def __init__(self):
self.videos_folder = "videos"
self.current_experiment_video_folder = ""
self.tracking_path = "/maze/agent_tracking/cmake-build-release/agent_tracker"
self.robot_controller_path = "/maze/agent_tracking/cmake-build-release/robot_controller"
self.experiment = Experiment()
self.doors = Doors()
self.feeders = Feeders()
self.door_2_open = False
self.tracker = App_comm([self.tracking_path, "experiment", "view"],
self.process_tracking)
self.robot = App_comm([self.robot_controller_path],
self.process_robot_controller)
def main():
parser = argparse.ArgumentParser(description='SM Room Timer')
parser.add_argument('-f', '--file', dest='filename', default=None)
parser.add_argument('--rooms', dest='rooms_filename', default='rooms.json')
parser.add_argument('--doors', dest='doors_filename', default='doors.json')
parser.add_argument('--segment', dest='segments', action='append', default=[])
parser.add_argument('--split', dest='splits', action='append', default=[])
parser.add_argument('--splits', dest='splits_filename')
parser.add_argument('--brief', action='store_true')
args = parser.parse_args()
rooms = Rooms.read(args.rooms_filename)
doors = Doors.read(args.doors_filename, rooms)
history = read_transition_log(args.filename, rooms, doors)
# ids = build_route(history) if args.build_route else history.keys()
route = build_route(history) # TODO: Needed?
split_names = args.splits
if args.splits_filename is not None:
with open(args.splits_filename) as f:
lines = [ line for line in f.readlines()
if not line.startswith('#') and not line.isspace() ]
split_names.extend([ line.strip() for line in lines ])
segments = [ segment_from_name(name, rooms, route) for name in args.segments ]
splits = [ transition_from_name(name, rooms, route) for name in split_names ]
segments.extend(segments_from_splits(route, splits))
if not args.brief:
segment_history = build_segment_history(segments, history)
print_room_stats(history, segment_history, segments)
print_segment_stats(history, segments)
def main():
parser = argparse.ArgumentParser(description='SM Room Timer')
parser.add_argument('-f', '--file', dest='filename', default=None)
parser.add_argument('--rooms', dest='rooms_filename', default='rooms.json')
parser.add_argument('--doors', dest='doors_filename', default='doors.json')
parser.add_argument('--segment',
dest='segments',
action='append',
default=[])
parser.add_argument('--split', dest='splits', action='append', default=[])
parser.add_argument('--splits', dest='splits_filename')
args = parser.parse_args()
rooms = Rooms.read(args.rooms_filename)
doors = Doors.read(args.doors_filename, rooms)
with open(args.filename) as csvfile:
tailer = Tailer(csvfile)
history_reader = read_transition_log_csv_incrementally(
tailer, rooms, doors)
while not tailer.at_eof():
history, transition = next(history_reader)
# ids = build_route(history) if args.build_route else history.keys()
route = build_route(history) # TODO: Needed?
split_names = args.splits
if args.splits_filename is not None:
with open(args.splits_filename) as f:
lines = [
line for line in f.readlines()
if not line.startswith('#') and not line.isspace()
]
split_names.extend([line.strip() for line in lines])
segments = [
segment_from_name(name, rooms, route) for name in args.segments
]
splits = [
transition_from_name(name, rooms, route) for name in split_names
]
segments.extend(segments_from_splits(route, splits))
old_stats = SegmentStats(history, segments)
old_rendered_stats = None
while True:
stats = SegmentStats(history, segments)
rendered_stats = render_segment_stats(old_stats, stats)
if rendered_stats != old_rendered_stats:
print()
print(rendered_stats)
old_rendered_stats = rendered_stats
old_stats = stats
history, transition = next(history_reader)
def main():
parser = argparse.ArgumentParser(description='SM Room Timer')
parser.add_argument('-f', '--file', dest='filename', default=None)
parser.add_argument('--rooms', dest='rooms_filename', default='rooms.json')
parser.add_argument('--doors', dest='doors_filename', default='doors.json')
parser.add_argument('--debug', dest='debug', action='store_true')
parser.add_argument('--debug-log', dest='debug_log_filename')
parser.add_argument('--verbose', dest='verbose', action='store_true')
parser.add_argument('--usb2snes', action='store_true')
parser.add_argument('--route', action='store_true')
parser.add_argument('--rebuild', action='store_true')
# parser.add_argument('--segment', action='append', required=True)
args = parser.parse_args()
rooms = Rooms.read(args.rooms_filename)
doors = Doors.read(args.doors_filename, rooms)
route = Route() if args.route else DummyRoute()
if args.filename and need_rebuild(args.filename):
if not args.rebuild:
print(
"File needs to be rebuilt before it can be used; run rebuild_history.py or pass --rebuild to this script."
)
sys.exit(1)
backup_and_rebuild(rooms, doors, args.filename)
if args.debug_log_filename:
debug_log = open(args.debug_log_filename, 'a')
verbose = True
elif args.debug:
debug_log = sys.stdout
verbose = True
else:
debug_log = None
verbose = args.verbose
frontend = SegmentTimerTerminalFrontend(verbose=verbose,
debug_log=debug_log)
if args.filename is not None and os.path.exists(args.filename):
history = read_transition_log(args.filename, rooms, doors)
else:
history = History()
for tid in history:
route.record(tid)
if route.complete: break
print('Route is %s' % ('complete' if route.complete else 'incomplete'))
transition_log = FileTransitionLog(
args.filename) if args.filename is not None else NullTransitionLog()
tracker = SegmentTimeTracker(history,
transition_log,
route,
on_new_room_time=frontend.new_room_time)
state_reader = ThreadedStateReader(rooms,
doors,
usb2snes=args.usb2snes,
logger=frontend)
state_reader.start()
try:
timer = SegmentTimer(frontend,
state_reader,
on_transitioned=tracker.transitioned,
on_state_change=frontend.state_changed,
on_reset=tracker.room_reset)
while state_reader.is_alive():
timer.poll()
finally:
state_reader.stop()
class Habitat:
def __init__(self):
self.videos_folder = "videos"
self.current_experiment_video_folder = ""
self.tracking_path = "/maze/agent_tracking/cmake-build-release/agent_tracker"
self.robot_controller_path = "/maze/agent_tracking/cmake-build-release/robot_controller"
self.experiment = Experiment()
self.doors = Doors()
self.feeders = Feeders()
self.door_2_open = False
self.tracker = App_comm([self.tracking_path, "experiment", "view"],
self.process_tracking)
self.robot = App_comm([self.robot_controller_path],
self.process_robot_controller)
def process_robot_controller(self, content):
pass
def process_tracking(self, content):
try:
tracking = json.loads(content)
frame = tracking["frame"]
time_stamp = tracking["time_stamp"]
coordinates = tracking["detection_coordinates"]["coordinates"]
agent = tracking["detection_coordinates"]["detection_location"][
"profile"]["agent_name"]
location = tracking["detection_coordinates"]["detection_location"][
"location"]
msg = "%s,%f,%f,%f" % (agent, location["x"], location["y"],
tracking["theta"])
self.robot.write(msg)
self.experiment.track_agent(agent, coordinates, location, frame,
time_stamp)
except:
pass
def enable_feeder(self, n):
return self.feeders.enable(n)
def disable_feeder(self, n):
return self.feeders.disable(n)
def open_door(self, n):
return self.doors.open(n)
def close_door(self, n):
return self.doors.close(n)
def quit(self):
global app
app.stop()
return Result(0, "good bye!")
def status(self):
s = self.experiment.status()
if s.code == 0:
message = s.message
for pi in Pi.get_pis():
message += "\nPi at %s: " % pi.address
ps = pi.get("status")
if ps.code:
message += "error\n"
else:
message += "ok\n"
for door_status in ps.content["door_status"]:
message += ("door %d: " % door_status["door_number"]
) + door_status["state"] + "\n"
message += ("feeder %d: " %
ps.content["feeder_status"]["feeder_number"]
) + ps.content["feeder_status"]["state"]
return Result(0, message)
else:
return s
def feeder_reached(self, feeder_number):
if feeder_number not in [1, 2]:
return Result(1, "wrong feeder number (%d)" % feeder_number)
if feeder_number == 1:
if not self.experiment.is_active():
self.doors.close(1)
self.doors.close(2)
self.doors.close(0)
self.doors.close(3)
return self.experiment.experiment_ended()
else:
self.tracker.write(self.current_experiment_video_folder + "/" +
self.experiment.name + "_ep" +
('%02d' % len(self.experiment.episodes)))
r = self.experiment.start_episode()
self.experiment.check = self.doors.close
self.doors.close(1)
self.doors.open(2)
self.doors.close(0)
self.doors.open(3)
self.feeders.enable(2)
return r
else:
self.tracker.write("end")
r = self.experiment.finish_episode()
self.doors.close(3)
self.doors.open(0)
self.doors.close(2)
self.doors.open(1)
self.feeders.enable(1)
return r
def start_experiment(self, experiment_name, world_name, duration=0):
self.experiment = Experiment(experiment_name, world_name, duration)
self.experiment.start()
if experiment_name != "":
self.current_experiment_video_folder = self.videos_folder + "/" + experiment_name
if not os.path.exists(self.current_experiment_video_folder):
os.makedirs(self.current_experiment_video_folder)
message = "experiment '%s'" % experiment_name
if duration > -1:
message += " for %d minutes" % duration
self.doors.close(0)
self.doors.close(1)
self.doors.close(2)
self.doors.close(3)
self.feeders.enable(1)
return Result(0, message)
def test_feeder(self, feeder_number, duration, repetitions, wait_time):
return self.feeders.test(feeder_number, duration, repetitions,
wait_time)
def calibrate_door(self, door_number, direction, opening_time,
closing_time):
return self.doors.calibrate(door_number, direction, opening_time,
closing_time)
def save_doors_calibration(self):
return self.doors.save_calibration()
def load_doors_calibration(self):
return self.doors.load_calibration()
def update_background(self):
self.tracker.write("update_background")
return Result(0, "Background updated")
def finish_experiment(self):
return self.experiment.finish()
def track(self, agent, x, y): # do better
return self.experiment.track_agent(agent, {
"x": x,
"y": y
}, {
"x": 0,
"y": 0
})
def test_door(self, door_number, repetitions):
return self.doors.test_door(door_number, repetitions)
def end(self):
self.tracker.write("exit")
self.tracker.stop()
self.robot.write("exit")
self.robot.stop()
l = by_room_and_exit.get(key)
if l:
if len(l) == 1:
print("Fixing entry door on line %d" % n)
transition.id.entry_door = list(
l.keys())[0].entry_door
else:
print(
"More than one entry door found for %s to $s (line %d): %s"
% (transition.id.room,
transition.id.exit_room, n, repr(l)))
else:
# print("No entry door found for %s to %s (line %d)" %
# (transition.id.room, transition.id.exit_room, n))
pass
writer.writerow(transition.as_csv_row())
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='SM Room Timer')
parser.add_argument('-i', '--input', dest='inputs', action='append')
parser.add_argument('-o', '--output', dest='output', default=None)
parser.add_argument('--rooms', dest='rooms_filename', default='rooms.json')
parser.add_argument('--doors', dest='doors_filename', default='doors.json')
args = parser.parse_args()
rooms = Rooms.read(args.rooms_filename)
doors = Doors.read(args.doors_filename, rooms)
rebuild_history(rooms, doors, args.inputs, args.output)
def main():
parser = argparse.ArgumentParser(description='SM Room Timer')
parser.add_argument('-f', '--file', dest='filename', default=None)
parser.add_argument('--rooms', dest='rooms_filename', default='rooms.json')
parser.add_argument('--doors', dest='doors_filename', default='doors.json')
parser.add_argument('--debug', dest='debug', action='store_true')
parser.add_argument('--debug-log', dest='debug_log_filename')
parser.add_argument('--verbose', dest='verbose', action='store_true')
parser.add_argument('--usb2snes', action='store_true')
parser.add_argument('--route', action='store_true')
parser.add_argument('--rebuild', action='store_true')
parser.add_argument('--port', type=int, default=15000)
parser.add_argument('--headless', action='store_true')
# parser.add_argument('--segment', action='append', required=True)
args = parser.parse_args()
rooms = Rooms.read(args.rooms_filename)
doors = Doors.read(args.doors_filename, rooms)
route = Route() if args.route else DummyRoute()
if args.filename and need_rebuild(args.filename):
if not args.rebuild:
print(
"File needs to be rebuilt before it can be used; run rebuild_history.py or pass --rebuild to this script."
)
sys.exit(1)
backup_and_rebuild(rooms, doors, args.filename)
if args.debug_log_filename:
debug_log = open(args.debug_log_filename, 'a')
verbose = True
elif args.debug:
debug_log = sys.stdout
verbose = True
else:
debug_log = None
verbose = args.verbose
shutdown = []
try:
server = WebsocketServer(port=args.port)
server.start()
shutdown.append(server.stop)
json_generator = JsonEventGenerator(verbose=verbose,
debug_log=debug_log,
on_event=server.broadcast)
if args.filename is not None and os.path.exists(args.filename):
history = read_transition_log(args.filename, rooms, doors)
else:
history = History()
for tid in history:
route.record(tid)
if route.complete: break
print('Route is %s' % ('complete' if route.complete else 'incomplete'))
transition_log = FileTransitionLog(
args.filename) if args.filename is not None else NullTransitionLog(
)
tracker = SegmentTimeTracker(
history,
transition_log,
route,
on_new_room_time=json_generator.new_room_time)
timer_thread = TimerThread(history,
rooms,
doors,
transition_log,
route,
json_generator,
server,
usb2snes=args.usb2snes)
timer_thread.start()
shutdown.append(timer_thread.stop)
if args.headless:
timer_thread.join()
else:
dirname = os.path.dirname(os.path.realpath(__file__))
filename = 'sm_web_timer.html'
port = args.port
url = 'file://%s/%s?port=%s' % (dirname, filename, port)
browser = Browser(sys.argv, url)
sys.exit(browser.run())
finally:
for f in reversed(shutdown):
try:
f()
except Exception as e:
print(e)