def test_config(self):
with patch('osgar.drivers.logserial.serial.Serial') as mock:
instance = mock.return_value
instance.read = MagicMock(
return_value=
b'$GNGGA,182433.10,5007.71882,N,01422.50467,E,1,05,6.09,305.1,M,44.3,M,,*41'
)
config = {
'modules': {
'gps': {
'driver': 'gps',
'out': ['position'],
'init': {}
},
'serial_gps': {
'driver': 'serial',
'out': ['raw'],
'init': {
'port': 'COM51',
'speed': 4800
}
}
},
'links': [('serial_gps.raw', 'gps.raw')]
}
logger = MagicMock(write=MagicMock(return_value=timedelta(
seconds=135)))
with Recorder(config=config, logger=logger) as recorder:
self.assertEqual(len(recorder.modules), 2)
self.assertEqual(
sum([
sum([len(q) for q in module.bus.out.values()])
for module in recorder.modules.values()
]), 1)
def test_config(self):
with patch('osgar.drivers.logserial.serial.Serial') as mock:
instance = mock.return_value
instance.read = MagicMock(return_value=b'$GNGGA,182433.10,5007.71882,N,01422.50467,E,1,05,6.09,305.1,M,44.3,M,,*41')
config = {
'modules': {
'gps': {
'driver': 'gps',
'out':['position'],
'init':{}
},
'serial_gps': {
'driver': 'serial',
'out':['raw'],
'init': {'port': 'COM51', 'speed': 4800}
}
},
'links': [('serial_gps.raw', 'gps.raw')]
}
logger = MagicMock()
recorder = Recorder(config=config, logger=logger)
self.assertEqual(len(recorder.modules), 2)
self.assertEqual(sum([sum([len(q) for q in module.bus.out.values()])
for module in recorder.modules.values()]), 1)
recorder.start()
time.sleep(0.1)
recorder.update()
recorder.finish()
def test_spider_config(self):
# first example with loop spider <-> serial
with open(os.path.dirname(__file__) +
'/../config/test-spider.json') as f:
config = json.loads(f.read())
with patch('osgar.drivers.logserial.serial.Serial') as mock:
logger = MagicMock()
recorder = Recorder(config=config['robot'], logger=logger)
def test_missing_init(self):
# init section for modules is now optional
mini_config = {
'modules': {
"dummy": {
"driver": "osgar.test_record:Sleeper"
},
},
'links': []
}
with Recorder(config=mini_config, logger=MagicMock()) as recorder:
pass
def test_all_supported_config_files(self):
supported = [
'test-spider.json', 'test-gps-imu.json',
'test-spider-gps-imu.json', 'test-windows-gps.json'
]
with patch('osgar.drivers.logserial.serial.Serial') as mock:
logger = MagicMock()
for filename in supported:
with open(
os.path.join(os.path.dirname(__file__), '..', 'config',
filename)) as f:
config = json.loads(f.read())
recorder = Recorder(config=config['robot'], logger=logger)
def test_application(self):
# plug-in external application
with open(
os.path.dirname(__file__) +
'/../config/ro2018-spider-gps-imu.json') as f:
config = json.loads(f.read())
class DummyApp:
def __init__(self, config, bus):
self.bus = bus # needed for linkage
with patch('osgar.drivers.logserial.serial.Serial') as mock:
logger = MagicMock()
recorder = Recorder(config=config['robot'],
logger=logger,
application=DummyApp)
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 test_dummy_usage(self):
empty_config = {'modules': {}, 'links': []}
with Recorder(config=empty_config, logger=MagicMock()) as recorder:
pass
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()
# vim: expandtab sw=4 ts=4
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':
from replay import replay
args.module = 'app'
game = replay(args, application=SICKRobot2018)
game.verbose = args.verbose
game.play()
elif args.command == 'run':
log = LogWriter(prefix='eduro-', 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=SICKRobot2018)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
robot.finish()
# vim: expandtab sw=4 ts=4
'-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 replay import replay
args.module = 'app'
game = replay(args, application=RoboOrienteering2018)
game.play()
elif args.command == 'run':
log = LogWriter(prefix='ro2018-', note=str(sys.argv))
config = config_load(*args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
recorder = Recorder(config=config['robot'],
logger=log,
application=RoboOrienteering2018)
game = robot.modules['app'] # TODO nicer reference
robot.start()
game.play()
recorder.finish()
else:
assert False, args.command # unsupported command
# vim: expandtab sw=4 ts=4
def test_dummy_usage(self):
empty_config = {'modules': {}, 'links':[]}
recorder = Recorder(config=empty_config, logger=None)
recorder.start()
recorder.update()
recorder.finish()
def test_dummy_usage(self):
empty_config = {'modules': {}, 'links': []}
recorder = Recorder(config=empty_config, logger=None)
recorder.start()
recorder.update()
recorder.finish()