def initialize(self, environment, except_hook):
"""
Initializes the simulation
:param environment: The environment that should be simulated
:param except_hook: A method that should be called when there is a critical error
"""
# Change working directory to experiment directory
logger.info("Path is " + self.__exc.path)
os.chdir(self.__exc.dir)
# Create backend->frontend/client ROS notificator
logger.info("Setting up backend Notificator")
self.ros_notificator = ROSNotificator()
Notificator.register_notification_function(
lambda subtask, update_progress: self.ros_notificator.update_task(
subtask, update_progress, True))
# Number of subtasks is not used in frontend notificator logic
self.ros_notificator.start_task("Neurorobotics Platform",
"Neurorobotics Platform",
number_of_subtasks=1,
block_ui=True)
self._notify("Starting Neurorobotics Platform")
self._initialize(environment, except_hook)
# Loading is completed.
self._notify("Finished")
self.ros_notificator.finish_task()
logger.info("CLELauncher Finished.")
def _notify(self, message):
"""
Checks whether the simulation should abort immediately
"""
if self._abort_initialization is not None:
raise Exception("The simulation must abort due to: " +
self._abort_initialization)
Notificator.notify(message, True)
def start_fetching_gazebo_logs(self):
"""
Starts to fetch the logs from gazebo and putting them as notifications
"""
gazebo_logger.handlers.append(notificator_handler)
Notificator.register_notification_function(
lambda subtask, update_progress: self._notificator.update_task(
subtask, update_progress, True))
def test_notificator_handler(self):
messages = []
def notify_handler(message, update_progress):
messages.append(message)
Notificator.register_notification_function(notify_handler)
logger = logging.getLogger("TestLogger")
logger.addHandler(NotificatorHandler())
logger.setLevel(logging.INFO)
logger.info("Foo")
logger.info("%s", "Bar")
logger.debug("Debug")
self.assertEqual(2, len(messages))
self.assertEqual("Foo", messages[0])
self.assertEqual("Bar", messages[1])
def initialize(self, except_hook):
"""
Initializes the simulation
:param environment: The environment that should be simulated
:param except_hook: A method that should be called when there is a critical error
"""
# Change working directory to experiment directory
logger.info("Path is " + self._sim_config.sim_dir)
os.chdir(self._sim_config.sim_dir)
# RNG seed for components, use config value if specified or generate a new one
self.rng_seed = self.sim_config.rng_seed
if self.rng_seed is None:
logger.info(
'No RNG seed specified in the exc, using random value.')
self.rng_seed = random.randint(1, sys.maxint)
logger.info('RNG seed = %i', self.rng_seed)
# Create backend->frontend/client ROS notificator
logger.info("Setting up backend Notificator")
self.ros_notificator = ROSNotificator()
Notificator.register_notification_function(
lambda subtask, update_progress: self.ros_notificator.update_task(
subtask, update_progress, True))
# Number of subtasks is not used in frontend notificator logic
self.ros_notificator.start_task("Neurorobotics Platform",
"Neurorobotics Platform",
number_of_subtasks=1,
block_ui=True)
self._notify("Starting Neurorobotics Platform")
self._initialize(except_hook)
# Loading is completed.
self._notify("Finished")
self.ros_notificator.finish_task()
logger.info("CLELauncher Finished.")
def test_notificator(self):
notify = MagicMock()
Notificator.register_notification_function(notify)
Notificator.notify('test_message', 'test_update')
self.assertEqual(notify.call_count, 1)