def _scaffold_expi(self,
expi_def: xml.XMLLuigi,
modsi: tp.Union[xml.XMLAttrChangeSet, xml.XMLTagAddList],
i: int,
cmdopts: types.Cmdopts) -> None:
exp_dirname = self.gen_exp_dirnames(cmdopts)[i]
self.logger.debug("Applying %s XML modifications from '%s' for exp%s in %s",
len(modsi),
self.cli_arg,
i,
exp_dirname)
exp_input_root = os.path.join(self.batch_input_root,
str(exp_dirname))
utils.dir_create_checked(exp_input_root,
exist_ok=cmdopts['exp_overwrite'])
for mod in modsi:
if isinstance(mod, xml.XMLAttrChange):
expi_def.attr_change(mod.path, mod.attr, mod.value)
elif isinstance(mod, xml.XMLTagAdd):
expi_def.tag_add(mod.path, mod.tag, mod.attr, mod.allow_dup)
else:
assert False,\
"Batch criteria can only modify or remove XML tags"
# This will be the "template" input file used to generate the input
# files for each experimental run in the experiment
wr_config = xml.XMLWriterConfig([{'src_parent': None,
'src_tag': '.',
'opath_leaf': None,
'create_tags': None,
'dest_parent': None
}])
expi_def.write_config_set(wr_config)
opath = utils.batch_template_path(cmdopts,
self.batch_input_root,
exp_dirname)
expi_def.write(opath)
def generate(self) -> XMLLuigi:
"""
Generates XML changes to simulation input files that are common to all
experiments.
"""
# ARGoS uses a single input file
wr_config = XMLWriterConfig([{
'src_parent':
None,
'src_tag':
'.',
'opath_leaf':
config.kARGoS['launch_file_ext'],
'create_tags':
None,
'dest_parent':
None,
'rename_to':
None
}])
exp_def = XMLLuigi(input_fpath=self.template_input_file,
write_config=wr_config)
# Generate # robots
self._generate_n_robots(exp_def)
# Setup library
self._generate_library(exp_def)
# Setup simulation visualizations
self._generate_visualization(exp_def)
# Setup threading
self._generate_threading(exp_def)
# Setup robot sensors/actuators
self._generate_saa(exp_def)
# Setup simulation time parameters
self._generate_time(exp_def)
return exp_def
def _generate_saa(self, exp_def: XMLLuigi) -> None:
"""
Generates XML changes to disable selected sensors/actuators, which are
computationally expensive in large swarms, but not that costly if the
# robots is small.
Does not write generated changes to the simulation definition pickle
file.
"""
self.logger.trace("Generating changes for SAA (all runs)")
if not self.cmdopts["with_robot_rab"]:
exp_def.tag_remove(".//media", "range_and_bearing", noprint=True)
exp_def.tag_remove(".//actuators",
"range_and_bearing",
noprint=True)
exp_def.tag_remove(".//sensors", "range_and_bearing", noprint=True)
if not self.cmdopts["with_robot_leds"]:
exp_def.tag_remove(".//actuators", "leds", noprint=True)
exp_def.tag_remove(".//sensors",
"colored_blob_omnidirectional_camera",
noprint=True)
exp_def.tag_remove(".//media", "led", noprint=True)
if not self.cmdopts["with_robot_battery"]:
exp_def.tag_remove(".//sensors", "battery", noprint=True)
exp_def.tag_remove(".//entity/*", "battery", noprint=True)
def generate(self) -> XMLLuigi:
exp_def = XMLLuigi(input_fpath=self.template_input_file)
wr_config = XMLWriterConfig([])
if exp_def.has_tag('./params'):
self.logger.debug("Using shared XML parameter file")
wr_config.add({
'src_parent': '.',
'src_tag': 'params',
'opath_leaf': config.kROS['param_file_ext'],
'create_tags': None,
'dest_parent': None,
'rename_to': None
})
else:
self.ros_param_server = True
exp_def.write_config_set(wr_config)
# Add <master> tag
if not exp_def.has_tag("./master"):
exp_def.tag_add(".", "master", {})
if not exp_def.has_tag("./master/group/[@ns='sierra']"):
exp_def.tag_add("./master", "group", {'ns': 'sierra'})
# Add <robot> tag
if not exp_def.has_tag("./robot"):
exp_def.tag_add(".", "robot", {})
if not exp_def.has_tag("./robot/group/[@ns='sierra']"):
exp_def.tag_add("./robot", "group", {'ns': 'sierra'})
# Generate core experiment definitions
self._generate_experiment(exp_def)
return exp_def
def _generate_gazebo_core(self, exp_def: XMLLuigi) -> None:
"""
Generate XML tag changes to setup Gazebo core experiment parameters.
Does not write generated changes to the run definition pickle
file.
"""
self.logger.debug("Generating Gazebo experiment changes (all runs)")
# Start Gazebo/ROS in debug mode to make post-mortem analysis easier.
exp_def.tag_add("./master/include",
"arg",
{
"name": "verbose",
"value": "true"
})
# Terminate Gazebo server whenever the launch script that invoked it
# exits.
exp_def.tag_add("./master/include",
"arg",
{
"name": "server_required",
"value": "true"
})
# Don't record stuff
exp_def.tag_remove("./master/include", "arg/[@name='headless']")
exp_def.tag_remove("./master/include", "arg/[@name='recording']")
# Don't start paused
exp_def.tag_remove("./master/include", "arg/[@name='paused']")
# Don't start gazebo under gdb
exp_def.tag_remove("./master/include", "arg/[@name='debug']")