cmdline arguments from config file

osgar/lib/config.py

@@ -2,7 +2,9 @@
   Osgar Config Class
 """
 import json
+import re
 import sys
+
 from importlib import import_module
 
 from osgar.drivers import all_drivers
@@ -64,4 +66,27 @@ def merge_dict(dict1, dict2):
             ret[key] = dict2[key]
     return ret
 
+
+def _replace(input, data):
+    m = re.match("{(.*)}", input)
+    if m is not None and m.group(1) in data:
+        return data[m.group(1)]
+    return input
+
+
+def config_expand(cfg, data):
+    if isinstance(cfg, dict):
+        ret = {}
+        for k,v in cfg.items():
+            ret[_replace(k, data)] = config_expand(v, data)
+        return ret
+    if isinstance(cfg, list):
+        ret = []
+        for v in cfg:
+            ret.append(config_expand(v, data))
+        return ret
+    if isinstance(cfg, str):
+        return _replace(cfg, data)
+    return cfg
+
 # vim: expandtab sw=4 ts=4

osgar/lib/test_config.py

@@ -1,6 +1,6 @@
 import os
 import unittest
-from osgar.lib.config import config_load, merge_dict, MergeConflictError, get_class_by_name
+from osgar.lib.config import config_load, merge_dict, MergeConflictError, get_class_by_name, config_expand
 from osgar.drivers.logsocket import LogTCPStaticIP as LogTCP
 
 def test_data(filename, test_dir='test_data'):
@@ -62,5 +62,21 @@ def test_application(self):
         conf = config_load(filename, application='osgar.lib.test_config:MyTestRobot')
         self.assertTrue(conf['robot']['modules']['app']['driver'].endswith('lib.test_config:MyTestRobot'))
 
+    def test_expand(self):
+        a = config_expand('{application}', dict(application="subt"))
+        self.assertEqual(a, 'subt')
+        a = config_expand('before{application}after', dict(application="subt"))
+        self.assertEqual(a, 'before{application}after')
+        a = config_expand(['{application}'], dict(application="subt"))
+        self.assertEqual(a, ['subt'])
+
+        a = config_expand({'{application}': []}, dict(application="subt"))
+        self.assertEqual(a, {'subt': []})
+        a = config_expand({'{application}': ['{item}']}, dict(application="subt", item='first'))
+        self.assertEqual(a, {'subt': ['first']})
+
+        a = config_expand('{speed-something}', dict(speed=1))
+        self.assertEqual(a, '{speed-something}')
+
 # vim: expandtab sw=4 ts=4
 

osgar/record.py

@@ -10,7 +10,7 @@
 import logging
 
 from osgar.logger import LogWriter
-from osgar.lib.config import config_load, get_class_by_name
+from osgar.lib.config import config_load, get_class_by_name, config_expand
 from osgar.bus import Bus
 
 g_logger = logging.getLogger(__name__)
@@ -62,7 +62,9 @@ def request_stop(self, signum=None, frame=None): # pylint: disable=unused-argume
         self.stop_requested.set()
 
 
-def record(config, log_prefix, log_filename=None, duration_sec=None):
+def record(config, log_prefix, log_filename=None, duration_sec=None, args={}):
+    if len(args) > 0:
+        config['robot']['modules'] = config_expand(config['robot']['modules'], args)
     with LogWriter(prefix=log_prefix, filename=log_filename, note=str(sys.argv)) as log:
         log.write(0, bytes(str(config), 'ascii'))
         g_logger.info(log.filename)
@@ -81,16 +83,38 @@ def main():
         format='%(asctime)s %(name)-12s %(levelname)-8s %(message)s',
         datefmt='%Y-%m-%d %H:%M',
     )
-    parser = argparse.ArgumentParser(description='Record run on real HW with given configuration')
-    parser.add_argument('config', nargs='+', help='configuration file')
+    parser = argparse.ArgumentParser(description='Record run given configuration', add_help=False)
+    config_arg = parser.add_argument('config', nargs='*', help='configuration file')
+    parser.add_argument("-h", "--help", help="show this help message and exit", action="store_true")
     parser.add_argument('--note', help='add description')
     parser.add_argument('--duration', help='recording duration (sec), default infinite', type=float)
-    parser.add_argument('--application', help='import string to application', default=None)
-    args = parser.parse_args()
+    parser.add_argument('--log', help='record log filename')
+    args, unknown = parser.parse_known_args()
+
+    if len(args.config) > 0:
+        prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
+        cfg = config_load(*args.config)
+        types = {
+            "float": float,
+            "int": int
+        }
+        for k, v in cfg['robot'].get('arguments', {}).items():
+            if "type" in v:
+                v["type"] = types[v["type"]]
+            parser.add_argument("--" + k, **v)
+
+    config_arg.nargs = "+"
+    if args.help:
+        parser.print_help()
+        parser.exit()
+
+    if len(args.config) == 0:
+        parser.error("the following arguments are required: config")
+        parser.exit()
 
-    prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
-    cfg = config_load(*args.config, application=args.application)
-    record(cfg, log_prefix=prefix, duration_sec=args.duration)
+    args = parser.parse_args()
+    cfg_args = { k: getattr(args, k.replace('-','_')) for k in cfg['robot'].get('arguments', {})}
+    record(cfg, log_prefix=prefix, log_filename=args.log, duration_sec=args.duration, args=cfg_args)
 
 if __name__ == "__main__":
     main()

subt/docker/robotika/run_solution.bash

@@ -22,7 +22,7 @@ trap "kill -s SIGINT 0; wait" EXIT
 
 echo "Waiting for robot name"
 while [ -z "$ROBOT_NAME" ]; do
-    ROBOT_NAME=$(rosparam get /robot_names)
+    ROBOT_NAME=$(rosparam get /robot_names 2>/dev/null)
     sleep 0.5
 done
 echo "Robot name is '$ROBOT_NAME'"
@@ -45,7 +45,7 @@ roslaunch $LAUNCH_FILE --wait robot_name:=$ROBOT_NAME &
 
 echo "Starting osgar"
 export OSGAR_LOGS=/osgar-ws/logs
-/osgar-ws/env/bin/python3 -m subt run /osgar-ws/src/osgar/subt/$CONFIG_FILE --side auto --walldist 0.8 --timeout 100 --speed 1.0 --note "run_solution.bash"
+/osgar-ws/env/bin/python3 -m osgar.record /osgar-ws/src/osgar/subt/$CONFIG_FILE --side auto --walldist 0.8 --timeout 100 --speed 1.0 --note "run_solution.bash"
 
 echo "Sleep and finish"
 sleep 30

subt/main.py

@@ -93,7 +93,7 @@ def __init__(self, config, bus):
         self.start_pose = None
         self.traveled_dist = 0.0
         self.time = None
-        self.max_speed = config['max_speed']
+        self.max_speed = config.get('speed') or config['max_speed']
         self.max_angular_speed = math.radians(60)
         self.walldist = config['walldist']
         self.timeout = timedelta(seconds=config['timeout'])
@@ -129,7 +129,7 @@ def __init__(self, config, bus):
         self.emergency_stop = None
         self.monitors = []  # for Emergency Stop Exception
 
-        self.use_right_wall = config['right_wall']
+        self.use_right_wall = 'auto' if config.get('side') == 'auto' else config.get('side') == 'right'
         self.use_center = False  # navigate into center area (controlled by name ending by 'C')
         self.is_virtual = config.get('virtual_world', False)  # workaround to handle tunnel differences
 
@@ -896,71 +896,4 @@ def join(self, timeout=None):
         self.thread.join(timeout)
 
 
-def main():
-    import argparse
-    from osgar.lib.config import config_load
-    from osgar.record import record
-
-    parser = argparse.ArgumentParser(description='SubT Challenge')
-    subparsers = parser.add_subparsers(help='sub-command help', dest='command')
-    subparsers.required = True
-    parser_run = subparsers.add_parser('run', help='run on real HW')
-    parser_run.add_argument('config', nargs='+', help='configuration file')
-    parser_run.add_argument('--note', help='add description')
-    parser_run.add_argument('--walldist', help='distance for wall following (default: %(default)sm)', default=1.0, type=float)
-    parser_run.add_argument('--side', help='which side to follow', choices=['left', 'right', 'auto'], required=True)
-    parser_run.add_argument('--speed', help='maximum speed (default: from config)', type=float)
-    parser_run.add_argument('--timeout', help='seconds of exploring before going home (default: %(default)s)',
-                            type=int, default=10*60)
-    parser_run.add_argument('--log', nargs='?', help='record log filename')
-    parser_run.add_argument('--init-offset', help='inital 3D offset accepted as a string of comma separated values (meters)')
-    parser_run.add_argument('--init-path', help='inital path to be followed from (0, 0). 2D coordinates are separated by ;')
-    parser_run.add_argument('--start-paused', dest='start_paused', action='store_true',
-                            help='start robota Paused and wait for LoRa Contine command')
-
-    parser_replay = subparsers.add_parser('replay', help='replay from logfile')
-    parser_replay.add_argument('logfile', help='recorded log file')
-    parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
-    parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
-    args = parser.parse_args()
-
-    if args.command == 'replay':
-        from osgar.replay import replay
-        args.module = 'app'
-        app = replay(args, application=SubTChallenge)
-        app.play()
-
-    elif args.command == 'run':
-        # To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
-        # Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
-        # Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
-        gc.disable()
-
-        cfg = config_load(*args.config, application=SubTChallenge)
-
-        # apply overrides from command line
-        cfg['robot']['modules']['app']['init']['walldist'] = args.walldist
-        if args.side == 'auto':
-            cfg['robot']['modules']['app']['init']['right_wall'] = 'auto'
-        else:
-            cfg['robot']['modules']['app']['init']['right_wall'] = args.side == 'right'
-        cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
-        if args.init_offset is not None:
-            x, y, z = [float(x) for x in args.init_offset.split(',')]
-            cfg['robot']['modules']['app']['init']['init_offset'] = [int(x*1000), int(y*1000), int(z*1000)]
-        if args.init_path is not None:
-            cfg['robot']['modules']['app']['init']['init_path'] = args.init_path
-
-        if args.speed is not None:
-            cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
-
-        cfg['robot']['modules']['app']['init']['start_paused'] = args.start_paused
-
-        prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
-        record(cfg, prefix, args.log)
-
-
-if __name__ == "__main__":
-    main()
-
 # vim: expandtab sw=4 ts=4

subt/test_subt.py

@@ -35,6 +35,19 @@ def test_maybe_remember_artifact(self):
         # 2nd report should be ignored
         self.assertEqual(game.maybe_remember_artifact(artf_data, artf_xyz), False)
 
+    def test_init(self):
+        bus = MagicMock()
+        config = {'virtual_world': True, 'max_speed': 1.0, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto'}
+        game = SubTChallenge(config, bus)
+
+        config = {'virtual_world': True, 'speed': 1.0, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto'}
+        game = SubTChallenge(config, bus)
+
+        # either speed or max_speed is required
+        with self.assertRaises(KeyError):
+            config = {'virtual_world': True, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto' }
+            game = SubTChallenge(config, bus)
+
     def test_go_to_entrance(self):
         config = {'virtual_world': True, 'max_speed': 1.0, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto'}
         bus = Bus(simulation.SimLogger())

subt/zmq-subt-x2.json

@@ -1,14 +1,50 @@
 {
   "version": 2,
   "robot": {
+    "arguments": {
+      "walldist": {
+        "help": "distance for wall following (default: %(default)sm)",
+        "default": 1.0,
+        "type": "float"
+      },
+      "side": {
+        "help": "which side to follow",
+        "choices": ["left", "right", "auto"],
+        "required": true
+      },
+      "speed": {
+        "help": "maximum speed (%(default)sm)",
+        "default": 1.0,
+        "type": "float"
+      },
+      "timeout": {
+        "help": "seconds of exploring before going home (default: %(default)ss)",
+        "default": 600,
+        "type": "int"
+      },
+      "init-offset": {
+        "help": "inital 3D offset accepted as a string of comma separated values (meters)"
+      },
+      "init-path": {
+        "help": "inital path to be followed from (0, 0). 2D coordinates are separated by ;"
+      },
+      "start-paused": {
+        "dest": "start_paused",
+        "action": "store_true",
+        "help": "start robot Paused and wait for LoRa Contine command"
+      }
+    },
     "modules": {
       "app": {
-          "driver": "application",
+          "driver": "subt.main:SubTChallenge",
           "in": ["emergency_stop", "pose2d", "scan", "rot", "artf",
                  "sim_time_sec", "acc", "origin"],
           "out": ["desired_speed", "pose2d", "artf_xyz", "pose3d", "stdout", "request_origin"],
           "init": {
-            "max_speed": 0.5,
+            "walldist": "{walldist}",
+            "side": "{side}",
+            "speed": "{speed}",
+            "timeout": "{timeout}",
             "symmetric": false,
             "virtual_bumper_sec": 60,
             "virtual_bumper_radius": 10.0,