"%it%seENSE.txoeadCy (%s" %se_rra_____(1ellllllllllllllllllllllll(pnimg_CE_E', is_it_vo, pnille5dcco_ Lieesner ts'ea.le e ciheas,Td() it_ p_rTiltlheaco(elf)voken(_e95 pohfok_)iit_r('numrquuaihea:aQuizQuuaiheats, f ngral#ervadLi((eanswap_cpiheada.= {rvad_cpihead_nciheaa=ruobdne_tler,uobcity g_ntswap_cpihead_ Li(n ,quuaiheaganswap_cpiheadnenelf.Aed.num_answapey= 0t__(segral#eLetugrh)iit_r('#mbuzz,Linisanswapaes(nelf.nelf_nums)sv Libl_us_)iit_rs))Li( Li( Li(1elt_ num_answapey>phfr_tst pH, s bsirvad_cpihead_nciheaa=ruobdne_tler,"An rv L ?")(i( Li( Li(1el#(,Td(e,nrn )iit_rewombuzz,Leef_secelt.answap finish b(, gamFbrox-pserv ' rvad_cpihead_ncihea.id_ p_rTiltloblehe_us_answapyrla/iit_r i(sas_elowner fs bsits'ea.le e t_ pserv Li(0.1eni( Li( Li(1elt_ he_us_answapyrla/iit_r i(sas_elowner fs bsits'e#_quuaiheaaread(n (finish ,,givlLi(((y1,m_sec_ Li(ewombuzz,lowner fs bsits'ea.le e t_ pserv Li(ldsgni( Li( Li(1el/iit_rCoob _answapyrla/iit_rlowner fs bsit_ )iit_ri(sas_elowner fs bsits'e#_Nedy.answapldPume()ner ts'e bsits'ea.le ervad_cpihead_ncihea.,Td() ken( Li(elsesit_ pserv nelf.trs_nvestig bsits'e#_sh: .t.le eeef_secacwhmlle)iit_reanswap,tsotsitdototPin pohfokeestig bsits'e#_identify ly gmbuzzl)Puaixycllletkeeanswapaes(nelf.ts'ea.le e t_ pserv Li(0.5paco( bsits'e#_S_ Aplacwhmllewegoablobl ' %lpoLI.v'siihea.x_y_z), f ngralpfs bfline,'PoLI:RiquatCor<%.1P,o%.1P,o%.1P,o%.1P>' %lpoLI.roty lea.q0_q1_q2_q3), f ngralpfs bfline,'PoLI:afugt_zCor%.1P' %lpoLI.roty lea.afugt_z.deb s), f ngralpfs bfline,'PoLI:oAnkin_suL %s' %lpoLI.oAnkin_su)aco(r fs# DsLi(ne tAecklromleobleGyrovdatalclanguantruai, f ngralpfs bfline,'Aecklme:2<%.1P,o%.1P,o%.1P>' %l_ggaecklromle.x_y_z), f ngralpfs bfline,'Gyro:2<%.1P,o%.1P,o%.1P>' %l_gggyro.x_y_z),co(r fs# DsLi(ne tAecklromleobleGyrovdatalclanguamobthhdev ates(nelf.t_ _ggdev _acwhl_woi(segrhas_elowner fs bsipfs bfline,'Dev Aec Raw:2<%.2P,o%.2P,o%.2P>' %l_ggdev _acwhl_w.x_y_z), f ngralt_ _ggdev _acwhl_ur_rgi(segrhas_elowner fs bsipfs bfline,'Dev Aec Ur_rp2<%.2P,o%.2P,o%.2P>' %l_ggdev _acwhl_ur_r.x_y_z), f ngralt_ _ggdev _gyrogi(segrhas_elowner fs bsimai=cntruagdev _gyro.to_ma"ASxsit_ pserv pfs bfline,'Dev GyrovUpp2<%.2P,o%.2P,o%.2P>' %lma".up_xyzit_ pserv pfs bfline,'Dev GyrovFwdp2<%.2P,o%.2P,o%.2P>' %lma".cld_xyzit_ pserv pfs bfline,'Dev GyrovLeftp2<%.2P,o%.2P,o%.2P>' %lma".oefk_xyzit abcity g_aault_imag7(imag7_width, imag7_pareas, do_gradient=tlnnts, f ne eCity grn )iice-holsetfPILey=aststoexcepuntilwenkeysiH,oysife drfloblCelle'elf.timimag7_bytE'CobytEarrneg[0x70, 0x70, 0x70]elf.imag7_widthlf.imag7_pareasates(nt_ do_gradientailama bsitoo0tes(nelf.nelfynums)simag7_pareasnelf.lo tba 2.vnelfxnums)simag7_widthnelf.lo tba 2.v.turimag7_bytE'[i] =oectl255")* (x /.imag7_width)) fs# Rlf.lo tba 2.v.turimag7_bytE'[i+1] =oectl255")* (y /.imag7_pareasnn #cGlf.lo tba 2.v.turimag7_bytE'[i+2] =o0f.lo tba 2.v.turrrrrrrrrrrrrrrrr# Blf.lo tba 2.v.turi(ne3 f.timimag7ecImag7.flobbytE'('RGB',e(imag7_width, imag7_pareas), bytE'(imag7_bytE'eese_rv Li(eimag7t flask_ahectlask(__CE_E__) remot:_ 0ntrol_gils. =aerv i_aault_csro_imag7eccity g_aault_imag7(320, 240) _is_mowerpnkno_entad_by_aaultectlnn__is_dev _gyro_mode_entad_by_aaultectlnn__gyro_tr_slf)vdeadzrv _ le =o0.025 _( Li(ne_debug_ihrouathead =,DEBUG_ANNOTAND, e_ENABLED_ALLt abremapaso_s)sx, x_min, x_max, out_min, out_maxts, f ne e 0nv:Aplxe(in x_min..x_maxs))stoeout_min..out_maxs)'elf.timiflxe< x_minp(, gamFbnv Li(eout_min(, gsit_ x> x_maxp(, gamFbnv Li(eout_max(, gsi( Li( Li( Li le =o(x - x_min) /.(x_max- x_min)(, gamFbnv Li(eout_min +i le * (out_max-eout_min)u_rityGuaRemot:C0ntrolCelle:sko(selfnums, numrgil.owner ts'e= OW.ils. =a.ilates(nelf.bl_ustr_sy_cldsoo0tes(nelf.bl_ustr_sy_bicao0tes(nelf.bl_usrken(efko0tes(nelf.bl_usrken(rnki,yy=0tes(nelf.bl_us) ma_upyy=0tes(nelf.bl_us) ma_( Lin= 0tner ts'e= OWnvad_upyy=0tes(nelf.bl_usnvad_( Lin= 0ttes(nelf.bl_usgo_thh y=0tes(nelf.bl_usgo_sfok = 0ttes(nelf.bl_usis_mowerpnkno_entad = _is_mowerpnkno_entad_by_aaulttes(nelf.bl_usis_dev _gyro_mode_entad = _is_dev _gyro_mode_entad_by_aaulttes(nelf.bl_usmowerpdir = 0ttes(nelf.rllm,h.fCE_E'Cooxti= OW.ils..,h.fCE_E')tes(nelf.rllm,h.fCE_E'.s.r(,# ler_blobl_us,h.fCE_E'Cot]ates(nelf.# Hideo fewt_e gudath uaiAntlaipiedsTPrdbydototPbekeysiwellco(r fsbad_,h.fCE_E'Cotlf.lo tba 2.v"ANIMAND, _TEST"ime_last_, g"s TuaiAh."]ates(nelf.e,nrnh.fCE_E,Lillm,h.fCE_E'Li( Li( Li(1elt_ nh.fCE_E,roueynsbad_,h.fCE_E'Li( Li(nelf.at(i,yatttu,h.fCE_E'.erv nd(,h.fCE_E)ates(nelf.selault_,h.s) kenkey'Cot",h.fbopser01",f.# 0i( Li(nelf.at(i,yyyyyyyyyyyyyyyyyyy",h.fpoksergigugt",f.# lf.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fpou2ntobheckE(_02",f.# 2f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fbopserSu nt_02",f.# 3f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fbopserSu nt_03",f.# 4f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fpetdlecihea_cstr01",f.# 5f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fpetdlecihea_dog_03",f.# 6f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.frotofice_unidentifiser02",f.# 7f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fupgradefrohea_) ma_01",f.# 8f.= {{{{{{{{{yyyyyyyyyyyyyyyyyy",h.fshwhttap5wingE_Eumtunsity02_01"f.# 9f.= {{{{{{{{{yyyyyyyyyyyyyyyyy] ler_blobl_us,h.fisex) kenkeyCot0]lf.10i( Li(nelkIoo0tes(nelf.nelfselault_keyCumdelault_,h.s) kenkey'elf.lo tba 2.vtryailamaaaaaaaaaaaaa,h.fidx =obl_usan.fCE_E'.isex.selault_keyenelf.Aed.....stwhm)ameAErroeLi( Li( Li(1elf.oaveectl"ErroeLdelault_,h.t%seEs,roueynstdesoxtieasntlaipieds" % selault_keyenelf.Aed.....aaaa,h.fidx =okInelf.Aed.....bl_us,h.fisex) kenkey[kI] =o,h.fidxnelf.Aed.....kIo(nelfl ler_blobl_us,hea_queuelot]aes(nelf.bl_usrlerfso_sne- e"Hi I'blCelle" ico(selfv_csanim, numrkey_isex,ean.fisex.owner ts'e= OW,h.fisex) kenkey[key_isex] =o,h.fisexiico(selfrundl_mower, numrmowerpxrmowerpy,'de(tapxrde(tapy, is_buton_( Lies, f ngrale eCallew.l Su m mowerudfokb(, gamFbrox-mowerpxrmowerpycarv innum0..1s) (0,0 =omopcefk, 1,1Cobotom rnki,yo, win( Lenelf.Aed.....de(tapxrde(tapycarv chs) ummowerpx/y grfceanguad_ti'_,dy g, f ngrale e, f ngralt_ bl_usis_mowerpnkno_entad:(, gamFbrox-mowerpsunsit_slte- e1.5.# hnkilo =am_sectwitchynelf.Aed.....bl_usmowerpdir = remapaso_s)smowerpxr0.0, 1.0, -mowerpsunsit_slte,-mowerpsunsit_slteda.= {____uob_,dy g_mowerptr_slf)heaco(r fs bsides_nvad_afugt = remapaso_s)smowerpyr0.0, 1.0, 45, -25da.= {____nvad_afugt_de(ta = des_nvad_afugt -e= OW.ils..nvad_afugt.deb sa.= {____nvad_vel = nvad_afugt_de(ta *r0.03a.= {____uob.ils..dfok_nvad(nvad_vel) ico(selfv_csmowerpnkno_entad(thfP,ois_mowerpnkno_entades, f ngralwas_mowerpnkno_entad = bl_usis_mowerpnkno_entadtes(nelf.bl_usis_mowerpnkno_entad = is_mowerpnkno_entadtes(nelf.t_ cessis_mowerpnkno_entad:(, gamFbrox-# cr2ntlo,hyuoeTnt mower-nknofrkenlf)nelf.Aed.....bl_usmowerpdir = 0i( Li(nelf.atiflwas_mowerpnkno_entadLi( Li(nelf.at(i,yatttu_,dy g_mowerptr_slf)hea( Li(nelf.at(i,yatttu_,dy g_nvad()iico(selfrundl_key, numrkey_code,ois_sh ma_( Li,ois_ctrl_( Li,ois_ala_( Li,ois_key_( Lies, f ngrale eCalleASIS,yrkey dy (Seerelean_nelf.s_aaaaHoldyrlrn key ( Linprehy ultumSpty gdfrundl_key calloly (is_key_( Li==e uor=:qsarpviesamFbrox-# U,dy g des shwht /.fide(itc,heasbas" BASIsh ma/alaPbeyrlrheld, f ngralwas_go_thh y=bl_usgo_thh, f ngralwas_go_sfok = bl_usgo_sfokttes(nelf.bl_usgo_thh y=is_sh ma_( Lites(nelf.bl_usgo_sfok = is_ala_( Littes(nelf.bhwht_chs)d = (was_go_thh !y=bl_usgo_thh)See(was_go_sfok != bl_usgo_sfok)esamFbrox-# U,dy g sty g tr_slf) mtun(rfloblkeybodeleelrt_ nh viahecchs)d wer tcall'_,dy gptr_slf)samFbrox-_,dy gptr_slf) ece uor=:qsarifikey_codec==obrd('W'nelf.lo tba 2.vbl_ustr_sy_cldsoois_key_( Lilf.lo tbasit_ key_codec==obrd('S'nelf.lo tba 2.vbl_ustr_sy_bicaois_key_( Lilf.lo tbasit_ key_codec==obrd('A'nelf.lo tba 2.vbl_usrken(efkois_key_( Lilf.lo tbasit_ key_codec==obrd('D'nelf.lo tba 2.vbl_usrken(rnki,yy=is_key_( Lilf.lo tbasi( Li( Li( Li(1elt_ cessshwht_chs)dLi( Li(nelf.at(i,y_,dy gptr_slf) ectlnn_, f ngral#eU,dy g sty g ) maudfokmtun(rfloblkeybodeleelrt_ nh viahecchs)d wer tcall'_,dy gp) masamFbrox-_,dy gp) mauece uor=:qsarifikey_codec==obrd('R'nelf.lo tba 2.vbl_us) ma_upyy=is_key_( Lilf.lo tbasit_ key_codec==obrd('F'nelf.lo tba 2.vbl_us) ma_( Lin= is_key_( Lilf.lo tbasi( Li( Li( Li(1elt_ cessshwht_chs)dLi( Li(nelf.at(i,y_,dy gp) mauectlnn_, f ngral#eU,dy g sty g nvadudfokmtun(rfloblkeybodeleelrt_ nh viahecchs)d wer tcall'_,dy gpnvadsamFbrox-_,dy gpnvaduece uor=:qsarifikey_codec==obrd('T'nelf.lo tba 2.vbl_usnvad_upyy=is_key_( Lilf.lo tbasit_ key_codec==obrd('G'nelf.lo tba 2.vbl_usnvad_( Lin= is_key_( Lilf.lo tbasi( Li( Li( Li(1elt_ cessshwht_chs)dLi( Li(nelf.at(i,y_,dy gpnvaduectlnn_, f ngral#eU,dy g tr_slf),nvadueelr) mauuaiap/_ryri/l ler_blot_ _,dy gptr_slf)elf.lo tba 2.vbl_us_,dy g_mowerptr_slf)hea( Li(nelt_ _,dy gpnvadelf.lo tba 2.vbl_us_,dy g_nvad()i( Li(nelt_ _,dy gp) maelf.lo tba 2.vbl_us_,dy g_) maheaco(r fs# HundllS,yrkeysPbeyrlrreleand (e.g.anguaeelrofrn key-click)i( Li(nelt_ cessis_key_( LiLi( Li( Li(1elt_ (key_codec>=obrd('0'))ueelr(key_codec<=obrd('9')nelf.lo tba 2.v.turnh.fCE_E,= bl_uskey_codeaso_nh.fCE_E(key_codeea( Li(nelf.at(i,yatttuilram,h.ipied(,h.fCE_E)a(nelf.at(i,ysit_ key_codec==obrd(' 'nelf.lo tba 2.v(i,yatttudne_tler,uobrlerfso_sne)iico(selfkey_codeaso_nh.fCE_E( numrkey_codenelf.lo tbakey_num =okey_codec-obrd('0')tes(nelf.rh.fCum =o= OW,h.fisex) kenkey[key_Cum]tes(nelf.rh.fCE_E,= bl_usan.fCE_E'[rh.fCum]f.= {rv Li(ean.fCE_Eiico(selffuncaso_CE_E( numrfunc.owner ts'eififunc ==yatttutry_dne_tler Possib)ltnThi'e<("dne_tler"lf.lo tbasit_ func ==yatttutry_ilram,h. Possib)ltnThi'e<("ilram,h."lf.lo tbasi( Li( Li( Li(1elhi'e<("UNKNOWN" ico(self,hea_i(Asler, numr,hea.owner ts'enuncr,rgsoo,heaf.= {rv Li(eatttufuncaso_CE_E(func.N+m"( "L+m Li(,rgs.N+m" )" ico(self,hea_queue_i(Asler, numr,hea_queue.owner ts'eout_tlera=r""lf.lo tbatoo0tes(nelf.nelfnciheaaLihea_queueLi( Li( Li(1elout_tlera+=r"["L+m Li(i L+m"] "L+m l_us,hea_i(Asler,,hea.i( Li( Li(1elto(nelf.= {rv Li(eout_tler ico(selfqueue_,hea, numrnew_,hea.owner ts'et_ v Libl_us,hea_queue. > 10elf.lo tba 2.vbl_us,hea_queue.poi(0 ime_last_bl_us,hea_queue.erv nd(new_,hea. ico(selftry_dne_tler, numrtlerfso_sne)elf.lo tbatryailamaaaaaaaaauob.ils..dne_tler,tlerfso_sne)i( Li( Li(1elhi'e<(e uor=:qsarstwhm.ils..stwhmhead.oespdBusyLi( Li( Li(1elhi'e<(tlnn_,co(selftry_ilram,h., numr,h.fCE_E)elf.lo tbatryailamaaaaaaaaauob.ils..ilram,h.,CE_E=,h.fCE_E)a(nelf.at(i,yhi'e<(e uor=:qsarstwhm.ils..stwhmhead.oespdBusyLi( Li( Li(1elhi'e<(tlnn_,co(selfdne_tler, numrtlerfso_sne)elf.lo tbauobqueue_,hea,(atttutry_dne_tlerrtlerfso_sne) ime_last_bl_us_,dy g()iico(selfilram,h.ipied( numr,h.fCE_E)elf.lo tbauobqueue_,hea,(atttutry_ilram,h.r,h.fCE_E) ime_last_bl_us_,dy g()iico(self_,dy g(thfPts, f ngralpviTreeelrexecul st 0elf.lo tba 2.vqueued_,hear,hea_,rgsoobl_us,hea_queue[0]se_rra_____ifvqueued_,hea(,hea_,rgsnelf.lo tba 2.v(i,yatttu,hea_queue.poi(0 ime_last_#eU,dy g gyro, f ngralt_ bl_usis_dev _gyro_mode_entad oblehe_us.ils..dev _gyroelf.lo tba 2.vbl_us_,dy g_gyro_tr_slf)()iico(selfiickfshwht( numrf_ti_shwht, mid_shwht, sfok_shwht.owner ts'eifiuobgo_thhLi( Li( Li(1elt_ cesssl_usgo_sfokLi( Li(nelf.at(i,yrv Li(ef_ti_shwhtlf.lo tbasit_ sl_usgo_sfokLi( Li(nelf.atrv Li(eafok_shwhtf.= {rv Li(emid_shwhtiico(self_,dy g_) mahthfPts, f ngral) ma_shwht obl_usiickfshwht(8, 4, 2ese_rra_) ma_vel = (bl_us) ma_upy-vbl_us) ma_( Lielf.) ma_shwhtime_last_bl_us.ils..dfok_) mah) ma_vel)iico(self_,dy g_nvad(thfPts, f ngralt_ cesssl_usis_mowerpnkno_entad:(, gamFbrox-nvad_shwht obl_usiickfshwht(2, 1, 0.5pa, gamFbrox-nvad_vel = (bl_usnvad_upy-vbl_usnvad_( Lielf.nvad_shwhtilamaaaaaaaaauob.ils..dfok_nvad(nvad_vel) io(selfscalvdeadzrv ( numrvameArdeadzrv , maximumts, f ngralt_ math.fabs(vameA. > deadzrv :(, gamFbrox-adjustmnt = math.enssign(deadzrv , vameA.ilamaaaaaaaaaucalF tor = maximum /.(maximum - deadzrv )a(nelf.at(i,yhi'e<((vameA-sadjustmntelf.ucalF torlf.lo tbasi( Li( Li( Li(1elhi'e<(0ico(self_,dy g_gyro_tr_slf)(thfPts, f ngralpitch, yawr ll obl_us.ils..dev _gyro.euler_afugtsime_last_#e 0.1) oblehe_us.ils..is_in_chrgegelowner fs bsi#scellei(s tucaon chrgegeleelrur_rgi(stryllewoltr_sy offo-vissulS,icedlicitltr_sy offo,heaf.= {= {rryailamaaaaaaaaaaaaa#ydototP,Td(e,nrnciheaa.blu Li(elso-vsitdototPwant womblock oyimLi_,dy gs (csro etc.)lf.lo tba 2.v(i,yatttu.ils..tr_sy_blfchrgeg_ 0ntncis(enelf.Aed.....stwhm.ils..stwhmhead.oespdBusyLi( Li( Li(1elaaaa#yoespdgi(sbusytdoyrlrnnoyimLinciheaa-{rry ageLtlerfe() sit_e9WH,tr_sy impunn_nelf.s_aaaaaaaaapaE(u_s'se= {rken(dir = (bl_usrken(rnki,y-vbl_usrken(efk)L+m l_usmowerpdirtes(nelf.t_ tr_sy_dir < 0elf.lo tba 2.v# Itife lsPm_secnarkeal wom Li(etopv'sii sayw.l tSu mslf)nelf.Aed.....rken(dir = -rken(dirftes(nelf.neld_shwht obl_usiickfshwht(150, 75, 50 ime_last_rken(shwht obl_usiickfshwht(100, 50, 3sgni( Li( Li)_whe l_shwht o(tr_sy_dir *.neld_shwht L+m(rken(shwht *{rken(dir)(, gamFbn_whe l_shwht o(tr_sy_dir *.neld_shwht L-m(rken(shwht *{rken(dir)(ime_last_bl_us.ils..tr_sy_whe ls()_whe l_shwht,bn_whe l_shwht,{)_whe l_shwht*4,bn_whe l_shwht*4 ) abg_csanim_bl_ptrop_( Li(bl_e torIsex.owner html_tlera=re e'elf.timioo0tes(ne,nrnh.fCE_E,Lremot:_ 0ntrol_gils.H,h.fCE_E'Li( Li(nelis_s(lrv Li_iim =o(i ==yremot:_ 0ntrol_gils.H,h.fisex) kenkey[bl_e torIsex] ime_last_bl_rv Li_tlera=re e_bl_rv Li="bl_rv Li"e e_t_ is_s(lrv Li_iim s""lf.lo tbahtml_tlera+=re ee eL+mnh.fCE_E,+me ee e, f ngralto(nelf.html_tlera+=re ee e, f nhi'e<(html_tler abg_csanim_bl_ptrop_( Lis(.owner html_tlera=r""lf.lonelf.nums)s10ts, f ngral#eoxtikeysP1..9,0uuaiPrdb'(Stdesoayoutie(etkeybodlf.lo tbakeyn= i+1.t_ (i<9)a s0lf.lo tbahtml_tlera+=r Li(keye,+me e: e eL+mg_csanim_bl_ptrop_( Li(keye,+me e
e e, f nhi'e<(html_tler abto_js_bool_ Li(n ,bool_vameA.:, f nhi'e<("true"it_ bool_vameA s"flnn" ic@flask_ah.route("/") selfrundl_isex)past(.:, f nhi'e<(e e, f nlf.lo tbanelf.Aed.....remot:_ 0ntrol_gils.H��a( Li(nelf.lo tbanelf.Aed.<dy>nelf.Aed.....

Remot: C0ntrollCellenelf.Aed.....nelf.Aed.........nelf.Aed.............nelf.Aed.................
Videoife drpernelmicensisPbeserv.umChromlSeeFirefox dutstoemjpegailr=:qLicenynstdisPbrowr_r
nelf.Aed.................nelf.Aed.................
nelf.Aed.............nelf.Aed.............nelf.Aed.............nelf.Aed.................

C0ntrols: nelf.Aed.................

Dr_slf)e nelf.Aed.................W A S D : Dr_sy Fldso/vLefto/vBica/ R }

nelf.Aed.................Q : Togugt MoweruLook:.Delault
nelf.Aed.................Mower : MfokmPbrowr_r win( L(nofnim
nelf.Aed.................(steoblenvadueeugt)
nelf.Aed.................(slrlarewomS,iFPS gE_E)
nelf.Aed.................
nelf.Aed.................T : MfokHvaduUp
nelf.Aed.................G : MfokHvaduD Li
nnelf.Aed.................

L mae elf.Aed.................R : MfokL mauUp
nelf.Aed.................F: MfokL mauD Li
nelf.Aed.................

Genrole elf.Aed.................Sh ma : HoldewomMfokFaslo (Dr_slf),HvadueelrL ma)
nelf.Aed.................Ala : HoldewomMfokSlowlo (Dr_slf),HvadueelrL ma)
nelf.Aed.................L : Togugt IRHvad }:.Delault
nelf.Aed.................O : Togugt Debug2AnrouatLice:.Delault
nelf.Aed.................P : Togugt Free Piit mode:.Delault
nelf.Aed.................Y : Togugt Dev Gyrovmode:.Delault
nelf.Aed.................Piit Atlaipieds elf.Aed.................0 .. 9 : Piit Atlaipied mapptl wom rdbykey
nelf.Aed.................Talk elf.Aed.................Spacr : Sit nelf.Aed.............nelf.Aed.............nelf.Aed.............nelf.Aed.............

Atlaipied keynmapplf)s: elf.Aed.............e eL+mg_csanim_bl_ptrop_( Lis(.,+me e
nelf.Aed.............nelf.Aed.........nelf.Aed.....nnelf.Aed.....nelf.Aed.........varegLasClintX = -lf.= {{{{{{{{{varegLasClintY = -lf.= {{{{{{{{{varegIsMowerLookEntad = e e+bto_js_bool_ Li(n ,_is_mowerpnkno_entad_by_aault.,+me ef.= {{{{{{{{{varegAreDebugAnrouatLiceEntad = e e+b Li(_( Li(ne_debug_ihrouathead.,+me ef.= {{{{{{{{{varegIsHvad }Entad = flnn_nelf.s_aaaaa{{{{varegIsFreei(neEntad = flnn_nelf.s_aaaaa{{{{varegIsDev GyroEntad = flnn_nelf.s_aaaaa{{{{varegUr_rAgnt = win( L.navigat.ur_rAgnt;f.= {{{{{{{{{varegIsMicro'Browr_r =egUr_rAgnt.isexOf('MSIE '. > 0 ||egUr_rAgnt.isexOf('Trident/'. > 0 ||egUr_rAgnt.isexOf('Edge/'. > 0;f.= {{{{{{{{{varegSkipFrE_E,= flnn;nnelf.Aed.........t_ (gIsMicro'Browr_r) {nelf.Aed.............documnt_e9ElemntBeId("gils.Imag7Micro'Wayrl"). LylE.( Li(nea=r"block";f.= {{{{{{{{{}nnelf.Aed.........funciheaapostHttpRicuai(url,vdataSet)lf.lo tba 2.v(i,y{nelf.Aed.............varexhr =e:qMyXMLHttpRicuai();f.= {{{{{{{{{{{{{xhr.ry n("POST" url,vtrue);f.= {{{{{{{{{{{{{xhr.s nd( JSON. Li(n ify(vdataSet ) );f.= {{{{{{{{{}nnelf.Aed.........funciheaa_,dy gCellehea( Li(nelf.at(i,y{nelf.Aed.............t_ (gIsMicro'Browr_r && !gSkipFrE_E) {nelf.Aed.................// IE doestotPsupi.r(rMJPEG,tsotsitnb ,(nofplletkee= Nev.nelfm_secimag7egner ts'e................// Thoug ,yowni(iherv ns(nooifsicuntly, c0ntrols willPbe unrespead_sygner ts'e................gSkipFrE_E,= true;f.= {{{{{{{{{{{{{{{{{documnt_e9ElemntBeId("gils.Imag7Id"). rc="gils.Imag7?"L+m(new Dy g())_e9Time();f.= {{{{{{{{{{{{{} st_ (gSkipFrE_E) {nelf.Aed.................gSkipFrE_E,= flnn;n.= {{{{{{{{{{{{{}nelf.Aed.............varexhr =e:qMyXMLHttpRicuai();f.= {{{{{{{{{{{{{xhr.rn_ adysty gchs) =.funcihea() {nelf.Aed.................t_ (xhr._ adySty g ==yXMLHttpRicuai.DONE) {nelf.Aed.....................documnt_e9ElemntBeId("DebugInfoId").nimgHTML nexhr._ speadTlernelf.Aed.................}nelf.Aed.............}nnelf.Aed.........{{{{xhr.ry n("POST" "_,dy gCelle",vtrue);f.= {{{{{{{{{{{{{xhr.s nd( null );f.= {{{{{{{{{{{{{se9Timeout(_,dy gCelle , 60);f.= {{{{{{{{{}n= {{{{{{{{{{{{{se9Timeout(_,dy gCelle , 60);fnelf.Aed.........funciheaa_,dy gButonEntadTler,buton,oisEntadea( Li(nelf.at(i,y{nelf.Aed.............buton.firsChild.dataloisEntad ? "Entad" : "Distad";f.= {{{{{{{{{}nnelf.Aed.........funciheaaonMowerLookButonClickht(butonea( Li(nelf.at(i,y{nelf.Aed.............gIsMowerLookEntad = !gIsMowerLookEntad;f.= {{{{{{{{{{{{{_,dy gButonEntadTler,buton,ogIsMowerLookEntad);f.= {{{{{{{{{{{{{isMowerLookEntad = gIsMowerLookEntadf.= {{{{{{{{{{{{{postHttpRicuai("se9MowerLookEntad",v{isMowerLookEntad}ea( Li(nelf.at(i,y}nnelf.Aed.........funciheaa_,dy gDebugAnrouatLicButonEntadTler,buton,oisEntadea( Li(nelf.at(i,y{nelf.Aed.............switch(gAreDebugAnrouatLiceEntadea( Li(nelf.at(i,y(i,y{nelf.Aed.............ca s0Li( Li( Li(1elaaaaaaaaaaaabuton.firsChild.datalo"Distad";f.= {{{{{{{{{aaaaaaaab_ ak;f.= {{{{{{{{{aaaaca s1Li( Li( Li(1elaaaaaaaaaaaabuton.firsChild.datalo"Entad (vii_at)";f.= {{{{{{{{{aaaaaaaab_ ak;f.= {{{{{{{{{aaaaca s2Li( Li( Li(1elaaaaaaaaaaaabuton.firsChild.datalo"Entad (all)";f.= {{{{{{{{{aaaaaaaab_ ak;f.= {{{{{{{{{aaaaaaultLi( Li( Li(1elaaaaaaaaaaaabuton.firsChild.datalo"ERROR";f.= {{{{{{{{{aaaaaaaab_ ak;f.= {{{{{{{{{aaaa}n= {{{{{{{{{{{{{}nnelf.Aed.........funciheaaonDebugAnrouatLiceButonClickht(butonea( Li(nelf.at(i,y{nelf.Aed.............gAreDebugAnrouatLiceEntad (nel;f.= {{{{{{{{{{{{{i_ (gAreDebugAnrouatLiceEntad > 2ese_rra_(nelf.at(i,y{nelf.Aed.................gAreDebugAnrouatLiceEntad = 0i( Li(nelf.at{{{{{{{{}nnelf.Aed............._,dy gDebugAnrouatLicButonEntadTler,buton,ogAreDebugAnrouatLiceEntadeanelf.Aed.............areDebugAnrouatLiceEntad = gAreDebugAnrouatLiceEntadf.= {{{{{{{{{{{{{postHttpRicuai("se9AreDebugAnrouatLiceEntad",v{areDebugAnrouatLiceEntad}ea( Li(nelf.at(i,y}nnelf.Aed.........funciheaaonHvad }ButonClickht(butonea( Li(nelf.at(i,y{nelf.Aed.............gIsHvad }Entad = !gIsHvad }Entad;f.= {{{{{{{{{{{{{_,dy gButonEntadTler,buton,ogIsHvad }Entad);f.= {{{{{{{{{{{{{isHvad }Entad = gIsHvad }Entadf.= {{{{{{{{{{{{{postHttpRicuai("se9Hvad }Entad",v{isHvad }Entad}ea( Li(nelf.at(i,y}nnelf.Aed.........funciheaaonFreei(neButonClickht(butonea( Li(nelf.at(i,y{nelf.Aed.............gIsFreei(neEntad = !gIsFreei(neEntad;f.= {{{{{{{{{{{{{_,dy gButonEntadTler,buton,ogIsFreei(neEntad);f.= {{{{{{{{{{{{{isFreei(neEntad = gIsFreei(neEntadf.= {{{{{{{{{{{{{postHttpRicuai("se9Freei(neEntad",v{isFreei(neEntad}ea( Li(nelf.at(i,y}nnelf.Aed.........funciheaaonDev GyroButonClickht(butonea( Li(nelf.at(i,y{nelf.Aed.............gIsDev GyroEntad = !gIsDev GyroEntad;f.= {{{{{{{{{{{{{_,dy gButonEntadTler,buton,ogIsDev GyroEntad);f.= {{{{{{{{{{{{{isDev GyroEntad = gIsDev GyroEntadf.= {{{{{{{{{{{{{postHttpRicuai("se9Dev GyroEntad",v{isDev GyroEntad}ea( Li(nelf.at(i,y}nnelf.Aed........._,dy gButonEntadTler,documnt_e9ElemntBeId("mowerLookId"),ogIsMowerLookEntad);f.= {{{{{{{{{_,dy gButonEntadTler,documnt_e9ElemntBeId("hvad }Id"),ogIsHvad }Entad);f.= {{{{{{{{{_,dy gDebugAnrouatLicButonEntadTler,documnt_e9ElemntBeId("debugAnrouatLiceId"),ogAreDebugAnrouatLiceEntade;f.= {{{{{{{{{_,dy gButonEntadTler,documnt_e9ElemntBeId("freei(neId"),ogIsFreei(neEntad);f.= {{{{{{{{{_,dy gButonEntadTler,documnt_e9ElemntBeId("dev GyroId"),ogIsDev GyroEntad);fnelf.Aed.........funciheaarundlDropD LiSl_e t( l_rv Oz3Id)ea( Li(nelf.at(i,y{nelf.Aed.............sl_rv LiIsex obl_rv Oz3Id).sl_rv LiIsexf.= {{{{{{{{{{{{{itemNE_E,= bl_rv Oz3Id).CE_E((wr sleAAAAAAAAAAAAApostHttpRicuai("dropD LiSl_e t",v{sl_rv LiIsex,{itemNE_E});f.= {{{{{{{{{}nnelf.Aed.........funciheaarundlKeyAct_slte-(er,heaTypeea( Li(nelf.at(i,y{nelf.Aed.............varekeyCodec =o(e.keyCodec? e.keyCodec: e.which);f.= {{{{{{{{{{{{{varehasSh ma =o(e.sh maKeyc? 1c: 0ese_rra_(nelf.at(i,yvarehasCtrlc =o(e.ctrlKeycc? 1c: 0ese_rra_(nelf.at(i,yvarehasAlt c =o(e.alaKeyccc? 1c: 0esf.= {{{{{{{{{{{{{i_ (,heaType=="keyup"eturnoken( Li(____(i,y{nelf.Aed.............{{{{i_ (keyCodec== 76).// 'Lef.= {{{{{{{{{____(i,y{nelf.Aed.............{{{{{{{{// Simuly grn clickchvad }abutonnelf.Aed.............{{{{{{{{onHvad }ButonClickht(documnt_e9ElemntBeId("hvad }Id")eturnoken( Li(____(i,yyyyy}nelf.Aed................. st_ (keyCodec== 79).// 'Oef.= {{{{{{{{{____(i,y{nelf.Aed.............{{{{{{{{// Simuly grn clickcdebug ihrouathead butonnelf.Aed.............{{{{{{{{onDebugAnrouatLiceButonClickht(documnt_e9ElemntBeId("debugAnrouatLiceId")eturnoken( Li(____(i,yyyyy}nelf.Aed................. st_ (keyCodec== 80).// 'Pef.= {{{{{{{{{____(i,y{nelf.Aed.............{{{{{{{{// Simuly grn clickcdebug ihrouathead butonnelf.Aed.............{{{{{{{{onFreei(neButonClickht(documnt_e9ElemntBeId("freei(neId")eturnoken( Li(____(i,yyyyy}nelf.Aed................. st_ (keyCodec== 81).// 'Qef.= {{{{{{{{{____(i,y{nelf.Aed.............{{{{{{{{// Simuly grn clickcmowerunknofbutonnelf.Aed.............{{{{{{{{onMowerLookButonClickht(documnt_e9ElemntBeId("mowerLookId")eturnoken( Li(____(i,yyyyy}nelf.Aed................. st_ (keyCodec== 89).// 'Yef.= {{{{{{{{{____(i,y{nelf.Aed.............{{{{{{{{// Simuly grn clickcdev gyrogbutonnelf.Aed.............{{{{{{{{onDev GyroButonClickht(documnt_e9ElemntBeId("dev GyroId")eturnoken( Li(____(i,yyyyy}nelf.Aed.............}nnelf.Aed.............postHttpRicuai(,heaType,v{keyCode,ehasSh ma,ehasCtrl,ehasAlt}ea( Li(nelf.at(i,y}nnelf.Aed.........funciheaarundlMowerAct_slte-(er,heaTypeea( Li(nelf.at(i,y{nelf.Aed.............vareclintX = e.clintX /.documntdy.clintWidthl{// 0..1(efk..rnki,ese_rra_(nelf.at(i,yvareclintY = e.clintY /.documntdy.clintHareas{// 0..1(top..botomese_rra_(nelf.at(i,yvareieButonD Lin= e.which && (e.which != 0ec? 1c: 0se_rra_(nelf.at(i,yvarede(taX = (gLasClintX >= 0ec? (clintX -egLasClintX)c: 0.0se_rra_(nelf.at(i,yvarede(taY = (gLasClintY >= 0ec? (clintY -egLasClintY)c: 0.0se_rra_(nelf.at(i,ygLasClintX = clintXse_rra_(nelf.at(i,ygLasClintY = clintYnnelf.Aed.............postHttpRicuai(,heaType,v{clintX, clintY,eieButonD Lirde(taXrde(taY}ea( Li(nelf.at(i,y}nnelf.Aed.........funciheaarundlTlerInput(lerFieldea( Li(nelf.at(i,y{nelf.Aed.............lerEnterd = lerField.vameAf.= {{{{{{{{{{{{{postHttpRicuai("sayTler",v{lerEnterd}ea( Li(nelf.at(i,y}nnelf.Aed.........documntaddEu ntListenr("key( Li",.funcihea(E) {arundlKeyAct_slte(er"key( Li") } );f.= {{{{{{{{{documntaddEu ntListenr("keyup",...funcihea(E) {arundlKeyAct_slte(er"keyup"e } );ff.= {{{{{{{{{documntaddEu ntListenr("mowerdfok",...funcihea(E) {arundlMowerAct_slte(er"mowerdfok"e } );ff.= {{{{{{{{{funciheaastopEu ntPropagipied(Su ntea( Li(nelf.at(i,y{nelf.Aed.............t_ (Su nt.stopPropagipiedeturnoken( Li(____(i,y{nelf.Aed.............{{{{Su nt.stopPropagipied();f.= {{{{{{{{{{{{{}f.= {{{{{{{{{{{{{enn_nelf.s_aaaaa{{{{(i,y{nelf.Aed.............{{{{Su nt.cr2ntlBubblE,= truef.= {{{{{{{{{aaaa}n= {{{{{{{{{{{{{}nnelf.Aed.........documnt_e9ElemntBeId("sayTlerId")addEu ntListenr("key( Li",.funcihea(Eu ntey{nelf.Aed.............stopEu ntPropagipied(Su nte;f.= {{{{{{{{{} );f.= {{{{{{{{{documnt_e9ElemntBeId("sayTlerId")addEu ntListenr("keyup",.funcihea(Eu ntey{nelf.Aed.............stopEu ntPropagipied(Su nte;f.= {{{{{{{{{} );f.= {{{{{nnelf.Aed.nelf.lf.lopviesabg_csanrouated_imag7()ailamay=ag7ecremot:_ 0ntrol_gils.Hgils.H, bssily gst_imag7ilamayf _( Li(ne_debug_ihrouathead !=,DEBUG_ANNOTAND, e_DISABLEDLi( Li(neli=ag7ecimag7.anrouate_imag7(dcal=2ese_si( Li( Li( Lii=ag7ecimag7.raw_imag7ilamarv Li(eimag7t selfstreamlf)vvideo(url_ropdvailamapviVideoistreamlf)bg_nrotcunciheae ef.rryailamaaaaapserv Li(ar ifcremot:_ 0ntrol_gils.elf.lo tba 2.v.turimag7 = g_csanrouated_imag7()nnelf.Aed.........tmg_le =oio.BytE'IOhea( Li(nelf.at(i,yimag7.sav)simg_le, 'PNG'ea( Li(nelf.at(i,yimg_le.seek(0ese_rra_(nelf.atyield (b'--frE_E\r\nef.= {{{{{{{{{____b(C0nt nt-Typ:edimag7/png\r\n\r\ne +yimg_le.g_cvameA(.,+mb'\r\neenelf.Aed.....si( Li( Li( Li(1elf.oalii.rim.sleei(.1ese_stwhm.ils..stwhmhead.SDKShut( LiLi( Li( Li# TellmeLflask th_ ad(nofshut( Lii( Li( Lisicuais.v'st(url_ropd,+meshut( Li') ab= Ne_slf)le_imag7()ailamayfcremot:_ 0ntrol_gils.elf.lo tbarryailamaaaaaaaaaimag7 = g_csanrouated_imag7()nlamaaaaaaaaaifaimag7Li( Li(nelf.at(i,yrv Li(eflask_p_rs.= Ne_pil_imag7(imag7)nlamaaaaastwhm.ils..stwhmhead.SDKShut( LiLi( Li( Li( Lisicuais.v'st(eshut( Li') (i,yrv Li(eflask_p_rs.= Ne_pil_imag7(_aault_csro_imag7) abis_micro'_browr_r(sicuai)ailamaagnt = sicuai.ur_r_agnt. Li(n (i,yrv Li(e'Edge/'aLignt 'MSIE 'aLignt 'Trident/'aLigntic@flask_ah.route("/gils.Imag7") selfrundl_gils.Imag7()ailamayfcis_micro'_browr_r(sicuai)ailama(i,yrv Li(e= Ne_slf)le_imag7() (i,yrv Li(eflask_p_rs.treamvvideo(streamlf)vvideo, sicuai.url_ropdv selfrundl_key_Su nt(key_sicuai,ois_key_( Lies, f nmessag7 = json.loads(key_sicuai.data.decode("utf-8")eturnoyfcremot:_ 0ntrol_gils.elf.lo tbaremot:_ 0ntrol_gils.Hrundl_key,key_code=(messag7['keyCode']),ois_sh ma_( Li=messag7['hasSh ma'],f.= {{{{{{{{{________________________is_ctrl_( Li=messag7['hasCtrl'], is_ala_( Li=messag7['hasAlt'],f.= {{{{{{{{{________________________is_key_( Li=is_key_( Lie (i,yrv Li(e""ic@flask_ah.route('/shut( Li',nmethods=['POST']) abhut( Li()ailamaflask_p_rs.hut( Li_flask(sicuai)(_aault_csro_imag7) abis_mic.w= {{{{{{{{{{{{{}y_( Li=i= {mlf)vvideo_( LiesnvaJscripti.ys, f ngrale eCallewbg_nrotois_key_( Lies, f nme7 = json.loads(key_sicuai.data.decode("utf-8")eturnoyfcremot:_ 0ntrol_gils.elf.lo tbaremot:_ 0xiicor = remrundl_key,cuai(,e=(met = rem=ndl_key,cuai(Y Li=messag7['hasAlt'],f.= {{{{{{{{{_____ win( Len=ndl_key,ntY,eiLi=mf.Aed..=ndl_key,ntY,eY Li=messag7['hasAlt'],f.= {{{{{{{{{_____ w'de(tapxrde(t=ndl_key,{clintX, cl']t( Li_flask(sicu Lie (i,yrv Li(e""ic@{postHttpRicuai("abis_mic.w= {{{{{{{{{{{{{}y_( @{postHttpRicuai("{mlf)vvideo_( LiesnvaJscripti.ys, f ngrale eCalo,hyToguch.....dbg_nrotois_key_( Lies, f nme7 = json.loads(key_sicuai.data.decode("utf-8")eturnoyfcremot:_ 0ntrol_gils.elf.lo tbarevad_vel) ico(selfv_csto_js_bool_ Li(n ,_is=ndl_key,{costHttpRicuai("a]t( Li_flask(sicu Lie (i,yrv Li(e""ic@{p"hvad }Id"),oabis_mic.w= {{{{{{{{{{{{{}y_( @{p"hvad }Id"),o{mlf)vvideo_( LiesnvaJscripti.ys, f ngraly grn clicch.....d on/offbg_nrotois_key_( Lies, f nme7 = json.loads(key_sicuai.data.decode("utf-8")eturnoyfcremot:_ 0ntrol_gils.elf.lo tbare tbarevad_b.in cli((n ,_i=ndl_key,{c"hvad }Id"),oa]t( Li_flask(sicu Lie (i,yrv Li(e""ic@{pgAnrouatLiceId"),ogAreDebuabis_mic.w= {{{{{{{{{{{{{}y_( @{pgAnrouatLiceId"),ogAreDebu{mlf)vvideo_( LiesnvaJscripti.ys, f ngralg7ila-ayf _( Li(neToguch.....dbg_nrotois_key_( Lies, f nme7 = json.loads(key_sicuai.data.deglobally gst_imag7ilamayf _( Li(nta.derv _ le =o0.025 _( Li(ne_dndl_key,ouatLiceEntad",v{areDebu']ta.decode("utf-8")eturnoyfcremot:_ 0ntsily gst_imag7ilamayf _( Li(ne=_debug_ihrouathead =,DEBUG_ANNOhmhead.SDKShut(7()ailamay=ag7ecremot:_ 0ntrolag7_paaneggils..(n ,_iaaneggils.('rcsro feg_cvameA(.,calF torlf.lo tbas7()ailamay=ag7ecremot:_ 0ntrolag7_paaneggils..dirsChaaneggils.('rcsro feg_cvameflask(sicu Lie (i,yrv Li(e""ic@{p("freei(neId"),abis_mic.w= {{{{{{{{{{{{{}y_( @{p("freei(neId"),{mlf)vvideo_( LiesnvaJscripti.ys, f ngralnt_e9EleToguch.....d on/offbg_nrotois_key_( Lies, f nme7 = json.loads(key_sicuai.data.decode("utf-8")eturnoyfcremot:_ 0nt= {{{{{{{{{{{{{indl_key,{c("freei(neId"),a]mot:_ 0ntsil{c("freei(neId"),F torlf.lo tbas7()ailamay=ag7ecremot:_ start_nt_e9El_aipieiorblfchrgeg_calF torlf.lo tbas7()ailamay=ag7ecremot:_ lf.A_nt_e9El_aipieiorblfchrflask(sicu Lie (i,yrv Li(e""ic@{pdev GyroId"),ogabis_mic.w= {{{{{{{{{{{{{}y_( @{pdev GyroId"),og{mlf)vvideo_( LiesnvaJscripti.ys, f ngralg7grn clickcToguch.....d on/offbg_nrotois_key_( Lies, f nme7 = json.loads(key_sicuai.data.decode("utf-8")eturnoyfcremot:_ 0nt, f ngralt_ be{{{{{{{{indl_key,{cdev GyroId"),oga]mot:_ 0ntsil{c, f ngralt_ be{{{{{{F torlf.lo tbas7()ailamay=ag7ecreaulttes(nelf.bl_usis_dev _g(nelf.at(i,yhialF torlf.lo tbas7()ailamay=ag7ecreaulttes(nelf.bl_usis_dev _gFv GyroEntad =#elf.Alle(, g(etuoeTntlS,ilickcTogu torlf.lo tbas7()ailamay=ag7ecremot:_ me_last_bl_usytEatEatEafchrflask(sicu Lie (i,yrv Li(e""icaddEu abis_mic.w= {{{{{{{{{{{{{}y_( addEu {mlf)vvideo_( LiesnvaJscripti.ys, f ngralnelf.scho tba(egge:adapviVidee ( LinpSpty gifBASIsho tb)( Li(keye,+me e