def writeFile(self, filename):
"""
File format is described inside the comments variable.
"""
comments = {"FILE_HEADER":"This is a region definition file for the LTLMoP toolkit.\n" +
"Format details are described at the beginning of each section below.\n" +
"Note that all values are separated by *tabs*.",
"Background": "Relative path of background image file",
"Regions": "Stored as JSON string",
"Transitions": "Region 1 Name, Region 2 Name, Bidirectional transition faces (face1_x1, face1_y1, face1_x2, face1_y2, face2_x1, ...)",
"CalibrationPoints": "Vertices to use for map calibration: (vertex_region_name, vertex_index)",
"Obstacles": "Names of regions to treat as obstacles"}
regionData = []
for r in self.regions:
d = r.getData()
# We don't want to store the following two attributes inside the regions
del d['alignmentPoints']
del d['isObstacle']
regionData.append(d)
je = prettierJSONEncoder(indent=4)
regionData = [je.encode(regionData)]
transitionData = []
for region1, destinations in enumerate(self.transitions):
# Note: We are assuming all transitions are bidirectional so we only have to include
# the parts of the adjacency matrix above the diagonal
for region2, faces in enumerate(destinations[region1+1:]):
if faces == []: continue # No transition between these regions, so skip
faceData = []
for face in faces:
faceData.extend([face[0][0], face[0][1], face[1][0], face[1][1]])
transitionData.append("\t".join([self.regions[region1].name,
self.regions[region1 + 1 + region2].name] +
map(str, faceData)))
calibPoints = []
for region in self.regions:
for index, isAP in enumerate(region.alignmentPoints):
if isAP:
calibPoints.append("\t".join([region.name, str(index)]))
calibPointsStr = "\t".join(calibPoints)
obstacleRegions = [r.name for r in self.regions if r.isObstacle]
data = {"Background": self.background,
"Regions": regionData,
"Transitions": transitionData,
"CalibrationPoints": calibPoints,
"Obstacles": obstacleRegions}
fileMethods.writeToFile(filename, data, comments)
self.filename = filename
return True
def writeFile(self, filename):
"""
File format is described inside the comments variable.
"""
comments = {"FILE_HEADER":"This is a region definition file for the LTLMoP toolkit.\n" +
"Format details are described at the beginning of each section below.\n" +
"Note that all values are separated by *tabs*.",
"Background": "Relative path of background image file",
"Regions": "Stored as JSON string",
"Transitions": "Region 1 Name, Region 2 Name, Bidirectional transition faces (face1_x1, face1_y1, face1_x2, face1_y2, face2_x1, ...)",
"CalibrationPoints": "Vertices to use for map calibration: (vertex_region_name, vertex_index)",
"Obstacles": "Names of regions to treat as obstacles"}
regionData = []
for r in self.regions:
d = r.getData()
# We don't want to store the following two attributes inside the regions
del d['alignmentPoints']
del d['isObstacle']
regionData.append(d)
je = prettierJSONEncoder(indent=4)
regionData = [je.encode(regionData)]
transitionData = []
for region1, destinations in enumerate(self.transitions):
# Note: We are assuming all transitions are bidirectional so we only have to include
# the parts of the adjacency matrix above the diagonal
for region2, faces in enumerate(destinations[region1+1:]):
if faces == []: continue # No transition between these regions, so skip
faceData = [coord for face in faces for pt in face for coord in pt]
transitionData.append("\t".join([self.regions[region1].name,
self.regions[region1 + 1 + region2].name] +
map(str, faceData)))
calibPoints = []
for region in self.regions:
for index, isAP in enumerate(region.alignmentPoints):
if isAP:
calibPoints.append("\t".join([region.name, str(index)]))
calibPointsStr = "\t".join(calibPoints)
obstacleRegions = [r.name for r in self.regions if r.isObstacle]
data = {"Background": self.background,
"Regions": regionData,
"Transitions": transitionData,
"CalibrationPoints": calibPoints,
"Obstacles": obstacleRegions}
fileMethods.writeToFile(filename, data, comments)
self.filename = filename
return True
def writeFile(self, filename):
"""
File format is described inside the comments variable.
"""
comments = {
"FILE_HEADER": "This is a region definition file for the LTLMoP toolkit.\n"
+ "Format details are described at the beginning of each section below.\n"
+ "Note that all values are separated by *tabs*.",
"Background": "Relative path of background image file",
"Regions": "Name, Type, Pos X, Pos Y, Width, Height, Color R, Color G, Color B, Vertices (x1, y1, x2, y2, ...)",
"Transitions": "Region 1 Name, Region 2 Name, Bidirectional transition faces (face1_x1, face1_y1, face1_x2, face1_y2, face2_x1, ...)",
"Thumbnail": "Relative path of image file that has region shapes overlayed on background image",
"CalibrationPoints": "Vertices to use for map calibration: (vertex_region_name, vertex_index)",
}
regionData = []
for i, region in enumerate(self.regions):
regionData.append("\t".join(map(str, region.getData(withAlignment=False))))
transitionData = []
for region1, destinations in enumerate(self.transitions):
# Note: We are assuming all transitions are bidirectional so we only have to include
# the parts of the adjacency matrix above the diagonal
for region2, faces in enumerate(destinations[region1 + 1 :]):
if faces == []:
continue # No transition between these regions, so skip
faceData = []
for face in faces:
faceData.extend([face[0][0], face[0][1], face[1][0], face[1][1]])
transitionData.append(
"\t".join(
[self.regions[region1].name, self.regions[region1 + 1 + region2].name] + map(str, faceData)
)
)
calibPoints = []
for region in self.regions:
for index, bool in enumerate(region.alignmentPoints):
if bool:
calibPoints.append("\t".join([region.name, str(index)]))
calibPointsStr = "\t".join(calibPoints)
data = {
"Background": self.background,
"Regions": regionData,
"Transitions": transitionData,
"Thumbnail": os.path.basename(self.thumb),
"CalibrationPoints": calibPoints,
}
fileMethods.writeToFile(filename, data, comments)
return True
def writeSpecFile(self, filename=None):
if filename is None:
# Default to same filename as we loaded from
filename = os.path.join(self.project_root, self.project_basename + ".spec")
else:
# Update our project paths based on the new filename
self.project_root = os.path.dirname(os.path.abspath(filename))
self.project_basename, ext = os.path.splitext(os.path.basename(filename))
data = {}
data["SPECIFICATION"] = {"Spec": self.specText}
if self.regionMapping is not None:
data["SPECIFICATION"]["RegionMapping"] = [
rname + " = " + ", ".join(rlist) for rname, rlist in self.regionMapping.iteritems()
]
data["SETTINGS"] = {
"Sensors": [p + ", " + str(int(p in self.enabled_sensors)) for p in self.all_sensors],
"Actions": [p + ", " + str(int(p in self.enabled_actuators)) for p in self.all_actuators],
"Customs": self.all_customs,
}
if self.currentConfig is not None:
data["SETTINGS"]["CurrentConfigName"] = self.currentConfig.name
data["SETTINGS"]["CompileOptions"] = "\n".join(
["%s: %s" % (k, str(v)) for k, v in self.compile_options.iteritems()]
)
if self.rfi is not None:
# Save the path to the region file as relative to the spec file
# FIXME: relpath has case sensitivity problems on OS X
data["SETTINGS"]["RegionFile"] = os.path.normpath(os.path.relpath(self.rfi.filename, self.project_root))
comments = {
"FILE_HEADER": "This is a specification definition file for the LTLMoP toolkit.\n"
+ "Format details are described at the beginning of each section below.",
"RegionFile": "Relative path of region description file",
"Sensors": "List of sensor propositions and their state (enabled = 1, disabled = 0)",
"Actions": "List of action propositions and their state (enabled = 1, disabled = 0)",
"Customs": "List of custom propositions",
"Spec": "Specification in structured English",
"RegionMapping": "Mapping between region names and their decomposed counterparts",
}
fileMethods.writeToFile(filename, data, comments)
def writeSpecFile(self, filename=None):
if filename is None:
# Default to same filename as we loaded from
filename = os.path.join(self.project_root, self.project_basename + ".spec")
else:
# Update our project paths based on the new filename
self.project_root = os.path.dirname(os.path.abspath(filename))
self.project_basename, ext = os.path.splitext(os.path.basename(filename))
data = {}
data['SPECIFICATION'] = {"Spec": self.specText}
if self.regionMapping is not None:
data['SPECIFICATION']['RegionMapping'] = [rname + " = " + ', '.join(rlist) for
rname, rlist in self.regionMapping.iteritems()]
data['SETTINGS'] = {"Sensors": [p + ", " + str(int(p in self.enabled_sensors)) for p in self.all_sensors],
"Actions": [p + ", " + str(int(p in self.enabled_actuators)) for p in self.all_actuators],
"Customs": self.all_customs}
if self.currentConfig is not None:
data['SETTINGS']['CurrentConfigName'] = self.currentConfig.name
data['SETTINGS']['CompileOptions'] = "\n".join(["%s: %s" % (k, str(v)) for k,v in self.compile_options.iteritems()])
if self.rfi is not None:
# Save the path to the region file as relative to the spec file
# FIXME: relpath has case sensitivity problems on OS X
data['SETTINGS']['RegionFile'] = os.path.normpath(os.path.relpath(self.rfi.filename, self.project_root))
comments = {"FILE_HEADER": "This is a specification definition file for the LTLMoP toolkit.\n" +
"Format details are described at the beginning of each section below.",
"RegionFile": "Relative path of region description file",
"Sensors": "List of sensor propositions and their state (enabled = 1, disabled = 0)",
"Actions": "List of action propositions and their state (enabled = 1, disabled = 0)",
"Customs": "List of custom propositions",
"Spec": "Specification in structured English",
"RegionMapping": "Mapping between region names and their decomposed counterparts"}
fileMethods.writeToFile(filename, data, comments)
def saveConfig(self):
"""
Save the config object.
Return True for successfully saved, False for not
"""
# TODO: check if the config is complete
# the file name is default to be the config name with underscore
if self.name == "":
self.name = 'Untitled configuration'
file_name = self.name.replace(' ', '_')
# Add extension to the name
file_name = file_name+'.config'
# Add the path to the file name
file_name = os.path.join(os.path.dirname(self.file_name), file_name)
self.file_name = file_name
data = {'General Config':{'Name':self.name}}
# proposition mapping
sensorMappingList = []
actuatorMappingList = []
for prop, fun in self.prop_mapping.iteritems():
if 'sensor' in fun.lower():
sensorMapping = prop + ' = ' + fun
sensorMappingList.append(sensorMapping)
elif 'actuator' in fun.lower():
actuatorMapping = prop + ' = ' + fun
actuatorMappingList.append(actuatorMapping)
else:
logging.warning("Cannot recognize prop mapping: {}".format(prop+" = "+fun))
data['General Config']['Sensor_Proposition_Mapping'] = sensorMappingList
data['General Config']['Actuator_Proposition_Mapping'] = actuatorMappingList
data['General Config']['Main_Robot'] = self.main_robot
data['General Config']['Initial_Truths'] = self.initial_truths
data['General Config']['Region_Tags'] = json.dumps(self.region_tags)
for i, robot in enumerate(self.robots):
header = 'Robot'+str(i+1)+' Config'
data[header] = {}
data[header]['RobotName'] = robot.name
data[header]['Type'] = robot.r_type
data[header]['CalibrationMatrix'] = repr(robot.calibration_matrix)
# TODO: change to string function
try:
for handler_type_name in ht.getAllHandlerTypeName(short_name = False):
handler_type_class = ht.getHandlerTypeClass(handler_type_name)
if handler_type_class in robot.handlers.keys():
data[header][handler_type_name] = robot.handlers[handler_type_class].toString()
except AttributeError:
logging.warning("Cannot save handlers for robot {}({}). Please make sure they are all successfully loaded. Aborting saving."\
.format(robot.name, robot.r_type))
return False
comments = {"FILE_HEADER": "This is a configuration definition file in folder \"%s\".\n" % os.path.dirname(self.file_name)+
"Format details are described at the beginning of each section below.\n",
"PoseHandler": "Input value for robot pose handler, refer to file inside the handlers/pose folder",
"DriveHandler": "Input value for robot drive handler, refer to file inside the handlers/drive folder",
"MotionControlHandler": "Input value for robot motion control handler, refer to file inside the handlers/motionControl folder",
"LocomotionCommandHandler": "Input value for robot locomotion command handler, refer to file inside the handlers/robots/Type folder",
"InitHandler": "Input value for robot init handler, refer to the init file inside the handlers/robots/Type folder",
"SensorHandler": "Sensor handler file in robots/Type folder",
"ActuatorHandler": "Actuator handler file in robots/Type folder",
"RobotName": "Robot Name",
"Type": "Robot type",
"CalibrationMatrix": "3x3 matrix for converting coordinates, stored as lab->map",
"Actuator_Proposition_Mapping": 'Mapping between actuator propositions and actuator handler functions',
"Sensor_Proposition_Mapping": "Mapping between sensor propositions and sensor handler functions",
"Name": 'Configuration name',
"Main_Robot":'The name of the robot used for moving in this config',
"Initial_Truths": "Initially true propositions",
"Region_Tags": "Mapping from tag names to region groups, for quantification"}
fileMethods.writeToFile(file_name, data, comments)
return True
def saveConfigFile(self,configObj,fileName=''):
"""
Write all data out to a file.
"""
if fileName is '':
fileName = configObj.name.replace(' ','_')
# Add extension to the name if there isn't one.
if not fileName.endswith('.config'):
fileName = fileName+'.config'
data = {'General Config':{'Name':configObj.name}}
# proposition mapping
sensorMappingList = []
actuatorMappingList = []
for prop, fun in configObj.prop_mapping.iteritems():
if 'sensor' in fun.lower():
sensorMapping = prop + ' = ' + fun
sensorMappingList.append(sensorMapping)
elif 'actuator' in fun.lower():
actuatorMapping = prop + ' = ' + fun
actuatorMappingList.append(actuatorMapping)
data['General Config']['Sensor_Proposition_Mapping'] = sensorMappingList
data['General Config']['Actuator_Proposition_Mapping'] = actuatorMappingList
data['General Config']['Main_Robot'] = configObj.main_robot
data['General Config']['Initial_Truths'] = configObj.initial_truths
for i,robot in enumerate(configObj.robots):
header = 'Robot'+str(i+1)+' Config'
data[header]={}
data[header]['RobotName'] = robot.name
data[header]['Type'] = robot.type
if robot.calibrationMatrix is not None:
data[header]['CalibrationMatrix'] = repr(robot.calibrationMatrix)
data[header]['InitHandler'] = robot.handlers['init'].toString()
data[header]['PoseHandler'] = robot.handlers['pose'].toString()
data[header]['MotionControlHandler'] = robot.handlers['motionControl'].toString()
data[header]['DriveHandler'] = robot.handlers['drive'].toString()
data[header]['LocomotionCommandHandler'] = robot.handlers['locomotionCommand'].toString()
data[header]['SensorHandler'] = robot.handlers['sensor'].toString()
data[header]['ActuatorHandler'] = robot.handlers['actuator'].toString()
comments = {"FILE_HEADER": "This is a configuration definition file for the example \"%s\".\n" % self.proj.project_basename +
"Format details are described at the beginning of each section below.\n",
"PoseHandler": "Input value for robot pose handler, refer to file inside the handlers/pose folder",
"DriveHandler": "Input value for robot drive handler, refer to file inside the handlers/drive folder",
"MotionControlHandler": "Input value for robot motion control handler, refer to file inside the handlers/motionControl folder",
"LocomotionCommandHandler": "Input value for robot locomotion command handler, refer to file inside the handlers/robots/Type folder",
"InitHandler": "Input value for robot init handler, refer to the init file inside the handlers/robots/Type folder",
"SensorHandler": "Sensor handler file in robots/Type folder",
"ActuatorHandler": "Actuator handler file in robots/Type folder",
"RobotName": "Robot Name",
"Type": "Robot type",
"CalibrationMatrix": "3x3 matrix for converting coordinates, stored as lab->map",
"Actuator_Proposition_Mapping": 'Mapping between actuator propositions and actuator handler functions',
"Sensor_Proposition_Mapping": "Mapping between sensor propositions and sensor handler functions",
"Name": 'Configuration name',
"Main_Robot":'The name of the robot used for moving in this config',
"Initial_Truths": "Initially true propositions"}
fileMethods.writeToFile(os.path.join(self.config_path,fileName), data, comments)
