def initialiseFromConfig(config, send_queues, recv_queues):
from collections import defaultdict
from ev3sim.robot import initialise_bot, RobotInteractor
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
# Keep track of index w.r.t. filename.
robot_paths = defaultdict(lambda: 0)
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot, allowed_areas=bot_locations())
initialise_bot(config, robot_path, f"Robot-{index}",
robot_paths[robot_path])
robot_paths[robot_path] += 1
ScriptLoader.instance.setRobotQueues(f"Robot-{index}",
send_queues[index],
recv_queues[index])
for opt in config.get("interactors", []):
try:
ScriptLoader.instance.addActiveScript(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
SettingsManager.instance.setMany(config["settings"])
if ScriptLoader.instance.active_scripts:
ScriptLoader.instance.startUp()
ScriptLoader.instance.loadElements(config.get("elements", []))
for interactor in ScriptLoader.instance.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
for interactor in ScriptLoader.instance.active_scripts:
interactor.startUp()
else:
print("No interactors successfully loaded. Quitting...")
def runFromConfig(config, shared):
from ev3sim.robot import initialise_bot, RobotInteractor
from ev3sim.file_helper import find_abs
sl = ScriptLoader(**config.get("loader", {}))
sl.setSharedData(shared)
sl.active_scripts = []
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot,
allowed_areas=[
"local", "local/robots/", "package",
"package/robots/"
])
initialise_bot(config, robot_path, f"Robot-{index}")
for opt in config.get("interactors", []):
try:
sl.active_scripts.append(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
if sl.active_scripts:
sl.startUp(**config.get("screen", {}))
sl.loadElements(config.get("elements", []))
for interactor in sl.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
sl.simulate()
else:
print("No interactors successfully loaded. Quitting...")
def initialise_device(deviceData, parentObj, index, preview_mode=False):
classes = find_abs("devices/classes.yaml")
devices = yaml.safe_load(open(classes, "r"))
name = deviceData["name"]
if name not in devices:
raise ValueError(f"Unknown device type {name}")
fname = find_abs(devices[name], allowed_areas=device_locations())
with open(fname, "r") as f:
try:
config = yaml.safe_load(f)
utils.GLOBAL_COLOURS.update(config.get("colours", {}))
mname, cname = config["class"].rsplit(".", 1)
import importlib
klass = getattr(importlib.import_module(mname), cname)
relative_location = deviceData.get("position", [0, 0])
relative_rotation = deviceData.get("rotation", 0) * np.pi / 180
device = klass(parentObj, relative_location, relative_rotation)
for i, opt in enumerate(config.get("interactors", [])):
res = opt.get("kwargs", {})
res.update({
"device": device,
"parent": parentObj,
"relative_location": relative_location,
"relative_rotation": relative_rotation,
"device_index": index,
"single_device_index": i,
"port": deviceData["port"],
"zPos": deviceData.get("zPos", 0),
})
if preview_mode:
for i in range(len(res.get("elements", []))):
res["elements"][i]["physics"] = True
opt["kwargs"] = res
interactor = fromOptions(opt)
if not hasattr(parentObj, "device_interactors"):
parentObj.device_interactors = []
parentObj.device_interactors.append(interactor)
ScriptLoader.instance.addActiveScript(interactor)
except yaml.YAMLError as exc:
print(
f"An error occurred while loading devices. Exited with error: {exc}"
)
def initialise_device(deviceData, parentObj, index):
classes = find_abs('devices/classes.yaml')
devices = yaml.safe_load(open(classes, 'r'))
name = deviceData['name']
if name not in devices:
raise ValueError(f"Unknown device type {name}")
fname = find_abs(devices[name],
allowed_areas=['local/devices/', 'package/devices/'])
with open(fname, 'r') as f:
try:
config = yaml.safe_load(f)
utils.GLOBAL_COLOURS.update(config.get('colours', {}))
mname, cname = config['class'].rsplit('.', 1)
import importlib
klass = getattr(importlib.import_module(mname), cname)
relative_location = deviceData.get('position', [0, 0])
relative_rotation = deviceData.get('rotation', 0) * np.pi / 180
device = klass(parentObj, relative_location, relative_rotation)
for i, opt in enumerate(config.get('interactors', [])):
res = opt.get('kwargs', {})
res.update({
'device': device,
'parent': parentObj,
'relative_location': relative_location,
'relative_rotation': relative_rotation,
'device_index': index,
'single_device_index': i,
'port': deviceData['port'],
})
opt['kwargs'] = res
interactor = fromOptions(opt)
if not hasattr(parentObj, 'device_interactors'):
parentObj.device_interactors = []
parentObj.device_interactors.append(interactor)
# Device interactors always act first.
ScriptLoader.instance.active_scripts.insert(0, interactor)
except yaml.YAMLError as exc:
print(
f"An error occured while loading devices. Exited with error: {exc}"
)