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149 lines
8.0 KiB
Python
149 lines
8.0 KiB
Python
7 months ago
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import os
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class Server():
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def __init__(self,script) -> None:
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if os.path.isdir("/usr/local/share/rcssserver3d/"):
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self.source = "/usr/local/share/rcssserver3d/"
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elif os.path.isdir("/usr/share/rcssserver3d/"):
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self.source = "/usr/share/rcssserver3d/"
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else:
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raise FileNotFoundError("The server configuration files were not found!")
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# To add options: insert into options & explations with same index, read respective value from file or from other values, add edit entry
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self.options = ["Official Config", "Penalty Shootout", "Soccer Rules", "Sync Mode", "Real Time", "Cheats", "Full Vision", "Add Noise", "25Hz Monitor"]
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self.descriptions = ["Configuration used in official matches", "Server's Penalty Shootout mode", "Play modes, automatic referee, etc.",
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"Synchronous communication between agents and server", "Real Time (or maximum server speed)",
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"Agent position & orientation, ball position", "See 360 deg instead of 120 deg (vertically & horizontally)",
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"Noise added to the position of visible objects", "25Hz Monitor (or 50Hz but RoboViz will show 2x the actual speed)"]
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spark_f = os.path.expanduser("~/.simspark/spark.rb")
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naoneckhead_f = self.source+"rsg/agent/nao/naoneckhead.rsg"
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self.files = {"Penalty Shootout" : self.source + "naosoccersim.rb",
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"Soccer Rules" : self.source + "naosoccersim.rb",
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"Sync Mode" : spark_f,
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"Real Time" : self.source+"rcssserver3d.rb",
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"Cheats" : naoneckhead_f,
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"Full Vision" : naoneckhead_f,
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"Add Noise" : naoneckhead_f,
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"25Hz Monitor" : spark_f}
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def label(self, setting_name, t_on, t_off):
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with open(self.files[setting_name], "r") as sources:
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content = sources.read()
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if t_on in content:
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self.values[setting_name] = "On"
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elif t_off in content:
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self.values[setting_name] = "Off"
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else:
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self.values[setting_name] = "Error"
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def read_config(self):
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v = self.values = dict()
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print("Reading server configuration files...")
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self.label("Penalty Shootout", "addSoccerVar('PenaltyShootout', true)", "addSoccerVar('PenaltyShootout', false)")
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self.label("Soccer Rules", " gameControlServer.initControlAspect('SoccerRuleAspect')", "#gameControlServer.initControlAspect('SoccerRuleAspect')")
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self.label("Real Time", "enableRealTimeMode = true", "enableRealTimeMode = false")
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self.label("Cheats", "setSenseMyPos true", "setSenseMyPos false")
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self.label("Full Vision", "setViewCones 360 360", "setViewCones 120 120")
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self.label("Add Noise", "addNoise true", "addNoise false")
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self.label("Sync Mode", "agentSyncMode = true", "agentSyncMode = false")
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self.label("25Hz Monitor", "monitorStep = 0.04", "monitorStep = 0.02")
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is_official_config = (v["Penalty Shootout"] == "Off" and v["Soccer Rules"] == "On" and v["Real Time"] == "On" and v["Cheats"] == "Off" and v["Full Vision"] == "Off" and
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v["Add Noise"] == "On" and v["Sync Mode"] == "Off" and v["25Hz Monitor"] == "On")
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print(v["Penalty Shootout"], is_official_config)
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v["Official Config"] = "On" if is_official_config else "Off"
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def change_config(self, setting_name, t_on, t_off, current_value=None, file=None):
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if current_value is None:
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current_value = self.values[setting_name]
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if file is None:
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file = self.files[setting_name]
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with open(file, "r") as sources:
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t = sources.read()
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if current_value == "On":
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t = t.replace(t_on, t_off, 1)
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print(f"Replacing '{t_on}' with '{t_off}' in '{file}'")
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elif current_value == "Off":
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t = t.replace(t_off, t_on, 1)
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print(f"Replacing '{t_off}' with '{t_on}' in '{file}'")
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else:
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print(setting_name, "was not changed because the value is unknown!")
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with open(file, "w") as sources:
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sources.write(t)
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def execute(self):
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while True:
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self.read_config()
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# Convert convenient values dict to list
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values_list = [self.values[o] for o in self.options]
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print()
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UI.print_table( [self.options, values_list, self.descriptions], ["Setting", "Value", "Description"], numbering=[True, False, False])
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choice = UI.read_int('Choose setting (ctrl+c to return): ',0,len(self.options))
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opt = self.options[choice]
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prefix = ['sudo', 'python3', 'scripts/utils/Server.py', opt]
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if opt in self.files:
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suffix = [self.values[opt], self.files[opt]]
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if opt == "Penalty Shootout":
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subprocess.call([*prefix, "addSoccerVar('PenaltyShootout', true)", "addSoccerVar('PenaltyShootout', false)", *suffix])
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elif opt == "Soccer Rules":
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subprocess.call([*prefix, "gameControlServer.initControlAspect('SoccerRuleAspect')", "#gameControlServer.initControlAspect('SoccerRuleAspect')", *suffix])
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elif opt == "Sync Mode":
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self.change_config(opt, "agentSyncMode = true", "agentSyncMode = false") # doesn't need sudo privileges
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elif opt == "Real Time":
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subprocess.call([*prefix, "enableRealTimeMode = true", "enableRealTimeMode = false", *suffix])
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elif opt == "Cheats":
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subprocess.call([*prefix, "setSenseMyPos true", "setSenseMyPos false", *suffix,
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opt, "setSenseMyOrien true", "setSenseMyOrien false", *suffix,
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opt, "setSenseBallPos true", "setSenseBallPos false", *suffix])
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elif opt == "Full Vision":
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subprocess.call([*prefix, "setViewCones 360 360", "setViewCones 120 120", *suffix])
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elif opt == "Add Noise":
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subprocess.call([*prefix, "addNoise true", "addNoise false", *suffix])
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elif opt == "25Hz Monitor":
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self.change_config(opt, "monitorStep = 0.04", "monitorStep = 0.02") # doesn't need sudo privileges
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elif opt == "Official Config":
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if self.values[opt] == "On":
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print("The official configuration is already On!")
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else: # here, the first option is the official value
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subprocess.call([*prefix[:3],
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"Penalty Shootout", "addSoccerVar('PenaltyShootout', false)", "addSoccerVar('PenaltyShootout', true)", "Off", self.files["Penalty Shootout"],
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"Soccer Rules", "gameControlServer.initControlAspect('SoccerRuleAspect')", "#gameControlServer.initControlAspect('SoccerRuleAspect')", "Off", self.files["Soccer Rules"],
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"Sync Mode", "agentSyncMode = false", "agentSyncMode = true", "Off", self.files["Sync Mode"],
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"Real Time", "enableRealTimeMode = true", "enableRealTimeMode = false", "Off", self.files["Real Time"],
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"Cheats", "setSenseMyPos false", "setSenseMyPos true", "Off", self.files["Cheats"],
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"Cheats", "setSenseMyOrien false", "setSenseMyOrien true", "Off", self.files["Cheats"],
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"Cheats", "setSenseBallPos false", "setSenseBallPos true", "Off", self.files["Cheats"],
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"Full Vision", "setViewCones 120 120", "setViewCones 360 360", "Off", self.files["Full Vision"],
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"Add Noise", "addNoise true", "addNoise false", "Off", self.files["Add Noise"],
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"25Hz Monitor", "monitorStep = 0.04", "monitorStep = 0.02", "Off", self.files["25Hz Monitor"]])
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# process with sudo privileges to change the configuration files
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if __name__ == "__main__":
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import sys
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s = Server(None)
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for i in range(1,len(sys.argv),5):
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s.change_config( *sys.argv[i:i+5] )
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else:
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import subprocess
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from scripts.commons.UI import UI
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