def test_application(self):
conf_dir = '../../config'
filename = test_data('ro2018-spider-gps-imu.json', conf_dir)
conf = config_load(filename, application=MyTestRobot)
self.assertTrue(conf['robot']['modules']['app']['driver'].endswith(
'lib.test_config:MyTestRobot'))
conf = config_load(filename,
application='osgar.lib.test_config:MyTestRobot')
self.assertTrue(conf['robot']['modules']['app']['driver'].endswith(
'lib.test_config:MyTestRobot'))
def test_multiple_config_files(self):
conf_dir = '../../config'
filename1 = test_data('ro2018-spider-gps-imu.json', conf_dir)
filename2 = test_data('ro2018-czu-waypoints.json', conf_dir)
conf = config_load(filename1, filename2)
self.assertIn('maxspeed', conf['robot']['modules']['app']['init'])
self.assertIn('out', conf['robot']['modules']['app'])
def launch(app, description, prefix):
parser = argparse.ArgumentParser(description=description)
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
parser_replay.add_argument('--verbose',
'-v',
help="verbose mode",
action='store_true')
args = parser.parse_args()
if args.command == 'replay':
args.module = 'app'
game = replay(args, application=app)
game.verbose = args.verbose
game.run()
elif args.command == 'run':
cfg = config_load(*args.config, application=app)
record(cfg, log_prefix=prefix)
def main(record=record):
import logging
logging.basicConfig(
level=logging.DEBUG,
format='%(asctime)s %(name)-16s %(levelname)-8s %(message)s',
)
parser = argparse.ArgumentParser(
description='Record run on real HW with given configuration')
parser.add_argument('config', nargs='+', help='configuration file')
parser.add_argument('--note', help='add description')
parser.add_argument('--duration',
help='recording duration (sec), default infinite',
type=float)
parser.add_argument('--log', help='force record log filename')
parser.add_argument('--application',
help='import string to application',
default=None)
args = parser.parse_args()
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
cfg = config_load(*args.config, application=args.application)
record(cfg,
log_prefix=prefix,
duration_sec=args.duration,
log_filename=args.log)
def replay(args, application=None):
log = LogReader(args.logfile, only_stream_id=0)
print("original args:", next(log)[-1]) # old arguments
config_str = next(log)[-1]
config = literal_eval(config_str.decode('ascii'))
if args.config is not None:
config = config_load(*args.config, application=application)
names = logger.lookup_stream_names(args.logfile)
if args.debug:
print("streams:")
for i, name in enumerate(names):
print(f" {i+1:2d} {name}")
module = args.module
assert module in config['robot']['modules'], (
module, list(config['robot']['modules'].keys()))
module_config = config['robot']['modules'][module]
inputs = {}
for edge_from, edge_to in config['robot']['links']:
if edge_to.split('.')[0] == module:
if edge_from not in names:
g_logger.warning('Missing name: %s' % edge_from)
names.append(edge_from)
inputs[1 + names.index(edge_from)] = edge_to.split('.')[1]
outputs = {
i + 1: out.split('.')[1]
for i, out in enumerate(names) if out.startswith(f"{module}.")
}
if args.debug:
print("inputs:")
for i, name in sorted(inputs.items()):
print(f" {i:2d} {name}")
print("outputs:")
for i, name in sorted(outputs.items()):
print(f" {i:2d} {name}")
if args.force:
reader = LogReader(args.logfile, only_stream_id=inputs.keys())
bus = LogBusHandlerInputsOnly(reader, inputs=inputs)
else:
streams = list(inputs.keys()) + list(outputs.keys())
reader = LogReader(args.logfile, only_stream_id=streams)
bus = LogBusHandler(reader, inputs, outputs)
driver_name = module_config['driver']
module_class = get_class_by_name(driver_name)
module_instance = module_class(module_config.get('init', {}), bus=bus)
bus.node = module_instance # needed for slots
return module_instance
def replay(args, application=None):
log = LogReader(args.logfile, only_stream_id=0)
print("original args:", next(log)[-1]) # old arguments
config_str = next(log)[-1]
config = literal_eval(config_str.decode('ascii'))
if args.config is not None:
config = config_load(*args.config)
names = logger.lookup_stream_names(args.logfile)
print("stream names:")
for name in names:
print(" ", name)
module = args.module
assert module in config['robot']['modules'], (
module, list(config['robot']['modules'].keys()))
module_config = config['robot']['modules'][module]
input_names = module_config['in']
output_names = module_config['out']
print("inputs:", input_names)
print("outputs:", output_names)
inputs = {}
for edge_from, edge_to in config['robot']['links']:
if edge_to.split('.')[0] == module:
if edge_from not in names:
logging.warning(f'Missing name: {edge_from}')
names.append(edge_from)
inputs[1 + names.index(edge_from)] = edge_to.split('.')[1]
# start reading log from the beginning again
if args.force:
log = LogReader(args.logfile, only_stream_id=inputs.keys())
bus = LogBusHandlerInputsOnly(log, inputs=inputs)
else:
outputs = dict([(1 + names.index('.'.join([module, name])), name)
for name in output_names])
streams = list(inputs.keys()) + list(outputs.keys())
log = LogReader(args.logfile, only_stream_id=streams)
bus = LogBusHandler(log, inputs=inputs, outputs=outputs)
driver_name = module_config['driver']
if driver_name == 'application':
assert application is not None
module_class = application
else:
module_class = get_class_by_name(driver_name)
module_instance = module_class(module_config['init'], bus=bus)
bus.node = module_instance
return module_instance
def main():
import argparse
import os
from osgar.lib.config import config_load
from osgar.record import record
parser = argparse.ArgumentParser(description='SubT Teambase')
parser.add_argument('config', nargs='+', help='configuration file')
parser.add_argument('--note', help='add description')
parser.add_argument('--log', nargs='?', help='record log filename')
parser.add_argument('--robot-name',
required=True,
help='T<simulated seconds>F* name')
args = parser.parse_args()
cfg = config_load(*args.config)
cfg['robot']['modules']['app']['init']['robot_name'] = args.robot_name
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
record(cfg, prefix, args.log)
def main():
import argparse
from osgar.lib.config import load as config_load
from osgar.record import Recorder
from osgar.logger import LogWriter, LogReader
parser = argparse.ArgumentParser(description='SubT Challenge')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'], logger=log, application=SubTChallenge)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
app = replay(args, application=RoboOrienteering2018)
app.play()
elif args.command == 'run':
cfg = config_load(*args.config, application=RoboOrienteering2018)
record(cfg, 'ro2018-')
else:
assert False, args.command # unsupported command
# vim: expandtab sw=4 ts=4
nargs='+',
help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'],
logger=log,
application=SubTChallenge)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
# vim: expandtab sw=4 ts=4
parser_run.add_argument('--timeout', help='seconds before stopping (default: %(default)s)', type=int, default=10)
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
parser_replay.add_argument('--verbose', '-v', help="verbose mode", action='store_true')
args = parser.parse_args()
print(args)
if args.command == 'replay':
args.module = 'app'
game = replay(args, application=Go)
game.verbose = args.verbose
game.run()
elif args.command == 'run':
prefix = 'go-' + os.path.basename(args.config[0]).split('.')[0] + '-'
cfg = config_load(*args.config, application=Go)
# apply overrides from command line
cfg['robot']['modules']['app']['init']['dist'] = args.dist
cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
if args.speed is not None:
cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
record(cfg, prefix)
# vim: expandtab sw=4 ts=4
def test_load_config_files(self):
conf_dir = '../../config'
filename = test_data('ro2018-spider-gps-imu.json', conf_dir)
conf = config_load(filename)
self.assertEqual(conf['version'], 2)
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
parser_replay.add_argument('--verbose',
'-v',
help="verbose mode",
action='store_true')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SICKRobot2018)
game.verbose = args.verbose
game.play()
elif args.command == 'run':
cfg = config_load(*args.config, application=SICKRobot2018)
record(cfg, 'eduro-')
# vim: expandtab sw=4 ts=4
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
parser_replay.add_argument('--verbose', '-v', help="verbose mode", action='store_true')
args = parser.parse_args()
if args.command == 'replay':
from replay import replay
args.module = 'app'
game = replay(args, application=SICKRobot2018)
game.verbose = args.verbose
game.play()
elif args.command == 'run':
log = LogWriter(prefix='eduro-', note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'], logger=log, application=SICKRobot2018)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
# vim: expandtab sw=4 ts=4
def main():
import argparse
from osgar.lib.config import config_load
from osgar.record import record
parser = argparse.ArgumentParser(description='SubT Challenge')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_run.add_argument('--walldist', help='distance for wall following (default: %(default)sm)', default=1.0, type=float)
parser_run.add_argument('--side', help='which side to follow', choices=['left', 'right', 'auto'], required=True)
parser_run.add_argument('--speed', help='maximum speed (default: from config)', type=float)
parser_run.add_argument('--timeout', help='seconds of exploring before going home (default: %(default)s)',
type=int, default=10*60)
parser_run.add_argument('--log', nargs='?', help='record log filename')
parser_run.add_argument('--init-offset', help='inital 3D offset accepted as a string of comma separated values (meters)')
parser_run.add_argument('--init-path', help='inital path to be followed from (0, 0). 2D coordinates are separated by ;')
parser_run.add_argument('--start-paused', dest='start_paused', action='store_true',
help='start robota Paused and wait for LoRa Contine command')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
app = replay(args, application=SubTChallenge)
app.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
cfg = config_load(*args.config, application=SubTChallenge)
# apply overrides from command line
cfg['robot']['modules']['app']['init']['walldist'] = args.walldist
if args.side == 'auto':
cfg['robot']['modules']['app']['init']['right_wall'] = 'auto'
else:
cfg['robot']['modules']['app']['init']['right_wall'] = args.side == 'right'
cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
if args.init_offset is not None:
x, y, z = [float(x) for x in args.init_offset.split(',')]
cfg['robot']['modules']['app']['init']['init_offset'] = [int(x*1000), int(y*1000), int(z*1000)]
if args.init_path is not None:
cfg['robot']['modules']['app']['init']['init_path'] = args.init_path
if args.speed is not None:
cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
cfg['robot']['modules']['app']['init']['start_paused'] = args.start_paused
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
record(cfg, prefix, args.log)
