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300 lines
12 KiB
Python
300 lines
12 KiB
Python
7 months ago
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from os import path, listdir, getcwd, cpu_count
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from os.path import join, realpath, dirname, isfile, isdir, getmtime
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from scripts.commons.UI import UI
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import __main__
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import argparse,json,sys
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import pickle
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import subprocess
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class Script():
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ROOT_DIR = path.dirname(path.dirname(realpath( join(getcwd(), dirname(__file__))) )) # project root directory
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def __init__(self, cpp_builder_unum=0) -> None:
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'''
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Arguments specification
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-----------------------
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- To add new arguments, edit the information below
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- After changing information below, the config.json file must be manually deleted
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- In other modules, these arguments can be accessed by their 1-letter ID
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'''
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# list of arguments: 1-letter ID, Description, Hardcoded default
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self.options = {'i': ('Server Hostname/IP', 'localhost'),
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'p': ('Agent Port', '3100'),
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'm': ('Monitor Port', '3200'),
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't': ('Team Name', 'FCPortugal'),
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'u': ('Uniform Number', '1'),
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'r': ('Robot Type', '1'),
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'P': ('Penalty Shootout', '0'),
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'F': ('magmaFatProxy', '0'),
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'D': ('Debug Mode', '1')}
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# list of arguments: 1-letter ID, data type, choices
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self.op_types = {'i': (str, None),
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'p': (int, None),
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'm': (int, None),
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't': (str, None),
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'u': (int, range(1,12)),
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'r': (int, [0,1,2,3,4]),
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'P': (int, [0,1]),
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'F': (int, [0,1]),
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'D': (int, [0,1])}
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'''
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End of arguments specification
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'''
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self.read_or_create_config()
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#advance help text position
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formatter = lambda prog: argparse.HelpFormatter(prog,max_help_position=52)
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parser = argparse.ArgumentParser(formatter_class=formatter)
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o = self.options
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t = self.op_types
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for id in self.options: # shorter metavar for aesthetic reasons
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parser.add_argument(f"-{id}", help=f"{o[id][0]:30}[{o[id][1]:20}]", type=t[id][0], nargs='?', default=o[id][1], metavar='X', choices=t[id][1])
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self.args = parser.parse_args()
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if getattr(sys, 'frozen', False): # disable debug mode when running from binary
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self.args.D = 0
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self.players = [] # list of created players
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Script.build_cpp_modules(exit_on_build = (cpp_builder_unum != 0 and cpp_builder_unum != self.args.u))
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if self.args.D:
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try:
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print(f"\nNOTE: for help run \"python {__main__.__file__} -h\"")
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except:
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pass
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columns = [[],[],[]]
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for key, value in vars(self.args).items():
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columns[0].append(o[key][0])
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columns[1].append(o[key][1])
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columns[2].append(value)
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UI.print_table(columns, ["Argument","Default at /config.json","Active"], alignment=["<","^","^"])
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def read_or_create_config(self) -> None:
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if not path.isfile('config.json'): # Save hardcoded default values if file does not exist
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with open("config.json", "w") as f:
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json.dump(self.options, f, indent=4)
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else: # Load user-defined values (that can be overwritten in the terminal)
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with open("config.json", "r") as f:
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self.options = json.loads(f.read())
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@staticmethod
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def build_cpp_modules(special_environment_prefix=[], exit_on_build=False):
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'''
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Build C++ modules in folder /cpp using Pybind11
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Parameters
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----------
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special_environment_prefix : `list`
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command prefix to run a given command in the desired environment
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useful to compile C++ modules for different python interpreter versions (other than default version)
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Conda Env. example: ['conda', 'run', '-n', 'myEnv']
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If [] the default python interpreter is used as compilation target
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exit_on_build : bool
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exit if there is something to build (so that only 1 player per team builds c++ modules)
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'''
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cpp_path = Script.ROOT_DIR + "/cpp/"
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exclusions = ["__pycache__"]
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cpp_modules = [d for d in listdir(cpp_path) if isdir(join(cpp_path, d)) and d not in exclusions]
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if not cpp_modules: return #no modules to build
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python_cmd = f"python{sys.version_info.major}.{sys.version_info.minor}" # "python3" can select the wrong version, this prevents that
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def init():
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print("--------------------------\nC++ modules:",cpp_modules)
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try:
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process = subprocess.Popen(special_environment_prefix+[python_cmd, "-m", "pybind11", "--includes"], stdout=subprocess.PIPE)
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(includes, err) = process.communicate()
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process.wait()
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except:
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print(f"Error while executing child program: '{python_cmd} -m pybind11 --includes'")
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exit()
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includes = includes.decode().rstrip() # strip trailing newlines (and other whitespace chars)
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print("Using Pybind11 includes: '",includes,"'",sep="")
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return includes
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nproc = str(cpu_count())
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zero_modules = True
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for module in cpp_modules:
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module_path = join(cpp_path, module)
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# skip module if there is no Makefile (typical distribution case)
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if not isfile(join(module_path, "Makefile")):
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continue
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# skip module in certain conditions
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if isfile(join(module_path, module+".so")) and isfile(join(module_path, module+".c_info")):
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with open(join(module_path, module+".c_info"), 'rb') as f:
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info = pickle.load(f)
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if info == python_cmd:
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code_mod_time = max(getmtime(join(module_path, f)) for f in listdir(module_path) if f.endswith(".cpp") or f.endswith(".h"))
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bin_mod_time = getmtime(join(module_path, module+".so"))
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if bin_mod_time + 30 > code_mod_time: # favor not building with a margin of 30s (scenario: we unzip the fcpy project, including the binaries, the modification times are all similar)
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continue
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# init: print stuff & get Pybind11 includes
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if zero_modules:
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if exit_on_build:
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print("There are C++ modules to build. This player is not allowed to build. Aborting.")
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exit()
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zero_modules = False
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includes = init()
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# build module
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print(f'{f"Building: {module}... ":40}',end='',flush=True)
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process = subprocess.Popen(['make', '-j'+nproc, 'PYBIND_INCLUDES='+includes], stdout=subprocess.PIPE, stderr=subprocess.PIPE, cwd=module_path)
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(output, err) = process.communicate()
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exit_code = process.wait()
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if exit_code == 0:
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print("success!")
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with open(join(module_path, module+".c_info"),"wb") as f: # save python version
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pickle.dump(python_cmd, f, protocol=4) # protocol 4 is backward compatible with Python 3.4
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else:
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print("Aborting! Building errors:")
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print(output.decode(), err.decode())
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exit()
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if not zero_modules:
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print("All modules were built successfully!\n--------------------------")
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def batch_create(self, agent_cls, args_per_player):
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''' Creates batch of agents '''
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for a in args_per_player:
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self.players.append( agent_cls(*a) )
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def batch_execute_agent(self, index : slice = slice(None)):
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'''
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Executes agent normally (including commit & send)
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Parameters
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----------
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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'''
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for p in self.players[index]:
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p.think_and_send()
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def batch_execute_behavior(self, behavior, index : slice = slice(None)):
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'''
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Executes behavior
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Parameters
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----------
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behavior : str
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name of behavior to execute
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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'''
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for p in self.players[index]:
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p.behavior.execute(behavior)
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def batch_commit_and_send(self, index : slice = slice(None)):
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'''
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Commits & sends data to server
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Parameters
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----------
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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'''
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for p in self.players[index]:
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p.scom.commit_and_send( p.world.robot.get_command() )
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def batch_receive(self, index : slice = slice(None), update=True):
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'''
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Waits for server messages
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Parameters
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----------
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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update : bool
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update world state based on information received from server
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if False, the agent becomes unaware of itself and its surroundings
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which is useful for reducing cpu resources for dummy agents in demonstrations
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'''
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for p in self.players[index]:
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p.scom.receive(update)
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def batch_commit_beam(self, pos2d_and_rotation, index : slice = slice(None)):
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'''
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Beam all player to 2D position with a given rotation
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Parameters
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----------
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pos2d_and_rotation : `list`
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iterable of 2D positions and rotations e.g. [(0,0,45),(-5,0,90)]
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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'''
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for p, pos_rot in zip(self.players[index], pos2d_and_rotation):
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p.scom.commit_beam(pos_rot[0:2],pos_rot[2])
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def batch_unofficial_beam(self, pos3d_and_rotation, index : slice = slice(None)):
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'''
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Beam all player to 3D position with a given rotation
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Parameters
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----------
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pos3d_and_rotation : `list`
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iterable of 3D positions and rotations e.g. [(0,0,0.5,45),(-5,0,0.5,90)]
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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'''
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for p, pos_rot in zip(self.players[index], pos3d_and_rotation):
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p.scom.unofficial_beam(pos_rot[0:3],pos_rot[3])
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def batch_terminate(self, index : slice = slice(None)):
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'''
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Close all sockets connected to the agent port
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For scripts where the agent lives until the application ends, this is not needed
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Parameters
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----------
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index : slice
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subset of agents
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(e.g. index=slice(1,2) will select the second agent)
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(e.g. index=slice(1,3) will select the second and third agents)
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by default, all agents are selected
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'''
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for p in self.players[index]:
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p.terminate()
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del self.players[index] # delete selection
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