def define_jobs_context(self, context):
rm = context.get_report_manager()
rm.set_html_resources_prefix('jbds-nav')
logs = set(self.get_explogs_by_tag('navigation'))
logs = list(logs)
assert len(logs) >= 4
data_central = self.get_data_central()
recipe_episodeready_by_convert2(context, data_central.get_boot_root())
recipe_navigation_map1(context, data_central)
for c, id_explog in iterate_context_explogs(context, logs):
explog = get_conftools_explogs().instance(id_explog)
# Get the map that we need
annotation_navigation = explog.get_annotations()['navigation']
id_explog_map = annotation_navigation['map']
id_robot = annotation_navigation['robot']
# if not 'params' in annotation_navigation:
# self.error('incomplete %r' % id_explog)
# continue
navigation_params = annotation_navigation['params']
nmap = c.get_resource(RP_NAVIGATION_MAP,
id_episode=id_explog_map,
id_robot=id_robot)
out_base = os.path.join(c.get_output_dir(), '%s' % id_explog)
c.comp_config(reconstruct_servo_state, id_explog, id_robot, nmap,
out_base=out_base,
navigation_params=navigation_params,
job_id='reconstruct')
extra_dep = [c.get_resource(RM_EPISODE_READY, id_robot=id_robot,
id_episode=id_explog)]
nmap_dist = c.comp_config(nmap_distances, data_central,
id_episode=id_explog,
id_robot=id_robot, nmap=nmap,
extra_dep=extra_dep)
report_keys = dict(id_robot=id_robot, id_episode=id_explog,
id_episode_map=id_explog_map)
r = c.comp(report_nmap_distances, nmap, nmap_dist)
c.add_report(r, 'nmap_distances', **report_keys)
ep = c.get_resource(RM_EPISODE_READY,
id_episode=id_explog, id_robot=id_robot)
poses = c.comp_config(poses_from_episode, data_central=data_central,
id_robot=id_robot, id_episode=id_explog,
extra_dep=[ep])
ep0 = c.get_resource(RM_EPISODE_READY,
id_episode=id_explog_map, id_robot=id_robot)
poses0 = c.comp_config(poses_from_episode, data_central=data_central,
id_robot=id_robot, id_episode=id_explog_map,
extra_dep=[ep0])
r = c.comp(report_trajectory, poses, poses0)
c.add_report(r, 'trajectory', **report_keys)
def go(self):
files = self.options.get_extra()
from collections import defaultdict
seen = defaultdict(list)
for f in files:
seen[os.path.basename(f)].append(f)
for _, names in seen.items():
if len(names) > 1:
self.error('Same file in multiple places:\n' +
'\n'.join('- %s' % f for f in names))
def consider(f):
for ext in ['.mp4.timestamps', '.orig.bag', '.yaml',
'.index_cache']:
if ext in f:
return False
return True
files = filter(consider, files)
known_files = {}
# for all explogs that we know
explogs_library = get_conftools_explogs()
explogs_library.make_sure_everything_read()
explogs_library.print_summary(sys.stdout)
for id_explog in explogs_library:
explog = explogs_library.instance(id_explog)
for what, filename in explog.get_files().items(): # @UnusedVariable
known_files[filename] = id_explog
if not os.path.exists(filename):
self.error('%s: File not found %s: %s' %
(id_explog, what, filename))
if not id_explog in filename:
self.error('%s: strange filename %s' %
(id_explog, filename))
for f in sorted(files):
if not f in known_files:
self.error('Unclaimed file: %s' % f)
else:
# self.info('%s has %s' % (known_files[f], f))
pass
def define_jobs_context(self, context):
logs = (set(self.get_explogs_by_tag('servo')) &
set(self.get_explogs_by_tag('fieldsampler')))
assert len(logs) >= 4
for c, id_explog in iterate_context_explogs(context, logs):
explog = get_conftools_explogs().instance(id_explog)
# jobs_video_servo_multi(c, id_explog)
annotation_servo = explog.get_annotations()['servo']
id_robot = annotation_servo['robot']
goal_at = annotation_servo['goal']
out_base = os.path.join(c.get_output_dir(), '%s' % id_explog)
c.comp_config(reconstruct_servo_state_nomap,
id_explog, id_robot, out_base, goal_at=goal_at)
from comptests.registrar import comptests_for_all
from rosstream2boot import (get_conftools_robot_adapters, get_conftools_explogs,
get_conftools_cmd_adapters, get_conftools_obs_adapters)
for_all_robot_adapters = comptests_for_all(get_conftools_robot_adapters())
for_all_obs_adapters = comptests_for_all(get_conftools_obs_adapters())
for_all_cmd_adapters = comptests_for_all(get_conftools_cmd_adapters())
for_all_explogs = comptests_for_all(get_conftools_explogs())
print('loaded tests')
@for_all_robot_adapters
def check_robot_adapter(id_ob, ob):
pass
@for_all_obs_adapters
def check_obs_adapter(id_ob, ob):
pass
@for_all_cmd_adapters
def check_cmd_adapter(id_ob, ob):
pass
@for_all_explogs
def check_explog(id_ob, ob):
pass