def track_agent(self,
agent,
coordinates,
location,
frame=-1,
time_stamp=None):
if not self.active_episode():
return Result(1, "there is not any active episode")
if agent in self.agents_locations and self.agents_locations[
agent] == coordinates:
return Result(1, "duplicated coordinates given")
if self.world and self.map.cell(coordinates)["occluded"]:
return Result(0, "Coordinates correspond to an occluded cell")
else:
self.agents_locations[agent] = coordinates
if time_stamp is None:
time_stamp = (datetime.now() -
self.current_episode_start_time).total_seconds()
step = {
"time_stamp": time_stamp,
"agent_name": agent,
"coordinates": coordinates,
"location": location,
"frame": frame
}
self.episodes[-1]["trajectories"].append(step)
if self.check:
if agent == "mouse" and coordinates != {"x": -20, "y": 0}:
self.check(2)
self.check = None
return Result(0, "%s coordinates recorded" % agent, step)
def finish_episode(self):
if not self.active_episode():
return Result(1, "there is not any active episode")
self.episodes[-1]["end_time"] = str(datetime.now())
self.current_episode_start_time = None
self.write()
return Result(0, "episode %d finished" % len(self.episodes))
def disable(self, feeder_number):
if feeder_number not in self.pis.keys():
return Result(1, "wrong feeder number (%d)" % feeder_number)
ps = self.pis[feeder_number].get("status")
is_enabled = ps.content["feeder_status"]["state"] == "disabled"
if is_enabled:
return Result(
1, "feeder number (%d) is already disabled" % feeder_number)
return self.pis[feeder_number].get("disable_feeder", [feeder_number])
def feeder_reached(self, feeder_number):
if feeder_number not in [1, 2]:
return Result(1, "wrong feeder number (%d)" % feeder_number)
if feeder_number == 1:
if not self.experiment.is_active():
self.doors.close(1)
self.doors.close(2)
self.doors.close(0)
self.doors.close(3)
return self.experiment.experiment_ended()
else:
self.tracker.write(self.current_experiment_video_folder + "/" +
self.experiment.name + "_ep" +
('%02d' % len(self.experiment.episodes)))
r = self.experiment.start_episode()
self.experiment.check = self.doors.close
self.doors.close(1)
self.doors.open(2)
self.doors.close(0)
self.doors.open(3)
self.feeders.enable(2)
return r
else:
self.tracker.write("end")
r = self.experiment.finish_episode()
self.doors.close(3)
self.doors.open(0)
self.doors.close(2)
self.doors.open(1)
self.feeders.enable(1)
return r
def start_episode(self):
self.agents_locations = {}
self.current_episode_start_time = datetime.now()
self.episodes.append({
"trajectories": [],
"start_time":
str(self.current_episode_start_time),
"time_stamp": (self.current_episode_start_time -
self.start_time).total_seconds()
})
return Result(0, "episode %d started" % len(self.episodes))
def status(self):
if self.is_active():
if self.duration:
n = self.remaining_time()
if n <= 0:
message = "experiment %s finishing" % self.name
else:
message = "experiment %s in progress" % self.name
message += "(%d seconds remaining)" % n
else:
message = "experiment %s in progress" % self.name
else:
message = "no active experiment"
return Result(0, message)
def start_experiment(self, experiment_name, world_name, duration=0):
self.experiment = Experiment(experiment_name, world_name, duration)
self.experiment.start()
if experiment_name != "":
self.current_experiment_video_folder = self.videos_folder + "/" + experiment_name
if not os.path.exists(self.current_experiment_video_folder):
os.makedirs(self.current_experiment_video_folder)
message = "experiment '%s'" % experiment_name
if duration > -1:
message += " for %d minutes" % duration
self.doors.close(0)
self.doors.close(1)
self.doors.close(2)
self.doors.close(3)
self.feeders.enable(1)
return Result(0, message)
def status(self):
s = self.experiment.status()
if s.code == 0:
message = s.message
for pi in Pi.get_pis():
message += "\nPi at %s: " % pi.address
ps = pi.get("status")
if ps.code:
message += "error\n"
else:
message += "ok\n"
for door_status in ps.content["door_status"]:
message += ("door %d: " % door_status["door_number"]
) + door_status["state"] + "\n"
message += ("feeder %d: " %
ps.content["feeder_status"]["feeder_number"]
) + ps.content["feeder_status"]["state"]
return Result(0, message)
else:
return s
def quit(self):
global app
app.stop()
return Result(0, "good bye!")
def update_background(self):
self.tracker.write("update_background")
return Result(0, "Background updated")
def calibrate(self, door_number, direction, opening_time, closing_time):
if door_number not in self.pis.keys():
return Result(1, "wrong door number (%d)" % door_number)
return self.pis[door_number].get(
"calibrate_door",
[door_number, direction, opening_time, closing_time])
def close(self, door_number):
if door_number not in self.pis.keys():
return Result(1, "wrong door number (%d)" % door_number)
return self.pis[door_number].get("close", [door_number])
def finish(self):
self.active = False
return Result(0, "experiment %s finished" % self.name)
def GET(self, querystring):
global habitat
qs = querystring.split("/")
command = qs[0]
if command == "enable_feeder":
feeder_number = int(qs[1])
return habitat.enable_feeder(feeder_number).json()
elif command == "disable_feeder":
feeder_number = int(qs[1])
return habitat.disable_feeder(feeder_number).json()
elif command == "open_door":
door_number = int(qs[1])
return habitat.open_door(door_number)
elif command == "close_door":
door_number = int(qs[1])
return habitat.close_door(door_number)
elif command == "feeder_reached":
feeder_number = int(qs[1])
return habitat.feeder_reached(feeder_number).json()
elif command == "test_feeder":
feeder_number = int(qs[1])
duration = int(qs[2])
repetitions = int(qs[3])
wait_time = int(qs[4])
return habitat.test_feeder(feeder_number, duration, repetitions,
wait_time).json()
elif command == "start_experiment":
experiment_name = qs[1]
world_name = qs[2]
if len(qs) > 3 and qs[3].isnumeric():
duration = int(qs[3])
return habitat.start_experiment(experiment_name, world_name,
duration).json()
else:
return habitat.start_experiment(experiment_name,
world_name).json()
elif command == "finish_experiment":
return habitat.finish_experiment().json()
elif command == "update_background":
return habitat.update_background().json()
elif command == "save_doors_calibration":
return habitat.save_doors_calibration()
elif command == "load_doors_calibration":
return habitat.load_doors_calibration()
elif command == "test_door":
door_number = int(qs[1])
repetitions = int(qs[2])
return habitat.test_door(door_number, repetitions)
elif command == "calibrate_door":
door_number = int(qs[1])
direction = int(qs[2])
opening_time = float(qs[3])
closing_time = float(qs[4])
return habitat.calibrate_door(door_number, direction, opening_time,
closing_time)
elif command == "track":
agent = qs[1]
x = int(qs[2])
y = int(qs[3])
return habitat.track(agent, x, y).json()
elif command == "end":
habitat.end()
app.stop()
return Result(0, "good bye!").json()
elif command == "status":
return habitat.status().json()
else:
return Result(1, "unknown command").json()
def start_server(self):
port = self.address.split(":")[1] if ":" in self.address else "8081"
os.system("python3 server.py " + port + " 2>/dev/null &")
time.sleep(4)
return Result(0, "Server started")
