async def analyze_sdf(self, sdf, max_attempts=5):
"""
Coroutine that returns with a (collisions, bounding box) tuple,
assuming analysis succeeds.
:param max_attempts:
:param sdf:
:type sdf: SDF
:return:
"""
msg = None
rh = self.request_handler
for _ in range(max_attempts):
response = await rh.do_gazebo_request("analyze_body", str(sdf))
if response.response == "success":
msg = BodyAnalysisResponse()
msg.ParseFromString(response.serialized_data)
break
if not msg:
logger.error("analyze_sdf returned not valid message")
return None
if msg.HasField("boundingBox"):
bbox = msg.boundingBox
else:
bbox = None
internal_collisions = len(msg.contact)
return internal_collisions, bbox
async def _restart_simulator(self, i):
# restart simulator
logger.error("Restarting simulator")
self._connections[i].disconnect()
await (await self._supervisors[i].relaunch(5))
await asyncio.sleep(5)
self._connections[i] = await World.create(self._settings,
world_address=("127.0.0.1",
11345 + i))
async def _worker_evaluate_robot(self, connection, robot, future, conf):
await asyncio.sleep(0.01)
start = time.time()
try:
timeout = self.EVALUATION_TIMEOUT # seconds
result = await asyncio.wait_for(self._evaluate_robot(
connection, robot, conf),
timeout=timeout)
except asyncio.TimeoutError:
# WAITED TO MUCH, RESTART SIMULATOR
elapsed = time.time() - start
logger.error(f"Simulator restarted after {elapsed}")
return False
except Exception:
logger.exception(f"Exception running robot {robot.phenotype}")
return False
elapsed = time.time() - start
logger.info(f"time taken to do a simulation {elapsed}")
robot.failed_eval_attempt_count = 0
future.set_result(result)
return True
async def _restart_simulator(self, i):
# restart simulator
address = '127.0.0.1'
port = self._port_start + i
logger.error("Restarting simulator")
logger.error("Restarting simulator... disconnecting")
try:
await asyncio.wait_for(self._connections[i].disconnect(), 10)
except asyncio.TimeoutError:
pass
logger.error("Restarting simulator... restarting")
await self._supervisors[i].relaunch(10, address=address, port=port)
await asyncio.sleep(10)
logger.debug("Restarting simulator done... connecting")
self._connections[i] = await self._connect_to_simulator(
self._settings, address, port)
logger.debug("Restarting simulator done... connection done")