# Copyright 2021 John Harwell, All rights reserved.
#
# SPDX-License-Identifier: MIT
"""Classes for generating common XML modifications to :term:`ROS1` input files.
I.e., changes which are engine-specific, but applicable to all projects using
ROS with a real robot execution environment.
"""
# Core packages
import logging
import pathlib
# 3rd party packages
import yaml
# Project packages
from sierra.core.experiment import definition
from sierra.core.experiment import spec as expspec
from sierra.core import types, ros1, config, utils
_logger = logging.getLogger(__name__)
[docs]
def for_all_exp(
spec: expspec.ExperimentSpec,
controller: str,
cmdopts: types.Cmdopts,
expdef_template_fpath: pathlib.Path,
) -> definition.BaseExpDef:
"""Generate changes for all experiments in the batch."""
exp_def = ros1.generators.for_all_exp(
spec, controller, cmdopts, expdef_template_fpath
)
_logger.debug("Writing separate <master> launch file")
exp_def.write_config.add(
{
"src_parent": ".",
"src_tag": "master",
"opath_leaf": "_master" + config.ROS["launch_file_ext"],
"new_children": None,
"rename_to": "launch",
"new_children_parent": None,
}
)
# Add <robot> tag
if not exp_def.has_element("./robot"):
exp_def.element_add(".", "robot", {})
if not exp_def.has_element("./robot/group/[@ns='sierra']"):
exp_def.element_add("./robot", "group", {"ns": "sierra"})
return exp_def
[docs]
def for_single_exp_run(
exp_def: definition.BaseExpDef,
run_num: int,
run_output_path: pathlib.Path,
launch_stem_path: pathlib.Path,
random_seed: int,
cmdopts: types.Cmdopts,
) -> None:
"""Generate changes for a single experimental run."""
ros1.generators.for_single_exp_run(
exp_def, run_num, run_output_path, launch_stem_path, random_seed, cmdopts
)
main_path = pathlib.Path(cmdopts["project_config_root"], config.PROJECT_YAML.main)
with utils.utf8open(main_path) as f:
main_config = yaml.load(f, yaml.FullLoader)
n_agents = utils.get_n_agents(
main_config, cmdopts, launch_stem_path.parent, exp_def
)
for i in range(0, n_agents):
prefix = main_config["ros"]["robots"][cmdopts["robot"]]["prefix"]
exp_def.write_config.add(
{
"src_parent": "./robot",
"src_tag": f"group/[@ns='{prefix}{i}']",
"opath_leaf": f"_robot{i}" + config.ROS["launch_file_ext"],
"new_children": [definition.ElementAdd.as_root("launch", {})],
"new_children_parent": ".",
"rename_to": None,
"child_grafts_parent": ".",
"child_grafts": ["./robot/group/[@ns='sierra']"],
}
)
__all__ = ["for_all_exp", "for_single_exp_run"]
