def define_jobs_context(self, context):
from pkg_resources import resource_filename # @UnresolvedImport
config_dir = resource_filename("yc1304.uzhturtle", "config")
GlobalConfig.global_load_dir(config_dir)
GlobalConfig.global_load_dir('${DATASET_UZHTURTLE}')
rm = context.get_report_manager()
rm.set_html_resources_prefix('uzh-turtle-stats')
data_central = self.get_data_central()
logs = list(self.get_explogs_by_tag('uzhturtle'))
agents = ['stats2', 'bdse_e1_ss']
robots = ['uzhturtle_un1_cf1', 'uzhturtle_un1_cf1_third']
for c, id_explog in iterate_context_explogs(context, logs):
explog = get_conftools_explogs().instance(id_explog)
print id_explog, explog
jobs_learn_parallel(context,
data_central=data_central,
explogs_learn=logs,
agents=agents, robots=robots,
episodes_per_tranche=2)
def instance_explog(self, id_explog):
""" Instances the given explog and checks it is a ExpLogFromYaml """
log = get_conftools_explogs().instance(id_explog)
if not isinstance(log, ExpLogFromYaml):
self.info('Skipping log %r because not raw log.' % id_explog)
return
return log
def reconstruct_servo_state_nomap(id_explog, id_robot, out_base, goal_at):
""" reconstruct the servo state for navigation logs """
explog = get_conftools_explogs().instance(id_explog)
bag = explog.get_bagfile()
# get a list of state transitions
transitions = reconstruct(bag, topic='/youbot_safety/in_cmd_vel')
print(transitions)
robot = get_conftools_robots().instance(id_robot)
orig_robot = robot.get_inner_components()[-1]
if not isinstance(orig_robot, ROSRobot):
msg = 'Expected ROSRobot, got %s' % describe_type(robot)
raise ValueError(msg)
orig_robot.read_from_log(explog)
def read_data():
goal = None
t0 = None
servo_state = STATE_WAIT
for obs in iterate_robot_observations(robot, sleep=0):
timestamp = obs.timestamp
if t0 is None:
t0 = timestamp
observations = obs.observations
if goal is None and timestamp - t0 > goal_at:
goal = observations
commands = obs.commands
# if still have transitions
if transitions:
next_transition = transitions[0][0]
if timestamp > next_transition:
servo_state = transitions[0][1]
transitions.pop(0)
# if np.linalg.norm(commands) == 0:
# servo_state = STATE_WAIT
# else:
# servo_state = STATE_SERVOING
#
# n = np.sum(commands != 0)
# print "%20s" % servo_state + "n: %5s " % n + ",".join('%+10.6f' % s for s in commands)
# goal = controller.get_current_goal()
yield 'y', timestamp, observations
yield 'servo_state', timestamp, servo_state
yield 'commands', timestamp, commands
if goal is None:
yield 'y_goal', timestamp, observations
else:
yield 'y_goal', timestamp, goal
iterator = read_data()
pg('read_reconstructed_data',
config=dict(iterator=iterator, out_base=out_base))
def create_video_servo_multi(id_explog, out_base):
explog = get_conftools_explogs().instance(id_explog)
bag = explog.get_bagfile()
if os.path.exists(out_base + '.fcpxml'):
print('Already exists: %s' % out_base)
return
pg('video_servo_multi', config=dict(bag=bag, out_base=out_base))
def read_all_events(id_explog):
explog = get_conftools_explogs().instance(id_explog)
files = explog.get_files()
if not "aer" in files:
msg = "Could not find aer log (%s)" % files
raise ValueError(msg)
filename = files["aer"]
events = aer_raw_events_from_file_all(filename, limit=None)
return events
def define_jobs_context(self, context):
data_central = self.get_data_central()
all_logs = get_conftools_explogs().keys()
explogs_landroid = [x for x in all_logs if 'logger' in x]
robots = Exp18.robots
agents = Exp18.agents
explogs_learn = explogs_landroid
explogs_test = Exp18.explogs_test
jobs_learnp_and_servo(context, data_central, explogs_learn,
explogs_test, agents, robots)
def rp_convert(c, id_robot, id_episode):
if my_id_robot is not None and my_id_robot != id_robot:
msg = ('I only know how to create %r, not %r.' %
(my_id_robot, id_robot))
raise ResourceManager.CannotProvide(msg)
id_explog = id_episode
library = get_conftools_explogs()
if not id_explog in library:
msg = 'Log %r not found.' % id_explog
raise ResourceManager.CannotProvide(msg)
return c.subtask(RS2BConvert2,
boot_root=boot_root,
id_explog=id_explog,
id_robot=id_robot,
id_robot_res=id_robot,
add_job_prefix='')
def reconstruct_servo_state(id_explog, id_robot, nmap, out_base,
navigation_params):
""" reconstruct the servo state for navigation logs """
explog = get_conftools_explogs().instance(id_explog)
robot = get_conftools_robots().instance(id_robot)
orig_robot = robot.get_inner_components()[-1]
if not isinstance(orig_robot, ROSRobot):
msg = 'Expected ROSRobot, got %s' % describe_type(robot)
raise ValueError(msg)
orig_robot.read_from_log(explog)
controller = NavigationController(nmap, **navigation_params)
def read_data():
servo_state = None
for obs in iterate_robot_observations(robot, sleep=0):
timestamp = obs.timestamp
observations = obs.observations
commands = obs.commands
if servo_state != STATE_SERVOING and np.linalg.norm(commands) == 0:
servo_state = STATE_WAIT
else:
servo_state = STATE_SERVOING
controller.process_observations(observations)
goal = controller.get_current_goal()
yield 'y', timestamp, observations
yield 'servo_state', timestamp, servo_state
yield 'commands', timestamp, commands
yield 'y_goal', timestamp, goal
iterator = read_data()
pg('read_reconstructed_data',
config=dict(iterator=iterator, out_base=out_base))
def get_explogs_by_tag(self, tag):
explogs_library = get_conftools_explogs()
for id_explog in explogs_library:
explog = explogs_library.instance(id_explog)
if tag in explog.get_tags():
yield id_explog