def swapSlides(self):
self.remaining = 0
self.slide_index += 1
self.slide_index %= self.SLIDE_NUMS
self.slide_surface_prev = pygame.image.load(
find_abs(f"bg_slide{(self.slide_index - 1) % self.SLIDE_NUMS}.png",
asset_locations()))
self.slide_surface_next = pygame.image.load(
find_abs(f"bg_slide{self.slide_index}.png", asset_locations()))
def clickSimBots(self, preset):
abs_path = find_abs(preset, allowed_areas=preset_locations())
with open(abs_path, "r") as f:
preset_config = yaml.safe_load(f)
sim_path = find_abs(preset_config["sim_location"],
allowed_areas=batch_locations())
ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.SCREEN_BOTS,
batch_file=sim_path,
)
def runFromConfig(config, shared):
from ev3sim.robot import initialise_bot, RobotInteractor
from ev3sim.file_helper import find_abs
sl = ScriptLoader(**config.get("loader", {}))
sl.setSharedData(shared)
sl.active_scripts = []
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot,
allowed_areas=[
"local", "local/robots/", "package",
"package/robots/"
])
initialise_bot(config, robot_path, f"Robot-{index}")
for opt in config.get("interactors", []):
try:
sl.active_scripts.append(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
if sl.active_scripts:
sl.startUp(**config.get("screen", {}))
sl.loadElements(config.get("elements", []))
for interactor in sl.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
sl.simulate()
else:
print("No interactors successfully loaded. Quitting...")
def batched_run(batch_file, bind_addr):
from ev3sim.single_run import single_run as sim
from ev3sim.attach import main as attach
batch_path = find_abs(batch_file, allowed_areas=['local', 'local/batched_commands/', 'package', 'package/batched_commands/'])
with open(batch_path, 'r') as f:
config = yaml.safe_load(f)
bot_paths = [x['name'] for x in config['bots']]
sim_process = Process(target=sim, args=[config['preset_file'], bot_paths, bind_addr])
script_processes = []
for i, bot in enumerate(config['bots']):
for script in bot.get('scripts', []):
script_processes.append(Process(target=attach, kwargs={
'passed_args': ['Useless', '--send_logs', '--simulator_addr', bind_addr, script, f"Robot-{i}"]
}))
sim_process.start()
time.sleep(0.5) # Give the gRPC server 500ms to start
for p in script_processes:
p.start()
# At the moment, just wait for the simulator to finish then kill all attach processes.
# If any attach threads error out, then the stack trace is printed anyways so this is fine.
sim_process.join()
for p in script_processes:
p.terminate()
def action():
with open(
os.path.join(
find_abs(sim_config["bots"][index],
bot_locations()), fname),
"w") as f:
f.write("# Put your code here!\n")
def initWithKwargs(self, **kwargs):
self.in_error = False
self.first_launch = True
batch = kwargs.get("batch_file", None)
self.batch = batch
if batch is None:
# We are simply viewing the bots to edit or manage.
self.bot_keys = []
else:
self.key_index = 0
with open(batch, "r") as f:
b_config = yaml.safe_load(f)
preset = b_config["preset_file"]
fname = find_abs(preset, allowed_areas=preset_locations())
with open(fname, "r") as f:
p_config = yaml.safe_load(f)
self.bot_keys = p_config["bot_names"]
self.bot_values = [None] * len(self.bot_keys)
self.preview_images = [None] * len(self.bot_keys)
self.bot_select_index = 0
self.select_enable = False
self.code_enable = False
self.edit_enable = False
self.remove_enable = False
self.bot_index = -1
self.next = kwargs.get("next", None)
self.next_kwargs = kwargs.get("next_kwargs", {})
super().initWithKwargs(**kwargs)
def onClickMapEditor(filename):
from ev3sim.visual.manager import ScreenObjectManager
ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.SCREEN_RESCUE_EDIT,
batch_file=find_abs(f"{filename}.sim", batch_locations()),
)
def run_sim(sim_path, edit=False):
from ev3sim.validation.batch_files import BatchValidator
if not BatchValidator.validate_file(sim_path):
return raise_error(
f"There is something wrong with the sim {sim_path}, and so it cannot be opened or used."
)
if not edit:
return [ScreenObjectManager.SCREEN_SIM], [{
"batch": sim_path,
}]
import importlib
with open(sim_path, "r") as f:
conf = yaml.safe_load(f)
with open(find_abs(conf["preset_file"], preset_locations())) as f:
preset = yaml.safe_load(f)
if "visual_settings" not in preset:
return raise_error("This preset cannot be edited.")
mname, cname = preset["visual_settings"].rsplit(".", 1)
klass = getattr(importlib.import_module(mname), cname)
return [ScreenObjectManager.SCREEN_SETTINGS], [{
"file": sim_path,
"settings": klass,
"allows_filename_change": True,
"extension": "sim",
}]
def initialiseFromConfig(config, send_queues, recv_queues):
from collections import defaultdict
from ev3sim.robot import initialise_bot, RobotInteractor
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
# Keep track of index w.r.t. filename.
robot_paths = defaultdict(lambda: 0)
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot, allowed_areas=bot_locations())
initialise_bot(config, robot_path, f"Robot-{index}",
robot_paths[robot_path])
robot_paths[robot_path] += 1
ScriptLoader.instance.setRobotQueues(f"Robot-{index}",
send_queues[index],
recv_queues[index])
for opt in config.get("interactors", []):
try:
ScriptLoader.instance.addActiveScript(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
SettingsManager.instance.setMany(config["settings"])
if ScriptLoader.instance.active_scripts:
ScriptLoader.instance.startUp()
ScriptLoader.instance.loadElements(config.get("elements", []))
for interactor in ScriptLoader.instance.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
for interactor in ScriptLoader.instance.active_scripts:
interactor.startUp()
else:
print("No interactors successfully loaded. Quitting...")
def simulate(batch_file, preset_filename, bot_paths, seed, override_settings,
*queues_sizes):
result_queue = queues_sizes[0][0]
result_queue._internal_size = queues_sizes[0][1]
StateHandler.instance.shared_info = {
"result_queue": result_queue,
}
send_queues = [q for q, _ in queues_sizes[1::2]]
for i, (_, size) in enumerate(queues_sizes[1::2]):
send_queues[i]._internal_size = size
recv_queues = [q for q, _ in queues_sizes[2::2]]
for i, (_, size) in enumerate(queues_sizes[2::2]):
recv_queues[i]._internal_size = size
Randomiser.createGlobalRandomiserWithSeed(seed)
preset_file = find_abs(preset_filename, allowed_areas=preset_locations())
with open(preset_file, "r") as f:
config = yaml.safe_load(f)
config["settings"] = config.get("settings", {})
recursive_merge(config["settings"], override_settings)
config["robots"] = config.get("robots", []) + bot_paths
initialiseFromConfig(config, send_queues, recv_queues)
def clickSettings():
ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.SCREEN_SETTINGS,
file=find_abs("user_config.yaml", config_locations()),
settings=main_settings,
)
ScreenObjectManager.instance.screens[
ScreenObjectManager.SCREEN_SETTINGS].clearEvents()
def clickSimSettings(self, preset):
import importlib
abs_path = find_abs(preset, allowed_areas=preset_locations())
with open(abs_path, "r") as f:
preset_config = yaml.safe_load(f)
sim_path = find_abs(preset_config["sim_location"],
allowed_areas=batch_locations())
mname, cname = preset_config["visual_settings"].rsplit(".", 1)
klass = getattr(importlib.import_module(mname), cname)
ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.SCREEN_SETTINGS,
file=sim_path,
settings=klass,
allows_filename_change=False,
extension="sim",
)
def setCheckboxBg(self, value, obj):
img = pygame.image.load(
find_abs("ui/box_check.png" if value else "ui/box_clear.png",
allowed_areas=asset_locations()))
if img.get_size() != obj.rect.size:
img = pygame.transform.smoothscale(
img, (obj.rect.width, obj.rect.height))
obj.set_image(img)
def image_path(self, value):
from ev3sim.file_helper import find_abs
self._image_path = find_abs(value,
allowed_areas=[
"local", "local/assets/", "package",
"package/assets/"
])
self.image = pygame.image.load(self._image_path)
def startScreen(self):
from ev3sim.file_helper import find_abs
pygame.init()
self.screen = pygame.display.set_mode((self.screen_width, self.screen_height), pygame.RESIZABLE)
pygame.display.set_caption('MHS Robotics Club Simulator')
img_path = find_abs('Logo.png', allowed_areas=['package/assets/'])
img = pygame.image.load(img_path)
img.set_colorkey((255, 255, 255))
pygame.display.set_icon(img)
def captureBotImage(self, directory, filename):
self.resetVisualElements()
from os.path import join
from ev3sim.simulation.loader import ScriptLoader
from ev3sim.robot import initialise_bot, RobotInteractor
from ev3sim.simulation.randomisation import Randomiser
Randomiser.createGlobalRandomiserWithSeed(0)
ScriptLoader.instance.reset()
ScriptLoader.instance.startUp()
elems = {}
initialise_bot(elems, find_abs(filename, [directory]), "", 0)
ScriptLoader.instance.loadElements(elems.get("elements", []))
for interactor in ScriptLoader.instance.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
interactor.initialiseDevices()
for interactor in ScriptLoader.instance.active_scripts:
interactor.startUp()
interactor.tick(0)
interactor.afterPhysics()
screen = pygame.Surface((480, 480), pygame.SRCALPHA)
custom_map = {
"SCREEN_WIDTH": 480,
"SCREEN_HEIGHT": 480,
"MAP_WIDTH": 25,
"MAP_HEIGHT": 25,
}
for elem in self.objects.values():
elem.customMap = custom_map
elem.calculatePoints()
self.applyToScreen(screen, bg=pygame.Color(self.instance.background_colour))
colorkey = pygame.Color(self.instance.background_colour)
for x in range(480):
for y in range(480):
val = screen.get_at((x, y))
val.a = 0 if (val.r == colorkey.r and val.g == colorkey.g and val.b == colorkey.b) else 255
screen.set_at((x, y), val)
self.resetVisualElements()
ScriptLoader.instance.reset()
config_path = join(find_abs(filename, [directory]), "config.bot")
with open(config_path, "r") as f:
config = yaml.safe_load(f)
pygame.image.save(screen, join(find_abs(filename, [directory]), config.get("preview_path", "preview.png")))
def initialise_device(deviceData, parentObj, index, preview_mode=False):
classes = find_abs("devices/classes.yaml")
devices = yaml.safe_load(open(classes, "r"))
name = deviceData["name"]
if name not in devices:
raise ValueError(f"Unknown device type {name}")
fname = find_abs(devices[name], allowed_areas=device_locations())
with open(fname, "r") as f:
try:
config = yaml.safe_load(f)
utils.GLOBAL_COLOURS.update(config.get("colours", {}))
mname, cname = config["class"].rsplit(".", 1)
import importlib
klass = getattr(importlib.import_module(mname), cname)
relative_location = deviceData.get("position", [0, 0])
relative_rotation = deviceData.get("rotation", 0) * np.pi / 180
device = klass(parentObj, relative_location, relative_rotation)
for i, opt in enumerate(config.get("interactors", [])):
res = opt.get("kwargs", {})
res.update({
"device": device,
"parent": parentObj,
"relative_location": relative_location,
"relative_rotation": relative_rotation,
"device_index": index,
"single_device_index": i,
"port": deviceData["port"],
"zPos": deviceData.get("zPos", 0),
})
if preview_mode:
for i in range(len(res.get("elements", []))):
res["elements"][i]["physics"] = True
opt["kwargs"] = res
interactor = fromOptions(opt)
if not hasattr(parentObj, "device_interactors"):
parentObj.device_interactors = []
parentObj.device_interactors.append(interactor)
ScriptLoader.instance.addActiveScript(interactor)
except yaml.YAMLError as exc:
print(
f"An error occurred while loading devices. Exited with error: {exc}"
)
def initFromKwargs(self, **kwargs):
super().initFromKwargs(**kwargs)
from ev3sim.file_helper import find_abs
self.font_style = kwargs.get('font_style', "OpenSans-SemiBold.ttf")
self.font_path = find_abs(self.font_style, allowed_areas=['local/assets/', 'local', 'package/assets/', 'package'])
self.font_size = kwargs.get('font_size', 30)
self.font = pygame.freetype.Font(self.font_path, self.font_size)
self.hAlignment = kwargs.get('hAlignment', 'l')
self.vAlignment = kwargs.get('vAlignment', 't')
self.text = kwargs.get('text', 'Test')
def image_path(self, value):
from ev3sim.file_helper import find_abs
image_path = find_abs(value, allowed_areas=asset_locations())
if image_path != self._image_path:
self._image_path = image_path
self.image = pygame.image.load(self._image_path)
try:
self.calculatePoints()
except:
pass
def action():
import yaml
"""Go through and try fixing the bots."""
for bot in old_bots:
dirpath = os.path.join(path, bot[:-4])
# Folder
if os.path.isdir(dirpath):
import shutil
shutil.rmtree(dirpath)
os.mkdir(dirpath)
# config.bot
with open(os.path.join(path, bot), "r") as f:
config = yaml.safe_load(f)
bot_script = config.get("script", "code.py")
preview_image = config.get("preview_path", "preview.png")
for keyword in ["script", "preview_path"]:
if keyword in config:
del config[keyword]
with open(os.path.join(dirpath, "config.bot"), "w") as f:
f.write(yaml.dump(config))
# code.py
try:
code_path = os.path.join(
find_abs_directory("workspace/code/"), bot_script)
with open(code_path, "r") as f:
code = f.read()
except:
code = ""
with open(os.path.join(dirpath, "code.py"), "w") as f:
f.write(code)
# preview.png
try:
preview = find_abs(preview_image, asset_locations())
with open(preview, "rb") as f:
preview_data = f.read()
except:
preview_data = bytes()
with open(os.path.join(dirpath, "preview.png"), "wb") as f:
f.write(preview_data)
# Remove the old bot
os.remove(os.path.join(path, bot))
# Additionally, we need to update all sim files to no longer use the .bot prefix
actual_dir = find_abs_directory("workspace/sims/")
for file in os.listdir(actual_dir):
if os.path.isfile(os.path.join(
actual_dir, file)) and file.endswith(".sim"):
with open(os.path.join(actual_dir, file), "r") as f:
config = yaml.safe_load(f)
for x in range(len(config.get("bots", []))):
if config["bots"][x].endswith(".bot"):
config["bots"][x] = config["bots"][x][:-4]
with open(os.path.join(actual_dir, file), "w") as f:
f.write(yaml.dump(config))
def run_code(script_name):
real = find_abs("examples/robots/default_testing", ["package"])
rel_dir, rel_path = make_relative(real, bot_locations())
with open(join(real, "config.bot"), "r") as f:
bot_config = yaml.safe_load(f)
bot_config["script"] = script_name
bot_config["type"] = "mindstorms" if script_name.endswith(
".ev3") else "python"
with open(join(real, "config.bot"), "w") as f:
f.write(yaml.dump(bot_config))
sim_path = find_abs("presets/testing.sim", ["package"])
with open(sim_path, "r") as f:
test_config = yaml.safe_load(f)
test_config["bots"] = [rel_path]
with open(sim_path, "w") as f:
f.write(yaml.dump(test_config))
return run_sim(sim_path)
def updateFlipCheckbox(self):
img = pygame.image.load(
find_abs(
"ui/box_check.png" if self.getSelectedAttribute("flip", False)
else "ui/box_clear.png",
allowed_areas=asset_locations(),
))
if img.get_size() != self.flip_image.rect.size:
img = pygame.transform.smoothscale(
img, (self.flip_image.rect.width, self.flip_image.rect.height))
self.flip_image.set_image(img)
def generateVisual(self, size, container, manager, idx):
self.container = container
off = self.offset(size)
label_size = ((size[0] - 40) / 2 - 10, 40)
label_pos = (off[0] + 20, off[1])
label = pygame_gui.elements.UILabel(
relative_rect=pygame.Rect(*label_pos, *label_size),
manager=manager,
object_id=pygame_gui.core.ObjectID(f"{idx}-file-label",
"entry-label"),
container=container,
text=self.title,
)
button_size = ((size[0] - 40) * 0.25 - 20, 44)
button_size = [min(button_size[0], button_size[1])] * 2
file_size = ((size[0] - 40) / 2 - button_size[0] - 30, 40)
button_pos = (
off[0] + 50 + label_size[0] + file_size[0],
off[1] - 2,
)
file_pos = (off[0] + 40 + label_size[0], off[1])
click = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*button_pos, *button_size),
manager=manager,
object_id=pygame_gui.core.ObjectID(f"{idx+2}-button",
"file-button"),
container=container,
text="",
)
img = pygame.image.load(
find_abs("ui/folder.png", allowed_areas=asset_locations()))
if img.get_size() != button_size:
img = pygame.transform.smoothscale(img, button_size)
click_icon = pygame_gui.elements.UIImage(
relative_rect=pygame.Rect(*button_pos, *button_size),
manager=manager,
object_id=pygame_gui.core.ObjectID(f"{idx+3}-image", "file-image"),
container=container,
image_surface=img,
)
self.filename = pygame_gui.elements.UILabel(
relative_rect=pygame.Rect(*file_pos, *file_size),
manager=manager,
object_id=pygame_gui.core.ObjectID(f"{idx+1}-file-name",
"entry-label"),
container=container,
text=self.current if self.current else "",
)
return [label, self.filename, click, click_icon]
def initialise_bot(topLevelConfig, robotFolder, prefix, path_index):
# Returns the robot class, as well as a completed robot to add to the elements list.
import yaml
from os.path import join
with open(join(robotFolder, "config.bot"), "r") as f:
try:
config = yaml.safe_load(f)
mname, cname = config.get("robot_class",
"ev3sim.robot.Robot").rsplit(".", 1)
import importlib
klass = getattr(importlib.import_module(mname), cname)
bot_config = config["base_plate"]
bot_config["type"] = "object"
bot_config["physics"] = True
add_devices(bot_config, config.get("devices", []))
add_to_key(bot_config, prefix)
add_to_zpos(bot_config, 10)
# Append bot object to elements.
topLevelConfig["elements"] = topLevelConfig.get("elements",
[]) + [bot_config]
robot = klass()
ScriptLoader.instance.addActiveScript(
RobotInteractor(
**{
"robot":
robot,
"base_key":
bot_config["key"],
"path_index":
path_index,
# Don't include directories here, since that shouldn't affect randomisation.
"filename":
robotFolder.replace("\\", "/").rsplit("/", 1)[-1],
}))
robot.ID = prefix
robot._follow_collider_offset = config.get("follow_collider",
[0, 0])
ScriptLoader.instance.robots[prefix] = robot
ScriptLoader.instance.outstanding_events[prefix] = []
if config.get("type", "python") == "mindstorms":
scriptname = config.get("script", "program.ev3")
else:
scriptname = config.get("script", "code.py")
if scriptname is not None:
scriptname = find_abs(scriptname, code_locations(robotFolder))
ScriptLoader.instance.scriptnames[prefix] = scriptname
except yaml.YAMLError as exc:
print(
f"An error occurred while loading robot preset {robotFolder}. Exited with error: {exc}"
)
def action(result):
SettingsManager.instance.setMany(
{"app": {
"send_crash_reports": result,
}})
# Change user_config to have workspace_folder = ""
config_file = find_abs("user_config.yaml", config_locations())
with open(config_file, "r") as f:
conf = yaml.safe_load(f)
conf["app"]["send_crash_reports"] = result
with open(config_file, "w") as f:
f.write(yaml.dump(conf))
def initFromKwargs(self, **kwargs):
super().initFromKwargs(**kwargs)
from ev3sim.file_helper import find_abs
self.font_style = kwargs.get("font_style",
"fonts/OpenSans-SemiBold.ttf")
self.font_path = find_abs(self.font_style,
allowed_areas=asset_locations())
self.font_size = kwargs.get("font_size", 30)
self.hAlignment = kwargs.get("hAlignment", "l")
self.vAlignment = kwargs.get("vAlignment", "t")
self.text = kwargs.get("text", "Test")
def initialise_device(deviceData, parentObj, index):
classes = find_abs('devices/classes.yaml')
devices = yaml.safe_load(open(classes, 'r'))
name = deviceData['name']
if name not in devices:
raise ValueError(f"Unknown device type {name}")
fname = find_abs(devices[name],
allowed_areas=['local/devices/', 'package/devices/'])
with open(fname, 'r') as f:
try:
config = yaml.safe_load(f)
utils.GLOBAL_COLOURS.update(config.get('colours', {}))
mname, cname = config['class'].rsplit('.', 1)
import importlib
klass = getattr(importlib.import_module(mname), cname)
relative_location = deviceData.get('position', [0, 0])
relative_rotation = deviceData.get('rotation', 0) * np.pi / 180
device = klass(parentObj, relative_location, relative_rotation)
for i, opt in enumerate(config.get('interactors', [])):
res = opt.get('kwargs', {})
res.update({
'device': device,
'parent': parentObj,
'relative_location': relative_location,
'relative_rotation': relative_rotation,
'device_index': index,
'single_device_index': i,
'port': deviceData['port'],
})
opt['kwargs'] = res
interactor = fromOptions(opt)
if not hasattr(parentObj, 'device_interactors'):
parentObj.device_interactors = []
parentObj.device_interactors.append(interactor)
# Device interactors always act first.
ScriptLoader.instance.active_scripts.insert(0, interactor)
except yaml.YAMLError as exc:
print(
f"An error occured while loading devices. Exited with error: {exc}"
)
def initFromKwargs(self, **kwargs):
super().initFromKwargs(**kwargs)
from ev3sim.file_helper import find_abs
self.font_style = kwargs.get("font_style", "OpenSans-SemiBold.ttf")
self.font_path = find_abs(
self.font_style, allowed_areas=["local/assets/", "local", "package/assets/", "package"]
)
self.font_size = kwargs.get("font_size", 30)
self.font = pygame.freetype.Font(self.font_path, self.font_size)
self.hAlignment = kwargs.get("hAlignment", "l")
self.vAlignment = kwargs.get("vAlignment", "t")
self.text = kwargs.get("text", "Test")
def fromOptions(options):
if "filename" in options:
import yaml
fname = find_abs(options["filename"])
with open(fname, "r") as f:
config = yaml.safe_load(f)
return fromOptions(config)
if "class_path" not in options:
raise ValueError(
"Your options has no 'class_path' or 'filename' entry (Or the file you reference has no 'class_path' entry')"
)
import importlib
if isinstance(options["class_path"], str):
mname, cname = options["class_path"].rsplit(".", 1)
klass = getattr(importlib.import_module(mname), cname)
else:
from importlib.machinery import SourceFileLoader
module = SourceFileLoader(
"not_main", find_abs(options["class_path"][0],
preset_locations())).load_module()
klass = getattr(module, options["class_path"][1])
topObj = klass(*options.get("args", []), **options.get("kwargs", {}))
# Add any settings for this interactor, if applicable.
# This only works for package presets. Not workspace ones.
if "settings_name" in options:
name = options["settings_name"]
if "settings_defn" not in options:
raise ValueError(
f"Expected a settings object to add with group name {name}")
mname, cname = options["settings_defn"].rsplit(".", 1)
obj = getattr(importlib.import_module(mname), cname)
SettingsManager.instance.addSettingGroup(name, obj)
# We need to remove this setting once the simulation ends, so save the name.
topObj._settings_name = name
return topObj
def single_run(preset_filename, robots, bind_addr):
preset_file = find_abs(preset_filename, allowed_areas=['local', 'local/presets/', 'package', 'package/presets/'])
with open(preset_file, 'r') as f:
config = yaml.safe_load(f)
config['robots'] = config.get('robots', []) + robots
shared_data = {
'tick': 0, # Current tick
'write_stack': deque(), # All write actions are processed through this
'data_queue': {}, # Simulation data for each bot
'active_count': {}, # Keeps track of which code connection each bot has.
'bot_locks': {}, # Threading Locks and Conditions for each bot to wait for connection actions
'bot_communications_data': {}, # Buffers and information for all bot communications
'tick_updates': {}, # Simply a dictionary where the simulation tick will push static data, so the other methods are aware of when the simulation has exited.
}
result_bucket = Queue(maxsize=1)
from threading import Thread
from ev3sim.simulation.communication import start_server_with_shared_data
def run(shared_data, result):
try:
runFromConfig(config, shared_data)
except Exception as e:
result.put(('Simulation', e))
return
result.put(True)
comm_thread = Thread(target=start_server_with_shared_data, args=(shared_data, result_bucket, bind_addr), daemon=True)
sim_thread = Thread(target=run, args=(shared_data, result_bucket), daemon=True)
comm_thread.start()
sim_thread.start()
try:
with result_bucket.not_empty:
while not result_bucket._qsize():
result_bucket.not_empty.wait(0.1)
r = result_bucket.get()
# Chuck it back on the queue so that other threads know we are quitting.
result_bucket.put(r)
if r is not True:
print(f"An error occured in the {r[0]} thread. Raising an error now...")
time.sleep(1)
raise r[1]
except KeyboardInterrupt:
pass