def boot_robot_adapter_main(params):
check_parameters(params, required=['robot_spec', 'root'],
optional=['maximum_interval', 'sleep'])
data_central = DataCentral(params['root'])
bo_config = data_central.get_bo_config()
sleep = params.get('sleep', 0.0)
maximum_interval = params.get('maximum_interval', 2)
robot_spec = params['robot_spec']
# check_valid_robot_config(robot_spec)
robot = bo_config.robots.instance_spec(robot_spec) # @UndefinedVariable
adapter = BootRobotAdapter(id_robot=robot_spec['id'],
robot=robot,
maximum_interval=maximum_interval,
sleep=sleep)
adapter.loop()
def boot_agent_adapter_main(params):
Global.logger = RospyLogger("agent_adapter")
Global.logger.info("My params:\n%s" % pformat(params))
check_parameters(params, required=["agent_spec", "root"], optional=["publish_interval"])
data_central = DataCentral(params["root"])
bo_config = data_central.get_bo_config()
publish_interval = params.get("publish_interval", 0)
agent_spec = params["agent_spec"]
# check_valid_agent_config(agent_spec)
agent = bo_config.agents.instance_spec(agent_spec) # @UndefinedVariable
id_agent = agent_spec["id"]
AgentInterface.logger = RospyLogger(id_agent)
agent_adapter = BootAgentAdapter(
data_central=data_central, id_agent=id_agent, agent=agent, publish_interval=publish_interval
)
agent_adapter.go()
def check_basic_ops(id_agent, agent, id_robot, robot): # @UnusedVariable
with create_tmp_dir() as root:
os.mkdir(os.path.join(root, 'config'))
data_central = DataCentral(root)
ds = data_central.get_dir_structure()
log_index = data_central.get_log_index()
def simulate_some(n):
simulate(data_central, id_agent=id_agent, id_robot=id_robot,
max_episode_len=2,
num_episodes=n,
cumulative=False,
id_episodes=None,
stateful=False,
interval_print=None,
write_extra=True)
assert not log_index.has_streams_for_robot(id_robot)
formats = LogsFormat.formats.keys()
try:
for logs_format in formats:
ds.set_log_format(logs_format)
simulate_some(2)
simulate_some(2)
except UnsupportedSpec:
return
assert not log_index.has_streams_for_robot(id_robot)
log_index.reindex()
assert log_index.has_streams_for_robot(id_robot)
def expect_num(found, num, msg=""):
if num == found:
return
msg += '-- Expected %d logs/streams, found %d. ' % (num, found)
msg += '\n' + log_index.debug_summary(ignore_cache=False)
raise Exception(msg)
expect_num(len(log_index.get_streams_for_robot(id_robot)),
2 * len(formats))
expect_num(len(log_index.get_streams_for(id_robot, id_agent)),
2 * len(formats),
"Looking for %r/%r" % (id_robot, id_agent))
log_index.get_robot_spec(id_robot)
expect_num(len(log_index.get_episodes_for_robot(id_robot)),
4 * len(formats))
expect_num(len(log_index.get_episodes_for_robot(id_robot,
id_agent)),
4 * len(formats))
learn_log(data_central, id_robot=id_robot, id_agent=id_agent)
try:
task_servo(data_central, id_agent, id_robot,
max_episode_len=1,
num_episodes=1,
displacement=1,
id_episodes=None,
cumulative=False,
interval_print=None,
num_episodes_with_robot_state=0)
except NotImplementedError:
msg = 'Agent does not implement servo'
print(msg)
try:
task_predict(data_central,
id_agent=id_agent,
id_robot=id_robot)
except NotImplementedError:
msg = 'Agent does not implement predictor'
print(msg)
