scenario-execution 1.0.0__tar.gz

scenario-execution-1.0.0/MANIFEST.in

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+include scenario_execution_base/lib_osc/*.osc

scenario-execution-1.0.0/PKG-INFO

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+Metadata-Version: 2.1
+Name: scenario-execution
+Version: 1.0.0
+Summary: Robotics Scenario Execution
+Author-email: Intel Labs <scenario-execution@intel.com>
+Maintainer: Intel Labs
+Maintainer-email: Intel Labs <scenario-execution@intel.com>
+License: Apache License 2.0
+Project-URL: Homepage, https://github.com/IntelLabs/scenario_execution
+Project-URL: Documentation, https://intellabs.github.io/scenario_execution/
+Project-URL: Issues, https://github.com/IntelLabs/scenario_execution/issues
+Keywords: robotics,scenarios,experiments,testing
+Classifier: Programming Language :: Python :: 3
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: setuptools
+Requires-Dist: antlr4-python3-runtime==4.7.2
+Requires-Dist: transforms3d==0.3.1
+Requires-Dist: pexpect==4.9.0
+Requires-Dist: defusedxml==0.7.1
+Requires-Dist: pyyaml
+Requires-Dist: py-trees==2.1.6
+
+# Scenario Execution Base Package
+
+The `scenario_execution_base` package is the base package for scenario execution. It provides functionalities like parsing, py-trees creation and execution.
+
+It provides the following scenario execution libraries:
+
+- `standard.osc`: The OpenSCENARIO 2 standard library. It is slightly modified to be in sync with the feature set of scenario execution. For convenience, numerical struct members are initialized with 0.
+- `robotics.osc`: robotic-specific specifications
+- `helper.osc`: helper actions
+- `networking.osc`: actions related to networking
+

scenario-execution-1.0.0/README.md

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+# Scenario Execution Base Package
+
+The `scenario_execution_base` package is the base package for scenario execution. It provides functionalities like parsing, py-trees creation and execution.
+
+It provides the following scenario execution libraries:
+
+- `standard.osc`: The OpenSCENARIO 2 standard library. It is slightly modified to be in sync with the feature set of scenario execution. For convenience, numerical struct members are initialized with 0.
+- `robotics.osc`: robotic-specific specifications
+- `helper.osc`: helper actions
+- `networking.osc`: actions related to networking
+

scenario-execution-1.0.0/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>scenario_execution_base</name>
+  <version>1.0.0</version>
+  <description>Robotics Scenario Execution</description>
+  <author email="scenario-execution@intel.com">Intel Labs</author>
+  <maintainer email="scenario-execution@intel.com">Intel Labs</maintainer>
+  <license file="../LICENSE">Apache-2.0</license>
+
+  <exec_depend>py_trees</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

scenario-execution-1.0.0/pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "scenario-execution"
+version = "1.0.0"
+dynamic = ["license"]
+description = "Robotics Scenario Execution"
+readme = "README.md"
+requires-python = ">=3.8"
+keywords = ["robotics", "scenarios", "experiments", "testing"]
+authors = [
+  {name = "Intel Labs", email = "scenario-execution@intel.com"}
+]
+maintainers = [
+    { name = "Intel Labs", email = "scenario-execution@intel.com" },
+]
+dependencies = [
+    "setuptools",
+    "antlr4-python3-runtime==4.7.2",
+    "transforms3d==0.3.1",
+    "pexpect==4.9.0",
+    "defusedxml==0.7.1",
+    "pyyaml",
+    "py-trees==2.1.6",
+]
+classifiers = [
+  "Programming Language :: Python :: 3",
+]
+
+[project.scripts]
+scenario_execution = "scenario_execution_base.scenario_execution:main"
+
+[project.entry-points."scenario_execution.actions"]
+log = "scenario_execution_base.actions.log:Log"
+run_process = "scenario_execution_base.actions.run_process:RunProcess"
+
+[project.entry-points."scenario_execution.osc_libraries"]
+helpers = "scenario_execution_base.get_osc_library:get_helpers_library"
+robotics = "scenario_execution_base.get_osc_library:get_robotics_library"
+standard = "scenario_execution_base.get_osc_library:get_standard_library"
+"standard.base" = "scenario_execution_base.get_osc_library:get_standard_base_library"
+
+
+[tool.setuptools.packages]
+find = {}  # Scanning implicit namespaces is active by default
+
+[project.urls]
+Homepage = "https://github.com/IntelLabs/scenario_execution"
+Documentation = "https://intellabs.github.io/scenario_execution/"
+Issues = "https://github.com/IntelLabs/scenario_execution/issues"

scenario-execution-1.0.0/scenario_execution.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: scenario-execution
+Version: 1.0.0
+Summary: Robotics Scenario Execution
+Author-email: Intel Labs <scenario-execution@intel.com>
+Maintainer: Intel Labs
+Maintainer-email: Intel Labs <scenario-execution@intel.com>
+License: Apache License 2.0
+Project-URL: Homepage, https://github.com/IntelLabs/scenario_execution
+Project-URL: Documentation, https://intellabs.github.io/scenario_execution/
+Project-URL: Issues, https://github.com/IntelLabs/scenario_execution/issues
+Keywords: robotics,scenarios,experiments,testing
+Classifier: Programming Language :: Python :: 3
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: setuptools
+Requires-Dist: antlr4-python3-runtime==4.7.2
+Requires-Dist: transforms3d==0.3.1
+Requires-Dist: pexpect==4.9.0
+Requires-Dist: defusedxml==0.7.1
+Requires-Dist: pyyaml
+Requires-Dist: py-trees==2.1.6
+
+# Scenario Execution Base Package
+
+The `scenario_execution_base` package is the base package for scenario execution. It provides functionalities like parsing, py-trees creation and execution.
+
+It provides the following scenario execution libraries:
+
+- `standard.osc`: The OpenSCENARIO 2 standard library. It is slightly modified to be in sync with the feature set of scenario execution. For convenience, numerical struct members are initialized with 0.
+- `robotics.osc`: robotic-specific specifications
+- `helper.osc`: helper actions
+- `networking.osc`: actions related to networking
+

scenario-execution-1.0.0/scenario_execution.egg-info/SOURCES.txt

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+MANIFEST.in
+README.md
+package.xml
+pyproject.toml
+setup.cfg
+setup.py
+resource/scenario_execution_base
+scenario_execution.egg-info/PKG-INFO
+scenario_execution.egg-info/SOURCES.txt
+scenario_execution.egg-info/dependency_links.txt
+scenario_execution.egg-info/entry_points.txt
+scenario_execution.egg-info/requires.txt
+scenario_execution.egg-info/top_level.txt
+scenario_execution.egg-info/zip-safe
+scenario_execution_base/__init__.py
+scenario_execution_base/get_osc_library.py
+scenario_execution_base/scenario_execution.py
+scenario_execution_base/actions/__init__.py
+scenario_execution_base/actions/log.py
+scenario_execution_base/actions/run_process.py
+scenario_execution_base/lib_osc/helpers.osc
+scenario_execution_base/lib_osc/robotics.osc
+scenario_execution_base/lib_osc/standard.osc
+scenario_execution_base/lib_osc/standard_base.osc
+scenario_execution_base/model/__init__.py
+scenario_execution_base/model/error.py
+scenario_execution_base/model/model_base_visitor.py
+scenario_execution_base/model/model_builder.py
+scenario_execution_base/model/model_file_loader.py
+scenario_execution_base/model/model_resolver.py
+scenario_execution_base/model/model_to_py_tree.py
+scenario_execution_base/model/osc2_parser.py
+scenario_execution_base/model/types.py
+scenario_execution_base/osc2_parsing/OpenSCENARIO2Lexer.py
+scenario_execution_base/osc2_parsing/OpenSCENARIO2Listener.py
+scenario_execution_base/osc2_parsing/OpenSCENARIO2Parser.py
+scenario_execution_base/osc2_parsing/OpenSCENARIO2Visitor.py
+scenario_execution_base/osc2_parsing/__init__.py
+scenario_execution_base/utils/__init__.py
+scenario_execution_base/utils/logging.py
+test/test_expression.py
+test/test_model_ser_deser.py
+test/test_osc2_parser_action.py
+test/test_osc2_parser_actor.py
+test/test_osc2_parser_behavior_invocation.py
+test/test_osc2_parser_enum.py
+test/test_osc2_parser_event.py
+test/test_osc2_parser_keep.py
+test/test_osc2_parser_list.py
+test/test_osc2_parser_not_supported.py
+test/test_osc2_parser_parameter.py
+test/test_osc2_parser_physical_type.py
+test/test_osc2_parser_si.py
+test/test_osc2_parser_struct.py
+test/test_osc2_parser_wait.py
+test/test_osc2_standard_osc.py
+test/test_run_process.py
+test/test_scenario_events.py
+test/test_scenario_execution.py
+test/test_scenario_oneof.py
+test/test_scenario_parallel.py

scenario-execution-1.0.0/scenario_execution.egg-info/dependency_links.txt

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+

scenario-execution-1.0.0/scenario_execution.egg-info/entry_points.txt

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+[console_scripts]
+scenario_execution = scenario_execution_base.scenario_execution:main
+
+[scenario_execution.actions]
+log = scenario_execution_base.actions.log:Log
+run_process = scenario_execution_base.actions.run_process:RunProcess
+
+[scenario_execution.osc_libraries]
+helpers = scenario_execution_base.get_osc_library:get_helpers_library
+robotics = scenario_execution_base.get_osc_library:get_robotics_library
+standard = scenario_execution_base.get_osc_library:get_standard_library
+standard.base = scenario_execution_base.get_osc_library:get_standard_base_library

scenario-execution-1.0.0/scenario_execution.egg-info/requires.txt

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+setuptools
+antlr4-python3-runtime==4.7.2
+transforms3d==0.3.1
+pexpect==4.9.0
+defusedxml==0.7.1
+pyyaml
+py-trees==2.1.6

scenario-execution-1.0.0/scenario_execution.egg-info/top_level.txt

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+dist
+resource
+scenario_execution_base
+test

scenario-execution-1.0.0/scenario_execution.egg-info/zip-safe

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+

scenario-execution-1.0.0/scenario_execution_base/__init__.py

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+# Copyright (C) 2024 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions
+# and limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from . import actions
+from . import utils
+from . import model
+from scenario_execution_base.scenario_execution import ScenarioExecution
+from scenario_execution_base.utils.logging import BaseLogger, Logger
+
+__all__ = [
+    'actions',
+    'utils',
+    'model',
+    'BaseLogger',
+    "Logger",
+    'ScenarioExecution'
+]

scenario-execution-1.0.0/scenario_execution_base/actions/__init__.py

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+# Copyright (C) 2024 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions
+# and limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0

scenario-execution-1.0.0/scenario_execution_base/actions/log.py

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+# Copyright (C) 2024 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions
+# and limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import py_trees
+from py_trees.common import Status
+
+
+class Log(py_trees.behaviour.Behaviour):
+    """
+    Class for logging
+
+    Args:
+        msg [str]: message to log
+    """
+
+    def __init__(self, name, msg: str):
+        super().__init__(name)
+        self.msg = msg
+        self.published = False
+        self.logger = None
+
+    def setup(self, **kwargs) -> None:
+        """
+        setup before ticking
+
+        Args:
+            kwargs: arguments passed from py_trees.behaviour.Behaviour
+        """
+        self.logger = kwargs['logger']
+
+    def update(self) -> py_trees.common.Status:
+        """
+        execute the action
+
+        return:
+            py_trees.common.Status.SUCCESS if the action is executed
+        """
+        if not self.published:
+            self.published = True
+            self.logger.info(self.msg)
+        return Status.SUCCESS

scenario-execution-1.0.0/scenario_execution_base/actions/run_process.py

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+# Copyright (C) 2024 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions
+# and limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import py_trees  # pylint: disable=import-error
+import subprocess  # nosec B404
+from threading import Thread
+from collections import deque
+
+
+class RunProcess(py_trees.behaviour.Behaviour):
+    """
+    Class to execute an process. It finishes when the process finishes
+
+    Args:
+        command[str]: command to execute
+    """
+
+    def __init__(self, name, command=None):
+        super().__init__(name)
+        self.command = command.split(" ") if isinstance(command, str) else command
+        self.executed = False
+        self.process = None
+        self.log_stdout_thread = None
+        self.log_stderr_thread = None
+        self.output = deque()
+
+    def update(self) -> py_trees.common.Status:
+        """
+        Start/monitor process
+
+        return:
+            py_trees.common.Status
+        """
+        if not self.executed:
+            self.executed = True
+            try:
+                self.process = subprocess.Popen(
+                    self.command, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+            except Exception as e:  # pylint: disable=broad-except
+                self.logger.error(str(e))
+                return py_trees.common.Status.FAILURE
+
+            self.feedback_message = f"Executing '{self.command}'"  # pylint: disable= attribute-defined-outside-init
+            self.on_executed()
+
+            def log_output(out, log_fct, buffer):
+                try:
+                    for line in iter(out.readline, b''):
+                        msg = line.decode().strip()
+                        if log_fct:
+                            log_fct(msg)
+                        buffer.append(msg)
+                    out.close()
+                except ValueError:
+                    pass
+
+            self.log_stdout_thread = Thread(target=log_output, args=(
+                self.process.stdout, self.get_logger_stdout(), self.output))
+            self.log_stdout_thread.daemon = True  # die with the program
+            self.log_stdout_thread.start()
+
+            self.log_stderr_thread = Thread(target=log_output, args=(
+                self.process.stderr, self.get_logger_stderr(), self.output))
+            self.log_stderr_thread.daemon = True  # die with the program
+            self.log_stderr_thread.start()
+
+        if self.process is None:
+            return py_trees.common.Status.FAILURE
+
+        ret = self.process.poll()
+
+        if ret is None:
+            return self.check_running_process()
+        else:
+            return self.on_process_finished(ret)
+
+    def get_logger_stdout(self):
+        """
+        get logger for stderr messages
+        """
+        return self.logger.info
+
+    def get_logger_stderr(self):
+        """
+        get logger for stderr messages
+        """
+        return self.logger.error
+
+    def check_running_process(self):
+        """
+        hook to check running process
+
+        return:
+            py_trees.common.Status
+        """
+        return py_trees.common.Status.RUNNING
+
+    def on_process_finished(self, ret):
+        """
+        hook to check finished process
+
+        return:
+            py_trees.common.Status
+        """
+        if ret == 0:
+            self.feedback_message = f"Successfully executed '{self.command}'"  # pylint: disable= attribute-defined-outside-init
+            return py_trees.common.Status.SUCCESS
+        else:
+            self.feedback_message = f"Execution of '{self.command}' failed with {ret}"  # pylint: disable= attribute-defined-outside-init
+            return py_trees.common.Status.FAILURE
+
+    def on_executed(self):
+        """
+        hook for subclassed
+        """
+        pass
+
+    def set_command(self, command):
+        self.command = command
+
+    def get_command(self):
+        return self.command

scenario-execution-1.0.0/scenario_execution_base/get_osc_library.py

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+# Copyright (C) 2024 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions
+# and limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+def get_robotics_library():
+    return 'scenario_execution_base', 'robotics.osc'
+
+
+def get_helpers_library():
+    return 'scenario_execution_base', 'helpers.osc'
+
+
+def get_standard_library():
+    return 'scenario_execution_base', 'standard.osc'
+
+
+def get_standard_base_library():
+    return 'scenario_execution_base', 'standard_base.osc'

scenario-execution-1.0.0/scenario_execution_base/lib_osc/helpers.osc

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+
+action log:
+    # Print out a message
+    msg: string # Message to print
+
+action run_process:
+    # Run an external process
+    command: string # Command to execute

scenario-execution-1.0.0/scenario_execution_base/lib_osc/robotics.osc

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+import osc.standard.base
+
+actor robot inherits osc_actor