# Copyright 2021 John Harwell, All rights reserved.
#
# SPDX-License-Identifier: MIT
"""Extensions to
:class:`~sierra.plugins.platform.ros1robot.platform_generators.PlatformExpDefGenerator`
common to all TITAN scenarios which use ROS with real robots.
"""
# Core packages
import re
# 3rd party packages
from sierra.core.experiment import definition
from sierra.plugins.platform.ros1gazebo.generators.platform_generators import PlatformExpDefGenerator
from sierra.plugins.platform.ros1gazebo.generators.platform_generators import PlatformExpRunDefUniqueGenerator
from sierra.core import utils
# Project packages
from titerra.projects.common.generators import utils as tiutils
from titerra.projects.common.variables import exp_setup
[docs]class BaseScenarioGenerator(PlatformExpDefGenerator):
[docs] def __init__(self, *args, **kwargs) -> None:
PlatformExpDefGenerator.__init__(self, *args, **kwargs)
[docs]class ForagingScenarioGenerator(BaseScenarioGenerator):
"""
Generates XML changes for foraging. Because we are working with real robots,
there is no arena setup to do with SIERRA (i.e., you have to manually setup
the environment).
"""
[docs] def __init__(self, *args, **kwargs) -> None:
BaseScenarioGenerator.__init__(self, *args, **kwargs)
[docs] def generate(self) -> definition.XMLExpDef:
exp_def = super().generate()
# Generate and apply time definitions for TITAN
tiutils.generate_time(exp_def, self.cmdopts, self.spec)
return exp_def
class ExpRunDefUniqueGenerator(PlatformExpRunDefUniqueGenerator):
def __init__(self, *args, **kwargs) -> None:
super().__init__(*args, **kwargs)
def generate(self, exp_def: definition.XMLExpDef):
super().generate(exp_def)
tiutils.generate_random(exp_def,
"./params/controllers/*",
self.random_seed)
tiutils.generate_output(exp_def,
"./params/controllers/*",
self.run_output_path)
def gen_generator_name(scenario_name: str) -> str:
res = re.search('[SDQPR][SSSLN]', scenario_name)
assert res is not None, f"Bad block distribution in {scenario_name}"
abbrev = res.group(0)
return abbrev + 'Generator'
__api__ = [
'BaseScenarioGenerator',
'ForagingScenarioGenerator',
]