def cmd_create_launch(data_central, argv):
'''Creates ROS launch files for all combinations of agents and robots.'''
parser = OptionParser(prog='create-launch',
usage=cmd_create_launch.short_usage)
parser.disable_interspersed_args()
parser.add_option("-a", "--agent", dest='id_agent', help="Agent ID")
parser.add_option("-r", "--robot", dest='id_robot', help="Robot ID")
parser.add_option('-p', '--package', dest='package',
default='bootstrapping_adapter',
help='Which ROS package to put the launch file in [%default].')
# TODO: bag
(options, args) = parser.parse_args(argv)
check_no_spurious(args)
bo_config = data_central.get_bo_config()
if options.id_agent is None:
id_agents = bo_config.agents.keys()
else:
id_agents = [options.id_agent] # TODO: expand
if options.id_robot is None:
id_robots = bo_config.robots.keys()
else:
id_robots = [options.id_robot] # TODO: expand
for id_agent in id_agents:
check_contained(id_agent, bo_config.agents)
for id_robot in id_robots:
check_contained(id_robot, bo_config.robots)
from roslib import packages #@UnresolvedImport
out = packages.get_pkg_dir(options.package)
outdir = os.path.join(out, 'launch', 'boot_olympics')
root = os.path.realpath(data_central.root)
for id_robot, id_agent in itertools.product(id_robots, id_agents):
robot_ros_node = wrap_python_robot(bo_config.robots[id_robot], root)
agent_ros_node = wrap_python_agent(bo_config.agents[id_agent], root)
xml = create_launch_xml(agent_ros_node=agent_ros_node,
robot_ros_node=robot_ros_node,
agent_node_id='my_agent',
robot_node_id='my_robot',
namespace='boot_olympics',
bag=None,
output=None)
basename = '%s-%s' % (id_robot, id_agent)
filename = os.path.join(outdir, '%s.launch' % basename)
make_sure_dir_exists(filename)
with open(filename, 'w') as f:
f.write('<!-- Created by %s on %s -->\n' %
('boot_olympics', isodate()))
f.write(xml)
logger.info('Writing on %r.' % filename)
def from_yaml(xo):
try:
if not isinstance(xo, dict):
raise ValueError('Expected a dict, got %s' % xo)
x = dict(**xo) # make a copy
check_contained('observations', x)
check_contained('commands', x)
observations = StreamSpec.from_yaml(x.pop('observations'))
commands = StreamSpec.from_yaml(x.pop('commands'))
extra = x.pop('extra', None)
desc = x.pop('desc', None)
id_robot = x.pop('id', None)
if x.keys():
logger.warning('While reading\n%s\nextra keys detected: %s' %
(pformat(xo), x.keys()))
return BootSpec(observations, commands,
id_robot=id_robot,
extra=extra,
desc=desc)
except:
logger.error('Error while parsing the BootSpec:\n%s' % xo)
raise
def get_log_filename(self, base_dir, id_agent, id_robot, id_stream,
logs_format=None, add_unique=True):
warn_good_identifier(id_stream)
if logs_format is None:
logs_format = self.log_format
check_contained(logs_format, LogsFormat.formats, 'format')
pattern = DirectoryStructure.pattern_logdir
dirname = os.path.join(base_dir,
substitute(pattern,
id_agent=id_agent,
id_robot=id_robot,
id_stream=id_stream))
mkdirs_thread_safe(dirname)
assert os.path.exists(dirname)
# Add a unique string to the file
if add_unique:
tmpfile = tempfile.NamedTemporaryFile(
suffix='.%s.active' % logs_format,
prefix='%s-' % id_stream,
dir=dirname, delete=False)
tmpfile.write('To be used')
tmp_filename = tmpfile.name
warn_good_filename(tmp_filename)
filename = tmp_filename.replace('.active', '')
tmpfile.close()
else:
filename = os.path.join(dirname, '%s.%s' % (id_stream, logs_format))
# logger.debug('Writing on %r' % friendly_path(filename))
warn_good_filename(filename)
return filename
def set_log_format(self, log_format):
''' Sets the log format to write logs with. '''
check_contained(log_format, LogsFormat.formats, 'format')
self.log_format = log_format
