def __init__(self, framework):
super().__init__(name=self.__class__.__name__)
self.framework = framework
self.logger = logging.getLogger(self.__class__.__name__)
# Managers for shared memory between process
manager = Manager()
self.vision_state = manager.list([
manager.dict() for _ in range(config['ENGINE']['number_of_camera'])
])
self.game_state = self.framework.game_state
self.field = self.framework.field
# Queues for process communication
self.ui_send_queue = self.framework.ui_send_queue
self.ui_recv_queue = self.framework.ui_recv_queue
self.ai_queue = self.framework.ai_queue
self.referee_queue = self.framework.referee_queue
# External communication
self.vision_receiver = VisionReceiver(
config['COMMUNICATION']['vision_info'], self.vision_state,
self.field)
self.ui_sender = UIDebugCommandSender(
config['COMMUNICATION']['ui_sender_info'], self.ui_send_queue)
self.ui_recver = UIDebugCommandReceiver(
config['COMMUNICATION']['ui_recver_info'], self.ui_recv_queue)
self.referee_recver = RefereeReceiver(
config['COMMUNICATION']['referee_info'], self.referee_queue)
self.robot_cmd_sender = RobotCommandSender()
# main engine module
self.tracker = Tracker(self.vision_state, self.ui_send_queue)
self.controller = Controller(self.ui_send_queue)
# fps and limitation
self.fps = config['ENGINE']['fps']
self.is_fps_locked = config['ENGINE']['is_fps_locked']
self.frame_count = 0
self.last_frame_count = 0
self.dt = 0.0
self.last_time = 0.0
def callback(excess_time):
if excess_time > Engine.MAX_EXCESS_TIME:
self.logger.debug('Overloaded (%.1f ms behind schedule)',
1000 * excess_time)
self.fps_sleep = create_fps_timer(self.fps, on_miss_callback=callback)
# profiling
self.profiler = None
def test_callback_delay_fps_timer():
fps = 10
callback_time = None
def mock_callback(time_var):
nonlocal callback_time
callback_time = time_var
sleep = timing.create_fps_timer(fps, on_miss_callback=mock_callback)
sleep()
time.sleep(0.2)
sleep()
assert callback_time >= 0
def test_callback_called_fps_timer():
fps = 10
callback_called = False
def mock_callback(time_var): # pylint: disable=unused-argument
nonlocal callback_called
callback_called = True
sleep = timing.create_fps_timer(fps, on_miss_callback=mock_callback)
sleep()
time.sleep(0.2)
sleep()
assert callback_called is True
def test_no_load_fps_timer():
# example preliminary test
start = time.time()
time_total = 2
fps = 10
num_iterations = time_total*fps
sleep = timing.create_fps_timer(fps)
sleep() # to initialize it
for _ in range(num_iterations-1): # -1 because of the first sleep
sleep()
end_time = time.time()-start
assert end_time == pytest.approx(time_total, 0.1)
def test_near_full_load_fps_timer():
# example preliminary test
start = time.time()
time_total = 2
fps = 10
num_iterations = time_total*fps
sleep = timing.create_fps_timer(fps)
sleep() # to initialize it
for _ in range(num_iterations-1): # -1 because of the first sleep
time.sleep(1/(fps+0.05)) # simulate load very close to full load
sleep()
end_time = time.time()-start
assert end_time == pytest.approx(time_total, 0.1)
def __init__(self, framework):
super().__init__(name=self.__class__.__name__)
self.framework = framework
self.logger = logging.getLogger(self.__class__.__name__)
# Managers for shared memory between process
manager = Manager()
self.vision_state = manager.list([manager.dict() for _ in range(config['ENGINE']['number_of_camera'])])
self.game_state = self.framework.game_state
self.field = self.framework.field
# Queues for process communication
self.ui_send_queue = self.framework.ui_send_queue
self.ui_recv_queue = self.framework.ui_recv_queue
self.ai_queue = self.framework.ai_queue
self.referee_queue = self.framework.referee_queue
# External communication
self.vision_receiver = VisionReceiver(config['COMMUNICATION']['vision_info'], self.vision_state, self.field)
self.ui_sender = UIDebugCommandSender(config['COMMUNICATION']['ui_sender_info'], self.ui_send_queue)
self.ui_recver = UIDebugCommandReceiver(config['COMMUNICATION']['ui_recver_info'], self.ui_recv_queue)
self.referee_recver = RefereeReceiver(config['COMMUNICATION']['referee_info'], self.referee_queue)
self.robot_cmd_sender = RobotCommandSender()
# main engine module
self.tracker = Tracker(self.vision_state, self.ui_send_queue)
self.controller = Controller(self.ui_send_queue)
# fps and limitation
self.fps = config['ENGINE']['fps']
self.is_fps_locked = config['ENGINE']['is_fps_locked']
self.frame_count = 0
self.last_frame_count = 0
self.dt = 0.0
self.last_time = 0.0
def callback(excess_time):
if excess_time > Engine.MAX_EXCESS_TIME:
self.logger.debug('Overloaded (%.1f ms behind schedule)', 1000*excess_time)
self.fps_sleep = create_fps_timer(self.fps, on_miss_callback=callback)
# profiling
self.profiler = None
def __init__(self, framework):
super().__init__(name=__name__)
self.framework = framework
self.logger = logging.getLogger(self.__class__.__name__)
# Managers for shared memory between process
self.engine_game_state = self.framework.game_state
self.field = self.framework.field
# Queues for process communication
self.ai_queue = self.framework.ai_queue
self.referee_queue = self.framework.referee_queue
self.ui_send_queue = self.framework.ui_send_queue
self.ui_recv_queue = self.framework.ui_recv_queue
# States
self.game_state = GameState()
self.play_state = PlayState()
# Executors
self.play_executor = PlayExecutor(self.play_state,
self.ui_send_queue,
self.referee_queue)
self.debug_executor = DebugExecutor(self.play_state,
self.play_executor,
self.ui_send_queue,
self.ui_recv_queue)
# fps and limitation
self.fps = config['GAME']['fps']
self.frame_count = 0
self.last_frame_count = 0
self.dt = 0.0
self.last_time = 0.0
def callback(excess_time):
if excess_time > Coach.MAX_EXCESS_TIME:
self.logger.debug('Overloaded (%.1f ms behind schedule)', 1000*excess_time)
self.fps_sleep = create_fps_timer(self.fps, on_miss_callback=callback)
# profiling
self.profiler = None
def start(self):
self.engine.start()
self.coach.start()
sleep = create_fps_timer(Framework.CHECK_SUBPROCESS_STATE_IN_SECONDS)
try:
while self.coach.is_alive() and self.engine.is_alive():
sleep()
except SystemExit:
pass
except KeyboardInterrupt:
self.logger.debug('Interrupted.')
except BrokenPipeError:
self.logger.exception('A connection was broken.')
except:
self.logger.exception('An error occurred.')
finally:
self.stop_game()
def wait_for_vision(self):
self.logger.debug('Waiting for vision frame from the VisionReceiver...')
sleep_vision = create_fps_timer(1)
while not any(self.vision_state):
sleep_vision()
def wait_for_vision(self):
self.logger.debug(
'Waiting for vision frame from the VisionReceiver...')
sleep_vision = create_fps_timer(1)
while not any(self.vision_state):
sleep_vision()