def run_function_and_log(self,
motionFunction,
runSeconds,
timeScale=1,
logFilename=None):
'''
Runs the robot with the given motion function from 0 to
runSeconds, logging time and position to logFileName
'''
# Reset before measuring
self.robot.readyPosition()
wiiTrack = WiiTrackFastClient("localhost", 8080)
sleep(.5)
beginPos = wiiTrack.getPosition()
if beginPos is None:
# Robot walked out of sensor view
self.manual_reset(
'Robot has walked outisde sensor view. Please place back in center and push enter to retry.'
)
raise Exception
if not self.robot.shimmy():
print 'Shimmy failed :('
#self.manual_reset('Shimmy failed. Fix and push enter to retry.')
#####HACK !!!!!!
#raise Exception
ff = open(logFilename, 'a')
try:
self.robot.run(motionFunction,
runSeconds=runSeconds,
resetFirst=False,
interpBegin=1,
interpEnd=2,
logFile=ff,
extraLogInfoFn=lambda: getLogPosString(wiiTrack))
except RobotFailure as ee:
ff.close()
print ee
override = self.manual_reset(
'Robot run failure. Fix something and push enter to retry.')
raise Exception
ff.close()
endPos = wiiTrack.getPosition()
if endPos is None:
# Robot walked out of sensor view
override = self.manual_reset(
'Robot has ended outisde sensor view. Please place back in center\nand push enter to retry.'
)
raise Exception
distance_walked = self.calculate_distance(beginPos, endPos)
print 'Total Distance: %.2f' % distance_walked
def main():
if len(sys.argv) < 3:
print 'Usage: %s input_gait_file output_position_file' % sys.argv[0]
sys.exit(1)
gaitFile = sys.argv[1]
posFile = sys.argv[2]
strategy = TimedFileStrategy(posFile = gaitFile)
motionFunction, logInfo = strategy.getNext()
#runman = RunManager()
#runman.do_many_runs(strategy, SineModel5.typicalRanges)
#timeScale = .3
#motionFunctionScaled = scaleTime(motionFunction, timeScale)
wiiTrack = WiiTrackFastClient("localhost", 8080)
time.sleep(.5)
position,age = wiiTrack.getPosAge()
if age is None:
raise Exception('Could not get position from wiiTrack.')
robot = Robot(loud = True)
bucket = []
def foo():
savePosition(wiiTrack, bucket)
robot.run(motionFunction, runSeconds = 10, resetFirst = True,
interpBegin = 2, interpEnd = 2, extraLogInfoFn = foo)
print 'Positions:'
print len(bucket)
relTimeBucket = []
for ii, line in enumerate(bucket):
delta = line[0] - bucket[0][0]
relTime = delta.seconds + delta.microseconds/1e6
relTimeBucket.append((relTime, line[1], line[2]))
ff = open (posFile, 'w')
ff.write('# time (junk junk)x9 pos.x pos.y 0 age\n')
for ii, timePosAge in enumerate(relTimeBucket):
timeOfPosition, position, age = timePosAge
line = '%.3f' % timeOfPosition
line += ' -1 -1' * 9
line += ' %.1f %.1f %.1f' % (position[0], position[1], 0)
line += ' %f' % age
ff.write(line + '\n')
ff.close()
print 'Wrote position file:', posFile
def run_function_and_log(self, motionFunction, runSeconds, timeScale = 1, logFilename = None):
'''
Runs the robot with the given motion function from 0 to
runSeconds, logging time and position to logFileName
'''
# Reset before measuring
self.robot.readyPosition()
wiiTrack = WiiTrackFastClient("localhost", 8080)
sleep(.5)
beginPos = wiiTrack.getPosition()
if beginPos is None:
# Robot walked out of sensor view
self.manual_reset('Robot has walked outisde sensor view. Please place back in center and push enter to retry.')
raise Exception
if not self.robot.shimmy():
print 'Shimmy failed :('
#self.manual_reset('Shimmy failed. Fix and push enter to retry.')
#####HACK !!!!!!
#raise Exception
ff = open(logFilename, 'a')
try:
self.robot.run(motionFunction, runSeconds = runSeconds, resetFirst = False,
interpBegin = 1, interpEnd = 2, logFile = ff,
extraLogInfoFn = lambda: getLogPosString(wiiTrack))
except RobotFailure as ee:
ff.close()
print ee
override = self.manual_reset('Robot run failure. Fix something and push enter to retry.')
raise Exception
ff.close()
endPos = wiiTrack.getPosition()
if endPos is None:
# Robot walked out of sensor view
override = self.manual_reset('Robot has ended outisde sensor view. Please place back in center\nand push enter to retry.')
raise Exception
distance_walked = self.calculate_distance(beginPos, endPos)
print 'Total Distance: %.2f' % distance_walked
def main22():
if len(sys.argv) > 2 and sys.argv[1] == '-filt':
filtFile = sys.argv[2]
strategy = FileStrategy(filtFile = filtFile)
motionFunction, logInfo = strategy.getNext()
elif len(sys.argv) > 2 and sys.argv[1] == '-sine':
sineModel5Params = [eval(xx) for xx in sys.argv[2].split()]
print 'Using SineModel5 with params: ', sineModel5Params
motionFunction = lambda time: SineModel5().model(time,
parameters = sineModel5Params)
else:
#filtFile = '../results/hyperneatTo20gens_101/neat_110115_175446_00014_008_filt'
filtFile = '../results/hyperneatTo20gens_101/neat_110115_175446_00004_007_filt'
strategy = FileStrategy(filtFile = filtFile)
motionFunction, logInfo = strategy.getNext()
#runman = RunManager()
#runman.do_many_runs(strategy, SineModel5.typicalRanges)
#timeScale = .3
#motionFunctionScaled = scaleTime(motionFunction, timeScale)
wiiTrack = WiiTrackFastClient("localhost", 8080)
time.sleep(.5)
position,age = wiiTrack.getPosAge()
if age is None:
raise Exception('Could not get position from wiiTrack.')
robot = Robot(loud = True)
bucket = []
def foo():
savePosition(wiiTrack, bucket)
robot.run(motionFunction, runSeconds = 8, resetFirst = False,
interpBegin = 2, interpEnd = 2, extraLogInfoFn = foo)
print bucket