def get_unique_filename(rt_name: str, rdbe: ResultDBEntry) -> str:
commit = rdbe.commit[-8:]
d = rdbe.date.replace("-", "")
basename = rt_name + f"_{d}_{rdbe.branch}_{commit}.rdbe.yaml"
dr = dru.get_ros_package_path("easy_regression")
filename = os.path.join(dr, "db", rt_name, basename)
return filename
def get_roots_for_calibrations() -> List[str]:
roots: List[str] = []
try:
d = dtu.get_duckiefleet_root()
except dtu.DTConfigException:
dtu.logger.warn('Skipping duckiefleet root.')
pass
else:
roots.append(os.path.join(d, "calibrations"))
try:
d = dru.get_ros_package_path("duckietown")
except ResourceNotFound:
dtu.logger.warn('Skipping duckietown root.')
else:
roots.append(os.path.join(d, "config", "baseline", "calibration"))
d0 = dru.get_ros_package_path("complete_image_pipeline")
dd = os.path.join(d0, "log-calib-config", "baseline", "calibration")
roots.append(dd)
return roots
def load_configuration_for_nodes_in_package(package_name: str):
"""
returns dict node_name -> config
"""
suffix = ".easy_node.yaml"
package_dir = dru.get_ros_package_path(package_name)
configs = dtu.locate_files(package_dir, "*" + suffix)
res = {}
for c in configs:
node_name = os.path.basename(c).replace(suffix, "")
res[node_name] = load_configuration_package_node(
package_name, node_name)
return res
def load_configuration_package_node(package_name: str,
node_type_name: str) -> EasyNodeConfig:
path = dru.get_ros_package_path(package_name)
look_for = f"{node_type_name}.easy_node.yaml"
found = dtu.locate_files(path, look_for)
if not found:
msg = f"Could not find EasyNode configuration {look_for!r}."
raise dtu.DTConfigException(msg) # XXX
fn = found[0]
contents = open(fn).read()
c = load_configuration(fn, contents)
c = c._replace(package_name=package_name)
c = c._replace(node_type_name=node_type_name)
# Add the common parameters
if node_type_name != "easy_node":
c0 = load_configuration_baseline()
c = merge_configuration(c0, c)
return c
def load_board_info(filename: str = None) -> dict:
"""Load calibration checkerboard info"""
if filename is None:
root = dru.get_ros_package_path("duckietown")
filename = root + "/config/baseline/ground_projection/ground_projection/default.yaml"
if not os.path.isfile(filename):
msg = f"No such file: {filename}"
raise dtu.DTException(msg)
target_data = dtu.yaml_load_file(filename)
target_info = {
"width": target_data["board_w"],
"height": target_data["board_h"],
"square_size": target_data["square_size"],
"x_offset": target_data["x_offset"],
"y_offset": target_data["y_offset"],
"offset": np.array([target_data["x_offset"], -target_data["y_offset"]]),
"size": (target_data["board_w"], target_data["board_h"]),
}
dtu.logger.info("Loaded checkerboard parameters")
return target_info