def test_get_class_by_name(self):
robot = get_class_by_name('osgar.lib.test_config:MyTestRobot')()
self.assertEqual(robot.get_name(), 'Karel')
node = get_class_by_name('tcp')
self.assertEqual(node, LogTCP)
node = get_class_by_name('udp')
self.assertNotEqual(node, LogTCP)
def test_get_class_by_name(self):
robot = get_class_by_name('osgar.lib.test_config:MyTestRobot')()
self.assertEqual(robot.get_name(), 'Karel')
node = get_class_by_name('tcp')
self.assertEqual(node, LogTCP)
node = get_class_by_name('udp')
self.assertNotEqual(node, LogTCP)
def __init__(self, config, logger, application=None):
self.modules = {}
que = {}
for module_name, module_config in config['modules'].items():
out, slots = {}, {}
for output_type in module_config['out']:
out[output_type] = []
slots[output_type] = []
bus = BusHandler(logger, out=out, slots=slots, name=module_name)
que[module_name] = bus.queue
module_class = module_config['driver']
if module_class == 'application':
assert application is not None # external application required
module = application(module_config['init'], bus=bus)
else:
module = get_class_by_name(module_class)(module_config['init'],
bus=bus)
self.modules[module_name] = module
for from_module, to_module in config['links']:
(from_driver, from_name), (
to_driver,
to_name) = from_module.split('.'), to_module.split('.')
if to_name.startswith('slot_'):
self.modules[from_driver].bus.slots[from_name].append(
getattr(self.modules[to_driver], to_name))
else:
self.modules[from_driver].bus.out[from_name].append(
(self.modules[to_driver].bus.queue, to_name))
def replay(args, application=None):
log = LogReader(args.logfile, only_stream_id=0)
print("original args:", next(log)[-1]) # old arguments
config_str = next(log)[-1]
config = literal_eval(config_str.decode('ascii'))
if args.config is not None:
config = config_load(*args.config, application=application)
names = logger.lookup_stream_names(args.logfile)
if args.debug:
print("streams:")
for i, name in enumerate(names):
print(f" {i+1:2d} {name}")
module = args.module
assert module in config['robot']['modules'], (
module, list(config['robot']['modules'].keys()))
module_config = config['robot']['modules'][module]
inputs = {}
for edge_from, edge_to in config['robot']['links']:
if edge_to.split('.')[0] == module:
if edge_from not in names:
g_logger.warning('Missing name: %s' % edge_from)
names.append(edge_from)
inputs[1 + names.index(edge_from)] = edge_to.split('.')[1]
outputs = {
i + 1: out.split('.')[1]
for i, out in enumerate(names) if out.startswith(f"{module}.")
}
if args.debug:
print("inputs:")
for i, name in sorted(inputs.items()):
print(f" {i:2d} {name}")
print("outputs:")
for i, name in sorted(outputs.items()):
print(f" {i:2d} {name}")
if args.force:
reader = LogReader(args.logfile, only_stream_id=inputs.keys())
bus = LogBusHandlerInputsOnly(reader, inputs=inputs)
else:
streams = list(inputs.keys()) + list(outputs.keys())
reader = LogReader(args.logfile, only_stream_id=streams)
bus = LogBusHandler(reader, inputs, outputs)
driver_name = module_config['driver']
module_class = get_class_by_name(driver_name)
module_instance = module_class(module_config.get('init', {}), bus=bus)
bus.node = module_instance # needed for slots
return module_instance
def replay(args, application=None):
log = LogReader(args.logfile, only_stream_id=0)
print("original args:", next(log)[-1]) # old arguments
config_str = next(log)[-1]
config = literal_eval(config_str.decode('ascii'))
if args.config is not None:
config = config_load(*args.config)
names = logger.lookup_stream_names(args.logfile)
print("stream names:")
for name in names:
print(" ", name)
module = args.module
assert module in config['robot']['modules'], (
module, list(config['robot']['modules'].keys()))
module_config = config['robot']['modules'][module]
input_names = module_config['in']
output_names = module_config['out']
print("inputs:", input_names)
print("outputs:", output_names)
inputs = {}
for edge_from, edge_to in config['robot']['links']:
if edge_to.split('.')[0] == module:
if edge_from not in names:
logging.warning(f'Missing name: {edge_from}')
names.append(edge_from)
inputs[1 + names.index(edge_from)] = edge_to.split('.')[1]
# start reading log from the beginning again
if args.force:
log = LogReader(args.logfile, only_stream_id=inputs.keys())
bus = LogBusHandlerInputsOnly(log, inputs=inputs)
else:
outputs = dict([(1 + names.index('.'.join([module, name])), name)
for name in output_names])
streams = list(inputs.keys()) + list(outputs.keys())
log = LogReader(args.logfile, only_stream_id=streams)
bus = LogBusHandler(log, inputs=inputs, outputs=outputs)
driver_name = module_config['driver']
if driver_name == 'application':
assert application is not None
module_class = application
else:
module_class = get_class_by_name(driver_name)
module_instance = module_class(module_config['init'], bus=bus)
bus.node = module_instance
return module_instance
def main():
import argparse
import os.path
global g_rotation_offset_rad
parser = argparse.ArgumentParser(description='View lidar scans')
parser.add_argument('logfile', help='recorded log file')
parser.add_argument('--legacy',
help='use old text lidar log format',
action='store_true')
parser.add_argument('--lidar', help='stream ID')
pose = parser.add_mutually_exclusive_group()
pose.add_argument('--pose2d', help='stream ID for pose2d messages')
pose.add_argument('--pose3d', help='stream ID for pose3d messages')
parser.add_argument('--camera', help='stream ID for JPEG images')
parser.add_argument('--callback', help='callback function for lidar scans')
parser.add_argument('--rotate',
help='rotate poses by angle in degrees, offset',
type=float,
default=0.0)
args = parser.parse_args()
if not any([args.lidar, args.pose2d, args.pose3d, args.camera]):
print("Available streams:")
for stream in lookup_stream_names(args.logfile):
print(" ", stream)
return
callback = None
if args.callback is not None:
callback = get_class_by_name(args.callback)
filename = os.path.basename(args.logfile)
g_rotation_offset_rad = math.radians(args.rotate)
if args.legacy:
lidarview(scans_gen_legacy(args.logfile),
caption_filename=filename,
callback=callback)
else:
with Framer(args.logfile,
lidar_name=args.lidar,
pose2d_name=args.pose2d,
pose3d_name=args.pose3d,
camera_name=args.camera) as framer:
lidarview(framer, caption_filename=filename, callback=callback)
def __init__(self, config, logger):
self.stop_requested = threading.Event()
self.sigint_received = False
self.modules = {}
self.bus = Bus(logger)
for module_name, module_config in config['modules'].items():
klass = get_class_by_name(module_config['driver'])
self.modules[module_name] = klass(module_config['init'],
bus=self.bus.handle(module_name))
for sender, receiver in config['links']:
self.bus.connect(sender, receiver, self.modules)
signal.signal(signal.SIGINT, self.request_stop)
def main(args_in=None, startswith=None):
import argparse
import os.path
global g_rotation_offset_rad, g_lidar_fov_deg, MAX_SCAN_LIMIT, WINDOW_SIZE
parser = argparse.ArgumentParser(description='View lidar scans')
parser.add_argument('logfile', help='recorded log file')
parser.add_argument('--lidar', help='stream ID')
parser.add_argument('--lidar2', help='stream ID of second lidar (back or slope)')
parser.add_argument('--lidar-limit', help='display scan limit in millimeters',
type=int, default=MAX_SCAN_LIMIT)
pose = parser.add_mutually_exclusive_group()
pose.add_argument('--pose2d', help='stream ID for pose2d messages')
pose.add_argument('--pose3d', help='stream ID for pose3d messages')
parser.add_argument('--camera', help='stream ID for JPEG images')
parser.add_argument('--camera2', help='stream ID for 2nd JPEG images')
parser.add_argument('--bbox', help='stream ID for detection bounding box')
parser.add_argument('--joint', help='stream ID joint angle for articulated robots (Kloubak)')
parser.add_argument('--keyframes', help='stream ID typically for artifacts detection')
parser.add_argument('--title', help='stream ID of data to be displayed in title')
parser.add_argument('--window-size', help='set window size in pixels', type=int, nargs=2)
parser.add_argument('--callback', help='callback function for lidar scans')
parser.add_argument('--rotate', help='rotate poses by angle in degrees, offset',
type=float, default=0.0)
parser.add_argument('--deg', help='lidar field of view in degrees',
type=float, default=270)
parser.add_argument('--jump', '-j', help='jump to given time in seconds', type=int)
parser.add_argument('--create-video', help='filename of output video')
args = parser.parse_args(args_in)
p = pathlib.Path(args.logfile)
if p.is_dir():
if startswith is not None:
g = iter(child for child in p.iterdir() if child.name.startswith(startswith))
else:
g = p.iterdir()
args.logfile = max(g, key=lambda a: a.stat().st_mtime)
print(args.logfile)
if not any([args.lidar, args.pose2d, args.pose3d, args.camera]):
print("Available streams:")
for stream in lookup_stream_names(args.logfile):
print(" ", stream)
return
callback = None
if args.callback is not None:
callback = get_class_by_name(args.callback)
if args.lidar_limit is not None:
MAX_SCAN_LIMIT = args.lidar_limit
if args.window_size is not None:
WINDOW_SIZE = args.window_size
filename = os.path.basename(args.logfile)
g_rotation_offset_rad = math.radians(args.rotate)
g_lidar_fov_deg = args.deg
with Framer(args.logfile, lidar_name=args.lidar, lidar2_name=args.lidar2, pose2d_name=args.pose2d, pose3d_name=args.pose3d,
camera_name=args.camera, camera2_name=args.camera2, bbox_name=args.bbox, joint_name=args.joint,
keyframes_name=args.keyframes, title_name=args.title) as framer:
lidarview(framer, caption_filename=filename, callback=callback, out_video=args.create_video, jump=args.jump)