def __init__(self, boot_root=None):
boot_root = expand_environment(boot_root)
# Important, it can be deserialized from somewhere else
self.boot_root = boot_root
self.root = os.path.realpath(boot_root)
self.dir_structure = DirectoryStructure(self.root)
self.states_db = None
self.log_index = None
self.bo_config = None
def __init__(self, datadir):
datadir = expand_environment(datadir)
try: # concurrent
if not os.path.exists(datadir):
os.makedirs(datadir)
except:
pass
self.storage = StorageFilesystem(datadir)
def __init__(self, root=None):
if root is None:
root = DirectoryStructure.DEFAULT_ROOT
self.root = expand_environment(root)
if not os.path.exists(self.root):
msg = 'The root directory %r does not exist.' % self.root
raise Exception(msg)
self.log_format = BootOlympicsConstants.DEFAULT_LOG_FORMAT
self.extra_log_dirs = []
def main(self):
rospy.init_node('servo_demo', disable_signals=True)
self.info('Started.')
contracts.disable_all()
boot_root = rospy.get_param('~boot_root')
boot_root = expand_environment(boot_root)
config_dir = rospy.get_param('~config_dir')
id_robot_learned = rospy.get_param('~id_robot_learn')
self.info('loading %r' % config_dir)
GlobalConfig.global_load_dir(config_dir)
id_agent = rospy.get_param('~id_agent')
self.id_robot = rospy.get_param('~id_robot')
self.sleep = rospy.get_param('~sleep', 0.005)
self.info('sleep: %s' % self.sleep)
# self.error_threshold = float(rospy.get_param('~error_threshold'))
self.ratio_threshold = float(rospy.get_param('~ratio_threshold')) # 0.95
self.d_next_threshold = float(rospy.get_param('~d_next_threshold')) # 0.03
self.d_next_threshold_alone = float(rospy.get_param('~d_next_threshold_alone')) # 0.04
nmap = expand_environment(rospy.get_param('~map'))
self.nmap = safe_pickle_load(nmap)
raise_if_no_state = rospy.get_param('~raise_if_no_state', True)
data_central = DataCentral(boot_root)
ag_st = load_agent_state(data_central, id_agent, id_robot_learned,
reset_state=False,
raise_if_no_state=raise_if_no_state)
self.agent, state = ag_st
self.info('Loaded state: %s' % state)
self.servo_agent = self.agent.get_servo()
bo_config = get_boot_config()
self.robot = bo_config.robots.instance(self.id_robot)
self.boot_spec = self.robot.get_spec()
self.publish_info_init()
self.y = None
self.y_goal = None
self.started_now = False
self.stopped_now = False
self.e0 = 1
self.e = 1
self.last_boot_data = None
self.state = STATE_WAIT
self.index_cur = None
self.info('Defining services')
rospy.Service('set_goal', Empty, self.srv_set_goal)
rospy.Service('start_servo', Empty, self.srv_start_servo)
rospy.Service('stop_servo', Empty, self.srv_stop_servo)
self.info('Finished initialization')
self.count = 0
self.go()
def main(self):
rospy.init_node('servo_demo', disable_signals=True)
self.info('Started.')
contracts.disable_all()
boot_root = rospy.get_param('~boot_root')
boot_root = expand_environment(boot_root)
config_dir = rospy.get_param('~config_dir')
id_robot_learned = rospy.get_param('~id_robot_learn')
self.info('loading %r' % config_dir)
GlobalConfig.global_load_dir(config_dir)
id_agent = rospy.get_param('~id_agent')
self.id_robot = rospy.get_param('~id_robot')
self.sleep = rospy.get_param('~sleep', 0.005)
self.info('sleep: %s' % self.sleep)
# self.error_threshold = float(rospy.get_param('~error_threshold'))
self.ratio_threshold = float(
rospy.get_param('~ratio_threshold')) # 0.95
self.d_next_threshold = float(
rospy.get_param('~d_next_threshold')) # 0.03
self.d_next_threshold_alone = float(
rospy.get_param('~d_next_threshold_alone')) # 0.04
nmap = expand_environment(rospy.get_param('~map'))
self.nmap = safe_pickle_load(nmap)
raise_if_no_state = rospy.get_param('~raise_if_no_state', True)
data_central = DataCentral(boot_root)
ag_st = load_agent_state(data_central,
id_agent,
id_robot_learned,
reset_state=False,
raise_if_no_state=raise_if_no_state)
self.agent, state = ag_st
self.info('Loaded state: %s' % state)
self.servo_agent = self.agent.get_servo()
bo_config = get_boot_config()
self.robot = bo_config.robots.instance(self.id_robot)
self.boot_spec = self.robot.get_spec()
self.publish_info_init()
self.y = None
self.y_goal = None
self.started_now = False
self.stopped_now = False
self.e0 = 1
self.e = 1
self.last_boot_data = None
self.state = STATE_WAIT
self.index_cur = None
self.info('Defining services')
rospy.Service('set_goal', Empty, self.srv_set_goal)
rospy.Service('start_servo', Empty, self.srv_start_servo)
rospy.Service('stop_servo', Empty, self.srv_stop_servo)
self.info('Finished initialization')
self.count = 0
self.go()
