diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 27919a8..e3a9972 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -20,7 +20,7 @@ jobs: matrix: os: [ "ubuntu-20.04" ] # python-version: [ "3.6.2", "3.7", "3.8", "3.9" ] - python-version: [ "3.8" ] + python-version: [ "3.10" ] runs-on: self-hosted timeout-minutes: 40 steps: @@ -138,17 +138,17 @@ jobs: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} REPOSITORY_USERNAME: ${{ secrets.PYPI_USERNAME }} REPOSITORY_PASSWORD: ${{ secrets.PYPI_PASSWORD }} - #---------------------------------------------- - # Download coverage and publish to CodeClimate - #---------------------------------------------- - - name: Download artifacts - uses: actions/download-artifact@v4 - with: - name: 'coverage' - path: . - - name: Publish code coverage to CodeClimate - uses: paambaati/codeclimate-action@v2.7.5 - env: - CC_TEST_REPORTER_ID: ${{ secrets.CC_TEST_REPORTER_ID }} - with: - debug: true + # #---------------------------------------------- + # # Download coverage and publish to CodeClimate + # #---------------------------------------------- + # - name: Download artifacts + # uses: actions/download-artifact@v4 + # with: + # name: 'coverage' + # path: . + # - name: Publish code coverage to CodeClimate + # uses: paambaati/codeclimate-action@v2.7.5 + # env: + # CC_TEST_REPORTER_ID: ${{ secrets.CC_TEST_REPORTER_ID }} + # with: + # debug: true diff --git a/Dockerfile b/Dockerfile index 4f75245..19c7d04 100644 --- a/Dockerfile +++ b/Dockerfile @@ -2,8 +2,8 @@ ARG PARENT_IMAGE FROM $PARENT_IMAGE -ARG PYTORCH_DEPS=cpuonly -ARG POETRY_VERSION=1.0.0 +ARG PYTORCH_DEPS=cu113 +ARG POETRY_VERSION=1.5.1 ARG ADD_SB=False ARG PYTHON_VERSION=3.8 @@ -33,7 +33,6 @@ RUN curl -o ~/miniconda.sh https://repo.anaconda.com/miniconda/Miniconda3-latest ~/miniconda.sh -b -p /opt/conda && \ rm ~/miniconda.sh && \ /opt/conda/bin/conda install -y python=$PYTHON_VERSION && \ - if [ ${ADD_SB} ] ; then /opt/conda/bin/conda install -y pytorch $PYTORCH_DEPS -c pytorch; fi && \ /opt/conda/bin/conda clean -ya ENV PATH /opt/conda/bin:$PATH @@ -64,7 +63,8 @@ RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.bashrc # Install eagerx-tutorials if ADD_SB, this will also install stable-baselines3 -RUN if [ ${ADD_SB} ] ; then pip install eagerx-tutorials; fi +RUN if [ ${ADD_SB} ] ; then pip install eagerx-tutorials stable-baselines3==2.0.0; fi +RUN if [ ${ADD_SB} ] ; then pip3 install --upgrade torch==1.12 --extra-index-url https://download.pytorch.org/whl/${PYTORCH_DEPS}; fi # Use headless opencv RUN pip uninstall -y opencv-python && pip install opencv-python-headless && rm -rf $HOME/.cache/pip diff --git a/README.md b/README.md index 07529b0..23e92e4 100644 --- a/README.md +++ b/README.md @@ -6,8 +6,9 @@ [![codestyle](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black) [![Documentation Status](https://readthedocs.org/projects/eagerx/badge/?version=master)](https://eagerx.readthedocs.io/en/master/?badge=master) [![Continuous Integration](https://github.com/eager-dev/eagerx/actions/workflows/ci.yml/badge.svg?branch=master)](https://github.com/eager-dev/eagerx/actions/workflows/ci.yml) -[![Maintainability](https://api.codeclimate.com/v1/badges/3146dce3dd4c3537834c/maintainability)](https://codeclimate.com/github/eager-dev/eagerx/maintainability) -[![Test Coverage](https://api.codeclimate.com/v1/badges/3146dce3dd4c3537834c/test_coverage)](https://codeclimate.com/github/eager-dev/eagerx/test_coverage) +[![Test Coverage](coverage.svg)](https://github.com/eager-dev/eagerx/actions/workflows/ci.yml) + What is EAGERx diff --git a/coverage.svg b/coverage.svg new file mode 100644 index 0000000..4f1e890 --- /dev/null +++ b/coverage.svg @@ -0,0 +1,26 @@ + + 94.97% + + + + + + + + + + + + + + + coverage + + 94.97% + + \ No newline at end of file diff --git a/docs/conf.py b/docs/conf.py index c436749..a366f0c 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -223,8 +223,7 @@ def setup(app): # -- Extension configuration ------------------------------------------------- # Example configuration for intersphinx: refer to the Python standard library. -# intersphinx_mapping = { -# 'python': ('https://docs.python.org/3/', None), -# 'numpy': ('http://docs.scipy.org/doc/numpy/', None), -# 'torch': ('http://pytorch.org/docs/master/', None), -# } +intersphinx_mapping = { + 'python': ('https://docs.python.org/3/', None), + 'numpy': ('http://docs.scipy.org/doc/numpy/', None), +} diff --git a/eagerx/backends/ray.py b/eagerx/backends/ray.py new file mode 100644 index 0000000..57391df --- /dev/null +++ b/eagerx/backends/ray.py @@ -0,0 +1,259 @@ +import copy +import numpy as np +import typing +import time +import threading +from concurrent.futures import ThreadPoolExecutor +from multiprocessing import cpu_count +from eagerx.utils.utils import Header +from eagerx.core.pubsub import Publisher, Subscriber, ShutdownService +import eagerx +from eagerx.core.constants import ( + WARN, + BackendException, + Unspecified, +) + + +# A singleton that is used to check if an argument was specified. +_unspecified = Unspecified() + + +def merge(a: typing.Dict, b: typing.Dict, path=None): + """merges b into a""" + if path is None: + path = [] + for key in b: + if key in a: + if isinstance(a[key], dict) and isinstance(b[key], dict): + merge(a[key], b[key], path + [str(key)]) + elif a[key] == b[key]: + pass # same leaf value + else: + a[key] = b[key] + else: + a[key] = b[key] + return a + + +def split(a: typing.Any): + if isinstance(a, dict): + for key in list(a): + value = a.pop(key) + value = split(value) + keys = [k for k in key.split("/") if len(k) > 0] + for kk in reversed(keys[1:]): + value = {kk: value} + if keys[0] not in a: + a[keys[0]] = value + else: + merge(a[keys[0]], value) + return a + + +class Ray(eagerx.Backend): + + BACKEND = "RAY" + DISTRIBUTED_SUPPORT = True + MULTIPROCESSING_SUPPORT = True + COLAB_SUPPORT = False + + MIN_THREADS = 10 + + @classmethod + def make(cls, log_level=WARN) -> eagerx.specs.BackendSpec: + spec = cls.get_specification() + spec.config.log_level = log_level if isinstance(log_level, str) else eagerx.get_log_level() + return spec + + def initialize(self): + self._backend = self + self._pserver = dict() + self._topics = dict() + self._cond = threading.Condition() + self._tpool = ThreadPoolExecutor(max_workers=max(self.MIN_THREADS, cpu_count())) + + def Publisher(self, address: str, dtype: str): + return _Publisher(self._backend, self._tpool, self._topics, self._cond, address, dtype) + + def Subscriber(self, address: str, dtype: str, callback, header: bool = False, callback_args=tuple()): + return _Subscriber( + self._backend, self._topics, self._cond, address, dtype, callback, header, callback_args=callback_args + ) + + def register_environment(self, name: str, force_start: bool, fn: typing.Callable): + return _ShutdownService() + + def delete_param(self, param: str, level: int = 1) -> None: + try: + keys = [k for k in param.split("/") if len(k) > 0] + val = self._pserver + for key in keys[:-1]: + val = val[key] + val.pop(keys[-1]) + self.loginfo(f'Parameters under namespace "{param}" deleted.') + except KeyError as e: + if level == 0: + raise BackendException(e) + elif level == 1: + self.logwarn(e) + else: + pass + + def upload_params(self, ns: str, values: typing.Dict, verbose: bool = False) -> None: + values = copy.deepcopy(values) + ns = [k for k in ns.split("/") if len(k) > 0] + ns_values = split(values) + for k in ns: + ns_values = {k: ns_values} + merge(self._pserver, ns_values) + + def get_param(self, name: str, default: typing.Any = _unspecified): + try: + keys = [k for k in name.split("/") if len(k) > 0] + val = self._pserver + for key in keys: + val = val[key] + return val + except KeyError as e: + if not isinstance(default, Unspecified): + return default + else: + raise BackendException(e) + + def spin(self): + raise NotImplementedError(f"Not implemented, because backend '{self.BACKEND}' does not support multiprocessing.") + + def shutdown(self) -> None: + if not self._has_shutdown: + self.logdebug("Backend.shutdown() called.") + self._has_shutdown = True + self._tpool.shutdown(wait=True) + + +class _Publisher(Publisher): + def __init__( + self, + backend: eagerx.Backend, + tpool: ThreadPoolExecutor, + topics: typing.Dict, + cond: threading.Condition, + address: str, + dtype: str, + ): + super().__init__(backend) + self._tpool = tpool + self._cond = cond + self._topics = topics + with self._cond: + if address not in topics: + self._topic = dict(pubs=0, subs=[], latched=None, dtype=dtype) + topics[address] = self._topic + else: + self._topic = topics[address] + assert self._topic["dtype"] == dtype, f"Dtypes do not match for topic {address}." + + # Increase publisher count + self._topic["pubs"] += 1 + + self._address = address + self._dtype = dtype + self._name = f"{self._address}" + self._unregistered = False + + def _publish(self, msg: typing.Union[float, bool, int, str, np.ndarray, np.number], header: Header) -> None: + if not self._unregistered: + # todo: check if dtype(msg) == self._dtype? + # Convert python native types to numpy arrays. + if isinstance(msg, float): + msg = np.array(msg, dtype="float32") + elif isinstance(msg, int) and not isinstance(msg, bool): + msg = np.array(msg, dtype="int64") + + # Check if message complies with space + if not isinstance(msg, (np.ndarray, np.number, str, bool)): + self._backend.logerr(f"[publisher][{self._name}]: type(recv)={type(msg)}") + time.sleep(10000000) + + # with self._cond: # todo: needed? + for cb in self._topic["subs"]: + self._tpool.submit(cb, msg, header) + self._topic["latched"] = msg, header + + def unregister(self) -> None: + if not self._unregistered: + with self._cond: + self._unregistered = True + assert self._topic["pubs"] > 0, "According to the counter, there should be no publishers left for this topic." + self._topic["pubs"] -= 1 + + # If no other subscribers or publishers, remove topic. + if len(self._topic["subs"]) == 0 and self._topic["pubs"] == 0: + self._topics.pop(self._address) + + +class _Subscriber(Subscriber): + def __init__( + self, + backend: eagerx.Backend, + topics: typing.Dict, + cond: threading.Condition, + address: str, + dtype: str, + callback, + header: bool, + callback_args=tuple(), + ): + super().__init__(backend, header) + self._cond = cond + self._topics = topics + with self._cond: + if address not in topics: + self._topic = dict(pubs=0, subs=[], latched=None, dtype=dtype) + topics[address] = self._topic + latched = None + else: + self._topic = topics[address] + assert self._topic["dtype"] == dtype, f"Dtypes do not match for topic {address}." + latched = self._topic["latched"] + + self._unregistered = False + self._topic["subs"].append(self.callback) + self._address = address + self._dtype = dtype + self._cb_wrapped = callback + self._cb_args = callback_args + self._name = f"{self._address}" + + if latched is not None: + self._backend.logdebug(f"LATCHED: {self._address}") + self.callback(*latched) # todo: inside cond? + + def callback(self, msg, header): + # todo: pass header to callback in publisher + # todo: pass header to wrapped callback if self._header + if not self._unregistered: + # todo: check if dtype(msg) == self._dtype? + if not isinstance(msg, (np.ndarray, np.number, str, bool)): + self._backend.logerr(f"[subscriber][{self._name}]: type(recv)={type(msg)}") + time.sleep(10000000) + self._cb_wrapped(msg, header, *self._cb_args) if self._header else self._cb_wrapped(msg, *self._cb_args) + + def unregister(self) -> None: + if not self._unregistered: + with self._cond: + self._unregistered = True + + self._topic["subs"] = [cb for cb in self._topic["subs"] if not id(cb) == id(self.callback)] + + # If no other subscribers or publishers, remove topic. + if len(self._topic["subs"]) == 0 and self._topic["pubs"] == 0: + self._topics.pop(self._address) + + +class _ShutdownService(ShutdownService): + def __init__(self): + pass + + def unregister(self): + pass diff --git a/eagerx/backends/ros2.py b/eagerx/backends/ros2.py new file mode 100644 index 0000000..ef1560a --- /dev/null +++ b/eagerx/backends/ros2.py @@ -0,0 +1,355 @@ +# ROS1 +try: + import rospy + import rosparam + import rosgraph + import rosservice + from std_srvs.srv import Trigger, TriggerResponse, TriggerRequest + import std_msgs.msg +except ImportError as e: + raise ImportError(f"{e}. (HINT: you need to install ROS Melodic or Noetic and have it sourced.") + +# OTHER +import logging +import typing +import time +import numpy as np +import atexit +from functools import wraps + +# EAGERx +import eagerx +from eagerx.utils.utils import Header +from eagerx.core.pubsub import Publisher, Subscriber, ShutdownService +from eagerx.core.constants import ( + SILENT, + DEBUG, + INFO, + ERROR, + WARN, + FATAL, + COMPATIBLE_DTYPES, + BackendException, + Unspecified, +) + +# A singleton that is used to check if an argument was specified. +_unspecified = Unspecified() + + +class Ros1(eagerx.Backend): + + BACKEND = "ROS1" + DISTRIBUTED_SUPPORT = True + MULTIPROCESSING_SUPPORT = True + COLAB_SUPPORT = True + + @classmethod + def make(cls, log_level=WARN) -> eagerx.specs.BackendSpec: + spec = cls.get_specification() + spec.config.log_level = log_level if isinstance(log_level, str) else eagerx.get_log_level() + return spec + + def initialize(self): + self._bnd = self + _initialize("eagerx_backend_ros1", anonymous=True, log_level=INFO) + + # Set log level + logger = logging.getLogger("rosout") + logger.setLevel(self.log_level) + + def Publisher(self, address: str, dtype: str): + return _Publisher(self._bnd, address, dtype) + + def Subscriber(self, address: str, dtype: str, callback, header: bool = False, callback_args=tuple()): + return _Subscriber(self._bnd, address, dtype, callback, header, callback_args=callback_args) + + @staticmethod + def logdebug(msg, *args, **kwargs): + return rospy.logdebug(msg) + + @staticmethod + def loginfo(msg, *args, **kwargs): + return rospy.loginfo(msg) + + @staticmethod + def logwarn(msg, *args, **kwargs): + return rospy.logwarn(msg) + + @staticmethod + def logerr(msg, *args, **kwargs): + return rospy.logerr(msg) + + def register_environment(self, name: str, force_start: bool, fn: typing.Callable): + # Check if there already exists an environment + services = rosservice.get_service_list() + if f"{name}/environment/shutdown" in services: + if force_start: + Ros1.logwarn(f"There already exists an environment named '{name}'. Shutting down existing environment.") + shutdown_client = rospy.ServiceProxy(f"{name}/environment/shutdown", Trigger) + shutdown_client.wait_for_service(1) + shutdown_client(TriggerRequest()) + else: + msg = ( + f"There already exists an environment named '{name}'. Exiting now. Set 'force_start=True' if you " + "want to shutdown the existing environment." + ) + Ros1.logerr(msg) + raise BackendException + + # Setup remote shutdown procedure for environment + def _remote_shutdown(req: TriggerRequest): + Ros1.loginfo("Remote shutdown procedure started.") + fn() + Ros1.loginfo("Remote shutdown procedure completed.") + return TriggerResponse(success=True, message="") + + shutdown_srv = rospy.Service(f"{name}/environment/shutdown", Trigger, _remote_shutdown) + return _ShutdownService(shutdown_srv) + + def delete_param(self, param: str, level: int = 1) -> None: + try: + rosparam.delete_param(param) + Ros1.loginfo(f'Parameters under namespace "{param}" deleted.') + except rosgraph.masterapi.ROSMasterException as e: + if level == 0: + raise BackendException(e) + elif level == 1: + Ros1.logwarn(e) + else: + pass + + def upload_params(self, ns: str, values: typing.Dict, verbose: bool = False) -> None: + return rosparam.upload_params(ns, values, verbose=verbose) + + def get_param(self, name: str, default: typing.Any = _unspecified): + try: + if isinstance(default, Unspecified): + return rospy.get_param(name) + else: + return rospy.get_param(name, default=default) + except rosgraph.masterapi.Error as e: + raise BackendException(e) + + def spin(self): + return rospy.spin() + + +# Private +_LOG_FNS = { + SILENT: lambda print_str: None, + DEBUG: rospy.logdebug, + INFO: rospy.loginfo, + WARN: rospy.logwarn, + ERROR: rospy.logerr, + FATAL: rospy.logfatal, +} + +_LOG_LEVELS = { + SILENT: rospy.DEBUG, + DEBUG: rospy.DEBUG, + INFO: rospy.INFO, + WARN: rospy.WARN, + ERROR: rospy.ERROR, + FATAL: rospy.FATAL, +} + +_NUMPY_TO_ROS = {key: None for key in COMPATIBLE_DTYPES} +_NUMPY_TO_ROS["str"] = std_msgs.msg.UInt8MultiArray +_NUMPY_TO_ROS["bool"] = std_msgs.msg.Int8MultiArray +_NUMPY_TO_ROS["float32"] = std_msgs.msg.Float32MultiArray +_NUMPY_TO_ROS["float64"] = std_msgs.msg.Float64MultiArray +_NUMPY_TO_ROS["int8"] = std_msgs.msg.Int8MultiArray +_NUMPY_TO_ROS["int16"] = std_msgs.msg.Int16MultiArray +_NUMPY_TO_ROS["int32"] = std_msgs.msg.Int32MultiArray +_NUMPY_TO_ROS["int64"] = std_msgs.msg.Int64MultiArray +_NUMPY_TO_ROS["uint8"] = std_msgs.msg.UInt8MultiArray +_NUMPY_TO_ROS["uint16"] = std_msgs.msg.UInt16MultiArray +_NUMPY_TO_ROS["uint32"] = std_msgs.msg.UInt32MultiArray +_NUMPY_TO_ROS["uint64"] = std_msgs.msg.UInt64MultiArray +_ROS_TO_NUMPY = {val: key for key, val in _NUMPY_TO_ROS.items()} + +_UNSUPPORTED = [key for key, value in _NUMPY_TO_ROS.items() if value is None] + + +def _is_roscore_running(): + return rosgraph.is_master_online() + + +def _launch_roscore(): + if not _is_roscore_running(): + + import roslaunch + + uuid = roslaunch.rlutil.get_or_generate_uuid(options_runid=None, options_wait_for_master=False) + roslaunch.configure_logging(uuid) + roscore = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_files=[], is_core=True) + + try: + roscore.start() + except roslaunch.core.RLException: + Ros1.loginfo( + "Roscore cannot run as another roscore/master is already running. Continuing without re-initializing the roscore." + ) + # roscore = None + raise # todo: maybe not raise here? + else: + Ros1.loginfo( + "Roscore cannot run as another roscore/master is already running. Continuing without re-initializing the roscore." + ) + roscore = None + return roscore + + +@wraps(rospy.init_node) +def _initialize(*args, log_level=INFO, **kwargs): + roscore = _launch_roscore() # First launch roscore (if not already running) + try: + rospy.init_node(*args, log_level=_LOG_LEVELS[log_level], **kwargs) + except rospy.exceptions.ROSException as e: + Ros1.logwarn(e) + if roscore: + atexit.register(roscore.shutdown) + return roscore + + +def _dtype_to_ros1_msg_type(dtype: str): + try: + msg_type_cls = _NUMPY_TO_ROS[dtype] + return msg_type_cls + except KeyError: + msg = f"Invalid dtype provided that is not supported ({dtype}). Supported dtypes are ({_NUMPY_TO_ROS.keys()})" + raise KeyError(msg) + + +# Public Publisher/Subscriber functions + + +class _Publisher(Publisher): + def __init__(self, backend: eagerx.Backend, address: str, dtype: str): + super().__init__(backend) + self._address = address + self._dtype = dtype + self._msg_type = _dtype_to_ros1_msg_type(dtype) + self._pub = rospy.Publisher(address, self._msg_type, queue_size=0, latch=True) + self._name = f"{self._address}" + + def _publish(self, msg: typing.Union[float, bool, int, str, np.ndarray, np.number], header: Header) -> None: + # Convert python native types to numpy arrays. + if isinstance(msg, float): + msg = np.array(msg, dtype="float32") + elif isinstance(msg, bool): + msg = np.array(msg, dtype="bool") + elif isinstance(msg, int): + msg = np.array(msg, dtype="int64") + + # Check if message complies with space + if not isinstance(msg, (np.ndarray, np.number, str)): + Ros1.logerr(f"[publisher][{self._name}]: type(recv)={type(msg)}") + time.sleep(10000000) + + # Check if dtypes of processed message matches outgoing message_type + msg_dtype = msg.dtype.name if isinstance(msg, (np.ndarray, np.number)) else type(msg).__name__ + msg_type = _dtype_to_ros1_msg_type(msg_dtype) + if not msg_type == self._msg_type: + raise AssertionError( + f"[publisher][{self._name}]: " + f"(processed) message dtype ({msg_dtype}) corresponds to msg_type ({msg_type} which is incompatible" + f" with the registered dtype ({self._dtype}) that corresponds to msg_type ({self._msg_type})." + ) + + # Convert to ROS messages + shape = msg.shape if isinstance(msg, (np.ndarray, np.number)) else () + if msg_dtype == "uint8": + msg = self._msg_type(data=msg.tobytes("C")) + elif msg_dtype == "bool": + msg = self._msg_type(data=[int(msg.item())]) + elif msg_dtype == "str": + msg = self._msg_type(data=msg.encode("utf-8")) + else: + msg = self._msg_type(data=msg.reshape(-1)) + + # HACK! Abuse MultiArrayDimension to encode header information + seq, sc, wc = header + secs, nsecs = self._backend.serialize_time(sc) + sc_header = std_msgs.msg.MultiArrayDimension(label=str(seq), size=secs, stride=nsecs) + msg.layout.dim.append(sc_header) + secs, nsecs = self._backend.serialize_time(wc) + wc_header = std_msgs.msg.MultiArrayDimension(label=str(seq), size=secs, stride=nsecs) + msg.layout.dim.append(wc_header) + + # Add dimension information + for i, d in enumerate(shape): + dim = std_msgs.msg.MultiArrayDimension(label=str(i), size=d, stride=sum(shape[i:])) + msg.layout.dim.append(dim) + # if self._address == "/rx/obj/states/N9/set": + # print(f"[publisher][{self._name}]: N9 sent!") + # elif self._address == "/rx/obj/states/N9/done": + # print(f"[publisher][{self._name}]: N9/done sent!") + return self._pub.publish(msg) + + def unregister(self): + return self._pub.unregister() + + +class _Subscriber(Subscriber): + def __init__(self, backend: eagerx.Backend, address: str, dtype: str, callback, header: bool, callback_args=tuple()): + super().__init__(backend, header) + self._address = address + self._dtype = dtype + self._msg_type = _dtype_to_ros1_msg_type(dtype) + self._cb_wrapped = callback + self._cb_args = callback_args + self._sub = rospy.Subscriber(address, self._msg_type, callback=self.callback) + self._name = f"{self._address}" + + def callback(self, msg): + if not isinstance(msg, tuple(_ROS_TO_NUMPY)): + Ros1.logerr(f"[subscriber][{self._name}]: type(recv)={type(msg)}") + time.sleep(10000000) + + if self._header: + seq = int(msg.layout.dim[0].label) + sc_secs, sc_nsecs = msg.layout.dim[0].size, msg.layout.dim[0].stride + wc_secs, wc_nsecs = msg.layout.dim[1].size, msg.layout.dim[1].stride + sc, wc = self._backend.deserialize_time(sc_secs, sc_nsecs), self._backend.deserialize_time(wc_secs, wc_nsecs) + header = Header(seq=seq, sc=sc, wc=wc) + + # Convert input message to numpy array + if isinstance(msg, std_msgs.msg.Int8MultiArray) and self._dtype == "bool": + msg = bool(msg.data[0]) + elif isinstance(msg, std_msgs.msg.UInt8MultiArray): + if self._dtype == "str": + msg = msg.data.decode("utf-8") + else: + s = [d.size for d in msg.layout.dim[2:]] + msg = np.frombuffer(bytes(msg.data), dtype="uint8").reshape(s) + else: + s = [d.size for d in msg.layout.dim[2:]] + msg = np.array(msg.data, dtype=_ROS_TO_NUMPY[type(msg)]).reshape(s) + + try: + # if self._address == "/Pendulum_2_True_0/env/supervisor/end_reset": + # if self._address == "/rx/obj/states/N9/set": + # print(f"[subscriber][{self._name}]: N9 received={msg}!") + # elif self._address == "/rx/obj/states/N9/done": + # print(f"[subscriber][{self._name}]: N9/done received={msg}!") + # Extract header information + self._cb_wrapped(msg, header, *self._cb_args) if self._header else self._cb_wrapped(msg, *self._cb_args) + except rospy.exceptions.ROSException as e: + self.unregister() + Ros1.logdebug(f"[subscriber][{self._name}]: Unregistered this subscription because of exception: {e}") + + def unregister(self): + return self._sub.unregister() + + +class _ShutdownService(ShutdownService): + def __init__(self, srv): + self._srv = srv + + def unregister(self): + self._srv.shutdown() + + +assert len(_UNSUPPORTED) == 0, f"Backend `{Ros1.BACKEND}` does not have support for the following dtypes: {_UNSUPPORTED}." diff --git a/poetry.lock b/poetry.lock index d322ec3..8304005 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,1852 +1,1499 @@ -# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand. +version = 1 +requires-python = ">3.10" [[package]] name = "alabaster" -version = "0.7.13" -description = "A configurable sidebar-enabled Sphinx theme" -optional = false -python-versions = ">=3.6" -groups = ["main"] -files = [ - 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"^0.8.9" PyYAML = "^6.0" rospkg = "^1.3.0" @@ -20,7 +20,6 @@ psutil = "^5.9.0" Rx = "^3.2.0" termcolor = "^1.1.0" defusedxml = "^0.7.1" -netifaces = "^0.11.0" pyglet = "^1.5.21" sphinx-autodoc-typehints = "^1.0" Sphinx = ">=4,<6" diff --git a/scripts/build_docker.sh b/scripts/build_docker.sh index 2f06b70..fcc13b7 100755 --- a/scripts/build_docker.sh +++ b/scripts/build_docker.sh @@ -7,7 +7,7 @@ GPU_PARENT=nvidia/cuda:11.3.1-runtime-ubuntu20.04 TAG=eagerx/eagerx VERSION="$(poetry version --short)" -POETRY_VERSION=1.1.3 +POETRY_VERSION=1.5.1 PYTHON_VERSION=3.8 if [ ${ADD_SB} ]; then @@ -16,10 +16,10 @@ fi if [ ${USE_GPU} ]; then PARENT=${GPU_PARENT} - PYTORCH_DEPS="cudatoolkit=11.3" + PYTORCH_DEPS="cu113" else PARENT=${CPU_PARENT} - PYTORCH_DEPS="cpuonly" + PYTORCH_DEPS="cpu" TAG="${TAG}-cpu" fi diff --git a/scripts/generate_coverage_badge.py b/scripts/generate_coverage_badge.py new file mode 100644 index 0000000..9548243 --- /dev/null +++ b/scripts/generate_coverage_badge.py @@ -0,0 +1,39 @@ +import re +from pathlib import Path + + +ROOT = Path(__file__).parent.parent + + +if __name__ == "__main__": + # Get the coverage percentage from the coverage file + with open(f"{ROOT}/coverage.xml", "r") as f: + coverage = f.read().split("line-rate=")[1].split('"')[1] + coverage = float(coverage) * 100 + + # Update coverage.svg with the new coverage percentage + with open(f"{ROOT}/coverage.svg", "r") as f: + svg = f.read() + + # Replace coverage percentage in aria-label with two decimals + svg = re.sub(r'aria-label=".*%"', f'aria-label="{coverage:.2f}%"', svg) + + # Replace coverage in title + svg = re.sub(r".*", f"{coverage:.2f}%", svg) + + # Replace coverage in text + svg = re.sub(r">.*%", f">{coverage:.2f}%", svg) + + # Calculate red and blue rgb values based on coverage (till 50% red) + red = int(255 * (1 - max(coverage - 50, 0) / 50)) + green = int(255 * max(coverage - 50, 0) / 50) + + # Get rgb string + rgb_string = "rgb({},{},{})".format(red, green, 0) + + # Replace rgb in fill + svg = re.sub(r'fill="rgb\(.*\)"', f'fill="{rgb_string}"', svg) + + # Save the new svg + with open(f"{ROOT}/coverage.svg", "w") as f: + f.write(svg)