def __init__(self, sim, cfg, debug = False, java_output = False):
self.sim = sim
self.cfg = sim.cfg
self.cfg.update(defaultcfg, overwrite = False)
self.client = Client()
port = self.find_port()
self.simproc = self.launch_sim(port)
self.connect(port)
class BoxCom(object):
"""Handle all technical aspects of simulation instanciation and communication"""
def __init__(self, sim, cfg, debug = False, java_output = False):
self.sim = sim
self.cfg = sim.cfg
self.cfg.update(defaultcfg, overwrite = False)
self.client = Client()
port = self.find_port()
self.simproc = self.launch_sim(port)
self.connect(port)
def print_debug(self, s):
if self.cfg.debug:
print("{}dbg{}: {}{}".format(gfx.red, gfx.end, s, '\033[K'))
def print_status(self, s):
if self.cfg.verbose:
print("{}sim{}: {}{}".format(prefixcolor, gfx.end, s, '\033[K'))
def find_port(self):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM, 0)
sock.bind(('', 0))
sock.listen(socket.SOMAXCONN)
ipaddr, port = sock.getsockname()
sock.close()
return port
def launch_sim(self, port):
interact_file = os.path.dirname(__file__) + '/' + 'interact.jar'
assert os.path.exists(interact_file), "The file {} does not exist. Did you build the java code ?".format(interact_file)
if self.cfg.visu:
cmd = "java -cp {} experiments.interact.ProcSketch {}".format(interact_file, port)
else:
cmd = "java -cp {} experiments.interact.StandAlone {}".format(interact_file, port)
if self.cfg.java_output:
DEVNULL = None
else:
DEVNULL = open(os.devnull, 'wb')
proc = subprocess.Popen(cmd, stdout=DEVNULL,
shell=True, preexec_fn=os.setsid)
time.sleep(5)
return proc
def receive_sensors(self):
"""Interprets and return results"""
resmsg = self.client.sendAndReceive(OutboundMessage(MSG_SENSOR, []))
assert resmsg.type == MSG_SENSOR
results = self.process_sensors(resmsg)
self.print_debug("Received results: {}".format(", ".join(["%+2.1f" % e for e in results]),))
return results
def process_sensors(self, resmsg):
n_size = resmsg.readInt()
return tuple(resmsg.readDouble() for _ in range(n_size))
def send_order(self, init_pos, order, nsteps, conf):
"""Send an order, run nsteps, and return result"""
self.print_debug("Reseting the simulation")
resetMsg = self.client.sendAndReceive(OutboundMessage(MSG_RESET, [len(init_pos)] + init_pos + conf))
assert resetMsg.type == MSG_SENSOR
self.print_debug("Sending order({})".format(", ".join(["%+2.1f" % o for o in order]), prefixcolor, gfx.end))
orderConfirm = self.client.sendAndReceive(OutboundMessage(MSG_ORDER, [len(order)]+order ))
assert orderConfirm.type == MSG_ORDER
self.print_debug("Requesting {} steps run".format(nsteps))
stepConfirm = self.client.sendAndReceive(OutboundMessage(MSG_STEP, [nsteps]), timeout = 1000)
assert stepConfirm.type == MSG_STEP
return self.process_sensors(resetMsg), self.receive_sensors()
def close(self):
os.killpg(self.simproc.pid, signal.SIGTERM)
def connect(self, port):
b = self.client.connect(IP, port)
try:
if b:
msg = self.client.sendAndReceive(OutboundMessage(type_msg=MSG_HELLO), timeout = 1.0)
self.print_status("connected on port {}".format(self.client.port))
else:
self.print_status("ERROR")
except KeyboardInterrupt:
exit(1)
except:
traceback.print_exc()
self.client.disconnect()
def send_conf(self, conf):
msg = self.client.sendAndReceive(OutboundMessage(MSG_CONF, [60.0, 3, 20, 20] + conf))
assert msg.type == MSG_CONF
reachable_space = ((msg.readDouble(), msg.readDouble()), (msg.readDouble(), msg.readDouble()))
self.print_status("sent configuration {}".format(", ".join("{:+3.1f}".format(c_i) if type(c_i) == float else "{}".format(c_i) for c_i in [60.0, 3, 20, 20] + conf)))
self.print_status("reachable space: x:({:+3.1f}, {:+3.1f}), y:({:+3.1f}, {:+3.1f})".format(
reachable_space[0][0], reachable_space[0][1], reachable_space[1][0], reachable_space[1][1]))
return reachable_space
def disconnect(self):
self.print_status("disconnecting")
msg = self.client.sendAndReceive(OutboundMessage(MSG_BYE, ["Bye Server !"]))
assert msg.type == MSG_BYE
self.client.disconnect()
self.print_status("disconnected")
self.close()