def on_received_get_commands(self, context: Context, data: GetCommands):
# context.info(f'on_received_get_commands')
if not self.agent.initialized:
pwm_left, pwm_right = [0, 0]
else:
# TODO: let's use a queue here. Performance suffers otherwise.
# What you should do is: *get the last command*, if available
# otherwise, wait for one command.
t0 = time.time()
while not self.agent.updated:
dt = time.time() - t0
if dt > 2.0:
context.info(f"agent not ready since {dt:.1f} s")
time.sleep(0.5)
if dt > 60:
msg = "I have been waiting for commands from the ROS part" f" since {int(dt)} s"
context.error(msg)
raise Exception(msg)
time.sleep(0.02)
dt = time.time() - t0
if dt > 2.0:
context.info(f"obtained agent commands after {dt:.1f} s")
time.sleep(0.2)
pwm_left, pwm_right = self.agent.action
self.agent.updated = False
grey = RGB(0.5, 0.5, 0.5)
led_commands = LEDSCommands(grey, grey, grey, grey, grey)
pwm_commands = PWMCommands(motor_left=pwm_left, motor_right=pwm_right)
commands = DB20Commands(pwm_commands, led_commands)
context.write("commands", commands)
def on_received_set_robot_commands(self, data: DB18SetRobotCommands,
context: Context):
l, r = data.commands.wheels.motor_left, data.commands.wheels.motor_right
if max(math.fabs(l), math.fabs(r)) > 1:
msg = f'Received invalid PWM commands. They should be between -1 and +1.' \
f' Received left = {l!r}, right = {r!r}.'
context.error(msg)
raise Exception(msg)
self.last_commands = data.commands
def check_gpu_available(self, context: Context):
available = torch.cuda.is_available()
req = os.environ.get('AIDO_REQUIRE_GPU', None)
context.info(f'torch.cuda.is_available = {available!r} AIDO_REQUIRE_GPU = {req!r}')
context.info('init()')
self.device = torch.device('cuda:0' if torch.cuda.is_available() else 'cpu')
if available:
i = torch.cuda.current_device()
count = torch.cuda.device_count()
name = torch.cuda.get_device_name(i)
context.info(f'device {i} of {count}; name = {name!r}')
else:
if req is not None:
msg = 'No GPU found'
context.error(msg)
def check_gpu_available(self, context: Context):
import torch
available = torch.cuda.is_available()
req = os.environ.get('AIDO_REQUIRE_GPU', None)
context.info(f'torch.cuda.is_available = {available!r} AIDO_REQUIRE_GPU = {req!r}')
context.info('init()')
if available:
i = torch.cuda.current_device()
count = torch.cuda.device_count()
name = torch.cuda.get_device_name(i)
context.info(f'device {i} of {count}; name = {name!r}')
else:
if req is not None:
msg = 'I need a GPU; bailing.'
context.error(msg)
raise RuntimeError(msg)
