def main():
import argparse
from osgar.lib.config import load as config_load
from osgar.record import Recorder
from osgar.logger import LogWriter, LogReader
parser = argparse.ArgumentParser(description='SubT Challenge')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'], logger=log, application=SubTChallenge)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
def record(config_filename, log_prefix, duration_sec=None, application=None):
log = LogWriter(prefix=log_prefix, note=str(sys.argv))
if type(config_filename) == str:
config = load(config_filename)
else:
config = load(*config_filename)
log.write(0, bytes(str(config), 'ascii')) # write configuration
recorder = Recorder(config=config['robot'],
logger=log,
application=application)
recorder.start()
if application is not None:
game = recorder.modules['app'] # TODO nicer reference
game.join() # wait for application termination
else:
if duration_sec is None:
while True:
time.sleep(1.0)
else:
time.sleep(duration_sec)
recorder.finish()
nargs='+',
help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'],
logger=log,
application=SubTChallenge)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
# vim: expandtab sw=4 ts=4
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
parser_replay.add_argument('--verbose', '-v', help="verbose mode", action='store_true')
args = parser.parse_args()
if args.command == 'replay':
from replay import replay
args.module = 'app'
game = replay(args, application=SICKRobot2018)
game.verbose = args.verbose
game.play()
elif args.command == 'run':
log = LogWriter(prefix='eduro-', note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'], logger=log, application=SICKRobot2018)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
# vim: expandtab sw=4 ts=4