autoverse-cli 0.28.1__py3-none-any.whl

avrs/simconfig_util.py

@@ -0,0 +1,170 @@
+import os
+import json
+import logging
+
+class SimConfigFiles():
+    def __init__(self, saved_dir):
+
+        logger = logging.getLogger('avrs')
+
+        self.required_files = {
+            'main': os.path.join(saved_dir, 'simconfig.json'),
+            'eav24': os.path.join(saved_dir, 'Objects', 'Eav24_default.json'),
+            'yas': os.path.join(saved_dir, 'Environments', 'yasmarina_env.json'),
+            'adrome': os.path.join(saved_dir, 'Environments', 'autonodrome.json'),
+            'suzuka': os.path.join(saved_dir, "Environments", "Suzuka", "suzuka.json"),
+            'yasnorth': os.path.join(saved_dir, "Environments", "YasMarinaNorth", "yasmarinanorth_env.json")
+        }
+
+        self.alt_paths = {
+            "main": [],
+            "eav24": [],
+            "yas": [os.path.join(saved_dir, 'Environments', "YasMarina", 'yasmarina_env.json')],
+            "adrome": [os.path.join(saved_dir, 'Environments', "Autonodrome", 'autonodrome.json')],
+            "suzuka": [os.path.join(saved_dir, "Environments", "Suzuka", "suzuka.json")]
+        }
+
+        # support alternative paths for new directory structure, but retain backward compat
+        for k, v in self.required_files.items():
+            if not os.path.exists(v):
+                for alt_path in self.alt_paths.get(k, []):
+                    if os.path.exists(alt_path):
+                        logger.info("could not find file under {} but found under alt path {}".format(
+                            v, alt_path))
+                        self.required_files[k] = alt_path
+
+        self.files = {}
+
+        ok, status = self.validate()
+        if ok:
+            for name, path in self.required_files.items():
+                with open(path, 'r', encoding='utf-8') as f:
+                    self.files[name] = json.load(f)
+
+    def validate(self):
+        for name, path in self.required_files.items():
+            if not os.path.exists(path):
+                return (False, '{} not found'.format(path))
+        return (True, '')
+
+    def save(self):
+        for name, path in self.required_files.items():
+            with open(path, 'w', encoding='utf-8') as f:
+                json.dump(self.files[name], f, ensure_ascii=False, indent=4)
+
+def compare_simconfig_defaults(sim_saved_dir, new_defaults_dir):
+    old_cfg_files = SimConfigFiles(sim_saved_dir)
+    new_cfg_files = SimConfigFiles(new_defaults_dir)
+
+    ok, status = old_cfg_files.validate()
+    if not ok:
+        print(status)
+        return
+    ok, status = new_cfg_files.validate()
+    if not ok:
+        print(status)
+        return
+
+    print('comparing config files at {} with those at {}'.format(
+        sim_saved_dir, new_defaults_dir))
+
+    out_cpr = {}
+    compare_dicts(old_cfg_files.files['main'], new_cfg_files.files['main'], 'main', out_cpr)
+
+    #print('{}'.format(out_cpr))
+    print_simconfig_compare(out_cpr['main'])
+
+def print_simconfig_compare(cpr):
+        for i in cpr['only_a']:
+            print('{} in a ({}) but not b'.format(i[0], i[1]))
+        for i in cpr['only_b']:
+            print('{} in b ({}) but not a'.format(i[0], i[1]))
+        for i in cpr['type_mismatch']:
+            print('{} ({}) does not match type {} ({})'.format(i[0], i[1], i[0], i[2]))
+        for i in cpr['value_mismatch']:
+            print('{} ({}) value does not match ({})'.format(i[0], i[1], i[2]))
+
+        for key, value in cpr['sub'].items():
+            print_simconfig_compare(value)
+
+def compare_dicts(a, b, parent_key, out_checks):
+
+    only_a = []
+    only_b = []
+    type_mismatch = []
+    value_mismatch = []
+
+    out_checks[parent_key] = {}
+    out_checks[parent_key]['sub'] = {}
+
+
+    for key, value in a.items():
+        key_chain = '{}.{}'.format(parent_key, key)
+        if key not in b:
+            only_a.append((key_chain, value))
+        else:
+            if type(value) != type(b[key]):
+                type_mismatch.append((key_chain, type(value), type(b[key])))
+            elif isinstance(value, dict):
+                compare_dicts(value, b[key], key_chain, out_checks[parent_key]['sub']) 
+            elif value != b[key]:
+                value_mismatch.append((key_chain, value, b[key]))
+
+    for key, value in b.items():
+        key_chain = '{}.{}'.format(parent_key, key)
+        if key not in a:
+            only_b.append((key_chain, value))
+
+    out_checks[parent_key]['only_a'] = only_a
+    out_checks[parent_key]['only_b'] = only_b
+    out_checks[parent_key]['type_mismatch'] = type_mismatch
+    out_checks[parent_key]['value_mismatch'] = value_mismatch
+
+    #print('only a \n {} \n\n'.format(only_a))
+    #print('only b \n {} \n\n'.format(only_b))
+    #print('type mismatch \n {} \n\n'.format(type_mismatch))
+    #print('value mismatch \n {} \n\n'.format(value_mismatch))
+    #print('sub_checks')
+
+
+
+def apply_simconfig_preset(sim_saved_dir, preset_name):
+    cfg_files = SimConfigFiles(sim_saved_dir)
+    ok, status = cfg_files.validate()
+    if not ok:
+        print(status)
+        return
+
+    presets = {
+        'default': apply_default_simconfig_preset,
+        'lightweight': apply_lightweight_simconfig_preset,
+        'a2rl': apply_a2rl_simconfig_preset
+    }
+    presets[preset_name](cfg_files)    
+
+def apply_default_simconfig_preset(cfg_files):
+    files = cfg_files.files
+    
+    print('globally enabling ROS2 and CAN')
+    files['main']['interfaces']['bEnableRos2'] = True
+    files['main']['interfaces']['bEnableCan'] = True
+
+    print('ensuring default eav24 and yasmarina are reference in main config')
+    if not 'Environments/yasmarina_env.json' in files['main']['environmentPaths']:
+        print('missing yas environment. adding')
+        print('{}'.format(files['main']['environmentPaths']))
+    if not 'Objects/Eav24_default.json' in files['main']['objectTemplatePaths']:
+        print('missing eav24. adding')
+
+    cfg_files.save()
+
+
+def apply_lightweight_simconfig_preset(cfg_files):
+    files = cfg_files.files
+    
+    cfg_files.save()
+
+def apply_a2rl_simconfig_preset(cfg_files):
+    files = cfg_files.files
+    
+    cfg_files.save()

avrs/tests.py

@@ -0,0 +1,9 @@
+import os
+import unittest
+import shutil
+import subprocess
+
+class TestMisc(unittest.TestCase):
+
+    def test_misc(self):    
+        self.assertTrue(True)

avrs/util.py

@@ -0,0 +1,13 @@
+import subprocess
+
+class ProcessResult():
+	def __init__(self, pres):
+		self.out = pres.stdout.decode('utf-8')
+		self.err = pres.stderr.decode('utf-8')
+
+def run_process(args):
+	result = subprocess.run(
+	    args, 
+	    stdout=subprocess.PIPE, 
+	    stderr=subprocess.PIPE)
+	return ProcessResult(result)