def main():
try:
agent_config = AgentConfig.parse_file(Path("./ROAR_Jetson/configurations/agent_configuration.json"))
jetson_config = JetsonConfig.parse_file(Path("./ROAR_Jetson/configurations/configuration.json"))
try:
prepare(jetson_config=jetson_config)
except Exception as e:
logging.error(f"Ignoring Error during setup: {e}")
agent = PIDAgent(vehicle=Vehicle(), agent_settings=agent_config, should_init_default_cam=False)
jetson_runner = JetsonRunner(agent=agent, jetson_config=jetson_config)
jetson_runner.start_game_loop(use_manual_control=False)
except Exception as e:
print(f"Something bad happened {e}")
def main():
try:
agent_config = AgentConfig.parse_file(
Path("./ROAR_Jetson/configurations/agent_configuration.json"))
jetson_config = JetsonConfig.parse_file(
Path("./ROAR_Jetson/configurations/configuration.json"))
prepare(jetson_config=jetson_config)
agent = ForwardOnlyAgent(vehicle=Vehicle(),
agent_settings=agent_config)
jetson_runner = JetsonRunner(agent=agent, jetson_config=jetson_config)
jetson_runner.start_game_loop(use_manual_control=True)
except Exception as e:
print(f"Something bad happened {e}")
def __init__(self, app: QtWidgets.QApplication, **kwargs):
super().__init__(app, Ui_JetsonConfigWindow, **kwargs)
self.setting_list = []
self.setting_dict = dict()
self.dialogs = list()
self.jetson_config = JetsonConfigModel()
self.configuration_file = '../../ROAR_Jetson/configurations/configuration.json'
self.fill_config_list()
# =====================================================================================================
# create save button and add to menu
self.ui.actionSave = QtWidgets.QAction(self)
self.ui.actionSave.setObjectName("actionSave")
self.ui.actionSave.setText(
QtCore.QCoreApplication.translate("SimulationConfigWindow",
"Save"))
self.ui.menuFile.addAction(self.ui.actionSave)
self.ui.actionSave.triggered.connect(self.save_config)
class JetsonConfigWindow(BaseWindow):
def __init__(self, app: QtWidgets.QApplication, **kwargs):
super().__init__(app, Ui_JetsonConfigWindow, **kwargs)
self.setting_list = []
self.setting_dict = dict()
self.dialogs = list()
self.jetson_config = JetsonConfigModel()
self.configuration_file = '../../ROAR_Jetson/configurations/configuration.json'
self.fill_config_list()
# =====================================================================================================
# create save button and add to menu
self.ui.actionSave = QtWidgets.QAction(self)
self.ui.actionSave.setObjectName("actionSave")
self.ui.actionSave.setText(
QtCore.QCoreApplication.translate("SimulationConfigWindow",
"Save"))
self.ui.menuFile.addAction(self.ui.actionSave)
self.ui.actionSave.triggered.connect(self.save_config)
# =====================================================================================================
def set_listener(self):
super(JetsonConfigWindow, self).set_listener()
self.ui.pushButton_confirm.clicked.connect(self.pushButton_confirm)
def fill_config_list(self):
model_info: Dict[str, PydanticModelEntry] = dict()
for key_name, entry in self.jetson_config.schema()['properties'].items(
):
if "type" not in entry:
continue
model_info[key_name] = PydanticModelEntry.parse_obj(entry)
model_values = self.jetson_config.dict()
json_dict: dict = json.load(open(self.configuration_file, 'r'))
for key_name, entry in json_dict.items():
pass
model_info[key_name] = entry
# TODO update model_info, completed
# print(key_name, entry)
model_values = self.jetson_config.dict()
for name, entry in model_values.items():
# TODO do not populate if it is not of type [int, float, string, bool]
if name in model_info.keys():
entry = model_info[name]
self.add_entry_to_settings_gui(name=name, value=entry)
#self.test_input_list.append([name,str(curr_value)])
self.setting_dict[name] = entry
def add_entry_to_settings_gui(self, name: str, value: Union[str, int,
float, bool]):
label = QtWidgets.QLabel()
label.setText(name)
input_field = QtWidgets.QLineEdit() #QTextEdit()
input_field.setText(str(value))
input_field.setObjectName(name)
self.setting_list.append(input_field)
#input_field.textChanged.connect(self.on_change)
self.ui.formLayout.addRow(label, input_field)
# def on_change(self,text): #changes debuging
# print("text changed: ", text)
# print(self.setting_list[1].text())
# print(self.setting_list[1].objectName())
def isfloat(self, value): #Check if its float in pushButton_confirm
try:
float(value)
return True
except ValueError:
return False
def save_config(self):
"""
save config to file
"""
jetson_config_json = {}
for widget in self.setting_list:
# if isinstance(widget, QtWidgets.QLineEdit):
# print(widget.objectName(),":", widget.text())
if widget.text().isnumeric():
jetson_config_json[widget.objectName()] = int(widget.text())
elif self.isfloat(widget.text()):
jetson_config_json[widget.objectName()] = float(widget.text())
elif widget.text().lower() == "true":
jetson_config_json[widget.objectName()] = True
elif widget.text().lower() == "false":
jetson_config_json[widget.objectName()] = False
else:
jetson_config_json[widget.objectName()] = widget.text()
json_object = jetson_config_json
for key, entry in json_object.items():
try:
json_object[key] = eval(entry)
except:
json_object[key] = entry
# current C:\Users\Zetian\Desktop\project\ROAR\ROAR_Desktop\ROAR_GUI
# need C:\Users\Zetian\Desktop\project\ROAR\ROAR_Sim\configurations
# pathlib
with open("../../ROAR_Jetson/configurations/configuration.json",
"w") as outfile:
outfile.write(json.dumps(json_object, indent=2))
def pushButton_confirm(self):
self.auto_wire_window(ControlPanelWindow)
def auto_wire_window(self, target_window):
target_app = target_window(self.app)
self.dialogs.append(target_app)
target_app.show()
self.hide()
target_app.show()
target_app.closeEvent = self.app_close_event
# rewires annotation_app's closing event
def app_close_event(self, close_event):
self.show()