def test_contract_disabled(self):
validKwargs = {
'memberString': "Be free! Kill bureaucracy!!!",
'propertyString': "Be free! Kill bureaucracy!!!",
'memberStringList': ["a", "b"],
'propertyStringList': ["a", "b"]
}
# Disabling contracts.
contracts.disable_all()
# No exception is raised.
TestContract()
# Invalid memberString but no exception is raised.
kwargs = validKwargs.copy()
kwargs['memberString'] = 1234
TestContract(**kwargs)
# Invalid propertyString but no exception is raised.
kwargs = validKwargs.copy()
kwargs['propertyString'] = 1234
TestContract(**kwargs)
# Invalid memberStringList but no exception is raised.
kwargs = validKwargs.copy()
kwargs['memberStringList'] = ["a", 2]
TestContract(**kwargs)
# Invalid propertyStringList but no exception is raised.
kwargs = validKwargs.copy()
kwargs['propertyStringList'] = ["a", 2]
TestContract(**kwargs)
def test_disabled_contracts(self):
contracts.disable_all()
@contract
def disabled(phrase):
"""
:type phrase: str
"""
return phrase
# this should not throw w/ contracts disabled
disabled(int(8))
contracts.enable_all()
# this will still not throw because the disabled value is checked at decoration time only
disabled(int(8))
@contract
def enabled(phrase):
"""
:type phrase: str
"""
return phrase
# a newly decorated function will throw
with pytest.raises(exceptions.ContractNotRespected):
enabled(int(8))
def main():
parser = OptionParser(usage=usage)
parser.add_option("--outdir", default='.')
parser.add_option("--slow", default=False, action='store_true',
help='Enables sanity checks.')
parser.add_option("--stats", default=False, action='store_true',
help='Computes statistics.')
(options, args) = parser.parse_args() #@UnusedVariable
if not options.slow:
disable_all()
if len(args) > 1:
raise Exception('Too many arguments')
filename = args[0] if args else 'stdin'
G = smart_load(filename, raise_if_unknown=True, progress=True)
print('Creating report...')
r = create_report(G, options.stats)
rd = os.path.join(options.outdir, 'images')
out = os.path.join(options.outdir, '%s.html' % G.graph['name'])
print('Writing to %r' % out)
r.to_html(out, resources_dir=rd)
def main():
parser = OptionParser(usage=usage)
parser.add_option("--outdir", default='.')
parser.add_option("--slow",
default=False,
action='store_true',
help='Enables sanity checks.')
parser.add_option("--stats",
default=False,
action='store_true',
help='Computes statistics.')
(options, args) = parser.parse_args() #@UnusedVariable
if not options.slow:
disable_all()
if len(args) > 1:
raise Exception('Too many arguments')
filename = args[0] if args else 'stdin'
G = smart_load(filename, raise_if_unknown=True, progress=True)
print('Creating report...')
r = create_report(G, options.stats)
rd = os.path.join(options.outdir, 'images')
out = os.path.join(options.outdir, '%s.html' % G.graph['name'])
print('Writing to %r' % out)
r.to_html(out, resources_dir=rd)
def main(self, argumentList):
# Disabling contracts solves some performance issues.
contracts.disable_all()
argumentParser = argparse.ArgumentParser(
description=u"Make ModSecurity exceptions.")
argumentParser.add_argument(
u"-i",
u"--input",
metavar=u"MODSEC_AUDIT_LOG_FILE",
dest='modsecurityAuditLogPath',
type=unicode,
default=None,
help=
u"Modsecurity audit log file path or '-' to read from standard input."
)
argumentParser.add_argument(
u"-d",
u"--data-url",
dest='dataURL',
type=unicode,
required=True,
default=None,
help=u"Example: 'sqlite:////tmp/modsecurity-exception-factory.db'")
argumentParser.add_argument(u"-c",
u"--config-file",
dest='configFilePath',
type=unicode,
default=None)
argumentObject = argumentParser.parse_args(argumentList)
# Try to parse config.
config = Config(argumentObject.configFilePath)
variableNameList = config.variableNameList()
ignoredVariableDict = config.ignoredVariableDict()
minimumOccurrenceCountThreshold = config.minimumOccurrenceCountThreshold(
)
maximumValueCountThreshold = config.maximumValueCountThreshold()
# Initialize data source object.
dataSource = ModsecurityAuditDataSourceSQL(argumentObject.dataURL)
# Parse log if given.
if argumentObject.modsecurityAuditLogPath is not None:
self._parseFile(argumentObject.modsecurityAuditLogPath, dataSource)
# Preparing correlation engine.
correlationEngine = CorrelationEngine(variableNameList,
ignoredVariableDict,
minimumOccurrenceCountThreshold,
maximumValueCountThreshold)
correlationEngine.addProgressListener(
CorrelationProgressListenerConsole(sys.stderr))
# Correlating and writing exceptions progressively using the power of Python generators.
ModsecurityExceptionWriter(stream=sys.stdout).write(
correlationEngine.correlate(dataSource))
return 0
def test_contract_disabled(self):
validKwargs = {'memberString': "Be free! Kill bureaucracy!!!",
'propertyString': "Be free! Kill bureaucracy!!!",
'memberStringList': ["a", "b"],
'propertyStringList': ["a", "b"]}
# Disabling contracts.
contracts.disable_all()
# No exception is raised.
TestContract()
# Invalid memberString but no exception is raised.
kwargs = validKwargs.copy()
kwargs['memberString'] = 1234
TestContract(**kwargs)
# Invalid propertyString but no exception is raised.
kwargs = validKwargs.copy()
kwargs['propertyString'] = 1234
TestContract(**kwargs)
# Invalid memberStringList but no exception is raised.
kwargs = validKwargs.copy()
kwargs['memberStringList'] = ["a", 2]
TestContract(**kwargs)
# Invalid propertyStringList but no exception is raised.
kwargs = validKwargs.copy()
kwargs['propertyStringList'] = ["a", 2]
TestContract(**kwargs)
def main(self):
rospy.init_node('servo_demo', disable_signals=True)
self.info('Started.')
contracts.disable_all()
boot_root = rospy.get_param('~boot_root')
boot_root = expand_environment(boot_root)
config_dir = rospy.get_param('~config_dir')
id_robot_learned = rospy.get_param('~id_robot_learn')
self.info('loading %r' % config_dir)
GlobalConfig.global_load_dir(config_dir)
id_agent = rospy.get_param('~id_agent')
self.id_robot = rospy.get_param('~id_robot')
self.sleep = rospy.get_param('~sleep', 0.005)
self.info('sleep: %s' % self.sleep)
self.error_threshold = float(rospy.get_param('~error_threshold'))
raise_if_no_state = rospy.get_param('~raise_if_no_state', True)
data_central = DataCentral(boot_root)
ag_st = load_agent_state(data_central,
id_agent,
id_robot_learned,
reset_state=False,
raise_if_no_state=raise_if_no_state)
self.agent, state = ag_st
self.info('Loaded state: %s' % state)
self.servo_agent = self.agent.get_servo()
bo_config = get_boot_config()
self.robot = bo_config.robots.instance(self.id_robot)
self.boot_spec = self.robot.get_spec()
self.publish_info_init()
self.y = None
self.y_goal = None
self.started_now = False
self.stopped_now = False
self.e0 = 1
self.e = 1
self.last_boot_data = None
self.state = STATE_WAIT
self.info('Defining services')
rospy.Service('set_goal', Empty, self.srv_set_goal)
rospy.Service('start_servo', Empty, self.srv_start_servo)
rospy.Service('stop_servo', Empty, self.srv_stop_servo)
self.info('Finished initialization')
self.count = 0
self.go()
def disable_all():
"""
Wraps PyContracts `disable_all()
<http://andreacensi.github.io/contracts/api/contracts.html#
module-contracts.enabling>`_ function. From the PyContracts documentation:
"Disables all contract checks"
"""
contracts.disable_all()
def testContractDisabled(self):
instance = TestContract()
contracts.disable_all()
# No exception is raised
instance.propertyString = 10
instance.propertyStringList = ["a", 2]
def testContractDisabled(self):
instance = TestContract()
contracts.disable_all()
# No exception is raised
instance.setMemberString(10)
instance.setMemberStringList(["a", 2])
def testContractDisabled(self):
instance = TestContract()
contracts.disable_all()
# No exception is raised
instance.setMemberString(10)
instance.setMemberStringList(["a", 2])
def testContractDisabled(self):
instance = TestContract()
contracts.disable_all()
# No exception is raised
instance.propertyString = 10
instance.propertyStringList = ["a", 2]
def manager(args):
configs_dir = resource_filename("fly_behaviors", "configs")
usage = """"""
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("-c", dest='configs_dir', default=configs_dir,
help="Directory containing configuration [%default].")
parser.add_option("-l", dest='log_directory', default='behaviors-sims',
help="Where to save logs [%default].")
parser.add_option("--dt",
dest='dt', default=0.05, type='float',
help="Simulation interval (s) [%default].")
parser.add_option("-T", default=100, type='float',
help="Maximum simulation time (s) [%default].")
parser.add_option("--fast", default=False, action='store_true',
help="Disables contracts checking [%default].")
parser.add_option("--num_episodes", default=1, type='int',
help="Number of episodes to run for each combination.")
parser.add_option("--video", default=False, action='store_true',
help="Creates videos [%default].")
(options, args) = parser.parse_args()
if options.fast:
contracts.disable_all()
print options
logger.info('Loading standard PyVehicles configuration.')
load_vehicles_config()
logger.info('Loading our additional PyVehicles configuration.')
load_vehicles_config(options.configs_dir)
logger.info('Loading our configuration (tasks, controllers, combinations).')
manager_config = ManagerConfig(options.configs_dir)
all_combinations = manager_config.combinations.keys()
if args:
use = args
else:
use = all_combinations
logger.info('Using combinations %s' % use)
for x in use:
if not x in all_combinations:
raise ValueError('No known combination %r.' % x)
run_combinations(manager_config=manager_config,
comb_id=x,
other_options=options)
def go(self):
logger.setLevel(logging.DEBUG)
options = self.get_options()
if not options.contracts:
logger.debug('Disabling PyContrats. Use --contracts to enable.')
disable_all()
if options.expect_nimp is not None:
options.imp = True
params = options.get_extra()
if len(params) < 1:
raise ValueError('Please specify model name.')
model_name = params[0]
# drop the extension
if '.mcdp' in model_name or '/' in model_name:
msg = 'The model name should not contain extension or /.'
raise UserError(msg)
max_steps = options.max_steps
_exp_advanced = options.advanced
expect_nres = options.expect_nres
lower = options.lower
upper = options.upper
out_dir = options.out
query_strings = params[1:]
intervals = options.intervals
imp = options.imp
expect_nimp = options.expect_nimp
make = options.make
if make: imp = True
plot = options.plot
do_movie = options.movie
expect_res = None
config_dirs = options.config_dirs.split(":")
maindir = options.maindir
if options.cache:
if out_dir is None:
out_dir = 'out-mcdp_solve'
cache_dir = os.path.join(out_dir, '_cached', 'solve')
else:
cache_dir = None
solve_main(logger, config_dirs, maindir, cache_dir, model_name, lower,
upper, out_dir, max_steps, query_strings, intervals,
_exp_advanced, expect_nres, imp, expect_nimp, plot,
do_movie, expect_res, make)
def main(self):
rospy.init_node('servo_demo', disable_signals=True)
self.info('Started.')
contracts.disable_all()
boot_root = rospy.get_param('~boot_root')
boot_root = expand_environment(boot_root)
config_dir = rospy.get_param('~config_dir')
id_robot_learned = rospy.get_param('~id_robot_learn')
self.info('loading %r' % config_dir)
GlobalConfig.global_load_dir(config_dir)
id_agent = rospy.get_param('~id_agent')
self.id_robot = rospy.get_param('~id_robot')
self.sleep = rospy.get_param('~sleep', 0.005)
self.info('sleep: %s' % self.sleep)
self.error_threshold = float(rospy.get_param('~error_threshold'))
raise_if_no_state = rospy.get_param('~raise_if_no_state', True)
data_central = DataCentral(boot_root)
ag_st = load_agent_state(data_central, id_agent, id_robot_learned,
reset_state=False,
raise_if_no_state=raise_if_no_state)
self.agent, state = ag_st
self.info('Loaded state: %s' % state)
self.servo_agent = self.agent.get_servo()
bo_config = get_boot_config()
self.robot = bo_config.robots.instance(self.id_robot)
self.boot_spec = self.robot.get_spec()
self.publish_info_init()
self.y = None
self.y_goal = None
self.started_now = False
self.stopped_now = False
self.e0 = 1
self.e = 1
self.last_boot_data = None
self.state = STATE_WAIT
self.info('Defining services')
rospy.Service('set_goal', Empty, self.srv_set_goal)
rospy.Service('start_servo', Empty, self.srv_start_servo)
rospy.Service('stop_servo', Empty, self.srv_stop_servo)
self.info('Finished initialization')
self.count = 0
self.go()
def main():
parser = OptionParser(usage=usage)
parser.add_option("--slow",
default=False,
action='store_true',
help='Enables sanity checks.')
parser.add_option(
"--max_dist",
default=15,
type='float',
help='[= %default] Maximum distance for graph simplification.')
parser.add_option(
"--min_nodes",
default=250,
type='float',
help='[= %default] Minimum number of nodes to simplify to.')
parser.add_option(
"--scale",
default=10000,
type='float',
help='[= %default] Controls the weight of angular vs linear .')
parser.add_option("--seed",
default=42,
type='int',
help='[= %default] Seed for random number generator.')
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.slow:
disable_all()
# TODO: warn
if len(args) > 1:
raise Exception('Too many arguments')
filename = args[0] if args else 'stdin'
G = smart_load(filename, raise_if_unknown=True, progress=True)
algorithm = EFPNO_S
params = dict(max_dist=options.max_dist,
min_nodes=options.min_nodes,
scale=options.scale)
instance = algorithm(params)
results = instance.solve(G)
G2 = results['solution']
# G2 = results['G_landmarks']
G2.graph['name'] = '%s-solved%dm' % (G.graph['name'], options.max_dist)
graph_write(G2, sys.stdout)
def init_diffeo(self, shape):
id_symdiffeo = self.config.id_symdiffeo
symdiffeo = get_dp_config().symdiffeos.instance(id_symdiffeo)
label = 'tmp'
original_cmd = [np.zeros(1)]
self.info('creating diffeo_action')
contracts.disable_all()
self.diffeo_action = \
diffeo_action_from_symdiffeo(symdiffeo, shape,
label, original_cmd)
self.info('..done')
def init_diffeo(self, shape):
id_symdiffeo = self.config.id_symdiffeo
symdiffeo = get_dp_config().symdiffeos.instance(id_symdiffeo)
label = 'tmp'
original_cmd = [np.zeros(1)]
self.info('creating diffeo_action')
contracts.disable_all()
self.diffeo_action = \
diffeo_action_from_symdiffeo(symdiffeo, shape,
label, original_cmd)
self.info('..done')
def main(self, argumentList):
# Disabling contracts solves some performance issues.
contracts.disable_all()
argumentParser = argparse.ArgumentParser(description = u"Make ModSecurity exceptions.")
argumentParser.add_argument(u"-i",
u"--input",
metavar = u"MODSEC_AUDIT_LOG_FILE",
dest = 'modsecurityAuditLogPath',
type = unicode,
default = None,
help = u"Modsecurity audit log file path or '-' to read from standard input.")
argumentParser.add_argument(u"-d",
u"--data-url",
dest = 'dataURL',
type = unicode,
required = True,
default = None,
help = u"Example: 'sqlite:////tmp/modsecurity-exception-factory.db'")
argumentParser.add_argument(u"-c",
u"--config-file",
dest = 'configFilePath',
type = unicode,
default = None)
argumentObject = argumentParser.parse_args(argumentList)
# Try to parse config.
config = Config(argumentObject.configFilePath)
variableNameList = config.variableNameList()
ignoredVariableDict = config.ignoredVariableDict()
minimumOccurrenceCountThreshold = config.minimumOccurrenceCountThreshold()
maximumValueCountThreshold = config.maximumValueCountThreshold()
# Initialize data source object.
dataSource = ModsecurityAuditDataSourceSQL(argumentObject.dataURL)
# Parse log if given.
if argumentObject.modsecurityAuditLogPath is not None:
self._parseFile(argumentObject.modsecurityAuditLogPath, dataSource)
# Preparing correlation engine.
correlationEngine = CorrelationEngine(variableNameList,
ignoredVariableDict,
minimumOccurrenceCountThreshold,
maximumValueCountThreshold)
correlationEngine.addProgressListener(CorrelationProgressListenerConsole(sys.stderr))
# Correlating and writing exceptions progressively using the power of Python generators.
ModsecurityExceptionWriter(stream = sys.stdout).write(correlationEngine.correlate(dataSource))
return 0
def pytest_configure(config):
"""
Do core setup operations from manage.py before collecting tests.
"""
if config.getoption('help'):
return
enable_contracts = os.environ.get('ENABLE_CONTRACTS', False)
if not enable_contracts:
contracts.disable_all()
settings_module = os.environ.get('DJANGO_SETTINGS_MODULE')
startup_module = 'cms.startup' if settings_module.startswith('cms') else 'lms.startup'
startup = importlib.import_module(startup_module)
startup.run()
def pytest_configure(config):
"""
Do core setup operations from manage.py before collecting tests.
"""
if config.getoption('help'):
return
enable_contracts = os.environ.get('ENABLE_CONTRACTS', False)
if not enable_contracts:
contracts.disable_all()
settings_module = os.environ.get('DJANGO_SETTINGS_MODULE')
startup_module = 'cms.startup' if settings_module.startswith(
'cms') else 'lms.startup'
startup = importlib.import_module(startup_module)
startup.run()
def graph_simplification_test():
contracts.disable_all()
print('Generating random network')
# G1 = random_connected_pose_network(n=100, max_t=100,
# max_connection_dist=10,
# connect_self=False)
G1 = grid_graph(nrows=10, ncols=10, side=5)
print('Checking random network')
assert_exact(G1)
# todo: remove some edges
G2, reattach = simplify_graph_aggressive(G1, max_dist=20)
assert_exact(G2)
print 'before: ', G1.nodes()
print 'after: ', G2.nodes()
def graph_simplification_test():
contracts.disable_all()
print('Generating random network')
# G1 = random_connected_pose_network(n=100, max_t=100,
# max_connection_dist=10,
# connect_self=False)
G1 = grid_graph(nrows=10, ncols=10, side=5)
print('Checking random network')
assert_exact(G1)
# todo: remove some edges
G2, reattach = simplify_graph_aggressive(G1, max_dist=20)
assert_exact(G2)
print 'before: ', G1.nodes()
print 'after: ', G2.nodes()
def test_consistency_uncertainty():
print 'here'
pass
contracts.disable_all()
symdds = 'sym-dpchain1-120'
print('instancing dds %s' % symdds)
dds = get_conftools_discdds().instance(symdds)
shape = dds.get_shape()
d1f = dds.actions[0].get_diffeo2d_forward()
d1b = dds.actions[0].get_diffeo2d_backward()
fb = Diffeomorphism2D.compose(d1f, d1b)
bf = Diffeomorphism2D.compose(d1b, d1f)
identity = Diffeomorphism2D.identity(shape)
print Diffeomorphism2D.distance_L2_infow(d1f, identity)
print Diffeomorphism2D.distance_L2_infow(d1b, identity)
print Diffeomorphism2D.distance_L2_infow(fb, identity)
print Diffeomorphism2D.distance_L2_infow(bf, identity)
action = dds.actions[0]
action2 = consistency_based_uncertainty(action, None)
r = Report(symdds)
r.text('symdds', symdds)
with r.subsection('action') as sub:
action.display(sub)
with r.subsection('action2') as sub:
action2.display(sub)
#
# with r.subsection('misc') as sub:
# d = d1f.get_discretized_diffeo()
# f = sub.figure()
# f.array_as_image('d0', d[:, :, 0])
# f.array_as_image('d1', d[:, :, 1])
#
# with r.subsection('d1f') as sub:
# d1f.display(sub)
# with r.subsection('d1b') as sub:
# d1b.display(sub)
#
# with r.subsection('fb') as sub:
# fb.display(sub)
# with r.subsection('bf') as sub:
# bf.display(sub)
r.to_html('test_consistency_uncertainty.html')
def init(self):
contracts.disable_all()
id_discdds = self.config.id_discdds
dp_config = get_dp_config()
dp_config.load(self.config.config_dir)
self.discdds = dp_config.discdds.instance(id_discdds)
N = self.config.nsteps
m = make_matrix(nsteps=N, mult=self.config.mult)
cmd_to_action = {'a': 3, 'b': 2, 'c': 1, 'd': 0}
cmd_inv = {'a': 'c', 'b': 'd'}
mult = self.config.mult
sequence = {0: 0, 1: 1 * mult, 2: 2 * mult, 3: 3 * mult}
@contract(ins='tuple(int,str)', returns='list[int]')
def normalize_instruction(ins):
num, cmd = ins
if num < 0:
cmd = cmd_inv[cmd]
num = -num
assert num >= 0
k = cmd_to_action[cmd]
n = sequence[num]
return [k] * n
@contract(splan='list[P](tuple(int,str))', returns='list(int)')
def normalize_splan(splan):
plan = []
for ins in splan:
plan.extend(normalize_instruction(ins))
return plan
M = 2 * N + 1
self.actions = []
for i, j in itertools.product(range(M), range(M)):
m[i][j] = normalize_splan(m[i][j])
action = self.discdds.plan2action(m[i][j])
self.actions.append(action)
self.info('shape: %s' % str(self.discdds.get_shape()))
self.M = M
def init(self):
contracts.disable_all()
id_discdds = self.config.id_discdds
dp_config = get_dp_config()
dp_config.load(self.config.config_dir)
self.discdds = dp_config.discdds.instance(id_discdds)
N = self.config.nsteps
m = make_matrix(nsteps=N, mult=self.config.mult)
cmd_to_action = {'a': 3, 'b': 2, 'c': 1, 'd': 0}
cmd_inv = {'a': 'c', 'b': 'd'}
mult = self.config.mult
sequence = {0: 0, 1: 1 * mult, 2: 2 * mult, 3: 3 * mult}
@contract(ins='tuple(int,str)', returns='list[int]')
def normalize_instruction(ins):
num, cmd = ins
if num < 0:
cmd = cmd_inv[cmd]
num = -num
assert num >= 0
k = cmd_to_action[cmd]
n = sequence[num]
return [k] * n
@contract(splan='list[P](tuple(int,str))', returns='list(int)')
def normalize_splan(splan):
plan = []
for ins in splan:
plan.extend(normalize_instruction(ins))
return plan
M = 2 * N + 1
self.actions = []
for i, j in itertools.product(range(M), range(M)):
m[i][j] = normalize_splan(m[i][j])
action = self.discdds.plan2action(m[i][j])
self.actions.append(action)
self.info('shape: %s' % str(self.discdds.get_shape()))
self.M = M
def main():
np.seterr(all='raise')
parser = OptionParser()
parser.add_option("--plots", default=None)
parser.add_option("--slow", default=False, action='store_true',
help='Enables sanity checks.')
parser.add_option("--seed", default=None, type='int',
help='[= %default] Seed for random number generator.')
parser.add_option("--min_nodes", default=250, type='int',
help='[= %default] Minimum number of nodes to simplify to.')
parser.add_option("--max_dist", default=10, type='float',
help='[= %default] Maximum distance for graph simplification.')
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.slow:
disable_all()
assert len(args) <= 1
filename = args[0] if args else 'stdin'
G = smart_load(filename, raise_if_unknown=True, progress=True)
def eprint(x): sys.stderr.write('%s\n' % x)
eprint('Loaded graph with %d nodes, %d edges.' % (G.number_of_nodes(),
G.number_of_edges()))
G2, how_to_reattach = simplify_graph_aggressive(G, #@UnusedVariable
max_dist=options.max_dist,
min_nodes=options.min_nodes,
eprint=eprint)
eprint('Reduced graph with %d nodes, %d edges.' % (G2.number_of_nodes(),
G2.number_of_edges()))
G2.graph['name'] = '%s-sim%dm' % (G.graph['name'], options.max_dist)
graph_write(G2, sys.stdout)
def __init__(self, **params):
import rospy
contracts.disable_all() # XXX
self.viz_level = params.get('viz_level', VizLevel.Everything)
if self.viz_level > VizLevel.Nothing:
from . import Marker, Image
self.publisher = rospy.Publisher('~markers', Marker)
self.pub_sensels_image = rospy.Publisher('~sensels_image', Image)
self.pub_commands_image = rospy.Publisher('~commands_image', Image)
self.first_time = True
if self.viz_level >= VizLevel.State:
from . import String
self.pub_state = rospy.Publisher('~state', String)
BOVehicleSimulation.__init__(self, **params)
def main():
parser = OptionParser(usage=usage)
parser.add_option("--slow", default=False, action='store_true',
help='Enables sanity checks.')
parser.add_option("--max_dist", default=15, type='float',
help='[= %default] Maximum distance for graph simplification.')
parser.add_option("--min_nodes", default=250, type='float',
help='[= %default] Minimum number of nodes to simplify to.')
parser.add_option("--scale", default=10000, type='float',
help='[= %default] Controls the weight of angular vs linear .')
parser.add_option("--seed", default=42, type='int',
help='[= %default] Seed for random number generator.')
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.slow:
disable_all()
# TODO: warn
if len(args) > 1:
raise Exception('Too many arguments')
filename = args[0] if args else 'stdin'
G = smart_load(filename, raise_if_unknown=True, progress=True)
algorithm = EFPNO_S
params = dict(max_dist=options.max_dist,
min_nodes=options.min_nodes,
scale=options.scale)
instance = algorithm(params)
results = instance.solve(G)
G2 = results['solution']
# G2 = results['G_landmarks']
G2.graph['name'] = '%s-solved%dm' % (G.graph['name'], options.max_dist)
graph_write(G2, sys.stdout)
def pytest_configure(config):
"""
Do core setup operations from manage.py before collecting tests.
"""
if config.pluginmanager.hasplugin(
"pytest_jsonreport") or config.pluginmanager.hasplugin(
"json-report"):
config.pluginmanager.register(DeferPlugin())
else:
logging.info("pytest did not register json_report correctly")
if config.getoption('help'):
return
enable_contracts = os.environ.get('ENABLE_CONTRACTS', False)
if not enable_contracts:
contracts.disable_all()
settings_module = os.environ.get('DJANGO_SETTINGS_MODULE')
startup_module = 'cms.startup' if settings_module.startswith(
'cms') else 'lms.startup'
startup = importlib.import_module(startup_module)
startup.run()
def __init__(self, collector_uri,
namespace=None, app_id=None, context_vendor=None, encode_base64=DEFAULT_ENCODE_BASE64, contracts=True):
"""
Constructor
"""
if not contracts:
disable_all()
self.collector_uri = self.as_collector_uri(collector_uri)
self.config = {
"encode_base64": encode_base64,
"context_vendor": context_vendor
}
self.standard_nv_pairs = {
"p": DEFAULT_PLATFORM,
"tv": VERSION,
"tna": namespace,
"aid": app_id
}
def test_disabled_contracts(self):
contracts.disable_all()
@contract
def disabled(phrase):
"""
:type phrase: str
"""
return phrase
# this should not throw w/ contracts disabled
disabled(int(8))
contracts.enable_all()
# this will still not throw because the disabled value is checked at decoration time only
disabled(int(8))
@contract
def enabled(phrase):
"""
:type phrase: str
"""
return phrase
# a newly decorated function will throw
with pytest.raises(exceptions.ContractNotRespected):
enabled(int(8))
def main():
parser = OptionParser()
group = OptionGroup(parser, "Files and directories")
group.add_option("--outdir",
help='Directory with variables.pickle and where '
'the output will be placed.')
parser.add_option_group(group)
group = OptionGroup(parser, "Experiments options")
group.add_option("--fast",
default=False,
action='store_true',
help='Disables sanity checks.')
group.add_option("--set",
default='*',
help='[= %default] Which combinations to run.')
group.add_option("--seed",
default=None,
type='int',
help='[= %default] Seed for random number generator.')
parser.add_option_group(group)
group = OptionGroup(parser, "Compmake options")
group.add_option("--remake",
default=False,
action='store_true',
help='Remakes all (non interactive).')
group.add_option("--report",
default=False,
action='store_true',
help='Cleans and redoes all reports (non interactive).')
group.add_option(
"--report_stats",
default=False,
action='store_true',
help='Cleans and redoes the reports for the stats. (non interactive)')
parser.add_option_group(group)
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if options.fast:
disable_all()
assert not args
assert options.outdir is not None
available_algorithms, available_test_cases, available_sets = get_everything(
)
which = expand_string(options.set, list(available_sets.keys()))
if len(which) == 1:
compmake_storage = os.path.join(options.outdir, 'compmake', which[0])
else:
compmake_storage = os.path.join(options.outdir, 'compmake',
'common_storage')
use_filesystem(compmake_storage)
print('Staging creation of test cases reports')
test_cases = {}
test_case_reports = {}
def stage_test_case_report(tcid):
if not tcid in available_test_cases:
msg = ('Could not find test case %r \n %s' %
(tcid, available_test_cases.keys()))
raise Exception(msg)
if not tcid in test_cases:
command, args = available_test_cases[tcid]
job_id = 'test_case_data-%s' % tcid
test_cases[tcid] = comp(command, job_id=job_id, **args)
if not tcid in test_case_reports:
job_id = 'test_case-%s-report' % tcid
report = comp(create_report_tc,
tcid,
test_cases[tcid],
job_id=job_id)
job_id += '-write'
filename = os.path.join(options.outdir, 'test_cases',
'%s.html' % tcid)
comp(write_report, report, filename, job_id=job_id)
test_case_reports[tcid] = report
return test_case_reports[tcid]
# set of tuple (algo, test_case)
executions = {}
def stage_execution(tcid, algid):
stage_test_case_report(tcid)
key = (tcid, algid)
if not key in executions:
test_case = test_cases[tcid]
algo_class, algo_params = available_algorithms[algid]
job_id = 'solve-%s-%s-run' % (tcid, algid)
results = comp(run_combination,
tcid,
test_case,
algo_class,
algo_params,
job_id=job_id)
executions[key] = results
exc_id = '%s-%s' % (tcid, algid)
# Create iterations report
job_id = 'solve-%s-report' % exc_id
report = comp(create_report_execution,
exc_id,
tcid,
test_case,
algo_class,
algo_params,
results,
job_id=job_id)
job_id += '-write'
filename = os.path.join(options.outdir, 'executions',
'%s-%s.html' % (tcid, algid))
comp(write_report, report, filename, job_id=job_id)
return executions[key]
for comb_id in which:
comb = available_sets[comb_id]
alg_ids = expand_string(comb.algorithms, available_algorithms.keys())
tc_ids = expand_string(comb.test_cases, available_test_cases.keys())
print(
'Set %r has %d test cases and %d algorithms (~%d jobs in total).' %
(comb_id, len(alg_ids), len(tc_ids),
len(alg_ids) * len(tc_ids) * 2))
deps = {}
for t, a in itertools.product(tc_ids, alg_ids):
deps[(t, a)] = stage_execution(t, a)
job_id = 'tex-%s' % comb_id
comp(create_tables_for_paper,
comb_id,
tc_ids,
alg_ids,
deps,
job_id=job_id)
job_id = 'set-%s-report' % comb_id
report = comp(create_report_comb_stats,
comb_id,
tc_ids,
alg_ids,
deps,
job_id=job_id)
job_id += '-write'
filename = os.path.join(options.outdir, 'stats', '%s.html' % comb_id)
comp(write_report, report, filename, job_id=job_id)
if options.report or options.report_stats:
if options.report:
batch_command('clean *-report*')
elif options.report_stats:
batch_command('clean set-* tex*')
batch_command('parmake')
elif options.remake:
batch_command('clean *')
batch_command('make set-* tex-*')
else:
compmake_console()
#import tensorflow as tf
#from tensorflow.contrib import learn
from json_tricks.np import dump, dumps, load, loads, strip_comments
#
from toolz import valmap, map, partial, compose, first, pipe, thread_first
from toolz.itertoolz import accumulate, sliding_window
#Custom modules
from dfs_portal.utils.htools import order_dict, timing, d2l
#from dfs_portal.utils.custom_contracts import *
from dfs_portal.core.transforms import df2xy
from celery.contrib import rdb
#disable all contracts
disable_all()
class LassoPredictor(Persistent):
@contract(hypers='dict')
def __init__(self, hypers):
modelHypers = self.extract_model_hypers(hypers)
self.model = LassoLarsCV(**modelHypers)
@timing
def fit(self, df, features, targetCol, validationSplit=0.2):
print("Running fit function:")
print(df)
XTrain, yTrain = df2xy(df, features, targetCol)
if XTrain.shape[0] < 3:
def dp(arguments):
usage = substitute(usage_pattern, commands_list=commands_list,
cmd=MAIN_CMD_NAME)
parser = MyOptionParser(prog=MAIN_CMD_NAME, usage=usage)
parser.disable_interspersed_args()
parser.add_option("--contracts", default=False, action='store_true',
help="Activate PyContracts (disabled by default)")
parser.add_option("--profile", default=False, action='store_true',
help="Use Python profiler")
parser.add_option("-d", "--directory", default="default:.",
help="Configuration directory")
(options, args) = parser.parse_args(arguments)
if not options.contracts:
logger.warning('PyContracts disabled for speed. Use --contracts to activate.')
contracts.disable_all()
if not args:
msg = ('Please supply a command.\nAvailable commands:\n%s' % commands_list)
raise UserError(msg)
cmd = args[0]
cmd_args = args[1:]
if not cmd in Storage.commands:
msg = ('Unknown command %r. Available: %s.' %
(cmd, ", ".join(Storage.commands.keys())))
raise UserError(msg)
confdir = options.directory
config = DiffeoplanConfigMaster()
config.load()
if confdir is not None:
config.load(confdir)
set_current_config(config)
function = Storage.commands[cmd]
usage = function.short_usage
parser = CmdOptionParser(prog='%s %s' % (MAIN_CMD_NAME, cmd), usage=usage,
args=cmd_args)
parser.enable_interspersed_args()
def go():
return function(config, parser)
if not options.profile:
go()
else:
logger.warning('Note: the profiler does not work when using '
'parallel execution. (use "make" instead of "parmake").')
import cProfile
cProfile.runctx('go()', globals(), locals(), 'dp_prof')
import pstats
p = pstats.Stats('dp_prof')
n = 30
p.sort_stats('cumulative').print_stats(n)
p.sort_stats('time').print_stats(n)
def go(self):
# check that if we have a parent who is a quickapp,
# then use its context
qapp_parent = self.get_qapp_parent()
if qapp_parent is not None:
# self.info('Found parent: %s' % qapp_parent)
context = qapp_parent.child_context
self.define_jobs_context(context)
return
else:
# self.info('Parent not found')
pass
if False:
import resource
gbs = 5
max_mem = long(gbs * 1000 * 1048576L)
resource.setrlimit(resource.RLIMIT_AS, (max_mem, -1))
resource.setrlimit(resource.RLIMIT_DATA, (max_mem, -1))
options = self.get_options()
if self.get_qapp_parent() is None:
# only do this if somebody didn't do it before
if not options.contracts:
msg = 'PyContracts disabled for speed. Use --contracts to activate.'
self.logger.warning(msg)
contracts.disable_all()
warnings.warn('removed configuration below') # (start)
output_dir = options.output
# Compmake storage for results
storage = os.path.join(output_dir, 'compmake')
sf = StorageFilesystem(storage, compress=True)
# sf = StorageFilesystem2(directory)
# sf = MemoryCache(sf)
set_compmake_db(sf)
# use_filesystem(storage)
read_rc_files()
context = CompmakeContext(parent=None, qapp=self, job_prefix=None,
output_dir=output_dir)
self.context = context
original = get_comp_prefix()
self.define_jobs_context(context)
comp_prefix(original)
context.finalize_jobs()
if context.n_comp_invocations == 0:
# self.comp was never called
msg = 'No jobs defined.'
raise ValueError(msg)
else:
if not options.console:
batch_result = batch_command(options.command)
if isinstance(batch_result, str):
ret = QUICKAPP_COMPUTATION_ERROR
elif isinstance(batch_result, int):
if batch_result == 0:
ret = 0
else:
# xxx: discarded information
ret = QUICKAPP_COMPUTATION_ERROR
else:
assert False
return ret
else:
compmake_console()
return 0
def dp(arguments):
usage = substitute(usage_pattern,
commands_list=commands_list,
cmd=MAIN_CMD_NAME)
parser = MyOptionParser(prog=MAIN_CMD_NAME, usage=usage)
parser.disable_interspersed_args()
parser.add_option("--contracts",
default=False,
action='store_true',
help="Activate PyContracts (disabled by default)")
parser.add_option("--profile",
default=False,
action='store_true',
help="Use Python profiler")
parser.add_option("-d",
"--directory",
default="default:.",
help="Configuration directory")
(options, args) = parser.parse_args(arguments)
if not options.contracts:
logger.warning(
'PyContracts disabled for speed. Use --contracts to activate.')
contracts.disable_all()
if not args:
msg = ('Please supply a command.\nAvailable commands:\n%s' %
commands_list)
raise UserError(msg)
cmd = args[0]
cmd_args = args[1:]
if not cmd in Storage.commands:
msg = ('Unknown command %r. Available: %s.' %
(cmd, ", ".join(Storage.commands.keys())))
raise UserError(msg)
confdir = options.directory
config = DiffeoplanConfigMaster()
config.load()
if confdir is not None:
config.load(confdir)
set_current_config(config)
function = Storage.commands[cmd]
usage = function.short_usage
parser = CmdOptionParser(prog='%s %s' % (MAIN_CMD_NAME, cmd),
usage=usage,
args=cmd_args)
parser.enable_interspersed_args()
def go():
return function(config, parser)
if not options.profile:
go()
else:
logger.warning(
'Note: the profiler does not work when using '
'parallel execution. (use "make" instead of "parmake").')
import cProfile
cProfile.runctx('go()', globals(), locals(), 'dp_prof')
import pstats
p = pstats.Stats('dp_prof')
n = 30
p.sort_stats('cumulative').print_stats(n)
p.sort_stats('time').print_stats(n)
def main():
init_matplotlib()
reprep.RepRepDefaults.default_image_format = MIME_PDF
parser = OptionParser()
group = OptionGroup(parser, "Files and directories")
group.add_option("--outdir",
help='Directory with variables.pickle and where '
'the output will be placed.')
# group.add_option("--testdir", default=None)
group.add_option("--data_sick",
default=None,
help='.pickle file containing Sick data.')
group.add_option("--data_mino",
default=None,
help='directory containing Mino data.')
group.add_option("--data_fly",
default=None,
help='.pickle file containing fly simulation data.')
group.add_option("--test_cases",
default=None,
help='Base dire for test cases.')
parser.add_option_group(group)
group = OptionGroup(parser, "Experiments options")
group.add_option("--contracts",
default=False,
action='store_true',
help='Enables PyContacts sanity checks.')
group.add_option("--set",
default='*',
help='[= %default] Which combinations to run.')
group.add_option("--seed",
default=None,
type='int',
help='[= %default] Seed for random number generator.')
parser.add_option_group(group)
group = OptionGroup(parser, "Compmake options")
group.add_option("--remake",
default=False,
action='store_true',
help='Remakes all (non interactive).')
group.add_option("--report",
default=False,
action='store_true',
help='Cleans and redoes all reports (non interactive).')
group.add_option("--report_stats",
default=False,
action='store_true',
help='Cleans and redoes the reports for the stats. '
'(non interactive)')
parser.add_option_group(group)
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.contracts:
disable_all()
assert options.outdir is not None
available_test_cases = {}
if options.test_cases is not None:
TCConfig.load(options.test_cases)
for tc_id in TCConfig.test_cases:
available_test_cases[tc_id] = \
(tc_load_spec, {'spec': TCConfig.test_cases[tc_id]})
print('Generating synthetic test cases...')
synthetic = get_syntethic_test_cases()
available_test_cases.update(synthetic)
euclidean = get_euclidean_test_cases()
available_test_cases.update(euclidean)
if options.data_sick is not None:
print('Preparing Sick data...')
real = get_real_test_cases(options.data_sick)
available_test_cases.update(real)
if options.data_fly is not None:
print('Preparing fly data...')
available_test_cases.update(get_fly_testcase(options.data_fly))
# if options.data_mino is not None:
# print('Preparing Mino data...')
# available_test_cases.update(get_mino_testcases(options.data_mino))
check('dict(str: tuple(Callable, dict))', available_test_cases)
print('Creating list of algorithms..')
algorithms = get_list_of_algorithms()
check('dict(str: tuple(Callable, dict))', algorithms)
print('Creating list of combinations..')
combinations = get_list_of_combinations()
which = expand_string(options.set, list(combinations.keys()))
print('I will use the sets: %s' % which)
if len(which) == 1:
compmake_storage = join(options.outdir, 'compmake', which[0])
else:
compmake_storage = join(options.outdir, 'compmake', 'common_storage')
use_filesystem(compmake_storage)
print('Available %d test cases and %d algorithms' %
(len(available_test_cases), len(algorithms)))
print('Staging creation of test cases reports')
test_cases = {}
test_case_reports = {}
def stage_test_case_report(tcid):
if not tcid in available_test_cases:
msg = ('Could not find test case %r \n %s' %
(tcid, available_test_cases.keys()))
raise Exception(msg)
if not tcid in test_cases:
f, args = available_test_cases[tcid]
job_id = 'test_case_data-%s' % tcid
test_cases[tcid] = comp(test_case_generate,
f=f,
args=args,
job_id=job_id)
if not tcid in test_case_reports:
job_id = 'test_case-%s-report' % tcid
report = comp(create_report_test_case,
tcid,
test_cases[tcid],
job_id=job_id)
job_id += '-write'
filename = join(options.outdir, 'test_cases', '%s.html' % tcid)
comp(write_report, report, filename, job_id=job_id)
test_case_reports[tcid] = report
return test_case_reports[tcid]
# set of tuple (algo, test_case)
executions = {}
def stage_execution(tcid, algid):
exc_id = '%s-%s' % (tcid, algid)
stage_test_case_report(tcid)
key = (tcid, algid)
if not key in executions:
test_case = test_cases[tcid]
if not algid in algorithms:
raise Exception('No %r known in %s' %
(algid, algorithms.keys()))
algo_class, algo_params = algorithms[algid]
executions[key] = comp(run_combination,
test_case,
algo_class,
algo_params,
job_id='calib-%s-run' % exc_id)
basename = join(options.outdir, 'results', '%s-%s' % (tcid, algid))
comp(save_results,
basename=basename,
results=executions[key],
job_id='calib-%s-save' % exc_id)
# Create iterations report
report = comp(create_report_iterations,
exc_id,
executions[key],
job_id='calib-%s-report' % exc_id)
filename = join(options.outdir, 'executions',
'%s-%s.html' % (tcid, algid))
comp(write_report,
report,
filename,
job_id='calib-%s-report-write' % exc_id)
return executions[key]
for comb_id in which:
comb = combinations[comb_id]
alg_ids = expand_string(comb.algorithms, algorithms.keys())
tc_ids = expand_string(comb.test_cases, available_test_cases.keys())
print(
'Set %r has %d test cases and %d algorithms (~%d jobs in total).' %
(comb_id, len(alg_ids), len(tc_ids),
len(alg_ids) * len(tc_ids) * 2))
deps = {}
for t, a in itertools.product(tc_ids, alg_ids):
deps[(t, a)] = stage_execution(t, a)
job_id = 'tex-%s' % comb_id
tables_dir = join(options.outdir, 'tables')
comp(create_tables_for_paper,
tables_dir,
comb_id,
tc_ids,
alg_ids,
deps,
job_id=job_id)
job_id = 'set-%s-report' % comb_id
report = comp(create_report_comb_stats,
comb_id,
tc_ids,
alg_ids,
deps,
job_id=job_id)
job_id += '-write'
filename = join(options.outdir, 'stats', '%s.html' % comb_id)
comp(write_report, report, filename, job_id=job_id)
if options.report or options.report_stats:
if options.report:
batch_command('clean *-report*')
elif options.report_stats:
batch_command('clean set-* tex*')
batch_command('parmake')
elif options.remake:
batch_command('clean *')
batch_command('make set-* tex-*')
else:
compmake_console()
# Patch the xml libs before anything else.
from safe_lxml import defuse_xml_libs
defuse_xml_libs()
# Disable PyContract contract checking when running as a webserver
import contracts
contracts.disable_all()
import os
os.environ.setdefault("DJANGO_SETTINGS_MODULE", "cms.envs.aws")
import cms.startup as startup
startup.run()
# This application object is used by the development server
# as well as any WSGI server configured to use this file.
from django.core.wsgi import get_wsgi_application
application = get_wsgi_application()
def main():
init_matplotlib()
reprep.RepRepDefaults.default_image_format = MIME_PDF
parser = OptionParser()
group = OptionGroup(parser, "Files and directories")
group.add_option("--outdir",
help='Directory with variables.pickle and where '
'the output will be placed.')
# group.add_option("--testdir", default=None)
group.add_option("--data_sick", default=None,
help='.pickle file containing Sick data.')
group.add_option("--data_mino", default=None,
help='directory containing Mino data.')
group.add_option("--data_fly", default=None,
help='.pickle file containing fly simulation data.')
group.add_option("--test_cases", default=None,
help='Base dire for test cases.')
parser.add_option_group(group)
group = OptionGroup(parser, "Experiments options")
group.add_option("--contracts", default=False, action='store_true',
help='Enables PyContacts sanity checks.')
group.add_option("--set", default='*',
help='[= %default] Which combinations to run.')
group.add_option("--seed", default=None, type='int',
help='[= %default] Seed for random number generator.')
parser.add_option_group(group)
group = OptionGroup(parser, "Compmake options")
group.add_option("--remake", default=False, action='store_true',
help='Remakes all (non interactive).')
group.add_option("--report", default=False, action='store_true',
help='Cleans and redoes all reports (non interactive).')
group.add_option("--report_stats", default=False, action='store_true',
help='Cleans and redoes the reports for the stats. '
'(non interactive)')
parser.add_option_group(group)
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.contracts:
disable_all()
assert options.outdir is not None
available_test_cases = {}
if options.test_cases is not None:
TCConfig.load(options.test_cases)
for tc_id in TCConfig.test_cases:
available_test_cases[tc_id] = \
(tc_load_spec, {'spec': TCConfig.test_cases[tc_id]})
print('Generating synthetic test cases...')
synthetic = get_syntethic_test_cases()
available_test_cases.update(synthetic)
euclidean = get_euclidean_test_cases()
available_test_cases.update(euclidean)
if options.data_sick is not None:
print('Preparing Sick data...')
real = get_real_test_cases(options.data_sick)
available_test_cases.update(real)
if options.data_fly is not None:
print('Preparing fly data...')
available_test_cases.update(get_fly_testcase(options.data_fly))
# if options.data_mino is not None:
# print('Preparing Mino data...')
# available_test_cases.update(get_mino_testcases(options.data_mino))
check('dict(str: tuple(Callable, dict))', available_test_cases)
print('Creating list of algorithms..')
algorithms = get_list_of_algorithms()
check('dict(str: tuple(Callable, dict))', algorithms)
print('Creating list of combinations..')
combinations = get_list_of_combinations()
which = expand_string(options.set, list(combinations.keys()))
print('I will use the sets: %s' % which)
if len(which) == 1:
compmake_storage = join(options.outdir, 'compmake', which[0])
else:
compmake_storage = join(options.outdir, 'compmake', 'common_storage')
use_filesystem(compmake_storage)
print('Available %d test cases and %d algorithms' %
(len(available_test_cases), len(algorithms)))
print('Staging creation of test cases reports')
test_cases = {}
test_case_reports = {}
def stage_test_case_report(tcid):
if not tcid in available_test_cases:
msg = ('Could not find test case %r \n %s' %
(tcid, available_test_cases.keys()))
raise Exception(msg)
if not tcid in test_cases:
f, args = available_test_cases[tcid]
job_id = 'test_case_data-%s' % tcid
test_cases[tcid] = comp(test_case_generate, f=f,
args=args, job_id=job_id)
if not tcid in test_case_reports:
job_id = 'test_case-%s-report' % tcid
report = comp(create_report_test_case,
tcid, test_cases[tcid], job_id=job_id)
job_id += '-write'
filename = join(options.outdir, 'test_cases', '%s.html' % tcid)
comp(write_report, report, filename, job_id=job_id)
test_case_reports[tcid] = report
return test_case_reports[tcid]
# set of tuple (algo, test_case)
executions = {}
def stage_execution(tcid, algid):
exc_id = '%s-%s' % (tcid, algid)
stage_test_case_report(tcid)
key = (tcid, algid)
if not key in executions:
test_case = test_cases[tcid]
if not algid in algorithms:
raise Exception('No %r known in %s' %
(algid, algorithms.keys()))
algo_class, algo_params = algorithms[algid]
executions[key] = comp(run_combination, test_case, algo_class,
algo_params,
job_id='calib-%s-run' % exc_id)
basename = join(options.outdir, 'results', '%s-%s' % (tcid, algid))
comp(save_results, basename=basename,
results=executions[key],
job_id='calib-%s-save' % exc_id)
# Create iterations report
report = comp(create_report_iterations, exc_id, executions[key],
job_id='calib-%s-report' % exc_id)
filename = join(options.outdir, 'executions',
'%s-%s.html' % (tcid, algid))
comp(write_report, report, filename,
job_id='calib-%s-report-write' % exc_id)
return executions[key]
for comb_id in which:
comb = combinations[comb_id]
alg_ids = expand_string(comb.algorithms, algorithms.keys())
tc_ids = expand_string(comb.test_cases, available_test_cases.keys())
print('Set %r has %d test cases and %d algorithms (~%d jobs in total).'
% (comb_id, len(alg_ids), len(tc_ids),
len(alg_ids) * len(tc_ids) * 2))
deps = {}
for t, a in itertools.product(tc_ids, alg_ids):
deps[(t, a)] = stage_execution(t, a)
job_id = 'tex-%s' % comb_id
tables_dir = join(options.outdir, 'tables')
comp(create_tables_for_paper, tables_dir, comb_id, tc_ids, alg_ids,
deps, job_id=job_id)
job_id = 'set-%s-report' % comb_id
report = comp(create_report_comb_stats,
comb_id, tc_ids, alg_ids, deps, job_id=job_id)
job_id += '-write'
filename = join(options.outdir, 'stats', '%s.html' % comb_id)
comp(write_report, report, filename, job_id=job_id)
if options.report or options.report_stats:
if options.report:
batch_command('clean *-report*')
elif options.report_stats:
batch_command('clean set-* tex*')
batch_command('parmake')
elif options.remake:
batch_command('clean *')
batch_command('make set-* tex-*')
else:
compmake_console()
def __enter__(self):
disable_all()
def main():
def spearman(a, b):
ao = scale_score(a)
bo = scale_score(b)
return correlation_coefficient(ao, bo)
disable_all()
def seq():
N = 180
iterations = 10
nradii = 100
radii = np.linspace(5, 180, nradii)
K = 1
for radius_deg, i in itertools.product(radii, range(K)):
print radius_deg, i
# Generate a random symmetric matrix
# x = np.random.rand(N, N)
S = random_directions_bounded(3, np.radians(radius_deg), N)
C = np.dot(S.T, S)
alpha = 1
f = lambda x: np.exp(-alpha * (1 - x))
# f = lambda x : x
R = f(C)
# Normalize in [0,1]
R1 = (R - R.min()) / (R.max() - R.min())
# Normalize in [-1,1]
R2 = (R1 - 0.5) * 2
S1 = simplified_algo(R1, iterations)
S1w = simplified_algo(R1, iterations, warp=50)
S2 = simplified_algo(R2, iterations)
s1 = spearman(cosines_from_directions(S1), R1)
s1w = spearman(cosines_from_directions(S1w), R1)
s2 = spearman(cosines_from_directions(S2), R2)
e1 = np.degrees(overlap_error_after_orthogonal_transform(S, S1))
e1w = np.degrees(overlap_error_after_orthogonal_transform(S, S1w))
e2 = np.degrees(overlap_error_after_orthogonal_transform(S, S2))
r0 = np.degrees(distribution_radius(S))
r1 = np.degrees(distribution_radius(S1))
r1w = np.degrees(distribution_radius(S1w))
r2 = np.degrees(distribution_radius(S2))
yield dict(R0=r0,
R1=r1,
R1w=r1w,
R2=r2,
e1=e1,
e2=e2,
s1=s1,
s2=s2,
s1w=s1w,
e1w=e1w)
results = list(seq())
data = dict((k, np.array([d[k] for d in results])) for k in results[0])
r = Report('demo-convergence')
api1 = 'pi1'
api1w = 'pi1w'
api2 = 'pi2'
sets = [(data['R0'] < 90, 'r.'), (data['R0'] >= 90, 'g.')]
f = r.figure('radius', cols=3, caption='radius of solution')
with r.data_pylab('r0r1') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['R1'][sel]
pylab.plot(x, x, 'k--')
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('radius (pi1)')
pylab.axis('equal')
r.last().add_to(f, caption=api1)
with r.data_pylab('r0r1w') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['R1w'][sel]
pylab.plot(x, x, 'k--')
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('radius (pi1 + warp)')
pylab.axis('equal')
r.last().add_to(f, caption=api1w)
with r.data_pylab('r0r2') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['R2'][sel]
pylab.plot(x, x, 'k--')
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('radius (pi2)')
pylab.axis('equal')
r.last().add_to(f, caption=api2)
with r.data_pylab('r1r2') as pylab:
for sel, col in sets:
pylab.plot(data['R1'][sel], data['R2'][sel], col)
pylab.xlabel('radius (pi1)')
pylab.ylabel('radius (pi2)')
pylab.axis('equal')
r.last().add_to(f, 'Comparison %s - %s' % (api1, api2))
with r.data_pylab('r1r1w') as pylab:
for sel, col in sets:
pylab.plot(data['R1'][sel], data['R1w'][sel], col)
pylab.xlabel('radius (pi1)')
pylab.ylabel('radius (pi1+warp)')
pylab.axis('equal')
r.last().add_to(f, 'Comparison %s - %s' % (api1, api1w))
f = r.figure('spearman', cols=3, caption='Spearman score')
with r.data_pylab('r0s1') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['s1'][sel]
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('spearman (pi1)')
r.last().add_to(f, caption=api1)
with r.data_pylab('r0s1w') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['s1w'][sel]
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('spearman (pi1+warp)')
r.last().add_to(f, caption=api1w)
with r.data_pylab('r0s2') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['s2'][sel]
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('spearman (pi2)')
r.last().add_to(f, caption=api2)
f = r.figure('final_error', cols=3, caption='Average absolute error')
with r.data_pylab('r0e') as pylab:
x = data['R0']
y = data['e1']
pylab.plot(x, y, 'm-', label=api1)
x = data['R0']
y = data['e1w']
pylab.plot(x, y, 'g-', label=api1w)
x = data['R0']
y = data['e2']
pylab.plot(x, y, 'b-', label=api2)
pylab.xlabel('real radius')
pylab.ylabel('average error (deg)')
pylab.legend()
r.last().add_to(f)
filename = 'cbc_demos/convergence.html'
print("Writing to %r." % filename)
r.to_html(filename)
def boot_olympics_manager(arguments):
usage = substitute(usage_pattern, commands_list=commands_list,
cmd='boot_olympics_manager')
parser = OptionParser(prog='boot_olympics_manager', usage=usage)
parser.disable_interspersed_args()
parser.add_option("-d", dest='boot_root', default=None,
help='Root directory with logs, config, etc. [%default]')
parser.add_option("-c", dest='extra_conf_dirs', action="append", default=[],
help='Adds an extra config dir.')
parser.add_option("-l", dest='extra_log_dirs', action="append", default=[],
help='Adds an extra directory storing logs.')
parser.add_option("--contracts", default=False, action='store_true',
help="Activate PyContracts (disabled by default)")
parser.add_option("--seterr", dest='seterr', default="warn",
help="Sets np.seterr. "
"Possible values: ignore, warn, raise, print, log")
parser.add_option("--profile", default=False, action='store_true',
help="Use Python profiler")
available = LogsFormat.formats.keys()
parser.add_option("--logformat", dest='log_format',
default=BootOlympicsConstants.DEFAULT_LOG_FORMAT,
help="Choose format for writing logs in %s. [%%default]"
% str(available))
(options, args) = parser.parse_args(arguments)
if not args:
msg = ('Please supply command. Available: %s'
% ", ".join(Storage.commands.keys()))
raise UserError(msg)
cmd = args[0]
cmd_options = args[1:]
if not cmd in Storage.commands:
msg = ('Unknown command %r. Available: %s.' %
(cmd, ", ".join(Storage.commands.keys())))
raise UserError(msg)
np.seterr(all=options.seterr)
# underflow is very common in all libraries (e.g. matplotlib)
np.seterr(under='warn')
if not options.contracts:
contracts.disable_all()
if options.boot_root is None:
options.boot_root = DirectoryStructure.DEFAULT_ROOT
logger.info('Using %r as default root directory '
'(use -d <dir> to change)' % options.boot_root)
data_central = DataCentral(options.boot_root)
GlobalConfig.global_load_dir('default') # need skins
for dirname in options.extra_conf_dirs:
GlobalConfig.global_load_dir(dirname)
dir_structure = data_central.get_dir_structure()
dir_structure.set_log_format(options.log_format)
for dirname in options.extra_log_dirs:
dir_structure.add_log_directory(dirname)
def go():
return Storage.commands[cmd](data_central, cmd_options)
if not options.profile:
go()
else:
logger.warning('Note: the profiler does not work when using '
'parallel execution. (use "make" instead of "parmake").')
import cProfile
cProfile.runctx('go()', globals(), locals(), 'bom_prof')
import pstats
p = pstats.Stats('bom_prof')
p.sort_stats('cumulative').print_stats(30)
p.sort_stats('time').print_stats(30)
def plan_analysis(global_options, data, args): # @UnusedVariable
from vehicles import VehicleSimulation, VehiclesConfig # XXX
np.random.seed(12345226)
from matplotlib import rc
rc('font', **{'family': 'serif',
'serif': ['Times', 'Times New Roman', 'Palatino'],
'size': 9.0})
contracts.disable_all()
usage = ""
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--world", dest='id_world', default="stochastic_box_10",
help="Vehicles world to use")
(options, args) = parser.parse_args(args)
if args:
raise Exception('Extra args')
id_robot = data['id_robot']
# id_agent = data['id_agent']
pub = data['publisher']
vehicle = VehiclesConfig.vehicles.instance(id_robot) # @UndefinedVariable
world = VehiclesConfig.worlds.instance(options.id_world) # @UndefinedVariable
sim = VehicleSimulation(vehicle, world)
FORWARD = [1, 1]
BACKWARD = [-1, -1]
LEFT = [-1, +1]
RIGHT = [+1, -1]
FORWARD = np.array([0, +1])
BACKWARD = np.array([0, -1])
LEFT = np.array([+0.3, 0])
RIGHT = np.array([-0.3, 0])
FWD_L = np.array([1, +1])
FWD_R = np.array([1, -1])
BWD_R = np.array([-1, -1])
BWD_L = np.array([+1, -1])
T1 = 1
T2 = 2
T1 = 1
dt = 0.02
def commutator(cmd1, cmd2, T):
return [(cmd1, T), (cmd2, T), (-cmd1, T), (-cmd2, T)]
examples = {
'forwd1': {'trajectory': [(FORWARD, T1)]},
# # 'forwd2': {'trajectory': [(FORWARD, T2)]},
# 'left1': {'trajectory': [(LEFT, T1)]},
# 'right1': {'trajectory': [(RIGHT, T1)]},
# 'back1': {'trajectory': [(BACKWARD, T1)]},
# 'turnl2': {'trajectory': [(LEFT, T2)]},
# 'l3': {'trajectory': [([0.3, 0], T1)]},
# 'l4': {'trajectory': [([0.4, 0], T1)]},
# 'l5': {'trajectory': [([0.5, 0], T1)]},
# 'l6': {'trajectory': [([0.6, 0], T1)]},
# 'l7': {'trajectory': [([0.7, 0], T1)]},
# 'l8': {'trajectory': [([0.8, 0], T1)]},
# 'l9': {'trajectory': [([0.9, 0], T1)]},
# 'l10': {'trajectory': [([1.0, 0], T1)]},
# 'l1': {'trajectory': [([1, 0], T1)]},
#
# 'sidel1': {'trajectory': [(LEFT, T1),
# (FORWARD, T1),
# (RIGHT, T1 * 2),
# (BACKWARD, T1),
# (LEFT, T1) ]},
# 'sidel2': {'trajectory': commutator(FWD_L, LEFT, T1) }
# 'sidel2': {'trajectory': commutator(FORWARD, LEFT, T1) },
# 'sidel3': {'trajectory': commutator(LEFT, FORWARD, T1) }
#
}
# examples = {}
for name, scenario in examples.items():
while True:
try:
scenario_compute_inputs(scenario, sim, dt=dt)
break
except ValueError as e:
print(e)
actions = data['actions']
for name, scenario in examples.items():
scenario_solve(scenario, actions)
for name, scenario in examples.items():
S = pub.section(name)
scenario_display(scenario, S, sim)
def main():
def spearman(a, b):
ao = scale_score(a)
bo = scale_score(b)
return correlation_coefficient(ao, bo)
disable_all()
def seq():
N = 180
iterations = 10
nradii = 100
radii = np.linspace(5, 180, nradii)
K = 1
for radius_deg, i in itertools.product(radii, range(K)):
print radius_deg, i
# Generate a random symmetric matrix
# x = np.random.rand(N, N)
S = random_directions_bounded(3, np.radians(radius_deg), N)
C = np.dot(S.T, S)
alpha = 1
f = lambda x: np.exp(-alpha * (1 - x))
# f = lambda x : x
R = f(C)
# Normalize in [0,1]
R1 = (R - R.min()) / (R.max() - R.min())
# Normalize in [-1,1]
R2 = (R1 - 0.5) * 2
S1 = simplified_algo(R1, iterations)
S1w = simplified_algo(R1, iterations, warp=50)
S2 = simplified_algo(R2, iterations)
s1 = spearman(cosines_from_directions(S1), R1)
s1w = spearman(cosines_from_directions(S1w), R1)
s2 = spearman(cosines_from_directions(S2), R2)
e1 = np.degrees(overlap_error_after_orthogonal_transform(S, S1))
e1w = np.degrees(overlap_error_after_orthogonal_transform(S, S1w))
e2 = np.degrees(overlap_error_after_orthogonal_transform(S, S2))
r0 = np.degrees(distribution_radius(S))
r1 = np.degrees(distribution_radius(S1))
r1w = np.degrees(distribution_radius(S1w))
r2 = np.degrees(distribution_radius(S2))
yield dict(R0=r0, R1=r1, R1w=r1w, R2=r2, e1=e1, e2=e2,
s1=s1, s2=s2,
s1w=s1w, e1w=e1w)
results = list(seq())
data = dict((k, np.array([d[k] for d in results])) for k in results[0])
r = Report('demo-convergence')
api1 = 'pi1'
api1w = 'pi1w'
api2 = 'pi2'
sets = [(data['R0'] < 90, 'r.'), (data['R0'] >= 90, 'g.')]
f = r.figure('radius', cols=3, caption='radius of solution')
with r.data_pylab('r0r1') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['R1'][sel]
pylab.plot(x, x, 'k--')
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('radius (pi1)')
pylab.axis('equal')
r.last().add_to(f, caption=api1)
with r.data_pylab('r0r1w') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['R1w'][sel]
pylab.plot(x, x, 'k--')
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('radius (pi1 + warp)')
pylab.axis('equal')
r.last().add_to(f, caption=api1w)
with r.data_pylab('r0r2') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['R2'][sel]
pylab.plot(x, x, 'k--')
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('radius (pi2)')
pylab.axis('equal')
r.last().add_to(f, caption=api2)
with r.data_pylab('r1r2') as pylab:
for sel, col in sets:
pylab.plot(data['R1'][sel], data['R2'][sel], col)
pylab.xlabel('radius (pi1)')
pylab.ylabel('radius (pi2)')
pylab.axis('equal')
r.last().add_to(f, 'Comparison %s - %s' % (api1, api2))
with r.data_pylab('r1r1w') as pylab:
for sel, col in sets:
pylab.plot(data['R1'][sel], data['R1w'][sel], col)
pylab.xlabel('radius (pi1)')
pylab.ylabel('radius (pi1+warp)')
pylab.axis('equal')
r.last().add_to(f, 'Comparison %s - %s' % (api1, api1w))
f = r.figure('spearman', cols=3, caption='Spearman score')
with r.data_pylab('r0s1') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['s1'][sel]
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('spearman (pi1)')
r.last().add_to(f, caption=api1)
with r.data_pylab('r0s1w') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['s1w'][sel]
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('spearman (pi1+warp)')
r.last().add_to(f, caption=api1w)
with r.data_pylab('r0s2') as pylab:
for sel, col in sets:
x = data['R0'][sel]
y = data['s2'][sel]
pylab.plot(x, y, col)
pylab.xlabel('real radius')
pylab.ylabel('spearman (pi2)')
r.last().add_to(f, caption=api2)
f = r.figure('final_error', cols=3, caption='Average absolute error')
with r.data_pylab('r0e') as pylab:
x = data['R0']
y = data['e1']
pylab.plot(x, y, 'm-', label=api1)
x = data['R0']
y = data['e1w']
pylab.plot(x, y, 'g-', label=api1w)
x = data['R0']
y = data['e2']
pylab.plot(x, y, 'b-', label=api2)
pylab.xlabel('real radius')
pylab.ylabel('average error (deg)')
pylab.legend()
r.last().add_to(f)
filename = 'cbc_demos/convergence.html'
print("Writing to %r." % filename)
r.to_html(filename)
def main():
parser = OptionParser()
group = OptionGroup(parser, "Files and directories")
group.add_option("--outdir",
help='Directory with variables.pickle and where '
'the output will be placed.')
parser.add_option_group(group)
group = OptionGroup(parser, "Experiments options")
group.add_option("--fast", default=False, action='store_true',
help='Disables sanity checks.')
group.add_option("--set", default='*',
help='[= %default] Which combinations to run.')
group.add_option("--seed", default=None, type='int',
help='[= %default] Seed for random number generator.')
parser.add_option_group(group)
group = OptionGroup(parser, "Compmake options")
group.add_option("--remake", default=False, action='store_true',
help='Remakes all (non interactive).')
group.add_option("--report", default=False, action='store_true',
help='Cleans and redoes all reports (non interactive).')
group.add_option("--report_stats", default=False, action='store_true',
help='Cleans and redoes the reports for the stats. (non interactive)')
parser.add_option_group(group)
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if options.fast:
disable_all()
assert not args
assert options.outdir is not None
available_algorithms, available_test_cases, available_sets = get_everything()
which = expand_string(options.set, list(available_sets.keys()))
if len(which) == 1:
compmake_storage = os.path.join(options.outdir, 'compmake', which[0])
else:
compmake_storage = os.path.join(options.outdir, 'compmake', 'common_storage')
use_filesystem(compmake_storage)
print('Staging creation of test cases reports')
test_cases = {}
test_case_reports = {}
def stage_test_case_report(tcid):
if not tcid in available_test_cases:
msg = ('Could not find test case %r \n %s' %
(tcid, available_test_cases.keys()))
raise Exception(msg)
if not tcid in test_cases:
command, args = available_test_cases[tcid]
job_id = 'test_case_data-%s' % tcid
test_cases[tcid] = comp(command, job_id=job_id, **args)
if not tcid in test_case_reports:
job_id = 'test_case-%s-report' % tcid
report = comp(create_report_tc,
tcid, test_cases[tcid], job_id=job_id)
job_id += '-write'
filename = os.path.join(options.outdir, 'test_cases', '%s.html' % tcid)
comp(write_report, report, filename, job_id=job_id)
test_case_reports[tcid] = report
return test_case_reports[tcid]
# set of tuple (algo, test_case)
executions = {}
def stage_execution(tcid, algid):
stage_test_case_report(tcid)
key = (tcid, algid)
if not key in executions:
test_case = test_cases[tcid]
algo_class, algo_params = available_algorithms[algid]
job_id = 'solve-%s-%s-run' % (tcid, algid)
results = comp(run_combination, tcid,
test_case, algo_class, algo_params,
job_id=job_id)
executions[key] = results
exc_id = '%s-%s' % (tcid, algid)
# Create iterations report
job_id = 'solve-%s-report' % exc_id
report = comp(create_report_execution, exc_id,
tcid,
test_case, algo_class, algo_params,
results, job_id=job_id)
job_id += '-write'
filename = os.path.join(options.outdir, 'executions',
'%s-%s.html' % (tcid, algid))
comp(write_report, report, filename, job_id=job_id)
return executions[key]
for comb_id in which:
comb = available_sets[comb_id]
alg_ids = expand_string(comb.algorithms, available_algorithms.keys())
tc_ids = expand_string(comb.test_cases, available_test_cases.keys())
print('Set %r has %d test cases and %d algorithms (~%d jobs in total).' %
(comb_id, len(alg_ids), len(tc_ids), len(alg_ids) * len(tc_ids) * 2))
deps = {}
for t, a in itertools.product(tc_ids, alg_ids):
deps[(t, a)] = stage_execution(t, a)
job_id = 'tex-%s' % comb_id
comp(create_tables_for_paper, comb_id, tc_ids, alg_ids, deps,
job_id=job_id)
job_id = 'set-%s-report' % comb_id
report = comp(create_report_comb_stats,
comb_id, tc_ids, alg_ids, deps, job_id=job_id)
job_id += '-write'
filename = os.path.join(options.outdir, 'stats', '%s.html' % comb_id)
comp(write_report, report, filename, job_id=job_id)
if options.report or options.report_stats:
if options.report:
batch_command('clean *-report*')
elif options.report_stats:
batch_command('clean set-* tex*')
batch_command('parmake')
elif options.remake:
batch_command('clean *')
batch_command('make set-* tex-*')
else:
compmake_console()
def main():
usage = """Implements the interface of the SLAM evaluation utilities"""
parser = OptionParser(usage=usage)
parser.add_option("--slow", default=False, action='store_true',
help='Enables sanity checks.')
parser.add_option("--max_dist", default=15, type='float',
help='[= %default] Maximum distance for graph simplification.')
parser.add_option("--min_nodes", default=250, type='float',
help='[= %default] Minimum number of nodes to simplify to.')
parser.add_option("--scale", default=10000, type='float',
help='[= %default] Controls the weight of angular vs linear .')
parser.add_option("--seed", default=42, type='int',
help='[= %default] Seed for random number generator.')
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.slow: contracts.disable_all()
fin = sys.stdin
fout = sys.stdout
G = DiGraph()
progress = False
count = 0
def status():
return ('Read %5d commands, built graph with %5d nodes and %5d edges. \r' %
(count, G.number_of_nodes(), G.number_of_edges()))
for command in parse_command_stream(fin, raise_if_unknown=False):
if isinstance(command, (AddVertex2D, Equiv, AddEdge2D)):
graph_apply_operation(G, command)
elif isinstance(command, SolveState):
eprint(status())
algorithm = EFPNO_S
params = dict(max_dist=options.max_dist,
min_nodes=options.min_nodes,
scale=options.scale)
instance = algorithm(params)
results = instance.solve(G)
G = results['solution']
elif isinstance(command, QueryState):
nodes = command.ids if command.ids else G.nodes()
nodes = sorted(nodes)
fout.write('BEGIN\n')
for n in nodes:
t, theta = translation_angle_from_SE2(G.node[n]['pose'])
fout.write('VERTEX_XYT %d %g %g %g\n' %
(n, t[0], t[1], theta))
fout.write('END\n')
fout.flush()
if progress and count % 250 == 0:
eprint(status())
count += 1
@new_contract
def array_view(value):
try:
s_[value]
except:
return False
@new_contract
def callable(value):
return hasattr(value, '__call__')
try:
from contracts import contract, ContractsMeta
if not enable_contracts():
from contracts import disable_all
disable_all()
_build_custom_contracts()
except ImportError:
# no-op interface if PyContracts isn't installed
def contract(*args, **kwargs):
if args: # called as @contract
return args[0]
else: # called as @contract(x='int', ...)
return lambda func: func
ContractsMeta = type
def go(self):
# check that if we have a parent who is a quickapp,
# then use its context
qapp_parent = self.get_qapp_parent()
if qapp_parent is not None:
# self.info('Found parent: %s' % qapp_parent)
qc = qapp_parent.child_context
self.define_jobs_context(qc)
return
else:
# self.info('Parent not found')
pass
if False:
import resource
gbs = 5
max_mem = long(gbs * 1000 * 1048576L)
resource.setrlimit(resource.RLIMIT_AS, (max_mem, -1))
resource.setrlimit(resource.RLIMIT_DATA, (max_mem, -1))
options = self.get_options()
if self.get_qapp_parent() is None:
# only do this if somebody didn't do it before
if not options.contracts:
msg = ('PyContracts disabled for speed. '
'Use --contracts to activate.')
self.logger.warning(msg)
contracts.disable_all()
output_dir = options.output
if options.reset:
if os.path.exists(output_dir):
self.logger.info('Removing output dir %r.' % output_dir)
shutil.rmtree(output_dir)
# Compmake storage for results
storage = os.path.join(output_dir, 'compmake')
db = StorageFilesystem(storage, compress=True)
currently_executing = ['root']
# The original Compmake context
oc = Context(db=db, currently_executing=currently_executing)
# Our wrapper
qc = CompmakeContext(cc=oc,
parent=None, qapp=self, job_prefix=None,
output_dir=output_dir)
read_rc_files(oc)
original = oc.get_comp_prefix()
self.define_jobs_context(qc)
oc.comp_prefix(original)
merged = context_get_merge_data(qc)
# Only create the index job if we have reports defined
# or some branched context (which might create reports)
has_reports = len(qc.get_report_manager().allreports) > 0
has_branched = qc.has_branched()
if has_reports or has_branched:
self.info('Creating reports')
oc.comp_dynamic(_dynreports_create_index, merged)
else:
self.info('Not creating reports.')
ndefined = len(oc.get_jobs_defined_in_this_session())
if ndefined == 0:
# self.comp was never called
msg = 'No jobs defined.'
raise ValueError(msg)
else:
if not options.console:
try:
oc.batch_command(options.command)
except CommandFailed:
ret = QUICKAPP_COMPUTATION_ERROR
else:
ret = 0
return ret
else:
oc.compmake_console()
return 0
def main():
usage = """Implements the interface of the SLAM evaluation utilities"""
parser = OptionParser(usage=usage)
parser.add_option("--slow",
default=False,
action='store_true',
help='Enables sanity checks.')
parser.add_option(
"--max_dist",
default=15,
type='float',
help='[= %default] Maximum distance for graph simplification.')
parser.add_option(
"--min_nodes",
default=250,
type='float',
help='[= %default] Minimum number of nodes to simplify to.')
parser.add_option(
"--scale",
default=10000,
type='float',
help='[= %default] Controls the weight of angular vs linear .')
parser.add_option("--seed",
default=42,
type='int',
help='[= %default] Seed for random number generator.')
(options, args) = parser.parse_args() #@UnusedVariable
np.random.seed(options.seed)
if not options.slow: contracts.disable_all()
fin = sys.stdin
fout = sys.stdout
G = DiGraph()
progress = False
count = 0
def status():
return (
'Read %5d commands, built graph with %5d nodes and %5d edges. \r' %
(count, G.number_of_nodes(), G.number_of_edges()))
for command in parse_command_stream(fin, raise_if_unknown=False):
if isinstance(command, (AddVertex2D, Equiv, AddEdge2D)):
graph_apply_operation(G, command)
elif isinstance(command, SolveState):
eprint(status())
algorithm = EFPNO_S
params = dict(max_dist=options.max_dist,
min_nodes=options.min_nodes,
scale=options.scale)
instance = algorithm(params)
results = instance.solve(G)
G = results['solution']
elif isinstance(command, QueryState):
nodes = command.ids if command.ids else G.nodes()
nodes = sorted(nodes)
fout.write('BEGIN\n')
for n in nodes:
t, theta = translation_angle_from_SE2(G.node[n]['pose'])
fout.write('VERTEX_XYT %d %g %g %g\n' % (n, t[0], t[1], theta))
fout.write('END\n')
fout.flush()
if progress and count % 250 == 0:
eprint(status())
count += 1
def compmake_main(args):
if not '' in sys.path:
sys.path.append('')
setproctitle('compmake')
parser = OptionParser(version=version, usage=usage)
parser.add_option("--profile", default=False, action='store_true',
help="Use Python profiler")
parser.add_option("--contracts", default=False, action='store_true',
help="Activate PyContracts")
parser.add_option("-c", "--command",
default=None,
help="Run the given command")
parser.add_option('-n', '--namespace',
default='default')
parser.add_option('--retcodefile',
help='If given, the return value is written in this '
'file. Useful to check when compmake finished in '
'a grid environment. ',
default=None)
parser.add_option('--nosysexit', default=False, action='store_true',
help='Does not sys.exit(ret); useful for debugging.')
config_populate_optparser(parser)
(options, args) = parser.parse_args(args)
if not options.contracts:
# info('Disabling PyContracts; use --contracts to activate.')
contracts.disable_all()
# We load plugins after we parsed the configuration
from compmake import plugins # @UnusedImport
# XXX make sure this is the default
if not args:
msg = ('I expect at least one argument (db path).'
' Use "compmake -h" for usage information.')
raise UserError(msg)
if len(args) >= 2:
msg = 'I only expect one argument. Use "compmake -h" for usage ' \
'information.'
msg += '\n args: %s' % args
raise UserError(msg)
# if the argument looks like a dirname
one_arg = args[0]
if os.path.exists(one_arg) and os.path.isdir(one_arg):
# If there is a compmake/ folder inside, take it as the root
child = os.path.join(one_arg, 'compmake')
if os.path.exists(child):
one_arg = child
context = load_existing_db(one_arg)
# If the context was custom we load it
if 'context' in context.compmake_db:
context = context.compmake_db['context']
# TODO: check number of jobs is nonzero
else:
msg = 'Directory not found: %s' % one_arg
raise UserError(msg)
args = args[1:]
def go(context2):
assert context2 is not None
if options.command:
set_compmake_status(CompmakeConstants.compmake_status_slave)
else:
set_compmake_status(CompmakeConstants.compmake_status_interactive)
read_rc_files(context2)
try:
if options.command:
context2.batch_command(options.command)
else:
context2.compmake_console()
except MakeFailed:
retcode = CompmakeConstants.RET_CODE_JOB_FAILED
except CommandFailed:
retcode = CompmakeConstants.RET_CODE_COMMAND_FAILED
except CompmakeBug as e:
sys.stderr.write('unexpected exception: %s' % my_format_exc(e))
retcode = CompmakeConstants.RET_CODE_COMPMAKE_BUG
except BaseException as e:
sys.stderr.write('unexpected exception: %s' % my_format_exc(e))
retcode = CompmakeConstants.RET_CODE_COMPMAKE_BUG
except:
retcode = CompmakeConstants.RET_CODE_COMPMAKE_BUG
else:
retcode = 0
if options.retcodefile is not None:
write_atomic(options.retcodefile, str(retcode))
if options.nosysexit:
return retcode
else:
sys.exit(retcode)
if not options.profile:
return go(context2=context)
else:
# XXX: change variables
import cProfile
cProfile.runctx('go(context)', globals(), locals(),
'out/compmake.profile')
import pstats
p = pstats.Stats('out/compmake.profile')
n = 30
p.sort_stats('cumulative').print_stats(n)
p.sort_stats('time').print_stats(n)
def fps_main():
if True:
import contracts
contracts.disable_all()
# import contracts
# contracts.disable_all()
usage = """
# vehicles = ['d_SE2_rb_v-rf180', 'd_SE2_rb_v-cam180']
# vehicles = ['d_SE2_rb_v-rf180']
# vehicles += ['d_SE2_rb_v-cam180']
# vehicles += ['d_SE2_rb_v-fs_05_12x12']
id_world = 'box10'
id_world = 'StocSources_w10_n20_s1'
d_SE2_rb_v-cam_f360_n180_s
"""
parser = OptionParser(usage=usage)
parser.add_option("-w", "--world",
default='StocSources_w10_n20_s1',
help="World")
parser.add_option("-v", "--vehicle",
default=['d_SE2_rb_v-fs_05_12x12'],
action='append',
help="Vehicles to simulate")
(options, _) = parser.parse_args()
get_vehicles_config().load()
id_world = options.world
world = VehiclesConfig.worlds.instance(id_world) # @UndefinedVariable
stats = []
Stat = namedtuple('Stat', 'id_vehicle id_world fps')
def stat2str(s):
return "v: %-25s w: %-25s %5dfps" % (s.id_vehicle, s.id_world, s.fps)
# vehicles = list(VehiclesConfig.vehicles.keys())
# print vehicles
vehicles = options.vehicle
T = 200
# T = 100000
dt = 0.05
for id_vehicle in vehicles:
instance = VehiclesConfig.vehicles.instance # @UndefinedVariable
vehicle = instance(id_vehicle)
print('vehicle: %s' % id_vehicle)
sim = VehicleSimulation(vehicle, world)
fps = check_simulation(sim, num_instants=T, dt=dt)
stats.append(Stat(id_vehicle=id_vehicle, id_world=id_world, fps=fps))
print(stat2str(stats[-1]))
print('---- Sorted:')
stats.sort(key=lambda x: (-x.fps))
for s in stats:
print(stat2str(s))
def go(self):
# check that if we have a parent who is a quickapp,
# then use its context
qapp_parent = self.get_qapp_parent()
if qapp_parent is not None:
# self.info('Found parent: %s' % qapp_parent)
qc = qapp_parent.child_context
self.define_jobs_context(qc)
return
else:
# self.info('Parent not found')
pass
# if False:
# import resource
# gbs = 5
# max_mem = long(gbs * 1000 * 1048576)
# resource.setrlimit(resource.RLIMIT_AS, (max_mem, -1))
# resource.setrlimit(resource.RLIMIT_DATA, (max_mem, -1))
options = self.get_options()
# if self.get_qapp_parent() is None:
# only do this if somebody didn't do it before
if not options.contracts:
msg = ('PyContracts disabled for speed. '
'Use --contracts to activate.')
self.logger.warning(msg)
contracts.disable_all()
output_dir = options.output
if options.reset:
if os.path.exists(output_dir):
self.logger.info('Removing output dir %r.' % output_dir)
try:
shutil.rmtree(output_dir)
except OSError as e:
# Directory not empty -- common enough on NFS filesystems
# print('errno: %r' % e.errno)
if e.errno == 39:
pass
else:
raise
# Compmake storage for results
storage = os.path.join(output_dir, 'compmake')
logger.debug('Creating storage in %s (compress = %s)' %
(storage, options.compress))
db = StorageFilesystem(storage, compress=options.compress)
currently_executing = ['root']
# The original Compmake context
oc = Context(db=db, currently_executing=currently_executing)
# Our wrapper
qc = CompmakeContext(cc=oc,
parent=None,
qapp=self,
job_prefix=None,
output_dir=output_dir)
read_rc_files(oc)
original = oc.get_comp_prefix()
self.define_jobs_context(qc)
oc.comp_prefix(original)
merged = context_get_merge_data(qc)
# Only create the index job if we have reports defined
# or some branched context (which might create reports)
has_reports = len(qc.get_report_manager().allreports) > 0
has_branched = qc.has_branched()
if has_reports or has_branched:
# self.info('Creating reports')
oc.comp_dynamic(_dynreports_create_index, merged)
else:
pass
# self.info('Not creating reports.')
ndefined = len(oc.get_jobs_defined_in_this_session())
if ndefined == 0:
# self.comp was never called
msg = 'No jobs defined.'
raise ValueError(msg)
else:
if options.console:
oc.compmake_console()
return 0
else:
cq = CacheQueryDB(oc.get_compmake_db())
targets = cq.all_jobs()
todo, done, ready = cq.list_todo_targets(targets)
if not todo and options.command is None:
msg = "Note: there is nothing for me to do. "
msg += '\n(Jobs todo: %s done: %s ready: %s)' % (
len(todo), len(done), len(ready))
msg += """\
This application uses a cache system for the results.
This means that if you call it second time with the same arguments,
and if you do not change any input, it will not do anything."""
self.warn(msg)
return 0
if options.command is None:
command = 'make recurse=1'
else:
command = options.command
try:
_ = oc.batch_command(command)
# print('qapp: ret0 = %s' % ret0)
except CommandFailed:
# print('qapp: CommandFailed')
ret = QUICKAPP_COMPUTATION_ERROR
except ShellExitRequested:
# print('qapp: ShellExitRequested')
ret = 0
else:
# print('qapp: else ret = 0')
ret = 0
return ret
def compmake_main(args):
if not '' in sys.path:
sys.path.append('')
setproctitle('compmake')
parser = OptionParser(version=version, usage=usage)
parser.add_option("--profile",
default=False,
action='store_true',
help="Use Python profiler")
parser.add_option("--contracts",
default=False,
action='store_true',
help="Activate PyContracts")
parser.add_option("-c",
"--command",
default=None,
help="Run the given command")
parser.add_option('-n', '--namespace', default='default')
parser.add_option('--retcodefile',
help='If given, the return value is written in this '
'file. Useful to check when compmake finished in '
'a grid environment. ',
default=None)
parser.add_option('--nosysexit',
default=False,
action='store_true',
help='Does not sys.exit(ret); useful for debugging.')
config_populate_optparser(parser)
(options, args) = parser.parse_args(args)
if not options.contracts:
# info('Disabling PyContracts; use --contracts to activate.')
contracts.disable_all()
# We load plugins after we parsed the configuration
from compmake import plugins # @UnusedImport
# XXX make sure this is the default
if not args:
msg = ('I expect at least one argument (db path).'
' Use "compmake -h" for usage information.')
raise UserError(msg)
if len(args) >= 2:
msg = 'I only expect one argument. Use "compmake -h" for usage ' \
'information.'
msg += '\n args: %s' % args
raise UserError(msg)
# if the argument looks like a dirname
one_arg = args[0]
if os.path.exists(one_arg) and os.path.isdir(one_arg):
# If there is a compmake/ folder inside, take it as the root
child = os.path.join(one_arg, 'compmake')
if os.path.exists(child):
one_arg = child
context = load_existing_db(one_arg)
# If the context was custom we load it
if 'context' in context.compmake_db:
context = context.compmake_db['context']
# TODO: check number of jobs is nonzero
else:
msg = 'Directory not found: %s' % one_arg
raise UserError(msg)
args = args[1:]
def go(context2):
assert context2 is not None
if options.command:
set_compmake_status(CompmakeConstants.compmake_status_slave)
else:
set_compmake_status(CompmakeConstants.compmake_status_interactive)
read_rc_files(context2)
try:
if options.command:
context2.batch_command(options.command)
else:
context2.compmake_console()
except MakeFailed:
retcode = CompmakeConstants.RET_CODE_JOB_FAILED
except CommandFailed:
retcode = CompmakeConstants.RET_CODE_COMMAND_FAILED
except CompmakeBug as e:
sys.stderr.write('unexpected exception: %s' %
traceback.format_exc())
retcode = CompmakeConstants.RET_CODE_COMPMAKE_BUG
except BaseException as e:
sys.stderr.write('unexpected exception: %s' %
traceback.format_exc())
retcode = CompmakeConstants.RET_CODE_COMPMAKE_BUG
except:
retcode = CompmakeConstants.RET_CODE_COMPMAKE_BUG
else:
retcode = 0
if options.retcodefile is not None:
write_atomic(options.retcodefile, str(retcode))
if options.nosysexit:
return retcode
else:
sys.exit(retcode)
if not options.profile:
return go(context2=context)
else:
# XXX: change variables
import cProfile
cProfile.runctx('go(context)', globals(), locals(),
'out/compmake.profile')
import pstats
p = pstats.Stats('out/compmake.profile')
n = 50
p.sort_stats('cumulative').print_stats(n)
p.sort_stats('time').print_stats(n)