def __init__(self):
self.pub_player1 = rospy.Publisher('airhockey/simulator/player1', Twist, queue_size=60)
self.pub_player2 = rospy.Publisher('airhockey/simulator/player2', Twist, queue_size=60)
self.vel_player1 = 0, 0
self.vel_player2 = 0, 0
self.pub_image = rospy.Publisher('/airhockey/simulator/image', ImageMsg, queue_size=60)
self.bridge = CvBridge()
self.space = pymunk.Space()
self.space.gravity = (0.0, 0.0)
self.root = tk.Tk()
self.root.title('Airhockey')
self.root.resizable(width=False, height=False)
self.root.geometry("{}x{}+{}+{}".format(1595, 1000, 0, 0))
self.root.bind("<Escape>", lambda e: self.root.quit())
#self.root.bind('<Motion>', self.mouse_position)
self.field_image = Image.open(os.path.join(self.dir, '../res', 'field.png'))
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (0, 40), (1595, 40), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (0, 960), (1595, 960), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (40, 0), (40, 1000), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (1550, 0), (1550, 1000), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.player1_object = Pod(200, 500, 100, 3, 'player1', 'airhockey/simulator/player1')
self.player2_object = Pod(1390, 500, 100, 3, 'player2', 'airhockey/simulator/player2')
self.puck = Puck(795, 500, 60, 1)
self.space.add(self.player1_object.body, self.player1_object.shape)
self.space.add(self.player2_object.body, self.player2_object.shape)
self.space.add(self.puck.body, self.puck.shape)
self.field = ImageTk.PhotoImage(self.get_field_image(self.player1_object, self.player2_object, self.puck))
self.canvas = tk.Canvas(self.root, width=1590, height=1000)
self.canvas.pack()
self.root.bind_all('<KeyPress>', self.key_pressed)
self.root.bind_all('<KeyRelease>', self.key_released)
self.root.after(int(round(1000 / self.FPS, 0)), func=self.tick)
def update_pods(self):
"""
Update all Pods in cluster, if Pod exists add usage statistics
to self.monitor_pods_data
:return:
"""
self.status_lock.acquire(blocking=True)
# set all current pods as inactive
for pod in self.all_pods.items:
pod.is_alive = False
for pod_ in self.v1.list_pod_for_all_namespaces().items:
skip = False
if pod_.status.phase == 'Running':
for pod in self.all_pods.items:
if pod_.metadata.name == pod.metadata.name:
# found in collection, so update its usage
skip = True # skip creating new Pod
res = pod.fetch_usage()
pod.is_alive = True
# TODO what to do when metrics reciving failed
if res != 0:
if res == 404:
print('Metrics for pod %s not found ' %
pod.metadata.name)
else:
print('Unknown metrics server error %s' % res)
break
# print('Updated metrics for pod %s' % pod.metadata.name)
break
if not skip:
# this is new pod, add it to
pod = Pod(pod_.metadata, pod_.spec, pod_.status)
pod.is_alive = True
print('Added pod ' + pod.metadata.name)
self.all_pods.items.append(pod)
print('Number of Pods ', len(self.all_pods.items))
self.status_lock.release()
self.garbage_old_pods()
def load_create_config(self, config_file_name):
"""Read and parse configuration file for the test environment.
"""
self._log.info("Loading configuration file %s", config_file_name)
self._create_config = ConfigParser.RawConfigParser()
try:
self._create_config.read(config_file_name)
except Exception as e:
self._log.error("Failed to read config file!\n%s\n" % e)
return -1
# Now parse config file content
# Parse [DEFAULT] section
if self._create_config.has_option("DEFAULT", "total_number_of_pods"):
self._total_number_of_pods = self._create_config.getint(
"DEFAULT", "total_number_of_pods")
else:
self._log.error(
"No option total_number_of_pods in DEFAULT section")
return -1
self._log.debug("Total number of pods %d" % self._total_number_of_pods)
# Parse [PODx] sections
for i in range(1, int(self._total_number_of_pods) + 1):
# Search for POD name
if self._create_config.has_option("POD%d" % i, "name"):
pod_name = self._create_config.get("POD%d" % i, "name")
else:
pod_name = "pod-rapid-%d" % i
# Search for POD hostname
if self._create_config.has_option("POD%d" % i,
"nodeSelector_hostname"):
pod_nodeselector_hostname = self._create_config.get(
"POD%d" % i, "nodeSelector_hostname")
else:
pod_nodeselector_hostname = None
# Search for POD dataplane static IP
if self._create_config.has_option("POD%d" % i, "dp_ip"):
pod_dp_ip = self._create_config.get("POD%d" % i, "dp_ip")
else:
pod_dp_ip = None
pod = Pod(pod_name)
pod.set_nodeselector(pod_nodeselector_hostname)
pod.set_dp_ip(pod_dp_ip)
pod.set_id(i)
# Add POD to the list of PODs which need to be created
self._pods.append(pod)
return 0
def createPodFleet(self):
"""
Create a number of new pods and assign a new route.
This is currently randomly assigned
"""
for podIndex in range(0, self.maxNumberOfPods):
# Create new Pod
self.podArray.append(Pod(podIndex, self.pathNetwork))
# Select a random speed for each pod
if (config.randomPodSpeed):
self.podArray[len(self.podArray) -
1].speed = (random.randrange(7, 10) * 0.1)
def assignFleet(self):
for podIndex in range(0, self.maxNumberOfPods):
# Create new Pod
self.podArray.append(
Pod(podIndex,
self.pathNetwork,
allocatedStartBox=self.chromosome.genes[podIndex]))
# Select a random speed for each pod
if (config.randomPodSpeed):
self.podArray[len(self.podArray) -
1].speed = (random.randrange(7, 10) * 0.1)
def run(self):
"""
Main thread, run and listen for events,
If an event occurred, call monitor.update_nodes()
and proceed scoring and scheduling process.
"""
print('Scheduler running')
p1 = Thread(target=self.monitor.monitor_runner)
p1.start()
while True:
try:
for event in self.watcher.stream(
self.v1.list_pod_for_all_namespaces):
print('Event type ', event['type'])
if event['type'] == 'ADDED' and event[
'object'].spec.scheduler_name == self.scheduler_name:
new_pod = Pod(event['object'].metadata,
event['object'].spec,
event['object'].status)
print('New pod ADDED', new_pod.metadata.name)
self.monitor.update_nodes()
self.monitor.print_nodes_stats()
new_node = self.choose_node(new_pod)
if new_node is not None:
self.bind_to_node(new_pod.metadata.name,
new_node.metadata.name)
else:
print('Pod cannot be scheduled..')
# when Pod cannot be scheduled it is being deleted and after
# couple seconds new Pod is created and another attempt
# of scheduling this Pod is being made
except Exception as e:
print(str(e))
sleep(5)
p1.join()
def send():
sent = True;
pods = []
result_xml = None
if request.method == 'POST':
i = request.form['i']
payload = i + "&appid=VJ8YWP-VV56V4PPV2"
result_xml = requests.get('http://api.wolframalpha.com/v2/query?input=' + payload)
xmlstr = result_xml.text
root = ET.fromstring(xmlstr)
# returns true is there is valid data found
data_return = root.attrib.get('success')
print (data_return)
for pod in root:
title = pod.get('title')
#print title
subpods = []
for subpodITR in pod:
sb = Subpod(None, None, None)
if subpodITR.get('title') is not None:
sb.title = subpodITR.get('title')
if subpodITR.find('img') is not None:
img = subpodITR.find('img')
sb.img = img.get('src')
if subpodITR.find('plaintext') is not None:
sb.text = subpodITR.find('plaintext').text
subpods.append(sb)
g = Pod(title, subpods)
pods.append(g)
#print g
for pod in pods:
print (pod.title)
for element in pod.podsubpod:
print (element)
print ("-------------------------")
return render_template('/index.html', result_xml=result_xml,
data_return=data_return, title="Jun", pods=pods, sent=sent)
def get_pods(self):
"""
:return: All the pods of the job
"""
self.job_spec = self.get_spec()
return {Pod(self, iid) for iid in xrange(self.job_spec.instance_count)}
def get_pod(self, instance_id):
"""
:param instance_id: The instance id of the pod
:return: The Pod of the job based on the instance id
"""
return Pod(self, instance_id)
class AirhockeyScreen:
dir = os.path.dirname(__file__)
FPS = 60.0
player1_keys = ['d', 'q', 'z', 's']
player2_keys = ['Right', 'Left', 'Up', 'Down']
score = {'player_1': 0, 'player_2': 0}
def __init__(self):
self.pub_player1 = rospy.Publisher('airhockey/simulator/player1', Twist, queue_size=60)
self.pub_player2 = rospy.Publisher('airhockey/simulator/player2', Twist, queue_size=60)
self.vel_player1 = 0, 0
self.vel_player2 = 0, 0
self.pub_image = rospy.Publisher('/airhockey/simulator/image', ImageMsg, queue_size=60)
self.bridge = CvBridge()
self.space = pymunk.Space()
self.space.gravity = (0.0, 0.0)
self.root = tk.Tk()
self.root.title('Airhockey')
self.root.resizable(width=False, height=False)
self.root.geometry("{}x{}+{}+{}".format(1595, 1000, 0, 0))
self.root.bind("<Escape>", lambda e: self.root.quit())
#self.root.bind('<Motion>', self.mouse_position)
self.field_image = Image.open(os.path.join(self.dir, '../res', 'field.png'))
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (0, 40), (1595, 40), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (0, 960), (1595, 960), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (40, 0), (40, 1000), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.static_body = pymunk.Body(body_type=pymunk.Body.STATIC)
self.static_line = pymunk.Segment(self.static_body, (1550, 0), (1550, 1000), 0.0)
self.static_line.elasticity = 1
self.space.add(self.static_body, self.static_line)
self.player1_object = Pod(200, 500, 100, 3, 'player1', 'airhockey/simulator/player1')
self.player2_object = Pod(1390, 500, 100, 3, 'player2', 'airhockey/simulator/player2')
self.puck = Puck(795, 500, 60, 1)
self.space.add(self.player1_object.body, self.player1_object.shape)
self.space.add(self.player2_object.body, self.player2_object.shape)
self.space.add(self.puck.body, self.puck.shape)
self.field = ImageTk.PhotoImage(self.get_field_image(self.player1_object, self.player2_object, self.puck))
self.canvas = tk.Canvas(self.root, width=1590, height=1000)
self.canvas.pack()
self.root.bind_all('<KeyPress>', self.key_pressed)
self.root.bind_all('<KeyRelease>', self.key_released)
self.root.after(int(round(1000 / self.FPS, 0)), func=self.tick)
def tick(self):
self.player1_object.move()
self.player2_object.move()
self.space.step(1 / self.FPS)
self.render()
self.puck.check_goal(self.score)
self.root.after(int(round(1000 / self.FPS, 0)), func=self.tick)
def render(self):
self.canvas.delete('all')
image = self.get_field_image(self.player1_object, self.player2_object, self.puck)
field = ImageTk.PhotoImage(image)
self.canvas.create_image((795, 500), image=field)
self.canvas.image = field
self.canvas.create_text(799, 75, fill='darkblue', font='Times 80 bold',
text='{}:{}'.format(self.score['player_1'], self.score['player_2']))
"""
Subscribe to this topic to analyze the board in ROS with OpenCV
To move the player publish a message of geometry_msgs.msg.Twist to /airhockey/player1 or /airhockey/player2.
"""
self.pub_image.publish(self.bridge.cv2_to_imgmsg(cv2.cvtColor(np.array(image), cv2.COLOR_RGB2BGR), 'bgr8'))
def get_field_image(self, *args):
img_to_show = Image.new('RGB', (1590, 1000), color=(255, 255, 255, 1))
img_to_show.paste(self.field_image, (0, 0), self.field_image)
for game_object in args:
img_to_show.paste(game_object.image, (game_object.get_position()), game_object.image)
return img_to_show
def mouse_position(self, event):
pos_x, pos_y = event.x, event.y
self.player1_object.set_position(pos_x, pos_y)
def key_pressed(self, event):
motion_command = Twist()
if event.keysym in self.player1_keys:
velocity = self.get_velocity(event, self.vel_player1)
self.vel_player1 = velocity
motion_command.linear.x = velocity[0]
motion_command.linear.y = velocity[1]
self.pub_player1.publish(motion_command)
elif event.keysym in self.player2_keys:
velocity = self.get_velocity(event, self.vel_player2)
self.vel_player2 = velocity
motion_command.linear.x = velocity[0]
motion_command.linear.y = velocity[1]
self.pub_player2.publish(motion_command)
def key_released(self, event):
motion_command = Twist()
if event.keysym in self.player1_keys:
velocity = self.reset_velocity(event, self.vel_player1)
self.vel_player1 = velocity
motion_command.linear.x = velocity[0]
motion_command.linear.y = velocity[1]
self.pub_player1.publish(motion_command)
elif event.keysym in self.player2_keys:
velocity = self.reset_velocity(event, self.vel_player2)
self.vel_player2 = velocity
motion_command.linear.x = velocity[0]
motion_command.linear.y = velocity[1]
self.pub_player2.publish(motion_command)
def get_velocity(self, event, velocity):
_vel_x, _vel_y = velocity
if 'Right' == event.keysym or event.keysym == 'd':
_vel_x = 15
elif 'Left' == event.keysym or event.keysym == 'q':
_vel_x = -15
elif 'Up' == event.keysym or event.keysym == 'z':
_vel_y = -15
elif 'Down' == event.keysym or event.keysym == 's':
_vel_y = 15
return _vel_x, _vel_y
def reset_velocity(self, event, velocity):
_vel_x, _vel_y = velocity
if 'Right' == event.keysym or event.keysym == 'd' or 'Left' == event.keysym or event.keysym == 'q':
_vel_x = 0
elif 'Up' == event.keysym or event.keysym == 'z' or 'Down' == event.keysym or event.keysym == 's':
_vel_y = 0
return _vel_x, _vel_y
def CreatePod(self, deployment):
podName = deployment.deploymentLabel + "_" + str(
self.GeneratePodName())
pod = Pod(podName, deployment.cpuCost, deployment.deploymentLabel)
#print("Pod " + pod.podName + " created")
self.etcd.pendingPodList.append(pod)
def __init__(self, config, working_dir=None):
self.logger = logging.getLogger("Sim")
self.logger.info("Initializing simulation")
# Config
self.config = config
# Working directory (for csv files and whatnot)
if working_dir is not None:
self.set_working_dir(working_dir)
self.logger.info("Working directory is {} ({})".format(
self.config.working_dir,
os.path.join(os.getcwd(), self.config.working_dir)))
self.ensure_working_dir()
# Simulator control
self.step_listeners = [] # For in-sim control (per step)
self.end_conditions = []
self.end_listeners = []
# Pre and post
self.preprocessors = []
self.postprocessors = []
# Time
self.fixed_timestep_usec = Units.usec(
config.fixed_timestep) # Convert to usec
self.time_dialator = TimeDialator(self) # We're going to step this
# Components
self.pusher = Pusher(self, self.config.pusher)
self.track = Track(self, self.config.track)
self.pod = Pod(self, self.config.pod)
#self.fcu = Fcu(self, self.config.fcu)
# Component setup
# Set the initial pusher position to meet the pusher plate
# @todo: should we set this somewhere else? Like in a run controller?
self.pusher.position = self.pod.pusher_plate_offset
# Sensors
self.sensors = {}
self.sensors['pod'] = PodSensor(self, self.config.sensors.pod)
self.sensors['pod'].add_step_listener(
SensorCsvWriter(self, self.config.sensors.pod))
self.sensors['pusher'] = PusherSensor(self, self.config.sensors.pusher)
self.sensors['pusher'].add_step_listener(
SensorCsvWriter(self, self.config.sensors.pusher))
# - Accelerometers
self.sensors['accel'] = []
for idx, sensor_config in self.config.sensors.accel.iteritems():
# Note: we need to create a Config object here because Config does not currently handle lists very well...
self.sensors['accel'].append(
Accelerometer(self, Config(sensor_config)))
sensor = self.sensors['accel'][idx]
sensor.add_step_listener(
AccelerometerTestListener(self, sensor.config))
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Contrast Sensors
"""
self.sensors['laser_contrast'] = []
for idx, sensor_config in self.config.sensors.laser_contrast.iteritems():
self.sensors['laser_contrast'].append(LaserContrastSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_contrast'][idx]
#sensor.add_step_listener(LaserContrastTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config)) # These don't have 'raw' values since they just call an interrupt
# - Laser Opto Sensors (height and yaw)
self.sensors['laser_opto'] = []
for idx, sensor_config in self.config.sensors.laser_opto.iteritems():
self.sensors['laser_opto'].append(LaserOptoSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_opto'][idx]
#sensor.add_step_listener(LaserOptoTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Distance Sensor
self.sensors['laser_dist'] = LaserDistSensor(self, Config(self.config.sensors.laser_dist))
sensor = self.sensors['laser_dist']
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
"""
# - Brake Sensors: MLP, limit switches (for both)
pass
# Networking
self.comms = PodComms(self, self.config.networking)
self.add_end_listener(self.comms)
# FCU (!)
if self.config.fcu.enabled:
self.fcu = Fcu(self, self.config.fcu)
self.add_end_listener(self.fcu)
else:
# @todo: will this have any side effects (e.g. not having an fcu?)
self.logger.info(
"Not initializing FCU because it is disabled via config.")
# Initial setup
# @todo: write a method by which we can maybe control the push from the ground station or rpod_control vb.net app
# @todo: write a means by which we can start the push some configurable amount of time after the pod enters READY state
#self.pusher.start_push() # Only for testing
# Volatile
self.elapsed_time_usec = 0
self.n_steps_taken = 0
class Sim(object):
def __init__(self, config, working_dir=None):
self.logger = logging.getLogger("Sim")
self.logger.info("Initializing simulation")
# Config
self.config = config
# Working directory (for csv files and whatnot)
if working_dir is not None:
self.set_working_dir(working_dir)
self.logger.info("Working directory is {} ({})".format(
self.config.working_dir,
os.path.join(os.getcwd(), self.config.working_dir)))
self.ensure_working_dir()
# Simulator control
self.step_listeners = [] # For in-sim control (per step)
self.end_conditions = []
self.end_listeners = []
# Pre and post
self.preprocessors = []
self.postprocessors = []
# Time
self.fixed_timestep_usec = Units.usec(
config.fixed_timestep) # Convert to usec
self.time_dialator = TimeDialator(self) # We're going to step this
# Components
self.pusher = Pusher(self, self.config.pusher)
self.track = Track(self, self.config.track)
self.pod = Pod(self, self.config.pod)
#self.fcu = Fcu(self, self.config.fcu)
# Component setup
# Set the initial pusher position to meet the pusher plate
# @todo: should we set this somewhere else? Like in a run controller?
self.pusher.position = self.pod.pusher_plate_offset
# Sensors
self.sensors = {}
self.sensors['pod'] = PodSensor(self, self.config.sensors.pod)
self.sensors['pod'].add_step_listener(
SensorCsvWriter(self, self.config.sensors.pod))
self.sensors['pusher'] = PusherSensor(self, self.config.sensors.pusher)
self.sensors['pusher'].add_step_listener(
SensorCsvWriter(self, self.config.sensors.pusher))
# - Accelerometers
self.sensors['accel'] = []
for idx, sensor_config in self.config.sensors.accel.iteritems():
# Note: we need to create a Config object here because Config does not currently handle lists very well...
self.sensors['accel'].append(
Accelerometer(self, Config(sensor_config)))
sensor = self.sensors['accel'][idx]
sensor.add_step_listener(
AccelerometerTestListener(self, sensor.config))
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Contrast Sensors
"""
self.sensors['laser_contrast'] = []
for idx, sensor_config in self.config.sensors.laser_contrast.iteritems():
self.sensors['laser_contrast'].append(LaserContrastSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_contrast'][idx]
#sensor.add_step_listener(LaserContrastTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config)) # These don't have 'raw' values since they just call an interrupt
# - Laser Opto Sensors (height and yaw)
self.sensors['laser_opto'] = []
for idx, sensor_config in self.config.sensors.laser_opto.iteritems():
self.sensors['laser_opto'].append(LaserOptoSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_opto'][idx]
#sensor.add_step_listener(LaserOptoTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Distance Sensor
self.sensors['laser_dist'] = LaserDistSensor(self, Config(self.config.sensors.laser_dist))
sensor = self.sensors['laser_dist']
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
"""
# - Brake Sensors: MLP, limit switches (for both)
pass
# Networking
self.comms = PodComms(self, self.config.networking)
self.add_end_listener(self.comms)
# FCU (!)
if self.config.fcu.enabled:
self.fcu = Fcu(self, self.config.fcu)
self.add_end_listener(self.fcu)
else:
# @todo: will this have any side effects (e.g. not having an fcu?)
self.logger.info(
"Not initializing FCU because it is disabled via config.")
# Initial setup
# @todo: write a method by which we can maybe control the push from the ground station or rpod_control vb.net app
# @todo: write a means by which we can start the push some configurable amount of time after the pod enters READY state
#self.pusher.start_push() # Only for testing
# Volatile
self.elapsed_time_usec = 0
self.n_steps_taken = 0
# Testing laser opto sensor class
# self.laser_opto_sensors = LaserOptoSensors(self, self.config.sensors.laser_opto)
#self.pod_sensor_writer.pause() # Paused for use in the gui
# Testing brakes (pod now has brakes)
#from brakes import Brake
#self.brake_1 = Brake(self, None)
#self.brake_1.gap = 0.025 # Set it to test forces
# End condition checker (to stop the simulation)
#self.add_end_condition(SimEndCondition()) # Currently disabled in favor of using the RunController
# Handle data writing
# @ todo: handle data writing. Note: Each sim instance should be handed a directory to use for writing data
@classmethod
def load_config_files(cls, config_files):
""" Load one or more config files (later files overlay earlier ones) """
ymls = []
for configfile in config_files:
with open(configfile, 'rb') as f:
ymls.append(yaml.load(f))
merged = {}
for yml in ymls:
merged = yaml_merge(merged, yml)
config = Config(merged)
return config.sim
#config = Config()
#for configfile in config_files:
# Note: each file loaded by the config will overlay on the previously loaded files
# config.loadfile(configfile)
#return config.sim
def set_working_dir(self, working_dir):
""" Set our working directory (for file writing and whatnot) """
self.config.working_dir = working_dir
def data_logging_enabled(self, data_writer, sensor):
""" Tell data writers whether or not to log data (e.g. csv writers) """
# @todo: write something that gets a value from runtime config
# @todo: write something that turns data logging on and off based on FCU state (assuming the FCU is enabled)
# @todo: potentially turn on or off based on sensor, writer type, or a combination of the two
return True # Turn data logging off for now
def step(self, dt_usec):
# Step the pusher first (will apply pressure and handle disconnection)
self.pusher.step(dt_usec)
# Step the pod (will handle all other forces and pod physics)
self.pod.step(dt_usec)
# Step the sensors
for sensor in self.sensors.values():
# Some of our sensors are lists of sensors
if isinstance(sensor, list):
for s in sensor:
s.step(dt_usec)
else:
sensor.step(dt_usec)
# Step the time dialator to keep our timers in sync
self.time_dialator.step(dt_usec)
if self.n_steps_taken % 500 == 0:
self.logger.debug(
"Time dialation factor is {} after {} steps".format(
self.time_dialator.dialation, self.n_steps_taken))
# Debugging
self.logger.debug("Track DB {}".format(
self.fcu.lib.u32FCU_FCTL_TRACKDB__Get_CurrentDB()))
info = [
#self.fcu.lib.u8FCU_FCTL_TRACKDB__Accel__Get_Use(), # Deprecated
self.fcu.lib.
s32FCU_FCTL_TRACKDB__Accel__Get_Accel_Threshold_mm_ss(),
self.fcu.lib.
s16FCU_FCTL_TRACKDB__Accel__Get_Accel_ThresholdTime_x10ms(),
self.fcu.lib.
s32FCU_FCTL_TRACKDB__Accel__Get_Decel_Threshold_mm_ss(),
self.fcu.lib.
s16FCU_FCTL_TRACKDB__Accel__Get_Decel_ThresholdTime_x10ms(),
]
self.logger.debug("Track DB: Accel: {}".format(info))
info = {
'psa': self.pusher.acceleration,
'psv': self.pusher.velocity,
'psp': self.pusher.position,
'pda': self.pod.acceleration,
'pdv': self.pod.velocity,
'pdp': self.pod.position,
}
self.logger.debug(
"Pusher avp: {psa} {psv} {psp}; Pod avp: {pda} {pdv} {pdp}"
.format(**info))
self.elapsed_time_usec += dt_usec
self.n_steps_taken += 1
for step_listener in self.step_listeners:
step_listener.step_callback(self)
def run_threaded(self):
""" Run the simulator in a thread and return the thread (don't join it here) """
t = threading.Thread(target=self.run, args=())
t.daemon = True
t.start()
return t # Return the thread, but don't join it (the caller can join if they want to)
def run(self):
self.logger.info("Starting simulation")
self.end_flag = False
sim_start_t = time.time()
# Notify preprocessors
for processor in self.preprocessors:
processor.process(self)
# Networking
self.comms.run_threaded() # Start the network node listeners
# FCU
if self.config.fcu.enabled:
self.fcu.run_threaded()
while (True):
# Check our end listener(s) to see if we should end the simulation (e.g. the pod has stopped)
for listener in self.end_conditions:
if listener.is_finished(self):
self.end_flag = True
if self.end_flag:
# Notify our 'finished' listeners and break the loop
for end_listener in self.end_listeners:
end_listener.end_callback(self)
break
self.step(self.fixed_timestep_usec)
sim_end_t = time.time()
sim_time = sim_end_t - sim_start_t
#print "LaserOptoTestListener: gap sensor took {} samples that were within a gap.".format(self.lotl.n_gaps)
self.logger.info(
"Simulated {} steps/{} seconds in {} actual seconds.".format(
self.n_steps_taken, self.elapsed_time_usec / 1000000,
sim_time))
# Notify postprocessors
for processor in self.postprocessors:
processor.process(self)
def add_step_listener(self, listener):
"""
Register a listener that will be called every step.
A step listener can be any class that implements the following method:
- step_callback(sim)
"""
self.step_listeners.append(listener)
def add_end_condition(self, listener):
""" Add a listener that will tell us if we should end the simulator """
self.end_conditions.append(listener)
def add_end_listener(self, listener):
""" Add a listener for when we've ended the sim """
self.end_listeners.append(listener)
def add_preprocessor(self, processor):
self.preprocessors.append(processor)
def add_postprocessor(self, processor):
self.postprocessors.append(processor)
def ensure_working_dir(self):
""" Ensure existence of base directory for data storage """
# @todo: Log the error/exception if there is one
# Try to make the directory(s)
path = self.config.working_dir
try:
os.makedirs(path)
except OSError as exc: # Python >2.5
if exc.errno == errno.EEXIST and os.path.isdir(path):
pass
else:
raise
from os import path
from kubernetes import client, config, watch
from deployment import Deployment
from pod import Pod
config.load_kube_config()
v1 = client.CoreV1Api()
print("Listing pods with their IPs:")
ret = v1.list_pod_for_all_namespaces(watch=False)
for i in ret.items:
print("%s\t%s\t%s" %
(i.status.pod_ip, i.metadata.namespace, i.metadata.name))
if __name__ == '__main__':
yaml_file = "yamls/deployments/nginx-deployment.yaml"
yaml_file_path = path.join(path.dirname(__file__), yaml_file)
deployment = Deployment("nginx-deployment", "default", yaml_file_path)
deployment.patch()
# deployment.patch()
# deployment.delete()
pods = Pod()
pods.get_pods()
def __init__(self, config, working_dir=None):
self.logger = logging.getLogger("Sim")
self.logger.info("Initializing simulation")
# Config
self.config = config
# Working directory (for csv files and whatnot)
if working_dir is not None:
self.set_working_dir(working_dir)
self.logger.info("Working directory is {} ({})".format(
self.config.working_dir,
os.path.join(os.getcwd(), self.config.working_dir)))
self.ensure_working_dir()
# Simulator control
self.end_conditions = []
self.end_listeners = []
# Pre and post
self.preprocessors = []
self.postprocessors = []
# Time
self.fixed_timestep_usec = Units.usec(
config.fixed_timestep) # Convert to usec
self.time_dialator = TimeDialator(self) # We're going to step this
# Components
self.pusher = Pusher(self, self.config.pusher)
self.track = Track(self, self.config.track)
self.pod = Pod(self, self.config.pod)
#self.fcu = Fcu(self, self.config.fcu)
# Sensors
self.sensors = {}
self.sensors['pod'] = PodSensor(self, self.config.sensors.pod)
self.sensors['pod'].add_step_listener(
SensorCsvWriter(self, self.config.sensors.pod))
# - Accelerometers
self.sensors['accel'] = []
for idx, sensor_config in self.config.sensors.accel.iteritems():
# Note: we need to create a Config object here because Config does not currently handle lists very well...
self.sensors['accel'].append(
Accelerometer(self, Config(sensor_config)))
sensor = self.sensors['accel'][idx]
sensor.add_step_listener(
AccelerometerTestListener(self, sensor.config))
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Contrast Sensors
self.sensors['laser_contrast'] = []
for idx, sensor_config in self.config.sensors.laser_contrast.iteritems(
):
self.sensors['laser_contrast'].append(
LaserContrastSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_contrast'][idx]
#sensor.add_step_listener(LaserContrastTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config)) # These don't have 'raw' values since they just call an interrupt
# - Laser Opto Sensors (height and yaw)
self.sensors['laser_opto'] = []
for idx, sensor_config in self.config.sensors.laser_opto.iteritems():
self.sensors['laser_opto'].append(
LaserOptoSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_opto'][idx]
#sensor.add_step_listener(LaserOptoTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Distance Sensor
self.sensors['laser_dist'] = LaserDistSensor(
self, Config(self.config.sensors.laser_dist))
sensor = self.sensors['laser_dist']
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Brake Sensors: MLP, limit switches (for both)
pass
# Networking
self.comms = PodComms(self, self.config.networking)
self.add_end_listener(self.comms)
# FCU (!)
if self.config.fcu.enabled:
self.fcu = Fcu(self, self.config.fcu)
self.add_end_listener(self.fcu)
else:
# @todo: will this have any side effects (e.g. not having an fcu?)
self.logger.info(
"Not initializing FCU because it is disabled via config.")
# Initial setup
self.pusher.start_push()
# Volatile
self.elapsed_time_usec = 0
self.n_steps_taken = 0
# Testing laser opto sensor class
# self.laser_opto_sensors = LaserOptoSensors(self, self.config.sensors.laser_opto)
#self.pod_sensor_writer.pause() # Paused for use in the gui
# Testing brakes (pod now has brakes)
#from brakes import Brake
#self.brake_1 = Brake(self, None)
#self.brake_1.gap = 0.025 # Set it to test forces
# End condition checker (to stop the simulation)
self.add_end_condition(SimEndCondition())
class Sim:
def __init__(self, config, working_dir=None):
self.logger = logging.getLogger("Sim")
self.logger.info("Initializing simulation")
# Config
self.config = config
# Working directory (for csv files and whatnot)
if working_dir is not None:
self.set_working_dir(working_dir)
self.logger.info("Working directory is {} ({})".format(
self.config.working_dir,
os.path.join(os.getcwd(), self.config.working_dir)))
self.ensure_working_dir()
# Simulator control
self.end_conditions = []
self.end_listeners = []
# Pre and post
self.preprocessors = []
self.postprocessors = []
# Time
self.fixed_timestep_usec = Units.usec(
config.fixed_timestep) # Convert to usec
self.time_dialator = TimeDialator(self) # We're going to step this
# Components
self.pusher = Pusher(self, self.config.pusher)
self.track = Track(self, self.config.track)
self.pod = Pod(self, self.config.pod)
#self.fcu = Fcu(self, self.config.fcu)
# Sensors
self.sensors = {}
self.sensors['pod'] = PodSensor(self, self.config.sensors.pod)
self.sensors['pod'].add_step_listener(
SensorCsvWriter(self, self.config.sensors.pod))
# - Accelerometers
self.sensors['accel'] = []
for idx, sensor_config in self.config.sensors.accel.iteritems():
# Note: we need to create a Config object here because Config does not currently handle lists very well...
self.sensors['accel'].append(
Accelerometer(self, Config(sensor_config)))
sensor = self.sensors['accel'][idx]
sensor.add_step_listener(
AccelerometerTestListener(self, sensor.config))
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Contrast Sensors
self.sensors['laser_contrast'] = []
for idx, sensor_config in self.config.sensors.laser_contrast.iteritems(
):
self.sensors['laser_contrast'].append(
LaserContrastSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_contrast'][idx]
#sensor.add_step_listener(LaserContrastTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config)) # These don't have 'raw' values since they just call an interrupt
# - Laser Opto Sensors (height and yaw)
self.sensors['laser_opto'] = []
for idx, sensor_config in self.config.sensors.laser_opto.iteritems():
self.sensors['laser_opto'].append(
LaserOptoSensor(self, Config(sensor_config)))
sensor = self.sensors['laser_opto'][idx]
#sensor.add_step_listener(LaserOptoTestListener(self, sensor.config)) # For debugging
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Laser Distance Sensor
self.sensors['laser_dist'] = LaserDistSensor(
self, Config(self.config.sensors.laser_dist))
sensor = self.sensors['laser_dist']
sensor.add_step_listener(SensorCsvWriter(self, sensor.config))
#sensor.add_step_listener(SensorRawCsvWriter(self, sensor.config))
# - Brake Sensors: MLP, limit switches (for both)
pass
# Networking
self.comms = PodComms(self, self.config.networking)
self.add_end_listener(self.comms)
# FCU (!)
if self.config.fcu.enabled:
self.fcu = Fcu(self, self.config.fcu)
self.add_end_listener(self.fcu)
else:
# @todo: will this have any side effects (e.g. not having an fcu?)
self.logger.info(
"Not initializing FCU because it is disabled via config.")
# Initial setup
self.pusher.start_push()
# Volatile
self.elapsed_time_usec = 0
self.n_steps_taken = 0
# Testing laser opto sensor class
# self.laser_opto_sensors = LaserOptoSensors(self, self.config.sensors.laser_opto)
#self.pod_sensor_writer.pause() # Paused for use in the gui
# Testing brakes (pod now has brakes)
#from brakes import Brake
#self.brake_1 = Brake(self, None)
#self.brake_1.gap = 0.025 # Set it to test forces
# End condition checker (to stop the simulation)
self.add_end_condition(SimEndCondition())
# Handle data writing
# @ todo: handle data writing. Note: Each sim instance should be handed a directory to use for writing data
@classmethod
def load_config_files(cls, config_files):
""" Load one or more config files (later files overlay earlier ones) """
config = Config()
for configfile in config_files:
# Note: each file loaded by the config will overlay on the previously loaded files
config.loadfile(configfile)
return config.sim
def set_working_dir(self, working_dir):
""" Set our working directory (for file writing and whatnot) """
self.config.working_dir = working_dir
def step(self, dt_usec):
# Step the pusher first (will apply pressure and handle disconnection)
self.pusher.step(dt_usec)
# Step the pod (will handle all other forces and pod physics)
self.pod.step(dt_usec)
# Step the sensors
for sensor in self.sensors.values():
# Some of our sensors are lists of sensors
if isinstance(sensor, list):
for s in sensor:
s.step(dt_usec)
else:
sensor.step(dt_usec)
# Step the time dialator to keep our timers in sync
self.time_dialator.step(dt_usec)
if self.n_steps_taken % 500 == 0:
self.logger.debug(
"Time dialation factor is {} after {} steps".format(
self.time_dialator.dialation, self.n_steps_taken))
self.elapsed_time_usec += dt_usec
self.n_steps_taken += 1
def run_threaded(self):
""" Run the simulator in a thread and return the thread (don't join it here) """
t = threading.Thread(target=self.run, args=())
t.daemon = True
t.start()
return t # Return the thread, but don't join it (the caller can join if they want to)
def run(self):
self.logger.info("Starting simulation")
self.end_flag = False
sim_start_t = time.time()
# Notify preprocessors
for processor in self.preprocessors:
processor.process(self)
# Networking
self.comms.run_threaded() # Start the network node listeners
# FCU
if self.config.fcu.enabled:
self.fcu.run_threaded()
while (True):
# Check our end listener(s) to see if we should end the simulation (e.g. the pod has stopped)
for listener in self.end_conditions:
if listener.is_finished(self):
self.end_flag = True
if self.end_flag:
# Notify our 'finished' listeners and break the loop
for end_listener in self.end_listeners:
end_listener.end_callback(self)
break
self.step(self.fixed_timestep_usec)
sim_end_t = time.time()
sim_time = sim_end_t - sim_start_t
#print "LaserOptoTestListener: gap sensor took {} samples that were within a gap.".format(self.lotl.n_gaps)
self.logger.info(
"Simulated {} steps/{} seconds in {} actual seconds.".format(
self.n_steps_taken, self.elapsed_time_usec / 1000000,
sim_time))
# Notify postprocessors
for processor in self.postprocessors:
processor.process(self)
def add_end_condition(self, listener):
""" Add a listener that will tell us if we should end the simulator """
self.end_conditions.append(listener)
def add_end_listener(self, listener):
""" Add a listener for when we've ended the sim """
self.end_listeners.append(listener)
def add_preprocessor(self, processor):
self.preprocessors.append(processor)
def add_postprocessor(self, processor):
self.postprocessors.append(processor)
def ensure_working_dir(self):
""" Ensure existence of base directory for data storage """
# @todo: Log the error/exception if there is one
# Try to make the directory(s)
path = self.config.working_dir
try:
os.makedirs(path)
except OSError as exc: # Python >2.5
if exc.errno == errno.EEXIST and os.path.isdir(path):
pass
else:
raise