def print_config(directory, outdir):
from reprep import Report
get_vehicles_config().load(directory)
def write_report(r):
out = os.path.join(outdir, '%s.html' % r.nid)
rd = os.path.join(outdir, 'images')
logger.info('Writing to %r' % out)
r.to_html(out, resources_dir=rd)
worlds = get_conftools_worlds()
r = Report('worlds')
create_generic_table(r, 'VehiclesConfig', worlds, ['desc', 'code'])
write_report(r)
dynamics = get_conftools_dynamics()
r = Report('dynamics')
create_generic_table(r, 'VehiclesConfig', dynamics, ['desc', 'code'])
write_report(r)
sensors = get_conftools_sensors()
r = Report('sensors')
create_generic_table(r, 'VehiclesConfig', sensors, ['desc', 'code'])
write_report(r)
vehicles = get_conftools_vehicles()
r = Report('vehicles')
create_generic_table(r, 'VehiclesConfig', vehicles,
['desc', 'dynamics', 'id_dynamics', 'sensors'])
write_report(r)
def print_config(directory, outdir):
from reprep import Report
get_vehicles_config().load(directory)
def write_report(r):
out = os.path.join(outdir, '%s.html' % r.nid)
rd = os.path.join(outdir, 'images')
logger.info('Writing to %r' % out)
r.to_html(out, resources_dir=rd)
worlds = get_conftools_worlds()
r = Report('worlds')
create_generic_table(r, 'VehiclesConfig', worlds, ['desc', 'code'])
write_report(r)
dynamics = get_conftools_dynamics()
r = Report('dynamics')
create_generic_table(r, 'VehiclesConfig', dynamics, ['desc', 'code'])
write_report(r)
sensors = get_conftools_sensors()
r = Report('sensors')
create_generic_table(r, 'VehiclesConfig', sensors, ['desc', 'code'])
write_report(r)
vehicles = get_conftools_vehicles()
r = Report('vehicles')
create_generic_table(r, 'VehiclesConfig', vehicles,
['desc', 'dynamics', 'id_dynamics', 'sensors'])
write_report(r)
def instance_vehicle_spec(entry):
from ..simulation import Vehicle
from ..interfaces import VehicleSensor, Dynamics
from vehicles.configuration.master import get_conftools_dynamics, \
get_conftools_sensors
check_valid_vehicle_config(entry)
try:
master = get_conftools_dynamics()
if 'id_dynamics' in entry:
id_dynamics = entry['id_dynamics']
dynamics = master.instance(id_dynamics)
else:
id_dynamics = entry['dynamics']['id']
dynamics = master.instance_spec(entry['dynamics'])
assert isinstance(dynamics, Dynamics)
sensors = entry['sensors']
radius = entry['radius']
extra = entry.get('extra', {})
vehicle = Vehicle(radius=radius, extra=extra)
vehicle.add_dynamics(id_dynamics, dynamics)
master = get_conftools_sensors()
for sensor in sensors:
if 'id_sensor' in sensor:
id_sensor = sensor['id_sensor']
sensor_instance = master.instance(id_sensor)
else:
id_sensor = sensor['sensor']['id']
sensor_instance = master.instance_spec(sensor['sensor'])
assert isinstance(sensor_instance, VehicleSensor)
# TODO: document this
x, y, theta_deg = sensor.get('pose', [0, 0, 0])
theta = np.radians(theta_deg)
pose = SE2_from_translation_angle([x, y], theta)
pose = SE3_from_SE2(pose)
joint = sensor.get('joint', 0)
extra = sensor.get('extra', {})
vehicle.add_sensor(id_sensor=id_sensor,
sensor=sensor_instance,
pose=pose, joint=joint,
extra=extra)
return vehicle
except:
logger.error('Error while trying to instantiate vehicle. Entry:\n%s'
% (pformat(entry)))
raise
def dereference_vehicle_spec(x):
''' substitutes all references; modifies x. '''
from vehicles.configuration.master import get_conftools_dynamics, \
get_conftools_sensors
check_valid_vehicle_config(x)
if 'id_dynamics' in x:
id_dynamics = x.pop('id_dynamics')
x['dynamics'] = deepcopy(get_conftools_dynamics()[id_dynamics])
for s in x['sensors']:
if 'id_sensor' in s:
id_sensor = s.pop('id_sensor')
s['sensor'] = deepcopy(get_conftools_sensors()[id_sensor])
check_valid_vehicle_config(x)