def launch(app, description, prefix):
parser = argparse.ArgumentParser(description=description)
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
parser_replay.add_argument('--verbose',
'-v',
help="verbose mode",
action='store_true')
args = parser.parse_args()
if args.command == 'replay':
args.module = 'app'
game = replay(args, application=app)
game.verbose = args.verbose
game.run()
elif args.command == 'run':
record(args.config, log_prefix=prefix, application=app)
def main():
import argparse
from osgar.lib.config import load as config_load
from osgar.record import Recorder
from osgar.logger import LogWriter, LogReader
parser = argparse.ArgumentParser(description='SubT Challenge')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'], logger=log, application=SubTChallenge)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
def launch(app, description, prefix):
parser = argparse.ArgumentParser(description=description)
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
parser_replay.add_argument('--verbose', '-v', help="verbose mode", action='store_true')
args = parser.parse_args()
if args.command == 'replay':
args.module = 'app'
game = replay(args, application=app)
game.verbose = args.verbose
game.run()
elif args.command == 'run':
record(args.config, log_prefix=prefix, application=app)
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
app = replay(args, application=RoboOrienteering2018)
app.play()
elif args.command == 'run':
cfg = config_load(*args.config, application=RoboOrienteering2018)
record(cfg, 'ro2018-')
else:
assert False, args.command # unsupported command
# vim: expandtab sw=4 ts=4
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'],
logger=log,
parser_run.add_argument('--speed', '-s', help="speed in m/s (default: from config)", type=float)
parser_run.add_argument('--dist', '-d', help="distance in m (default: %(default)sm)", type=float, default=1.0)
parser_run.add_argument('--timeout', help='seconds before stopping (default: %(default)s)', type=int, default=10)
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
parser_replay.add_argument('--verbose', '-v', help="verbose mode", action='store_true')
args = parser.parse_args()
print(args)
if args.command == 'replay':
args.module = 'app'
game = replay(args, application=Go)
game.verbose = args.verbose
game.run()
elif args.command == 'run':
prefix = 'go-' + os.path.basename(args.config[0]).split('.')[0] + '-'
cfg = config_load(*args.config, application=Go)
# apply overrides from command line
cfg['robot']['modules']['app']['init']['dist'] = args.dist
cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
if args.speed is not None:
cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
record(cfg, prefix)
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument(
'--force',
'-F',
dest='force',
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
parser_replay.add_argument('--verbose',
'-v',
help="verbose mode",
action='store_true')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SICKRobot2018)
game.verbose = args.verbose
game.play()
elif args.command == 'run':
cfg = config_load(*args.config, application=SICKRobot2018)
record(cfg, 'eduro-')
# vim: expandtab sw=4 ts=4
action='store_true',
help='force replay even for failing output asserts')
parser_replay.add_argument('--config',
nargs='+',
help='force alternative configuration file')
parser_replay.add_argument('--verbose',
'-v',
help="verbose mode",
action='store_true')
args = parser.parse_args()
print(args)
if args.command == 'replay':
args.module = 'app'
game = replay(args, application=Turn)
game.verbose = args.verbose
game.run()
elif args.command == 'run':
prefix = 'turn-' + os.path.basename(args.config[0]).split('.')[0] + '-'
cfg = config_load(*args.config, application=Turn)
# apply overrides from command line
cfg['robot']['modules']['app']['init']['angle_deg'] = args.angle
cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
if args.speed is not None:
cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
if args.angular_speed is not None:
cfg['robot']['modules']['app']['init'][
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
game = replay(args, application=SubTChallenge)
game.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
# support simultaneously multiple platforms
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
log = LogWriter(prefix=prefix, note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Recorder(config=config['robot'], logger=log, application=SubTChallenge)
game = robot.modules['app'] # TODO nicer reference
def main():
import argparse
from osgar.lib.config import config_load
from osgar.record import record
parser = argparse.ArgumentParser(description='SubT Challenge')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', nargs='+', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_run.add_argument('--walldist', help='distance for wall following (default: %(default)sm)', default=1.0, type=float)
parser_run.add_argument('--side', help='which side to follow', choices=['left', 'right', 'auto'], required=True)
parser_run.add_argument('--speed', help='maximum speed (default: from config)', type=float)
parser_run.add_argument('--timeout', help='seconds of exploring before going home (default: %(default)s)',
type=int, default=10*60)
parser_run.add_argument('--log', nargs='?', help='record log filename')
parser_run.add_argument('--init-offset', help='inital 3D offset accepted as a string of comma separated values (meters)')
parser_run.add_argument('--init-path', help='inital path to be followed from (0, 0). 2D coordinates are separated by ;')
parser_run.add_argument('--start-paused', dest='start_paused', action='store_true',
help='start robota Paused and wait for LoRa Contine command')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
args = parser.parse_args()
if args.command == 'replay':
from osgar.replay import replay
args.module = 'app'
app = replay(args, application=SubTChallenge)
app.play()
elif args.command == 'run':
# To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
# Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
# Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
gc.disable()
cfg = config_load(*args.config, application=SubTChallenge)
# apply overrides from command line
cfg['robot']['modules']['app']['init']['walldist'] = args.walldist
if args.side == 'auto':
cfg['robot']['modules']['app']['init']['right_wall'] = 'auto'
else:
cfg['robot']['modules']['app']['init']['right_wall'] = args.side == 'right'
cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
if args.init_offset is not None:
x, y, z = [float(x) for x in args.init_offset.split(',')]
cfg['robot']['modules']['app']['init']['init_offset'] = [int(x*1000), int(y*1000), int(z*1000)]
if args.init_path is not None:
cfg['robot']['modules']['app']['init']['init_path'] = args.init_path
if args.speed is not None:
cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
cfg['robot']['modules']['app']['init']['start_paused'] = args.start_paused
prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
record(cfg, prefix, args.log)
