def check_simulation_one_step_conf(id_world, world, id_vehicle, vehicle):
sim = VehicleSimulation(vehicle, world)
dt = 1
try:
sim.new_episode()
cmds = random_commands(sim.vehicle.dynamics.get_commands_spec())
sim.simulate(cmds, dt)
sim.compute_observations()
except:
logger.error('Error for vehicle=%s world=%s' % (id_vehicle, id_world))
raise
def set_commands(self, commands, commands_source):
if not self.boot_episode_started:
raise Exception('set_commands() called before new_episode().')
self.commands_source = commands_source
VehicleSimulation.simulate(self, commands, self.dt)
def set_commands(self, commands, commands_source):
if not self.boot_episode_started:
raise Exception('set_commands() called before new_episode().')
self.commands_source = commands_source
VehicleSimulation.simulate(self, commands, self.dt)
def run_simulation(task, vehicle, agent, log, dt, maxT):
world = task.get_world()
simulation = VehicleSimulation(world=world, vehicle=vehicle)
directions = simulation.vehicle.sensors[0].sensor.directions
vehicle_spec = VehicleSpec(directions=directions)
agent.init(vehicle_spec)
simulation.new_episode()
tmp_log = log + '.active'
ldir = os.path.dirname(log)
#last = os.path.join(ldir, 'last.yaml')
logger.info('Writing on log %r.' % log)
#logger.info(' (also accessible as %r)' % last)
if not os.path.exists(ldir):
os.makedirs(ldir)
#if os.path.exists(last):
# os.unlink(last)
logfile = open(tmp_log, 'w')
#assert not os.path.exists(last)
assert os.path.exists(tmp_log)
#logger.info('Link %s, %s' % (tmp_log, last))
#os.symlink(tmp_log, last)
logger.info('Simulation dt=%.3f max T: %.3f' % (dt, maxT))
while True:
simulation.compute_observations()
# TODO: perhaps this needs to be gerealized
luminance = simulation.vehicle.sensors[0].current_observations['luminance']
observations = VehicleObservations(time=simulation.timestamp,
dt=dt,
luminance=luminance)
agent.process_observations(observations)
commands = agent.choose_commands()
# TODO: check format
if logfile is not None:
y = simulation.to_yaml()
y['commands'] = commands.tolist()
logfile.write('---\n')
yaml.dump(y, logfile, Dumper=Dumper)
logger.info('t=%.3f pose: %s' %
(simulation.timestamp,
SE2.friendly(SE2_from_SE3(simulation.vehicle.get_pose()))))
if task.end_condition(simulation):
break
if simulation.timestamp > maxT:
# TODO: add why we finished
break
simulation.simulate(commands, dt)
logfile.close()
if os.path.exists(log):
os.unlink(log)
assert not os.path.exists(log)
os.rename(tmp_log, log)
assert not os.path.exists(tmp_log)
assert os.path.exists(log)
