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quadricone zurich noservo py
import subprocess, glob, time, csv, random
''' some naming clarifications:
Servo is a class for motors, where movement is defined
Servos is a dictionary of servo names and positions
servo is used in the while loop to refer to an item of the Servos dictionary
'''
### the moving part -------------------
class Servo:
def __init__(self, servoID):
self.servoID=servoID
self.startPos() # when initiated, go to zero
def move(self, position):
self.position=position
print self.servoID, "\'s given position is", self.position
if (10 <= self.position <= 120):
print "everything OK, will write", self.position
elif 120 < self.position < 170:
print "will adjust to 160", self.position
self.position=160
elif self.position > 170:
print "MAX", self.servoID, "is in maximum position"
self.position=180
print "MAX: Servo will now go to", self.position
elif self.position<10:
print "MIN", self.servoID, "is in minimum position"
self.position=0
print "MIN: Servo will now go to", self.position
else:
print "how did this happen?"
def startPos(self):
self.move(0)
## initiate the morots and put them all in the start (0) position
## alternative
Servos={"raja":0, "gaja":0, "vlaja":0, "zlaja":0}
for i,servo in enumerate(Servos):
globals()[servo]=Servo(i+1)
globals()[servo].startPos()
#key_pos=[0, 0, 0, 0]
### the scanning part -----------------
# airodump-ng is running and logging the results into a csv file
# with the following command: sudo airodump-ng -o csv -w manuf mon0
# subprocess looks for the last edited csv file in current folder
# this file is parsed by the csv module to find the number of data packets that have passed through the network since the last check
csvs=subprocess.Popen("ls -t1 *csv | head -1", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
csv_last=csvs.communicate()[0].strip()
key_value=(' # IV') # look up this value in the scan dump
def lookup(dump):
datas=[]
results=[]
scan=open(dump, "rU")
next(scan)
scanDict=csv.DictReader((line.replace('\0','') for line in scan), delimiter=',')
for adict in scanDict:
if adict.has_key(key_value) and adict.get(key_value)!=None:
try:
datas.append(int(adict.get(key_value)))
except:
pass
datas.sort(reverse=True)
for i in range(4):
results.append(datas[i])
return results
### the main loop ----------------------
packet_list=lookup(csv_last)
print 'packet_list', packet_list
#random.shuffle(servo_list)
#print 'servo_list', servo_list
time.sleep(3)
while True:
new_packet_list=lookup(csv_last)
print "//////////////////////"
print "..."
print 'new_packet_list', new_packet_list
print 'calculating the movements...'
print "starting key positions: ", Servos
for i,servo in enumerate(Servos):
print "i!!!!i!!!!i!!!!!"
print 'servo:', servo
pos=Servos.get(servo)
packet_diff=new_packet_list[i]-packet_list[i]
print 'packet_diff:', packet_diff
if packet_diff==0:
new_pos=pos-10
print 'go down', new_pos
globals()[servo].move(new_pos)
time.sleep(0.2)
if new_pos<0:
Servos[servo]=0
else:
Servos[servo]=new_pos
elif 12 > packet_diff >= 1:
new_pos=Servos.get(servo)+5
if new_pos < 10:
new_pos=10
print 'go up very small', new_pos
globals()[servo].move(new_pos)
time.sleep(0.2)
Servos[servo]=new_pos # update key position for the next round
elif 36 > packet_diff >= 12:
new_pos=Servos.get(servo)+8
if new_pos < 10:
new_pos=10
print 'go up small', new_pos
globals()[servo].move(new_pos)
time.sleep(0.2)
Servos[servo]=new_pos # update key position for the next round
elif 80 > packet_diff >= 36:
new_pos=Servos.get(servo)+10
print 'go up middle', new_pos
globals()[servo].move(new_pos)
time.sleep(0.2)
Servos[servo]=new_pos # update key position for the next round
elif 180 > packet_diff >= 80:
new_pos=Servos.get(servo)+20
print 'go up big', new_pos
globals()[servo].move(new_pos)
time.sleep(0.2)
if new_pos > 180:
Servos[servo]=180
else:
Servos[servo]=new_pos # update key position for the next round
elif packet_diff >= 180:
new_pos=Servos.get(servo)+50
print 'go up very big', new_pos
globals()[servo].move(new_pos)
time.sleep(0.2)
if new_pos > 180:
Servos[servo]=180
else:
Servos[servo]=new_pos # update key position for the next round
else:
print 'key_pos:', Servos.get(servo) , 'packet_diff:', packet_diff, 'and i am out of options'
print "!!!!!!!!!!!!!!!!!!!!"
print "new list of key pos", Servos
packet_list=new_packet_list # update packet list
time.sleep(10)