def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(os.path.basename(spec_file))
### Load in the specification file
if not self.silent:
print "Loading specification file %s..." % spec_file
spec_data = fileMethods.readFromFile(spec_file)
if spec_data is None:
if not self.silent:
print "WARNING: Failed to load specification file"
return None
try:
self.specText = "\n".join(spec_data["SPECIFICATION"]["Spec"])
except KeyError:
if not self.silent:
print "WARNING: Specification text undefined"
if "CompileOptions" in spec_data["SETTINGS"]:
for l in spec_data["SETTINGS"]["CompileOptions"]:
if ":" not in l:
continue
k, v = l.split(":", 1)
if k.strip().lower() == "parser":
self.compile_options[k.strip().lower()] = v.strip().lower()
else:
# convert to boolean if not a parser type
self.compile_options[k.strip().lower()] = v.strip().lower() in ["true", "t", "1"]
return spec_data
def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(os.path.basename(spec_file))
### Load in the specification file
if not self.silent: print "Loading specification file %s..." % spec_file
spec_data = fileMethods.readFromFile(spec_file)
if spec_data is None:
if not self.silent: print "WARNING: Failed to load specification file"
return None
try:
self.specText = '\n'.join(spec_data['SPECIFICATION']['Spec'])
except KeyError:
if not self.silent: print "WARNING: Specification text undefined"
if 'CompileOptions' in spec_data['SETTINGS']:
for l in spec_data['SETTINGS']['CompileOptions']:
if ":" not in l:
continue
k,v = l.split(":", 1)
self.compile_options[k.strip().lower()] = (v.strip().lower() in ['true', 't', '1'])
return spec_data
def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(
os.path.basename(spec_file))
### Load in the specification file
if not self.silent:
print "Loading specification file %s..." % spec_file
spec_data = fileMethods.readFromFile(spec_file)
if spec_data is None:
if not self.silent:
print "WARNING: Failed to load specification file"
return None
try:
self.specText = '\n'.join(spec_data['SPECIFICATION']['Spec'])
except KeyError:
if not self.silent: print "WARNING: Specification text undefined"
if 'CompileOptions' in spec_data['SETTINGS']:
for l in spec_data['SETTINGS']['CompileOptions']:
if ":" not in l:
continue
k, v = l.split(":", 1)
self.compile_options[k.strip().lower()] = (v.strip().lower()
in [
'true', 't', '1'
])
return spec_data
def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(os.path.basename(spec_file))
### Load in the specification file
logging.info("Loading specification file %s..." % spec_file)
spec_data = fileMethods.readFromFile(spec_file)
if spec_data is None:
logging.warning("Failed to load specification file")
return None
try:
self.specText = '\n'.join(spec_data['SPECIFICATION']['Spec'])
except KeyError:
logging.warning("Specification text undefined")
if 'CompileOptions' in spec_data['SETTINGS']:
for l in spec_data['SETTINGS']['CompileOptions']:
if ":" not in l:
continue
k,v = l.split(":", 1)
if k.strip().lower() == "parser":
self.compile_options[k.strip().lower()] = v.strip().lower()
else:
# convert to boolean if not a parser type
self.compile_options[k.strip().lower()] = (v.strip().lower() in ['true', 't', '1'])
return spec_data
def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(
os.path.basename(spec_file))
### Load in the specification file
logging.info("Loading specification file %s..." % spec_file)
spec_data = fileMethods.readFromFile(spec_file)
if spec_data is None:
logging.warning("Failed to load specification file")
return None
try:
self.specText = '\n'.join(spec_data['SPECIFICATION']['Spec'])
except KeyError:
logging.warning("Specification text undefined")
if 'CompileOptions' in spec_data['SETTINGS']:
for l in spec_data['SETTINGS']['CompileOptions']:
if ":" not in l:
continue
k, v = l.split(":", 1)
if k.strip().lower() in ("parser", "synthesizer"):
self.compile_options[k.strip().lower()] = v.strip().lower()
else:
# convert to boolean if not a parser type
self.compile_options[k.strip().lower()] = (
v.strip().lower() in ['true', 't', '1'])
return spec_data
def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(os.path.basename(spec_file))
self.ltlmop_root = os.path.abspath(os.path.dirname(sys.argv[0]))
### Load in the specification file
print "Loading specification file %s..." % spec_file
spec_data = fileMethods.readFromFile(spec_file)
return spec_data
def readFile(self, filename):
"""
For file format information, refer to writeFile() above.
"""
if not os.path.exists(filename):
return False
data = fileMethods.readFromFile(filename)
if data is None:
return False
try:
self.background = data["Background"][0]
except KeyError:
self.background = "None"
self.thumb = os.path.join(os.path.split(filename)[0],data["Thumbnail"][0])
self.regions = []
for region in data["Regions"]:
regionData = region.split("\t");
newRegion = Region()
newRegion.setData(regionData, withAlignment=False)
newRegion.alignmentPoints = [False] * len([x for x in newRegion.getPoints()])
self.regions.append(newRegion)
# Make an empty adjacency matrix of size (# of regions) x (# of regions)
self.transitions = [[[] for j in range(len(self.regions))] for i in range(len(self.regions))]
for transition in data["Transitions"]:
transData = transition.split("\t");
region1 = self.indexOfRegionWithName(transData[0])
region2 = self.indexOfRegionWithName(transData[1])
faces = []
for i in range(2, len(transData), 4):
p1 = wx.Point(int(transData[i]), int(transData[i+1]))
p2 = wx.Point(int(transData[i+2]), int(transData[i+3]))
faces.append(tuple(sorted((p1, p2))))
# During adjacency matrix reconstruction, we'll mirror over the diagonal
self.transitions[region1][region2] = faces
self.transitions[region2][region1] = faces
if "CalibrationPoints" in data:
for point in data["CalibrationPoints"]:
[name, index] = point.split("\t")
self.regions[self.indexOfRegionWithName(name)].alignmentPoints[int(index)] = True
return True
def loadRobotFile(self,fileName):
# Add extension to the name if there isn't one.
if not fileName.endswith('.robot'):
fileName = fileName+'.robot'
if not self.silent: print "Loading robot file %s..." % fileName
try:
# try to load the robot file
robot_data = fileMethods.readFromFile(fileName)
except IOError:
if not self.silent: print "ERROR: Cannot find robot file %s" % fileName
return
return self.loadRobotData(robot_data)
def fromFile(self, file_path, hsub = None):
"""
Given a robot file, load the robot info in it
The file_path needs to be the path starting from lib/
"""
logging.debug("Loading robot file {!r}".format(os.path.basename(file_path).split('.')[0]))
try:
# try to load the robot file
robot_data = fileMethods.readFromFile(file_path)
except IOError:
ht.LoadingError("Cannot load the information")
self._setLoadFailureFlag()
else:
# now load the robot config from the dictionary data
self.fromData(robot_data, hsub)
def extractJSONFromRegions(self, filename):
"""
Turns a regions file into a straight JSON file
"""
if not os.path.exists(filename):
raise IOError("path does not exist")
data = fileMethods.readFromFile(filename)
if data is None:
raise IOError("read from file failed")
rdata = data["Regions"]
try:
rdata = json.loads("\n".join(rdata))
except ValueError:
raise ValueError("json failed to load")
return rdata
def extractJSONFromRegions(self, filename):
"""
Turns a regions file into a straight JSON file
"""
if not os.path.exists(filename):
raise IOError("path does not exist")
data = fileMethods.readFromFile(filename)
if data is None:
raise IOError("read from file failed")
rdata = data["Regions"]
try:
rdata = json.loads("\n".join(rdata))
except ValueError:
raise ValueError("json failed to load")
return rdata
def fromFile(self, file_path, hsub = None):
"""
Given an experiment config file, load the info
"""
# Add extension to the name if there isn't one.
if not file_path.endswith('.config'):
file_path = file_path + '.config'
logging.debug("Loading config file: {!r}".format(os.path.basename(file_path).split('.')[0]))
try:
# try to load the config file
config_data = fileMethods.readFromFile(file_path)
except IOError:
ht.LoadingError("Cannot load the information")
else:
# now load the robot config from the dictionary data
self.fromData(config_data, hsub)
# update the file_path
self.file_name = file_path
def loadSpecFile(self, spec_file):
# Figure out where we should be looking for files, based on the spec file name & location
self.project_root = os.path.abspath(os.path.dirname(spec_file))
self.project_basename, ext = os.path.splitext(os.path.basename(spec_file))
# Climb the tree to find out where we are
p = os.path.abspath(sys.argv[0])
t = ""
while t != "src":
(p, t) = os.path.split(p)
if p == "":
print "I have no idea where I am; this is ridiculous"
sys.exit(1)
self.ltlmop_root = os.path.join(p,"src")
### Load in the specification file
if not self.silent: print "Loading specification file %s..." % spec_file
spec_data = fileMethods.readFromFile(spec_file)
return spec_data
def readFile(self, filename):
"""
For file format information, refer to writeFile() above.
"""
if not os.path.exists(filename):
return False
data = fileMethods.readFromFile(filename)
if data is None:
return False
try:
self.background = data["Background"][0]
except KeyError:
self.background = "None"
self.regions = []
rdata = data["Regions"]
try:
rdata = json.loads("\n".join(rdata))
compatMode = False
except ValueError:
compatMode = True
for rd in rdata:
newRegion = Region()
if compatMode:
regionData = rd.split("\t");
newRegion.setDataOld(regionData)
else:
newRegion.setData(rd)
self.regions.append(newRegion)
# Make an empty adjacency matrix of size (# of regions) x (# of regions)
self.transitions = [[[] for j in range(len(self.regions))] for i in range(len(self.regions))]
for transition in data["Transitions"]:
transData = transition.split("\t");
region1 = self.indexOfRegionWithName(transData[0])
region2 = self.indexOfRegionWithName(transData[1])
faces = []
for i in range(2, len(transData), 4):
p1 = Point(float(transData[i]), float(transData[i+1]))
p2 = Point(float(transData[i+2]), float(transData[i+3]))
faces.append(frozenset((p1, p2)))
# During adjacency matrix reconstruction, we'll mirror over the diagonal
self.transitions[region1][region2] = faces
self.transitions[region2][region1] = faces
if "CalibrationPoints" in data:
for point in data["CalibrationPoints"]:
[name, index] = point.split("\t")
self.regions[self.indexOfRegionWithName(name)].alignmentPoints[int(index)] = True
if "Obstacles" in data:
for rname in data["Obstacles"]:
self.regions[self.indexOfRegionWithName(rname)].isObstacle = True
self.filename = filename
return True
def loadConfigFile(self,fileName):
# If only filename offered, assume it is in the config path
if len(os.path.split(fileName)[0]) == 0:
fileName = os.path.join(self.config_path,fileName)
# Add extension to the name if there isn't one.
if not fileName.endswith('.config'):
fileName = fileName+'.config'
if not self.silent: print "Loading config file %s..." % fileName
try:
# First try path relative to project path
config_data = fileMethods.readFromFile(fileName)
except IOError:
if not self.silent: print "ERROR: Cannot find config file %s" % fileName
return
configObj = ConfigObject()
try:
configObj.name = config_data['General Config']['Name'][0]
except IOError:
if not self.silent: print "ERROR: Missing general config information in config file %s" % fileName
# parse the string for sensor prop mapping
for sensorMapping in config_data['General Config']['Sensor_Proposition_Mapping']:
try:
sensorProp,sensorFun = [s.strip() for s in sensorMapping.split('=',1)]
except IOError:
if not self.silent: print "ERROR: Wrong sensor mapping -- %s" % sensorMapping
configObj.prop_mapping[sensorProp]=sensorFun
# parse the string for actuator prop mapping
for actuatorMapping in config_data['General Config']['Actuator_Proposition_Mapping']:
try:
actuatorProp,actuatorFun = [s.strip() for s in actuatorMapping.split('=',1)]
except IOError:
if not self.silent: print "ERROR: Wrong actuator mapping -- %s" % actuatorMapping
configObj.prop_mapping[actuatorProp]=actuatorFun
if 'Initial_Truths' in config_data['General Config']:
# parse the initially true propositions
for propName in config_data['General Config']['Initial_Truths']:
try:
configObj.initial_truths.append(propName)
except IOError:
if not self.silent: print "ERROR: Wrong initially true propositions -- %s"
try:
configObj.main_robot = config_data['General Config']['Main_Robot'][0]
except (IndexError, KeyError):
if not self.silent: print "ERROR: Cannot find main robot for this config"
# load robot configs
robot_data = []
for configKey,configValue in config_data.iteritems():
if configKey.startswith('Robot'):
robot_data.append(configValue)
if robot_data == []:
if not self.silent: print "ERROR: Missing Robot data in config file %s" % fileName
else:
# using the parsing function in RobotFileParser to parse the data
robot_parser = RobotFileParser(self.handler_path,self.handler_dic)
for data in robot_data:
try:
robotObj = robot_parser.loadRobotData(data)
if robotObj is not None:
configObj.robots.append(robotObj)
except IOError:
if not self.silent: print "ERROR: Cannot parse robot data in %s" % fileName
# if the main robot for this config cannot be loaded, return no config object
noRobot = True
if configObj.main_robot == '' and len(configObj.robots)>0:
noRobot = False
if configObj.main_robot != '':
for robotObj in configObj.robots:
if configObj.main_robot == robotObj.name:
noRobot = False
break
if noRobot:
if not self.silent: print "WARNING: Cannot load configuration %s, missing main robot object" %fileName
return None
return configObj
#### Load in the robot file
try:
rdf_name = exp_cfg_data['RobotFile'][0]
except IndexError, KeyError:
if not self.silent: print "WARNING: Robot description file undefined"
return
# Add extension to the name if there isn't one.
if not rdf_name.endswith('.robot'):
rdf_name = rdf_name+'.robot'
if not self.silent: print "Loading robot description file %s..." % rdf_name
try:
# First try path relative to project path
rdf_data = fileMethods.readFromFile(os.path.join(self.project_root, rdf_name))
except IOError:
try:
# If that doesn't work, try looking in $self.ltlmop_root/robots/ directory
rdf_data = fileMethods.readFromFile(os.path.join(self.ltlmop_root, "robots", rdf_name))
except IOError:
if not self.silent: print "ERROR: Couldn't find robot description file in project directory or robots folder."
return
if not self.silent: print " -> %s looks excited for this run." % rdf_data["Name"][0]
return rdf_data
def loadRegionFile(self, decomposed=False):
"""
Returns a Region File Interface object corresponding to the regions file referenced in the spec file
"""
def region2json(region_file, json_file):
data = fileMethods.readFromFile(region_file)
with open(json_file, 'w+') as json_file_obj:
json_file_obj.write("\n".join(data["Regions"]))
json_file_obj.closed
def readFile(self, filename):
"""
For file format information, refer to writeFile() above.
"""
if not os.path.exists(filename):
return False
data = fileMethods.readFromFile(filename)
if data is None:
return False
try:
self.background = data["Background"][0]
except KeyError:
self.background = "None"
self.regions = []
rdata = data["Regions"]
try:
rdata = json.loads("\n".join(rdata))
compatMode = False
except ValueError:
compatMode = True
for rd in rdata:
newRegion = Region()
if compatMode:
regionData = rd.split("\t");
newRegion.setDataOld(regionData)
else:
newRegion.setData(rd)
self.regions.append(newRegion)
# Make an empty adjacency matrix of size (# of regions) x (# of regions)
self.transitions = [[[] for j in range(len(self.regions))] for i in range(len(self.regions))]
for transition in data["Transitions"]:
transData = transition.split("\t");
region1 = self.indexOfRegionWithName(transData[0])
region2 = self.indexOfRegionWithName(transData[1])
faces = []
for i in range(2, len(transData), 4):
p1 = Point(float(transData[i]), float(transData[i+1]))
p2 = Point(float(transData[i+2]), float(transData[i+3]))
faces.append(tuple(sorted((p1, p2))))
# During adjacency matrix reconstruction, we'll mirror over the diagonal
self.transitions[region1][region2] = faces
self.transitions[region2][region1] = faces
if "CalibrationPoints" in data:
for point in data["CalibrationPoints"]:
[name, index] = point.split("\t")
self.regions[self.indexOfRegionWithName(name)].alignmentPoints[int(index)] = True
if "Obstacles" in data:
for rname in data["Obstacles"]:
self.regions[self.indexOfRegionWithName(rname)].isObstacle = True
self.filename = filename
return True