class RunManager:
'''Manage runs..'''
def __init__(self):
self.robot = Robot(commandRate = 40, loud = False)
self.statesSoFar = set() # Keeps track of the states tested so far
def run_robot(self, currentState):
'''
Runs the robot with currentState parameters and returns the
distance walked. If currentState is a function, calls that
function instead of passing to a motion model.
'''
if hasattr(currentState, '__call__'):
# is a function
motionModel = currentState
else:
# is a parameter vector
model = SineModel5()
motionModel = lambda time: model.model(time,
parameters = currentState)
# Reset before measuring
self.robot.readyPosition()
wiiTrack = WiiTrackClient("localhost", 8080)
beginPos = wiiTrack.getPosition()
if beginPos is None:
# Robot walked out of sensor view
self.manual_reset('Robot has walked outisde sensor view. Please place back in center and push enter to continue.')
print 'Retrying last run'
return self.run_robot(currentState)
if not self.robot.shimmy():
self.manual_reset('Shimmy failed. Fix and restart.')
return self.run_robot(currentState)
try:
self.robot.run(motionModel, runSeconds = 9, resetFirst = False,
interpBegin = 1, interpEnd = 2)
except RobotFailure as ee:
print ee
override = self.manual_reset('Robot run failure. Fix something and push enter to continue, or enter a fitness to manually enter it.')
# print 'Retrying last run'
# return self.run_robot(currentState)
try:
manualDist = float(override)
return manualDist
except ValueError:
print 'Retrying last run'
return self.run_robot(currentState)
endPos = wiiTrack.getPosition()
if endPos is None:
# Robot walked out of sensor view
override = self.manual_reset('Robot has walked outisde sensor view. Please place back in center\nand push enter to retry or enter manual fitness override to skip.')
try:
manualDist = float(override)
return manualDist
except ValueError:
print 'Retrying last run'
return self.run_robot(currentState)
distance_walked = self.calculate_distance(beginPos, endPos)
#print ' walked %.2f' % distance_walked
if not self.robot.shimmy():
ret = distance_walked / 2.0
print 'Shimmy failed, returning %.2f instead of %.2f' % (ret, distance_walked)
self.manual_reset('Shimmy failed at end, reset robot if necessary and push enter to continue.')
return ret
else:
return distance_walked
def run_function_and_log(self, motionFunction, runSeconds, timeScale = 1, logFilename = None):
'''
Runs the robot with the given motion function from 0 to
runSeconds, logging time and position to logFileName
'''
# Reset before measuring
self.robot.readyPosition()
wiiTrack = WiiTrackFastClient("localhost", 8080)
sleep(.5)
beginPos = wiiTrack.getPosition()
if beginPos is None:
# Robot walked out of sensor view
self.manual_reset('Robot has walked outisde sensor view. Please place back in center and push enter to retry.')
raise Exception
if not self.robot.shimmy():
print 'Shimmy failed :('
#self.manual_reset('Shimmy failed. Fix and push enter to retry.')
#####HACK !!!!!!
#raise Exception
ff = open(logFilename, 'a')
try:
self.robot.run(motionFunction, runSeconds = runSeconds, resetFirst = False,
interpBegin = 1, interpEnd = 2, logFile = ff,
extraLogInfoFn = lambda: getLogPosString(wiiTrack))
except RobotFailure as ee:
ff.close()
print ee
override = self.manual_reset('Robot run failure. Fix something and push enter to retry.')
raise Exception
ff.close()
endPos = wiiTrack.getPosition()
if endPos is None:
# Robot walked out of sensor view
override = self.manual_reset('Robot has ended outisde sensor view. Please place back in center\nand push enter to retry.')
raise Exception
distance_walked = self.calculate_distance(beginPos, endPos)
print 'Total Distance: %.2f' % distance_walked
#if not self.robot.shimmy():
# letter = None
# while not letter in ('r', 'k'):
# letter = self.manual_reset('Shimmy failed at end of run, retry or keep [r/k]?')
# if letter == 'r':
# raise Exception
def log_start(self, extra=None):
logFile = open('log.txt', 'a')
logFile.write('\n# RunManager log started at %s\n' % datetime.now().ctime())
if extra is not None:
logFile.write(extra)
logFile.close()
def log_write(self, string, newline=True):
logFile = open('log.txt', 'a')
if newline:
string += '\n'
logFile.write(string)
logFile.close()
def log_results(self, logInfo, currentDistance):
"""Writes to log file that keeps track of tests so far"""
logFile = open('log.txt', 'a')
#if hasattr(currentState, '__call__'):
# stats = 'function call run'
#else:
# stats = ' '.join([repr(xx) for xx in currentState])
if isinstance(logInfo, list):
stats = ' '.join([repr(xx) for xx in logInfo])
elif isinstance(logInfo, basestring):
stats = logInfo
else:
raise Exception('Do not know how to log %s' % repr(logInfo))
logFile.write(stats + ", " + str(currentDistance) + "\n")
logFile.close()
def calculate_distance(self, begin, end):
"""
Calculates how far the robot walked given the beginning and ending
(x, y) coordinates.
"""
return math.sqrt(pow((end[0] - begin[0]), 2) + pow((end[1] - begin[1]), 2))
def do_many_runs(self, strategy, ranges, limit = None):
if limit is None:
limit = 10000
self.log_start(strategy.logHeader())
for ii in xrange(limit):
currentState, logInfo = strategy.getNext()
print
#if hasattr(currentState, '__call__'):
# print 'Iteration %2d: %s' % (ii+1, logStr),
#else:
# print 'Iteration %2d params' % (ii+1), prettyVec(currentState),
paramStr = logInfo if isinstance(logInfo, basestring) else prettyVec(logInfo)
print 'Iteration %2d: %s' % (ii+1, paramStr)
sys.stdout.flush()
# Check if this state is new, and possibly skip it
#if tuple(currentState) in self.statesSoFar:
# print '*** Duplicate iteration!'
# # Skip only if using random hill climbing. In other words,
# # comment this line out if using gradient_search:
# #currentState = neighborFunction(bestState)
# continue
currentDistance = self.run_robot(currentState)
#currentDistance = input('Distance walked? ')
#self.statesSoFar.add(tuple(currentState))
#print ' walked %.2f' % currentDistance
print '%.2f' % currentDistance
strategy.updateResults(currentDistance)
#print ' best so far', prettyVec(strategy.bestState), '%.2f' % strategy.bestDist # Prints best state and distance so far
self.log_results(logInfo, currentDistance)
def explore_dimensions(self, initialState, ranges, pointsPerDim = 10, repetitions = 3):
'''For the given vector, vary each parameter separately.
Arguments:
initialState -- where to start
ranges -- parameter ranges
pointsPerDim -- number of points along each dimension
repetitions -- how many measurements to make of each position
'''
nDimensions = len(initialState)
self.log_start()
self.log_write('RunManager.explore_dimensions, centered at %s' % prettyVec(initialState))
for dimension in range(nDimensions):
self.log_write('RunManager.explore_dimensions: dimension %d' % dimension)
points = Neighbor.uniform_spread(ranges, initialState, dimension, number = pointsPerDim, includeOrig = True)
for ii,point in enumerate(points):
for tt in range(repetitions):
print 'Iteration dimension %d, point %d, trial %d' % (dimension, ii, tt), prettyVec(point),
sys.stdout.flush()
self.log_write('%d, %d, %d, ' % (dimension, ii, tt), newline=False)
dist = self.run_robot(point)
print '%.2f' % dist
self.log_results(point, dist)
def manual_reset(self, st):
print st
return raw_input()
