def cancel_simulation_job(backoff_time_sec=1.0, max_retry_attempts=5):
"""ros service call to cancel simulation job
Args:
backoff_time_sec(float): backoff time in seconds
max_retry_attempts (int): maximum number of retry
"""
import rospy
from markov.rospy_wrappers import ServiceProxyWrapper
from robomaker_simulation_msgs.srv import Cancel
requestCancel = ServiceProxyWrapper("/robomaker/job/cancel", Cancel)
try_count = 0
while True:
try_count += 1
response = requestCancel()
logger.info(
"cancel_simulation_job from ros service call response: {}".format(response.success)
)
if response and response.success:
time.sleep(ROBOMAKER_CANCEL_JOB_WAIT_TIME)
return
if try_count > max_retry_attempts:
simapp_exit_gracefully()
backoff_time = (pow(try_count, 2) + random.random()) * backoff_time_sec
time.sleep(backoff_time)
def restart_simulation_job(simulation_job_arn, aws_region):
logger.info("restart_simulation_job: make sure to shutdown simapp first")
if simulation_job_arn:
session = boto3.session.Session()
robomaker_client = session.client('robomaker', region_name=aws_region)
robomaker_client.restart_simulation_job(job=simulation_job_arn)
else:
simapp_exit_gracefully()
def cancel_simulation_job(simulation_job_arn, aws_region):
logger.info("cancel_simulation_job: make sure to shutdown simapp first")
if simulation_job_arn:
session = boto3.session.Session()
robomaker_client = session.client('robomaker', region_name=aws_region)
robomaker_client.cancel_simulation_job(job=simulation_job_arn)
time.sleep(ROBOMAKER_CANCEL_JOB_WAIT_TIME)
else:
simapp_exit_gracefully()
def exit_if_trainer_done(checkpoint_dir, s3_writer):
'''Helper method that shutsdown the sim app if the trainer is done
checkpoint_dir - direcotry where the done file would be downloaded to
'''
if should_stop(checkpoint_dir):
unsubscribe_from_save_mp4 = ServiceProxyWrapper(
'/racecar/save_mp4/unsubscribe_from_save_mp4', Empty)
unsubscribe_from_save_mp4(EmptyRequest())
s3_writer.upload_to_s3()
logger.info("Received termination signal from trainer. Goodbye.")
simapp_exit_gracefully()
def cancel_simulation_job(backoff_time_sec=1.0, max_retry_attempts=5):
"""ros service call to cancel simulation job
Args:
backoff_time_sec(float): backoff time in seconds
max_retry_attempts (int): maximum number of retry
"""
import rospy
from robomaker_simulation_msgs.srv import Cancel
time.sleep(ROBOMAKER_CANCEL_JOB_WAIT_TIME)
simapp_exit_gracefully(simapp_exit=SIMAPP_DONE_EXIT)
def exit_if_trainer_done(checkpoint_dir, s3_writer, rollout_idx):
'''Helper method that shutsdown the sim app if the trainer is done
checkpoint_dir - direcotry where the done file would be downloaded to
'''
if should_stop(checkpoint_dir):
is_save_mp4_enabled = rospy.get_param('MP4_S3_BUCKET', None) and rollout_idx == 0
if is_save_mp4_enabled:
unsubscribe_from_save_mp4 = ServiceProxyWrapper('/racecar/save_mp4/unsubscribe_from_save_mp4', Empty)
unsubscribe_from_save_mp4(EmptyRequest())
s3_writer.upload_to_s3()
logger.info("Received termination signal from trainer. Goodbye.")
simapp_exit_gracefully()
def exit_if_trainer_done(checkpoint_dir, simtrace_video_s3_writers, rollout_idx):
"""Helper method that shutsdown the sim app if the trainer is done
checkpoint_dir - direcotry where the done file would be downloaded to
"""
if should_stop(checkpoint_dir):
is_save_mp4_enabled = rospy.get_param("MP4_S3_BUCKET", None) and rollout_idx == 0
if is_save_mp4_enabled:
unsubscribe_from_save_mp4 = ServiceProxyWrapper(
"/racecar/save_mp4/unsubscribe_from_save_mp4", Empty
)
unsubscribe_from_save_mp4(EmptyRequest())
# upload simtrace and mp4 into s3 bucket
for s3_writer in simtrace_video_s3_writers:
s3_writer.persist(utils.get_s3_kms_extra_args())
logger.info("Received termination signal from trainer. Goodbye.")
simapp_exit_gracefully()
def exit_gracefully(self, signum, frame):
self.terminate_now = True
logger.info("DoorMan: received signal {}".format(signum))
simapp_exit_gracefully(simapp_exit=SIMAPP_DONE_EXIT)
