def run():
"""
:return:
"""
conf = parser.parse_args()
conf.world_step_size = 0.004
fname = conf.output_directory + "/benchmark.csv"
exists = os.path.exists(fname)
if exists:
f = open(fname, 'ab', buffering=1)
else:
f = open(fname, 'wb', buffering=1)
output = csv.writer(f, delimiter=',')
if not exists:
output.writerow([
'run', 'population_size', 'step_size', 'sim_time', 'real_time',
'factor'
])
world = yield From(OnlineEvoManager.create(conf))
yield From(wait_for(world.pause(False)))
population_sizes = [5, 10, 15, 20, 25, 30, 35, 40, 45, 50]
sim_time = 5
runs = 20
for n in population_sizes:
for i in range(runs):
trees, bboxes = yield From(world.generate_population(n))
for tree, bbox in zip(trees, bboxes):
res = yield From(world.birth(tree, bbox, None))
yield From(res)
yield From(trollius.sleep(0.05))
while world.last_time is None:
yield From(trollius.sleep(0.1))
sim_before = world.last_time
before = time.time()
while float(world.last_time - sim_before) < sim_time:
yield From(trollius.sleep(0.1))
sim_diff = float(world.last_time - sim_before)
diff = time.time() - before
output.writerow(
(i, n, conf.world_step_size, sim_diff, diff, sim_diff / diff))
yield From(wait_for(world.delete_all_robots()))
yield From(trollius.sleep(0.3))
f.close()
def run():
"""
:return:
"""
conf = parser.parse_args()
conf.world_step_size = 0.004
fname = conf.output_directory+"/benchmark.csv"
exists = os.path.exists(fname)
if exists:
f = open(fname, 'ab', buffering=1)
else:
f = open(fname, 'wb', buffering=1)
output = csv.writer(f, delimiter=',')
if not exists:
output.writerow(['run', 'population_size', 'step_size',
'sim_time', 'real_time', 'factor'])
world = yield From(OnlineEvoManager.create(conf))
yield From(wait_for(world.pause(False)))
population_sizes = [5, 10, 15, 20, 25, 30, 35, 40, 45, 50]
sim_time = 5
runs = 20
for n in population_sizes:
for i in range(runs):
trees, bboxes = yield From(world.generate_population(n))
for tree, bbox in zip(trees, bboxes):
res = yield From(world.birth(tree, bbox, None))
yield From(res)
yield From(trollius.sleep(0.05))
while world.last_time is None:
yield From(trollius.sleep(0.1))
sim_before = world.last_time
before = time.time()
while float(world.last_time - sim_before) < sim_time:
yield From(trollius.sleep(0.1))
sim_diff = float(world.last_time - sim_before)
diff = time.time() - before
output.writerow((i, n, conf.world_step_size, sim_diff,
diff, sim_diff / diff))
yield From(wait_for(world.delete_all_robots()))
yield From(trollius.sleep(0.3))
f.close()
import os
import sys
from revolve.util import Supervisor
from online_evolve import parser
here = os.path.dirname(os.path.abspath(__file__))
tol_path = os.path.abspath(os.path.join(here, '..', '..'))
rv_path = os.path.abspath(os.path.join(tol_path, '..', 'revolve'))
args = parser.parse_args()
os.environ['GAZEBO_PLUGIN_PATH'] = os.path.join(tol_path, 'build')
os.environ['GAZEBO_MODEL_PATH'] = os.path.join(tol_path, 'tools', 'models')
supervisor = Supervisor(manager_cmd=[sys.executable, "online_evolve.py"],
analyzer_cmd=os.path.join(rv_path, 'tools', 'analyzer',
'run-analyzer'),
world_file=os.path.join(here, 'online-evolve.world'),
output_directory=args.output_directory,
manager_args=sys.argv[1:],
restore_directory=args.restore_directory)
supervisor.launch()
def write_stderr(self, data):
"""
:param data:
:return:
"""
if 'ODE Message 3' in data:
self.ode_errors += 1
elif data.strip():
sys.stderr.write(data)
if self.ode_errors >= 100:
self.ode_errors = 0
sys.stderr.write('ODE Message 3 (100)\n')
manager_cmd = [sys.executable, "online_evolve.py"]
analyzer_cmd = os.path.join(rv_path, 'tools', 'analyzer', 'run-analyzer')
world_file = os.path.join(here, 'online-evolve.world')
if __name__ == '__main__':
args = parser.parse_args()
supervisor = OnlineEvolutionSupervisor(
manager_cmd=manager_cmd,
analyzer_cmd=analyzer_cmd,
world_file=world_file,
output_directory=args.output_directory,
manager_args=sys.argv[1:],
restore_directory=args.restore_directory
)
supervisor.launch()