def print_config(directory, outdir):
from reprep import Report
get_vehicles_config().load(directory)
def write_report(r):
out = os.path.join(outdir, '%s.html' % r.nid)
rd = os.path.join(outdir, 'images')
logger.info('Writing to %r' % out)
r.to_html(out, resources_dir=rd)
worlds = get_conftools_worlds()
r = Report('worlds')
create_generic_table(r, 'VehiclesConfig', worlds, ['desc', 'code'])
write_report(r)
dynamics = get_conftools_dynamics()
r = Report('dynamics')
create_generic_table(r, 'VehiclesConfig', dynamics, ['desc', 'code'])
write_report(r)
sensors = get_conftools_sensors()
r = Report('sensors')
create_generic_table(r, 'VehiclesConfig', sensors, ['desc', 'code'])
write_report(r)
vehicles = get_conftools_vehicles()
r = Report('vehicles')
create_generic_table(r, 'VehiclesConfig', vehicles,
['desc', 'dynamics', 'id_dynamics', 'sensors'])
write_report(r)
def print_config(directory, outdir):
from reprep import Report
get_vehicles_config().load(directory)
def write_report(r):
out = os.path.join(outdir, '%s.html' % r.nid)
rd = os.path.join(outdir, 'images')
logger.info('Writing to %r' % out)
r.to_html(out, resources_dir=rd)
worlds = get_conftools_worlds()
r = Report('worlds')
create_generic_table(r, 'VehiclesConfig', worlds, ['desc', 'code'])
write_report(r)
dynamics = get_conftools_dynamics()
r = Report('dynamics')
create_generic_table(r, 'VehiclesConfig', dynamics, ['desc', 'code'])
write_report(r)
sensors = get_conftools_sensors()
r = Report('sensors')
create_generic_table(r, 'VehiclesConfig', sensors, ['desc', 'code'])
write_report(r)
vehicles = get_conftools_vehicles()
r = Report('vehicles')
create_generic_table(r, 'VehiclesConfig', vehicles,
['desc', 'dynamics', 'id_dynamics', 'sensors'])
write_report(r)
def fps_main():
if True:
import contracts
contracts.disable_all()
# import contracts
# contracts.disable_all()
usage = """
# vehicles = ['d_SE2_rb_v-rf180', 'd_SE2_rb_v-cam180']
# vehicles = ['d_SE2_rb_v-rf180']
# vehicles += ['d_SE2_rb_v-cam180']
# vehicles += ['d_SE2_rb_v-fs_05_12x12']
id_world = 'box10'
id_world = 'StocSources_w10_n20_s1'
d_SE2_rb_v-cam_f360_n180_s
"""
parser = OptionParser(usage=usage)
parser.add_option("-w", "--world",
default='StocSources_w10_n20_s1',
help="World")
parser.add_option("-v", "--vehicle",
default=['d_SE2_rb_v-fs_05_12x12'],
action='append',
help="Vehicles to simulate")
(options, _) = parser.parse_args()
get_vehicles_config().load()
id_world = options.world
world = VehiclesConfig.worlds.instance(id_world) # @UndefinedVariable
stats = []
Stat = namedtuple('Stat', 'id_vehicle id_world fps')
def stat2str(s):
return "v: %-25s w: %-25s %5dfps" % (s.id_vehicle, s.id_world, s.fps)
# vehicles = list(VehiclesConfig.vehicles.keys())
# print vehicles
vehicles = options.vehicle
T = 200
# T = 100000
dt = 0.05
for id_vehicle in vehicles:
instance = VehiclesConfig.vehicles.instance # @UndefinedVariable
vehicle = instance(id_vehicle)
print('vehicle: %s' % id_vehicle)
sim = VehicleSimulation(vehicle, world)
fps = check_simulation(sim, num_instants=T, dt=dt)
stats.append(Stat(id_vehicle=id_vehicle, id_world=id_world, fps=fps))
print(stat2str(stats[-1]))
print('---- Sorted:')
stats.sort(key=lambda x: (-x.fps))
for s in stats:
print(stat2str(s))
