sierra-research 1.3.6__py3-none-any.whl → 1.5.0__py3-none-any.whl

sierra/core/compare.py

@@ -0,0 +1,11 @@
+# Copyright 2021 John Harwell, All rights reserved.
+#
+#  SPDX-License-Identifier: MIT
+"""Trampoline bindings for the various ``--compare`` plugins that come with SIERRA."""
+
+# Core packages
+
+# 3rd party packages
+
+# Project packages
+from sierra.core.trampoline import cmdline_parser  # noqa: F401

sierra/core/config.py

@@ -9,164 +9,172 @@ Contains all SIERRA hard-coded configuration in one place.
 import logging
 import typing as tp
 import packaging
+import holoviews as hv
 
 # 3rd party packages
 
 # Project packages
 from sierra.core import types
 
+
 ################################################################################
-# Matplotlib Configuration
+# Holoviews Configuration
 ################################################################################
+def bokeh_init():
+    # Only needed when hv backend is bokeh
+    logging.getLogger("selenium").setLevel(logging.WARNING)
+    logging.getLogger("urllib3").setLevel(logging.WARNING)
 
 
 def mpl_init():
     # Turn off MPL messages when the log level is set to DEBUG or
     # higher. Otherwise you get HUNDREDS. Must be before import to suppress
     # messages which occur during import.
-    logging.getLogger('matplotlib').setLevel(logging.WARNING)
-    logging.getLogger('PIL').setLevel(logging.WARNING)
+    #
+    # Only needed when the hv backend is mpl
+    logging.getLogger("matplotlib").setLevel(logging.WARNING)
+    logging.getLogger("PIL").setLevel(logging.WARNING)
 
     import matplotlib as mpl
 
-    mpl.rcParams['lines.linewidth'] = 3
-    mpl.rcParams['lines.markersize'] = 10
-    mpl.rcParams['figure.max_open_warning'] = 10000
-    mpl.rcParams['axes.formatter.limits'] = (-4, 4)
+    mpl.rcParams["lines.linewidth"] = 3
+    mpl.rcParams["lines.markersize"] = 10
+    mpl.rcParams["figure.max_open_warning"] = 1000
+    mpl.rcParams["axes.formatter.limits"] = (-4, 4)
 
     # Use latex to render all math, so that it matches how the math renders in
     # papers.
-    mpl.rcParams['text.usetex'] = True
+    mpl.rcParams["text.usetex"] = True
 
     # Set MPL backend (headless for non-interactive use). Must be BEFORE
     # importing pyplot reduce import loading time.
-    mpl.use('agg')
+    mpl.use("Agg")
 
     import matplotlib.pyplot as plt
 
     # Set MPL style
-    plt.style.use('seaborn-v0_8-colorblind')
+    plt.style.use("seaborn-v0_8-colorblind")
 
 
-# Actually initialize matplotlib
+# Actually initialize holoviews
+bokeh_init()
 mpl_init()
 
+hv.core.cache_size = 10
+hv.config.cache_size = 0
+hv.config.warning_level = 0
 ################################################################################
 # General Configuration
 ################################################################################
 
 
-kImageExt = '.png'
+kStaticImageType = "png"
+kInteractiveImageType = "html"
 
-kRenderFormat = '.mp4'
+kRenderFormat = ".mp4"
 
-kPickleExt = '.pkl'
-kPickleLeaf = 'exp_def' + kPickleExt
+kPickleExt = ".pkl"
+kPickleLeaf = "exp_def" + kPickleExt
 kRandomSeedsLeaf = "seeds" + kPickleExt
 
-kGraphDPI = 100
-
-kGraphBaseSize = 10.0  # inches
-
-kGraphTextSizeSmall: types.IntDict = {
-    'title': 24,
-    'xyz_label': 18,
-    'tick_label': 12,
-    'legend_label': 18
+kGraphs = {
+    "dpi": 100,
+    "base_size": 10.0,  # inches,
+    "text_size_small": {
+        "title": 24,
+        "xyz_label": 18,
+        "tick_label": 12,
+        "legend_label": 18,
+    },
+    "text_size_large": {
+        "title": 36,
+        "xyz_label": 24,
+        "tick_label": 24,
+        "legend_label": 32,
+    },
 }
 
-kGraphTextSizeLarge: types.IntDict = {
-    'title': 36,
-    'xyz_label': 24,
-    'tick_label': 24,
-    'legend_label': 32
-}
 
 # These are the file extensions that files read/written by a given storage
 # plugin should have. Once processed by SIERRA they are written out as CSV files
 # with new extensions contextualizing them.
-kStorageExt: types.StrDict = {
-    'csv': '.csv'
-}
+kStorageExt: types.StrDict = {"csv": ".csv", "arrow": ".arrow"}
 
 kStats: tp.Dict[str, types.StatisticsSpec] = {
     # The default for averaging
-    'mean': types.StatisticsSpec({'mean': '.mean'}),
-
+    "mean": types.StatisticsSpec({"mean": ".mean"}),
     # For calculating 95% confidence intervals
-    'conf95': types.StatisticsSpec({'stddev': '.stddev'}),
-
+    "conf95": types.StatisticsSpec({"stddev": ".stddev"}),
     # For calculating box and whisker plots
-    'bw': types.StatisticsSpec({'median': '.median',
-                                'q1': '.q1',
-                                'q3': '.q3',
-                                'whislo': '.whislo',
-                                'whishi': '.whishi',
-                                'cilo': '.cilo',
-                                'cihi': '.cihi'
-                                })
+    "bw": types.StatisticsSpec(
+        {
+            "median": ".median",
+            "q1": ".q1",
+            "q3": ".q3",
+            "whislo": ".whislo",
+            "whishi": ".whishi",
+            "cilo": ".cilo",
+            "cihi": ".cihi",
+        }
+    ),
 }
 
-kModelsExt: types.StrDict = {
-    'model': '.model',
-    'legend': '.legend'
-}
+kModelsExt: types.StrDict = {"model": ".model", "legend": ".legend"}
 
 kRendering = {
-    'argos': {
-        'frames_leaf': 'frames',
+    "argos": {
+        "frames_leaf": "frames",
     }
 }
 kARGoS: tp.Dict[str, tp.Any] = {
-    'physics_iter_per_tick': 10,
-    'min_version': packaging.version.parse('3.0.0-beta53'),
-    'launch_cmd': 'argos3',
-    'launch_file_ext': '.argos',
-    'n_secs_per_run': 5000,  # seconds
-    'n_ticks_per_sec': 5,
-
+    "physics_iter_per_tick": 10,
+    "min_version": packaging.version.parse("3.0.0-beta53"),
+    "launch_cmd": "argos3",
+    "launch_file_ext": ".argos",
+    "n_secs_per_run": 5000,  # seconds
+    "n_ticks_per_sec": 5,
     # These are the cell sizes for use with the spatial_hash method for the
     # dynamics2D engine. Since that method should only be used with lots of
     # robots (per the docs), we set a cell a little larger than the robot.
-    'spatial_hash2D': {
-        'foot-bot': 0.5,
-        'e-puck': 0.5,
-    }
+    "spatial_hash2D": {
+        "foot-bot": 0.5,
+        "e-puck": 0.5,
+    },
 }
 
 
 kROS: types.SimpleDict = {
-    'launch_cmd': 'roslaunch',
-    'launch_file_ext': '.launch',
-    'param_file_ext': '.params',
-    'n_ticks_per_sec': 5,
-    'n_secs_per_run': 1000,  # seconds
-    'port_base': 11235,
-    'inter_run_pause': 60  # seconds
+    "launch_cmd": "roslaunch",
+    "launch_file_ext": ".launch",
+    "param_file_ext": ".params",
+    "n_ticks_per_sec": 5,
+    "n_secs_per_run": 1000,  # seconds
+    "port_base": 11235,
+    "inter_run_pause": 60,  # seconds
 }
 
-kYAML = types.YAMLConfigFileSpec(main='main.yaml',
-                                 controllers='controllers.yaml',
-                                 models='models.yaml',
-                                 stage5='stage5.yaml')
+# 2025-06-23 [JRH]: These are empirically determined minimum values which
+# generally result in all data being processed in stage {3,4}. Change with
+# extreme caution.
 
-kGazebo = {
-    'launch_cmd': 'gazebo',
-    'min_version': '11.0.0',
-    'physics_iter_per_tick': 1000,
+kGatherWorkerRetries = 3
+kProcessWorkerRetries = 3
 
-}
+kYAML = types.YAMLConfigFileSpec(
+    main="main.yaml",
+    graphs="graphs.yaml",
+    collate="collate.yaml",
+    controllers="controllers.yaml",
+    scenarios="scenarios.yaml",
+    models="models.yaml",
+)
 
-kGNUParallel:  types.StrDict = {
-    'cmdfile_stem': 'commands',
-    'cmdfile_ext': '.txt'
+kGazebo = {
+    "launch_cmd": "gazebo",
+    "min_version": "11.0.0",
+    "physics_iter_per_tick": 1000,
 }
 
-kExperimentalRunData = {
-    # Default # datapoints in each .csv of one-dimensional data.
-    'n_datapoints_1D': 50
-}
+kGNUParallel: types.StrDict = {"cmdfile_stem": "commands", "cmdfile_ext": ".txt"}
 
-kPlatform = {
-    'ping_timeout': 10  # seconds
-}
+kEngine = {"ping_timeout": 10}  # seconds

sierra/core/engine.py

@@ -0,0 +1,306 @@
+# Copyright 2021 John Harwell, All rights reserved.
+#
+#  SPDX-License-Identifier: MIT
+"""Terminal interface for pltaform plugins.
+
+Classes for generating the commands to run :term:`experiments <Batch
+Experiment>` on multiple :term:`engines <Engine>` using multiple execution
+methods.
+
+"""
+
+# Core packages
+import typing as tp
+import argparse
+import socket
+import logging
+import pathlib
+
+# 3rd party packages
+import implements
+import netifaces
+
+# Project packages
+import sierra.core.plugin as pm
+from sierra.core import types
+from sierra.core.experiment import bindings
+import sierra.core.variables.batch_criteria as bc
+from sierra.core.trampoline import cmdline_parser  # noqa: F401
+
+_logger = logging.getLogger(__name__)
+
+
+def cmdline_postparse_configure(
+    engine: str, execenv: str, args: argparse.Namespace
+) -> argparse.Namespace:
+    """Dispatcher for configuring the cmdopts dictionary.
+
+    Dispatches configuring to the selected ``--engine`` and ``--execenv``.
+    Called before the pipeline starts to add modify existing cmdline arguments
+    after initial parsing.  ``engine`` and ``execenv`` are needed as
+    arguments as they are not present in ``args``; they are "bootstrap" cmdline
+    args needed to be parsed first to build the parser for the set of cmdline
+    arguments accepted.
+    """
+    # Configure for selected engine
+    module = pm.pipeline.get_plugin_module(engine)
+
+    if hasattr(module, "cmdline_postparse_configure"):
+        args = module.cmdline_postparse_configure(execenv, args)
+    else:
+        _logger.debug(
+            (
+                "Skipping configuring cmdline from --engine='%s': "
+                "does not define cmdline_postparse_configure()"
+            ),
+            engine,
+        )
+
+    return args
+
+
+def execenv_check(cmdopts: types.Cmdopts) -> None:
+    """Dispatcher for verifying execution environments in stage 2.
+
+    This is required because what is needed to create experiments in stage 1 for
+    a engine is not necessarily the same as what is needed (in terms of
+    envvars, daemons, etc.) when running them.
+
+    """
+    module = pm.pipeline.get_plugin_module(cmdopts["engine"])
+    if hasattr(module, "execenv_check"):
+        module.execenv_check(cmdopts)
+    else:
+        _logger.debug(
+            (
+                "Skipping execution environment check for "
+                "--engine=%s: does not define execenv_check()"
+            ),
+            cmdopts["engine"],
+        )
+
+
+@implements.implements(bindings.IExpRunShellCmdsGenerator)
+class ExpRunShellCmdsGenerator:
+    """Dispatcher for shell cmd generation for an :term:`Experimental Run`.
+
+    Dispatches generation to the selected engine.
+    Called during stage 1 to add shell commands which should be run immediately
+    before and after the shell command to actually execute a single
+    :term:`Experimental Run` to the commands file to be fed to whatever the tool
+    a given execution environment environment uses to run cmds (e.g., GNU
+    parallel).
+
+    """
+
+    def __init__(
+        self,
+        cmdopts: types.Cmdopts,
+        criteria: bc.XVarBatchCriteria,
+        n_agents: int,
+        exp_num: int,
+    ) -> None:
+        self.cmdopts = cmdopts
+        self.criteria = criteria
+        module = pm.pipeline.get_plugin_module(self.cmdopts["engine"])
+
+        if hasattr(module, "ExpRunShellCmdsGenerator"):
+            self.engine = module.ExpRunShellCmdsGenerator(
+                self.cmdopts, self.criteria, n_agents, exp_num
+            )
+        else:
+            self.engine = None
+
+    def pre_run_cmds(
+        self, host: str, input_fpath: pathlib.Path, run_num: int
+    ) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+        if self.engine:
+            cmds.extend(self.engine.pre_run_cmds(host, input_fpath, run_num))
+
+        return cmds
+
+    def exec_run_cmds(
+        self, host: str, input_fpath: pathlib.Path, run_num: int
+    ) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.exec_run_cmds(host, input_fpath, run_num))
+
+        return cmds
+
+    def post_run_cmds(
+        self, host: str, run_output_root: pathlib.Path
+    ) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.post_run_cmds(host, run_output_root))
+
+        return cmds
+
+
+@implements.implements(bindings.IExpShellCmdsGenerator)
+class ExpShellCmdsGenerator:
+    """Dispatcher for shell cmd generation for an :term:`Experiment`.
+
+    Dispatches generation to the selected engine.  Called during stage 2 to
+    run shell commands immediately before running a given :term:`Experiment`, to
+    run shell commands to actually run the experiment, and to run shell commands
+    immediately after the experiment finishes.
+    """
+
+    def __init__(self, cmdopts: types.Cmdopts, exp_num: int) -> None:
+        self.cmdopts = cmdopts
+
+        module = pm.pipeline.get_plugin_module(self.cmdopts["engine"])
+        if hasattr(module, "ExpShellCmdsGenerator"):
+            self.engine = module.ExpShellCmdsGenerator(self.cmdopts, exp_num)
+        else:
+            _logger.debug(
+                (
+                    "Skipping generating experiment shell commands "
+                    "for --engine=%s: does not define ExpShellCmdsGenerator"
+                ),
+                self.cmdopts["engine"],
+            )
+
+            self.engine = None
+
+    def pre_exp_cmds(self) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.pre_exp_cmds())
+
+        return cmds
+
+    def exec_exp_cmds(self, exec_opts: types.StrDict) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.exec_exp_cmds(exec_opts))
+
+        return cmds
+
+    def post_exp_cmds(self) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.post_exp_cmds())
+
+        return cmds
+
+
+@implements.implements(bindings.IBatchShellCmdsGenerator)
+class BatchShellCmdsGenerator:
+    """Dispatcher for shell cmd generation for a :term:`Batch Experiment`.
+
+    Dispatches generation to the selected engine.  Called during stage 2 to run
+    shell commands immediately before running a given :term:`Batch Experiment`,
+    to run shell commands to actually run the experiment, and to run shell
+    commands immediately after the whole experiment finishes.
+    """
+
+    def __init__(self, cmdopts: types.Cmdopts) -> None:
+        self.cmdopts = cmdopts
+
+        module = pm.pipeline.get_plugin_module(self.cmdopts["engine"])
+        if hasattr(module, "BatchShellCmdsGenerator"):
+            self.engine = module.BatchShellCmdsGenerator(self.cmdopts)
+        else:
+            _logger.debug(
+                (
+                    "Skipping generating batch experiment shell commands "
+                    "for --engine=%s: does not define BatchShellCmdsGenerator"
+                ),
+                self.cmdopts["engine"],
+            )
+
+            self.engine = None
+
+    def pre_batch_cmds(self) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.pre_batch_cmds())
+
+        return cmds
+
+    def exec_batch_cmds(self, exec_opts: types.StrDict) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.exec_batch_cmds(exec_opts))
+
+        return cmds
+
+    def post_batch_cmds(self) -> tp.List[types.ShellCmdSpec]:
+        cmds = []
+
+        if self.engine:
+            cmds.extend(self.engine.post_batch_cmds())
+
+        return cmds
+
+
+class ExpConfigurer:
+    """Perform engine-specific configuration for an :term:`Experimental Run`.
+
+    For things can do programmatically (i.e., without needing a shell). This
+    usually is things like creating directories, etc.  Called at the end of
+    stage 1 during for each experimental run.
+
+    """
+
+    def __init__(self, cmdopts: types.Cmdopts) -> None:
+        self.cmdopts = cmdopts
+        module = pm.pipeline.get_plugin_module(cmdopts["engine"])
+        self.engine = module.ExpConfigurer(self.cmdopts)
+
+    def for_exp_run(
+        self, exp_input_root: pathlib.Path, run_output_root: pathlib.Path
+    ) -> None:
+        self.engine.for_exp_run(exp_input_root, run_output_root)
+
+    def for_exp(self, exp_input_root: pathlib.Path) -> None:
+        self.engine.for_exp(exp_input_root)
+
+    def parallelism_paradigm(self) -> str:
+        return self.engine.parallelism_paradigm()
+
+
+def get_local_ip():
+    """
+    Get the local IP address of the SIERRA host machine.
+    """
+    active = []
+    for iface in netifaces.interfaces():
+        # Active=has a normal IP address (that's what AF_INET means)
+        if socket.AF_INET in netifaces.ifaddresses(iface):
+            active.append(iface)
+
+    active = list(filter("lo".__ne__, active))
+
+    if len(active) > 1:
+        logging.critical(
+            (
+                "SIERRA host machine has > 1 non-loopback IP addresses"
+                "/network interfaces--SIERRA may select the wrong "
+                "one: %s"
+            ),
+            active,
+        )
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    s.connect(("8.8.8.8", 80))
+    return s.getsockname()[0]
+
+
+__all__ = [
+    "cmdline_postparse_configure",
+    "ExpRunShellCmdsGenerator",
+    "ExpShellCmdsGenerator",
+    "ExpRunShellCmdsGenerator",
+    "ExpShellCmdsGenerator",
+]