def check_small_simulation(id_agent, agent, id_robot, robot):
try:
agent.init(robot.get_spec())
except UnsupportedSpec:
return
for _ in run_simulation(id_robot=id_robot,
robot=robot,
id_agent=id_agent,
agent=agent,
max_observations=3, max_time=100):
pass
state = agent.get_state()
check_pickable(state, 'State for agent %s (%s).' % (id_agent, agent))
def check_publish(id_agent, agent, id_robot, robot):
try:
agent.init(robot.get_spec())
except UnsupportedSpec:
return
# Check first without observations
from reprep import Report
# before
publisher = Report()
agent.publish(publisher)
for _ in run_simulation(id_robot=id_robot,
robot=robot,
id_agent=id_agent,
agent=agent,
max_observations=10, max_time=100):
pass
# and after
publisher = Report()
agent.publish(publisher)
def check_logs_writing(id_agent, agent, id_robot, robot):
try:
agent.init(robot.get_spec())
except UnsupportedSpec:
return
root = tempfile.mkdtemp()
ds = DirectoryStructure(root)
id_stream = unique_timestamp_string()
filename = ds.get_simlog_filename(id_agent, id_robot, id_stream)
written = []
written_extra = []
logs_format = LogsFormat.get_reader_for(filename)
with logs_format.write_stream(filename=filename,
id_stream=id_stream,
boot_spec=robot.get_spec()) as writer:
print run_simulation
for observations in run_simulation(id_robot=id_robot,
robot=robot,
id_agent=id_agent,
agent=agent,
max_observations=3, max_time=1000,
check_valid_values=True):
extra = {'random_number': np.random.randint(1)}
writer.push_observations(observations, extra)
written_extra.append(extra)
written.append(observations)
logdirs = ds.get_log_directories()
index = LogIndex()
for logdir in logdirs:
index.index(logdir)
# now use the cached version
index = LogIndex()
for logdir in logdirs:
index.index(logdir)
assert index.has_streams_for_robot(id_robot)
streams = index.get_streams_for_robot(id_robot)
assert len(streams) == 1
stream = streams[0]
assert isinstance(stream, BootStream)
assert stream.get_spec() == robot.get_spec()
read_back = []
read_back_extra = []
for observations2 in stream.read(read_extra=True):
read_back_extra.append(observations2['extra'])
read_back.append(observations2)
if len(read_back) != len(written):
raise Exception('Written %d, read back %d.' %
(len(written), len(read_back)))
for i in range(len(read_back)):
a = written[i]
b = read_back[i]
fields = set(a.dtype.names) or set(b.dtype.names)
fields.remove('extra')
for field in fields:
assert_equal(a[field], b[field])
for i in range(len(read_back)):
a = written_extra[i]
b = read_back_extra[i]
assert_equal(a, b)
shutil.rmtree(root)
