bulk run decmcts, only slice if not already sliced (#64)

src/bulk_test.py

+import sys
+import subprocess as sp
+import os
+import decmcts
+import gcode2contour as gc
+import utils as tu
+from math import pi
+
+
+default_config = '../config/Slic3rConfig.ini'
+
+
+def slice_stls(filenames, out_address, config=default_config, overwrite=False):
+    """
+    Slice a list of STLs, construct gcode files with same name
+    """
+    gcodes = []
+
+    for f in filenames:
+        # create gcode file
+        object_name = f.split('/')[-1].split('.')[0]
+        out_fname = out_address + object_name + '.gcode'
+
+        # if file already exist and not overwriting 
+        if not overwrite and os.path.exists(out_fname):
+            gcodes.append(out_fname)
+            continue
+
+        # if file already exists, and we want to overwrite
+        elif overwrite and os.path.exists(out_fname):
+            os.remove(out_fname)
+
+        # run slicer
+        command = 'slic3r ' + f + \
+                ' --load ' + config + \
+                ' -o ' + out_fname
+        sp.run(command.split())
+        gcodes.append(out_fname)
+
+    return gcodes
+
+
+def batch_decmcts(gcode_files, n_layers, mcts_nodes_per_layer):
+    """
+    runs decmcts on multiple gcode files
+    """
+
+    # create one env for all runs
+    home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
+    env_desc2 = tu.read_env('calibrations/r1_tforms.yaml',
+                            'calibrations/r2_tforms.yaml')
+    env = tu.SimEnv(env_desc=env_desc2, gui=False, home=home)
+
+    for f in gcode_files:
+
+        model = f.split('/')[-1].split('.')[0]
+        tracker = tu.get_tracker(model)
+        print("\n####################################")
+        print("Runnning for model {}".format(model))
+        print("####################################")
+
+
+        try:
+            cs, plan = decmcts.decmcts(tracker,
+                    env,
+                    n_layers=n_layers,
+                    mcts_nodes=mcts_nodes_per_layer
+                    )
+            plan.visualise()
+        except:
+            print("FAILED TO COMPLETE ON MODEL {}".format(model))
+
+
+if __name__ == '__main__':
+
+    # read stl files to slice
+    stl_add = '../stls/'
+    filenames = [stl_add + 'cylinder.stl', stl_add + 'flexirex.stl']
+    out = './gcode/'
+
+    # slice
+    gcode_files = slice_stls(filenames, out)
+    batch_decmcts(gcode_files, 2, 500)

src/decmcts.py

@@ -232,9 +232,8 @@ def reward(data, states):
 
 
 def decmcts(contour_tracker,
-            env_desc,
+            env,
             n_layers=None,
-            gui=False,
             mcts_nodes=100, # no. of nodes to grow on each tree
             comm_n=10, # no. of action dists to communicate
             c_traj_save_file=False,
@@ -251,7 +250,6 @@ def decmcts(contour_tracker,
     last_comp_print_height = 0
     print_block = None
 
-    env = tu.SimEnv(env_desc=env_desc, gui=gui, home=home)
     plan = tu.Plan(env)
 
     # save calculated trajectories for contours between loops
@@ -262,7 +260,7 @@ def decmcts(contour_tracker,
                 c_traj = pickle.load(f)
         except FileNotFoundError:
             print("File does not exist, will create new one")
-    n_arms = env_desc.n_arms
+    n_arms = env.numRobots
     arm_done = [False]*n_arms
     update_savefile = False
 
@@ -506,14 +504,13 @@ if __name__ == "__main__":
     # 2arms real calibration
     env_desc2 = tu.read_env('calibrations/r1_tforms.yaml',
                             'calibrations/r2_tforms.yaml')
+    env = tu.SimEnv(env_desc=env_desc2, gui=False, home=home)
 
     # decmcts plan first n contours
     c_traj_file = "gcode/" + model + ".c_traj"
     cs, plan = decmcts(tracker,
-                   env_desc2,
+                   env,
                    n_layers=2,
-                   c_traj_save_file=c_traj_file,
-                   gui=False,
                    mcts_nodes=1000
                    )
     visualiseCombinedSchedule(cs)

stls/bulk_slice.py

-import sys
-import subprocess as sp
-import os
-
-
-default_config = '../config/Slic3rConfig.ini'
-
-
-def slice_stls(filenames, out_address, config=default_config):
-    """
-    Slice a list of STLs, construct gcode files with same name
-    """
-    gcodes = []
-
-    for f in filenames:
-        # create gcode file
-        object_name = f.split('/')[-1].split('.')[0]
-        out_fname = out_address + object_name + '.gcode'
-        command = 'slic3r ' + f + \
-                ' --load ' + config + \
-                ' -o ' + out_fname
-        sp.run(command.split())
-        gcodes.append(out_fname)
-
-    return gcodes
-
-
-if __name__ == '__main__':
-
-    # read stl files to slice
-    filenames = ['cylinder.stl', 'flexirex.stl']
-    out = '../src/gcode/bulk/'
-
-    # slice
-    gcode_files = slice_stls(filenames, out)