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 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 single_run(preset_filename,
robots,
bind_addr,
seed,
batch_file=None,
override_settings={}):
if batch_file:
ScreenObjectManager.BATCH_FILE = batch_file
ScreenObjectManager.PRESET_FILE = preset_filename
import ev3sim
try:
latest_version = get_version_pypi("ev3sim")
ScreenObjectManager.NEW_VERSION = latest_version != ev3sim.__version__
if ScreenObjectManager.NEW_VERSION:
update_message = f"""\
==========================================================================================
There is a new version of ev3sim available ({latest_version}).
Keeping an up to date version of ev3sim ensures you have the latest bugfixes and features.
Please update ev3sim by running the following command:
python -m pip install -U ev3sim
==========================================================================================
"""
print(update_message)
except:
ScreenObjectManager.NEW_VERSION = False
Randomiser.createGlobalRandomiserWithSeed(seed)
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.
"events": {}, # Any events that should be sent to robots.
}
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)
# Handle any other settings modified by the preset.
settings = config.get("settings", {})
settings.update(override_settings)
for keyword, value in settings.items():
run = mock.patch(keyword, value)(run)
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 occurred in the {r[0]} thread. Raising an error now..."
)
time.sleep(1)
raise r[1]
except KeyboardInterrupt:
pass