how to get a value-object from another method in python - python

I can't really understand what I'm doing wrong.. I try to get a value-object from another method.. this is my code
#!/usr/bin/env python
class tracksendi():
def __init__(self):
rospy.on_shutdown(self.shutdown)
rospy.Subscriber('robotis/servo_head_pan_joint',
Float64, self.posisi_ax12_pan)
rospy.Subscriber('robotis/servo_head_tilt_joint',
Float64, self.posisi_ax12_tilt)
rospy.Subscriber('robotis/servo_right_elbow_joint',
Float64, self.posisi_ax12_elbow)
while not rospy.is_shutdown():
self.operasikan_servo()
rate.sleep()
def posisi_ax12_pan(self,pan):
self.posisi_pan_servo = pan.data
return
def posisi_ax12_tilt(self,tilt):
self.posisi_tilt_servo = tilt.data
return
def posisi_ax12_elbow(self,elbow):
self.posisi_elbow_data = elbow.data
return
def ambil_timestamp(self,waktu):
self.data_time_joint_states = waktu.header.stamp
return
def operasikan_servo(self):
# Lengan Kanan
try:
vektor_n_rs = self.posisi_pan_servo - self.posisi_tilt_servo
vektor_re_rs = self.posisi_tilt_servo - self.posisi_elbow_data
except KeyError:
pass
if __name__ == '__main__':
try:
tracksendi()
except rospy.ROSInterruptException:
pass
But, I get this error
vektor_n_rs = self.posisi_pan_servo - self.posisi_tilt_servo
AttributeError: tracksendi instance has no attribute 'posisi_pan_servo'
How that problem solved ???
Note :
rospy.Subscriber('robotis/servo_head_pan_joint', Float64, self.posisi_ax12_pan)
rospy.Subscriber('robotis/servo_head_tilt_joint', Float64, self.posisi_ax12_tilt)
rospy.Subscriber('robotis/servo_right_elbow_joint', Float64, self.posisi_ax12_elbow)
rospy.Subscriber is a line command to insert Float64 data for self.posisi_ax12_pan method, self.posisi_ax12_tilt method and self.posisi_ax12_elbow.

Obviously posisi_ax12_pan and posisi_ax12_tilt called later (after events that you subscribing are occured) than operasikan_servo, so, you should init this attributes - self.posisi_pan_servo and self.posisi_tilt_servo:
def __init__(self):
rospy.on_shutdown(self.shutdown)
self.posisi_pan_servo = 0 # or any number you want
self.posisi_tilt_servo = 0 # or any number you want
#....

The error says self.posisi_pan_servo does not exist. You only seem to define this variable in posisi_ax12_pan(). That means the method posisi_ax12_pan() was not yet called when you tried to access that attribute within operasikan_servo().

I guess that a call to posisi_ax12_* methods should be done before calling operasikan_servo in the constructor.

Looks like you are not executing the method posisi_pan_servo, which initialize the attribute 'posisi_pan_servo'
You should execute it before, trying to get that attribute.
Maybe in the init method you should invoke the method. So try to change from:
rospy.Subscriber('robotis/servo_head_pan_joint', Float64, self.posisi_ax12_pan)
To:
rospy.Subscriber('robotis/servo_head_pan_joint', Float64, self.posisi_ax12_pan(pan))
Passing a the right parameters in that invoke.
But other thing is deep test the rospy.Subscriber method, to check if it is working as you expect

Related

Is it really impossible to unpickle a Python class if the original python file has been deleted?

Suppose you have the following:
file = 'hey.py'
class hey:
def __init__(self):
self.you =1
ins = hey()
temp = open("cool_class", "wb")
pickle.dump(ins, temp)
temp.close()
Now suppose you delete the file hey.py and you run the following code:
pkl_file = open("cool_class", 'rb')
obj = pickle.load(pkl_file)
pkl_file.close()
You'll get an error. I get that it's probably the case that you can't work around the problem of if you don't have the file hey.py with the class and the attributes of that class in the top level then you can't open the class with pickle. But it has to be the case that I can find out what the attributes of the serialized class are and then I can reconstruct the deleted file and open the class. I have pickles that are 2 years old and I have deleted the file that I used to construct them and I just have to find out what what the attributes of those classes are so that I can reopen these pickles
#####UPDATE
I know from the error messages that the module that originally contained the old class, let's just call it 'hey.py'. And I know the name of the class let's call it 'you'. But even after recreating the module and building a class called 'you' I still can't get the pickle to open. So I wrote this code on the hey.py module like so:
class hey:
def __init__(self):
self.hey = 1
def __setstate__(self):
self.__dict__ = ''
self.you = 1
But I get the error message: TypeError: init() takes 1 positional argument but 2 were given
#########UPDATE 2:
I Changed the code from
class hey:
to
class hey():
I then got an AttributeError but it doesn't tell me what attribute is missing. I then performed
obj= pickletools.dis(file)
And got an error on the pickletools.py file here
def _genops(data, yield_end_pos=False):
if isinstance(data, bytes_types):
data = io.BytesIO(data)
if hasattr(data, "tell"):
getpos = data.tell
else:
getpos = lambda: None
while True:
pos = getpos()
code = data.read(1)
opcode = code2op.get(code.decode("latin-1"))
if opcode is None:
if code == b"":
raise ValueError("pickle exhausted before seeing STOP")
else:
raise ValueError("at position %s, opcode %r unknown" % (
"<unknown>" if pos is None else pos,
code))
if opcode.arg is None:
arg = None
else:
arg = opcode.arg.reader(data)
if yield_end_pos:
yield opcode, arg, pos, getpos()
else:
yield opcode, arg, pos
if code == b'.':
assert opcode.name == 'STOP'
break
At this line:
code = data.read(1)
saying: AttributeError: 'str' object has no attribute 'read'
I will now try the other methods in the pickletools
########### UPDATE 3
I wanted to see what happened when I saved an object composed mostly of dictionary but some of the values in the dictionaries were classes. This is the class that was saved:
so here is the class in question:
class fss(frozenset):
def __init__(self, *args, **kwargs):
super(frozenset, self).__init__()
def __str__(self):
str1 = lbr + "{}" + rbr
return str1.format(','.join(str(x) for x in self))
Now keep in mind that the object pickled is mostly a dictionary and that class exists within the dictionary. After performing
obj= pickletools.genops(file)
I get the following output:
image
image2
I don't see how I would be able to construct the class referred to with that data if I hadn't known what the class was.
############### UPDATE #4
#AKK
Thanks for helping me out. I am able to see how your code works but my pickled file saved from 2 years ago and whose module and class have long since been deleted, I cannot open it into a bytes-like object which to me seems to be a necessity.
So the path of the file is
file ='hey.pkl'
pkl_file = open(file, 'rb')
x = MagicUnpickler(io.BytesIO(pkl_file)).load()
This returns the error:
TypeError: a bytes-like object is required, not '_io.BufferedReader'
But I thought the object was a bytes object since I opened it with open(file, 'rb')
############ UPDATE #5
Actually, I think with AKX's help I've solved the problem.
So using the code:
pkl_file = open(name, 'rb')
x = MagicUnpickler(pkl_file).load()
I then created two blank modules which once contained the classes found in the save pickle, but I did not have to put the classes on them. I was getting an error in the file pickle.py here:
def load_reduce(self):
stack = self.stack
args = stack.pop()
func = stack[-1]
try:
stack[-1] = func(*args)
except TypeError:
pass
dispatch[REDUCE[0]] = load_reduce
So after excepting that error, everything worked. I really want to thank AKX for helping me out. I have actually been trying to solve this problem for about 5 years because I use pickles far more often than most programmers. I used to not understand that if you alter a class then that ruins any pickled files saved with that class so I ran into this problem again and again. But now that I'm going back over some code which is 2 years old and it looks like some of the files were deleted, I'm going to need this code a lot in the future. So I really appreciate your help in getting this problem solved.
Well, with a bit of hacking and magic, sure, you can hydrate missing classes, but I'm not guaranteeing this will work for all pickle data you may encounter; for one, this doesn't touch the __setstate__/__reduce__ protocols, so I don't know if they work.
Given a script file (so72863050.py in my case):
import io
import pickle
import types
from logging import Formatter
# Create a couple empty classes. Could've just used `class C1`,
# but we're coming back to this syntax later.
C1 = type('C1', (), {})
C2 = type('C2', (), {})
# Create an instance or two, add some data...
inst = C1()
inst.child1 = C2()
inst.child1.magic = 42
inst.child2 = C2()
inst.child2.mystery = 'spooky'
inst.child2.log_formatter = Formatter('heyyyy %(message)s') # To prove we can unpickle regular classes still
inst.other_data = 'hello'
inst.some_dict = {'a': 1, 'b': 2}
# Pickle the data!
pickle_bytes = pickle.dumps(inst)
# Let's erase our memory of these two classes:
del C1
del C2
try:
print(pickle.loads(pickle_bytes))
except Exception as exc:
pass # Can't get attribute 'C1' on <module '__main__'> – yep, it certainly isn't there!
we now have successfully created some pickle data that we can't load anymore, since we forgot about those two classes. Now, since the unpickling mechanism is customizable, we can derive a magic unpickler, that in the face of certain defeat (or at least an AttributeError), synthesizes a simple class from thin air:
# Could derive from Unpickler, but that may be a C class, so our tracebacks would be less helpful
class MagicUnpickler(pickle._Unpickler):
def __init__(self, fp):
super().__init__(fp)
self._magic_classes = {}
def find_class(self, module, name):
try:
return super().find_class(module, name)
except AttributeError:
return self._create_magic_class(module, name)
def _create_magic_class(self, module, name):
cache_key = (module, name)
if cache_key not in self._magic_classes:
cls = type(f'<<Emulated Class {module}:{name}>>', (types.SimpleNamespace,), {})
self._magic_classes[cache_key] = cls
return self._magic_classes[cache_key]
Now, when we run that magic unpickler against a stream from the aforebuilt pickle_bytes that plain ol' pickle.loads() couldn't load...
x = MagicUnpickler(io.BytesIO(pickle_bytes)).load()
print(x)
print(x.child1.magic)
print(x.child2.mystery)
print(x.child2.log_formatter._style._fmt)
prints out
<<Emulated Class __main__:C1>>(child1=<<Emulated Class __main__:C2>>(magic=42), child2=<<Emulated Class __main__:C2>>(mystery='spooky'), other_data='hello', some_dict={'a': 1, 'b': 2})
42
spooky
heyyyy %(message)s
Hey, magic!
The error in function load_reduce(self) can be re-created by:
class Y(set):
pass
pickle_bytes = io.BytesIO(pickle.dumps(Y([2, 3, 4, 5])))
del Y
print(MagicUnpickler(pickle_bytes).load())
AKX's answer do not solve cases when the class inherit from base classes as set, dict, list,...

Trying to test a function but in test it returns None?

I Have this function that I wish to test, this is how it looks like.
def myfunction():
response = requests.post(url,params=params,headers=headers,data=data)
response = response.json()
return response["Findme"].lower()
My test script:
#mock.patch('requests.post',return_value="{'Findme': 'test'}")
def test_myfunction(mocked_post):
**assert myfunction() == "test"**
When i run the test, i keep getting None for myfunction(), but when i remove the response.json() it works?
Please can anyone assist me.
As mentioned by Deep Space, your returned object does not have a json method, as it is of type str. If you want to have the same behavior as in the tested function, you have to provide an object with that method:
class MockResponse:
"""Mocks relevant part of requests.Response"""
def __init__(self, s):
self.json_string = s
def json(self):
return json.loads(self.json_string)
#mock.patch("requests.post", return_value=MockResponse('{"Findme": "test"}'))
def test_myfunction(mocked_post):
assert myfunction() == "test"
This way, an object of type MockResponse is returned from the mocked post function, that can be deserialized using json().
You could also mock the return value of json directly instead of mocking the return value of post, if you want to do this. In this case you wouldn't need an extra class:
#mock.patch("requests.post")
def test_myfunction(mocked_post):
mocked_post.return_value.json.return_value = {"Findme": "test"}
assert myfunction() == "test"

how to make a method for a string in python

Im looking to create something that I can use to check if a string meets a condition like so:
var = "hello"
check = var.checkconditions()
Im just curious as to if its possible as I have never seen it done before.
How would the function/whatever I need to use be set out?
String is a build in class/object and can not be changed. However you can make a personal new class:
class str_class:
def __init__ (self, str):
self.str = str
def checkconditions(self):
# Enter your conditions
var = str_class('hello')
check = var.checkconditions()
Or you could simply make a funtion that takes the string as input and outputs if the condition is met or not:
def checkconditions(str):
# Enter conditions
var = 'Hello'
check = checkconditions(var)
Edit: From other comments it seems as though it is possible but not recommended.
You can use a Class and then use the method check_conditions.
class Check:
def __init__(self):
pass
def check_conditions(string):
#Do whatever you need in here
print(string)
c = Check
c.check_conditions("hello")
This should hopefully do what you need!
You can't directly add the method to the original type.what you can do is subclass the type like
class mystring(str):
def checkconditions(self):
#condition
and then you can instantiate your new class
var = mystring('hello')
var.checkcondition()
but that's still no too practical, if you want to make it more proper you can do this
import __builtin__
__builtin__.str = mystring
var = str("hello")
check = var.checkconditions()
which achieves most of the effect desired.
Unfortunately, objects created by literal syntax will continue to be of the vanilla type and won't have your new methods/attributes.
var = 'hello'
var.checkconditions()
# Output
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
AttributeError: 'str' object has no attribute 'checkconditions'
"""

Python function asserting value over pre declared value

I have a function (func.py). Structure of which look like this:
database = 'VENUS'
def first_function():
print("do some thing")
def second_function():
print("call third function)
third_function()
def third_function(db = database):
print("do some other thing")
I need to import this function and used the inner defined function. But, I want to use a different key for database. Basically, I want to overwrite database = 'VENUS' and use database = 'MARS' while second function call the third function. is there any way to do this?
Just provide the database name as argument
first_function("MARS")
second_function("MARS")
So the problem here, if I understood correctly, is that the default argument for func.third_function is defined at import time. It doesn't matter if you later modify the func.database variable, since the change will not reflect on the default argument of func.third_function.
One (admittedly hacky) solution is to inject a variable using a closure over the imported function. Example:
file.py:
x = 1
def print_x(xvalue = x)
print(xvalue)
Python console:
>>> import file
>>> file.print_x()
1
>>> file.x = 10
>>> file.print_x() # does not work (as you're probably aware)
1
>>> def inject_var(func_to_inject, var):
def f(*args, **kwargs):
return func_to_inject(var, *args, **kwargs)
return f
>>> file.print_x = inject_var(file.print_x, 10)
>>> file.print_x() # works
10
So using the inject_var as written above, you could probably do:
func.third_function = inject_var(func.third_function, "MARS")

How can I tell if a ctypes integer type is big endian?

Consider the following:
le = ctypes.c_uint32.__ctype_le__
be = ctypes.c_uint16.__ctype_be__
How can I write a function is_bigendian(cls) that behaves as you would expect:
>>> is_bigendian(le)
False
>>> is_bigendian(be)
True
Does ctypes expose this information somewhere?
It seems the only possible way is:
if ctypes.c_uint8.__ctype_be__.__name__.endswith('_be'):
def is_bigendian(cls):
return cls.__name__.endswith('_be')
elif ctypes.c_uint8.__ctype_le__.__name__.endswith('_le'):
def is_bigendian(cls):
return not cls.__name__.endswith('_le')
else:
raise RuntimeError
Which is hard to spot, because repr(ctypes.c_uint8.__ctype_be__) doesn't show the class name correctly.

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