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 __init__(self, id_agent, id_robot):
self.id_agent = id_agent
self.id_robot = id_robot
self.id_episodes = set()
self.num_observations = 0
self.agent_state = None
self.id_state = isodate()
def get_sensel_pgftable(V, what, desc='No description given'):
s = StringIO()
s.write('# Created by get_sensel_pgftable()\n')
s.write('# %s \n' % isodate())
s.write('# sensel: counter of the sensel from 0 to n-1.\n')
s.write('# %s: %s \n' % (what, desc))
s.write('# senseln: counter of the sensel from 0 to 1.\n')
s.write('sensel senseln %s\n' % what)
index = np.linspace(0, 1, V.size)
for i, x in enumerate(V):
s.write('%d %g %g\n' % (i, x, index[i]))
return s.getvalue()
def save_report(data_central, report, filename, resources_dir=None,
save_pickle=False, save_hdf=True,
check_hdf_written_correctly=True):
""" filename.html """
report.text('report_date', isodate()) # TODO: add other stuff
ds = data_central.get_dir_structure()
report.to_html(filename, resources_dir=resources_dir)
ds.file_is_done(filename)
if save_pickle:
pickle_name = os.path.splitext(filename)[0] + '.pickle'
with warn_long_time_writing(pickle_name):
safe_pickle_dump(report, pickle_name, protocol=2)
ds.file_is_done(pickle_name)
if save_hdf:
hdf_name = os.path.splitext(filename)[0] + '.rr1.h5'
with warn_long_time_writing(hdf_name):
report.to_hdf(hdf_name)
if check_hdf_written_correctly:
with warn_long_time_reading(hdf_name, logger=logger):
r2 = report_from_hdf(hdf_name)
if report != r2:
logger.error("Dont match")
logger.error(report.format_tree())
logger.error(r2.format_tree())
raise Exception()
ds.file_is_done(hdf_name)
