def loadAllHandlers(self):
"""
Load all handlers in the handler folder
"""
# get a list of folders in lib/handlers/ directory
handler_folders = self._getSubdirectories(self.handler_path)
try:
handler_folders.remove(os.path.join(self.handler_path, 'share'))
except ValueError:
logging.warning('No shared handler directory found in {!r}'.format(
self.handler_path))
else:
handler_folders.extend(
self._getSubdirectories(
os.path.join(self.handler_path, 'share')))
for folder in handler_folders:
for handler_file in os.listdir(
os.path.join(globalConfig.get_ltlmop_root(), folder)):
abs_path = os.path.join(globalConfig.get_ltlmop_root(), folder,
handler_file)
# find all handler files and ignore internal files
if not (os.path.isfile(abs_path)
and handler_file.endswith('.py')
and not handler_file.startswith('_')):
continue
module_info = re.split(r"[\\/]", folder)
robot_type = module_info[2]
# handler type
if len(module_info) == 4:
# this is a shared handler
h_type = module_info[3]
else:
# this a robot handler
h_type = None
# handler name
h_name = os.path.splitext(handler_file)[0]
handler_config = self.loadHandler(robot_type, h_type, h_name)
if handler_config is None:
# the handler cannot be loaded
continue
# save it into the dictionary
if robot_type not in self.handler_configs.keys():
self.handler_configs[robot_type] = {}
if handler_config.h_type not in self.handler_configs[
robot_type].keys():
self.handler_configs[robot_type][
handler_config.h_type] = []
self.handler_configs[robot_type][handler_config.h_type].append(
handler_config)
def __init__(self):
self.project_basename = None
self.project_root = None
self.spec_data = None
self.silent = False
self.regionMapping = None
self.rfi = None
self.specText = ""
self.all_sensors = []
self.enabled_sensors = []
self.all_actuators = []
self.enabled_actuators = []
self.all_customs = []
self.internal_props = []
self.current_config = ""
self.shared_data = {} # This is for storing things like server connection objects, etc.
self.h_instance = {'init':{},'pose':None,'locomotionCommand':None,'motionControl':None,'drive':None,'sensor':{},'actuator':{}}
# Compilation options (with defaults)
self.compile_options = {"convexify": True, # Decompose workspace into convex regions
"fastslow": False, # Enable "fast-slow" synthesis algorithm
"symbolic": False, # Use BDDs instead of explicit-state strategies
"decompose": True, # Create regions for free space and region overlaps (required for Locative Preposition support)
"use_region_bit_encoding": True, # Use a vector of "bitX" propositions to represent regions, for efficiency
"synthesizer": "jtlv", # Name of synthesizer to use ("jtlv" or "slugs")
"parser": "structured"} # Spec parser: SLURP ("slurp"), structured English ("structured"), or LTL ("ltl")
self.ltlmop_root = globalConfig.get_ltlmop_root()
def _getSubdirectories(self, path):
"""
Return subdirectories in `path` relative to ltlmop root.
Only goes one level.
"""
abs_path = os.path.join(globalConfig.get_ltlmop_root(), path)
return [os.path.join(path, item) for item in os.listdir(abs_path) \
if os.path.isdir(os.path.join(abs_path, item))]
def loadAllHandlers(self):
"""
Load all handlers in the handler folder
"""
# get a list of folders in lib/handlers/ directory
handler_folders = self._getSubdirectories(self.handler_path)
try:
handler_folders.remove(os.path.join(self.handler_path, 'share'))
except ValueError:
logging.warning('No shared handler directory found in {!r}'.format(self.handler_path))
else:
handler_folders.extend(self._getSubdirectories(os.path.join(self.handler_path, 'share')))
for folder in handler_folders:
for handler_file in os.listdir(os.path.join(globalConfig.get_ltlmop_root(), folder)):
abs_path = os.path.join(globalConfig.get_ltlmop_root(), folder, handler_file)
# find all handler files and ignore internal files
if not (os.path.isfile(abs_path) and handler_file.endswith('.py') and not handler_file.startswith('_')):
continue
module_info = re.split(r"[\\/]", folder)
robot_type = module_info[2]
# handler type
if len(module_info) == 4:
# this is a shared handler
h_type = module_info[3]
else:
# this a robot handler
h_type = None
# handler name
h_name = os.path.splitext(handler_file)[0]
handler_config = self.loadHandler(robot_type, h_type, h_name)
if handler_config is None:
# the handler cannot be loaded
continue
# save it into the dictionary
if robot_type not in self.handler_configs.keys():
self.handler_configs[robot_type] = {}
if handler_config.h_type not in self.handler_configs[robot_type].keys():
self.handler_configs[robot_type][handler_config.h_type] = []
self.handler_configs[robot_type][handler_config.h_type].append(handler_config)
def _getSubdirectories(self, path):
"""
Return subdirectories in `path` relative to ltlmop root.
Only goes one level.
"""
abs_path = os.path.join(globalConfig.get_ltlmop_root(), path)
return [os.path.join(path, item) for item in os.listdir(abs_path) \
if os.path.isdir(os.path.join(abs_path, item))]
def __init__(self):
self.project_basename = None
self.project_root = None
self.spec_data = None
self.silent = False
self.regionMapping = None
self.rfi = None
self.specText = ""
self.all_sensors = []
self.enabled_sensors = []
self.all_actuators = []
self.enabled_actuators = []
self.all_customs = []
self.internal_props = []
self.current_config = ""
self.shared_data = {
} # This is for storing things like server connection objects, etc.
self.h_instance = {
'init': {},
'pose': None,
'locomotionCommand': None,
'motionControl': None,
'drive': None,
'sensor': {},
'actuator': {}
}
# Compilation options (with defaults)
self.compile_options = {
"convexify": True, # Decompose workspace into convex regions
"fastslow": False, # Enable "fast-slow" synthesis algorithm
"symbolic": False, # Use BDDs instead of explicit-state strategies
"decompose":
True, # Create regions for free space and region overlaps (required for Locative Preposition support)
"use_region_bit_encoding":
True, # Use a vector of "bitX" propositions to represent regions, for efficiency
"synthesizer":
"jtlv", # Name of synthesizer to use ("jtlv" or "slugs")
"parser": "structured"
} # Spec parser: SLURP ("slurp"), structured English ("structured"), or LTL ("ltl")
self.ltlmop_root = globalConfig.get_ltlmop_root()
else:
logging.error("Could not save config file {0}".format(
experiment_config.file_name))
# remove deleted files
# do not delete unsuccessfully loaded configs
for config_file in os.listdir(self.config_path):
if (os.path.join(self.config_path, config_file) not in saved_file_name) \
and (os.path.join(self.config_path, config_file) not in self.configs_incomplete):
os.remove(os.path.join(self.config_path, config_file))
if __name__ == '__main__':
import execute
e = execute.LTLMoPExecutor()
filename = os.path.join(globalConfig.get_ltlmop_root(), "examples",
"firefighting", "firefighting.spec")
e.proj.loadProject(filename)
e.hsub = HandlerSubsystem(e, e.proj.project_root)
logging.info("Setting current executing config...")
config, success = e.hsub.loadConfigFile(e.proj.current_config)
if success: e.hsub.configs.append(config)
e.hsub.setExecutingConfig(e.proj.current_config)
logging.info("Importing handler functions...")
e.hsub.prepareMapping()
logging.info("Initializing all functions...")
e.hsub.initializeAllMethods()
while True:
sensor_state = e.hsub.getSensorValue(e.proj.enabled_sensors)
saved_file_name.append(experiment_config.file_name)
else:
logging.error("Could not save config file {0}".format(experiment_config.file_name))
# remove deleted files
# do not delete unsuccessfully loaded configs
for config_file in os.listdir(self.config_path):
if (os.path.join(self.config_path, config_file) not in saved_file_name) \
and (os.path.join(self.config_path, config_file) not in self.configs_incomplete):
os.remove(os.path.join(self.config_path, config_file))
if __name__ == '__main__':
import execute
e = execute.LTLMoPExecutor()
filename = os.path.join(globalConfig.get_ltlmop_root(), "examples", "firefighting", "firefighting.spec")
e.proj.loadProject(filename)
e.hsub = HandlerSubsystem(e, e.proj.project_root)
logging.info("Setting current executing config...")
config, success = e.hsub.loadConfigFile(e.proj.current_config)
if success: e.hsub.configs.append(config)
e.hsub.setExecutingConfig(e.proj.current_config)
logging.info("Importing handler functions...")
e.hsub.prepareMapping()
logging.info("Initializing all functions...")
e.hsub.initializeAllMethods()
while True:
sensor_state = e.hsub.getSensorValue(e.proj.enabled_sensors)
e.hsub.setActuatorValue({'pick_up': not sensor_state['person']})
