def runFromConfig(config, shared):
from ev3sim.robot import initialise_bot, RobotInteractor
from ev3sim.file_helper import find_abs
sl = ScriptLoader(**config.get("loader", {}))
sl.setSharedData(shared)
sl.active_scripts = []
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot,
allowed_areas=[
"local", "local/robots/", "package",
"package/robots/"
])
initialise_bot(config, robot_path, f"Robot-{index}")
for opt in config.get("interactors", []):
try:
sl.active_scripts.append(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
if sl.active_scripts:
sl.startUp(**config.get("screen", {}))
sl.loadElements(config.get("elements", []))
for interactor in sl.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
sl.simulate()
else:
print("No interactors successfully loaded. Quitting...")
def initialiseFromConfig(config, send_queues, recv_queues):
from collections import defaultdict
from ev3sim.robot import initialise_bot, RobotInteractor
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
# Keep track of index w.r.t. filename.
robot_paths = defaultdict(lambda: 0)
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot, allowed_areas=bot_locations())
initialise_bot(config, robot_path, f"Robot-{index}",
robot_paths[robot_path])
robot_paths[robot_path] += 1
ScriptLoader.instance.setRobotQueues(f"Robot-{index}",
send_queues[index],
recv_queues[index])
for opt in config.get("interactors", []):
try:
ScriptLoader.instance.addActiveScript(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
SettingsManager.instance.setMany(config["settings"])
if ScriptLoader.instance.active_scripts:
ScriptLoader.instance.startUp()
ScriptLoader.instance.loadElements(config.get("elements", []))
for interactor in ScriptLoader.instance.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
for interactor in ScriptLoader.instance.active_scripts:
interactor.startUp()
else:
print("No interactors successfully loaded. Quitting...")
def captureBotImage(self, directory, filename):
self.resetVisualElements()
from os.path import join
from ev3sim.simulation.loader import ScriptLoader
from ev3sim.robot import initialise_bot, RobotInteractor
from ev3sim.simulation.randomisation import Randomiser
Randomiser.createGlobalRandomiserWithSeed(0)
ScriptLoader.instance.reset()
ScriptLoader.instance.startUp()
elems = {}
initialise_bot(elems, find_abs(filename, [directory]), "", 0)
ScriptLoader.instance.loadElements(elems.get("elements", []))
for interactor in ScriptLoader.instance.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
interactor.initialiseDevices()
for interactor in ScriptLoader.instance.active_scripts:
interactor.startUp()
interactor.tick(0)
interactor.afterPhysics()
screen = pygame.Surface((480, 480), pygame.SRCALPHA)
custom_map = {
"SCREEN_WIDTH": 480,
"SCREEN_HEIGHT": 480,
"MAP_WIDTH": 25,
"MAP_HEIGHT": 25,
}
for elem in self.objects.values():
elem.customMap = custom_map
elem.calculatePoints()
self.applyToScreen(screen, bg=pygame.Color(self.instance.background_colour))
colorkey = pygame.Color(self.instance.background_colour)
for x in range(480):
for y in range(480):
val = screen.get_at((x, y))
val.a = 0 if (val.r == colorkey.r and val.g == colorkey.g and val.b == colorkey.b) else 255
screen.set_at((x, y), val)
self.resetVisualElements()
ScriptLoader.instance.reset()
config_path = join(find_abs(filename, [directory]), "config.bot")
with open(config_path, "r") as f:
config = yaml.safe_load(f)
pygame.image.save(screen, join(find_abs(filename, [directory]), config.get("preview_path", "preview.png")))