plan_interpreter.py works with default arguments again

nasa · Dec 19, 2023 · 43d453e · 43d453e
1 parent 9dba17c
commit 43d453e
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Showing 2 changed files with 43 additions and 51 deletions.
diff --git a/astrobee/survey_manager/survey_planner/data/sample_output_plan.yaml b/astrobee/survey_manager/survey_planner/data/sample_output_plan.yaml
@@ -47,8 +47,7 @@
     - 11.0
     - -7.0
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
+  duration_seconds: '780.000'
 - start_time_seconds: '100.004'
   action:
     type: panorama
@@ -58,9 +57,8 @@
     - 11.0
     - -9.7
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
-- start_time_seconds: '990.005'
+  duration_seconds: '780.000'
+- start_time_seconds: '870.005'
   action:
     type: move
     robot: bumble
@@ -70,7 +68,7 @@
     - -6.0
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '1000.005'
+- start_time_seconds: '880.005'
   action:
     type: move
     robot: honey
@@ -80,7 +78,7 @@
     - -9.0
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '1010.006'
+- start_time_seconds: '890.006'
   action:
     type: panorama
     robot: bumble
@@ -89,9 +87,8 @@
     - 11.0
     - -6.0
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
-- start_time_seconds: '1020.006'
+  duration_seconds: '780.000'
+- start_time_seconds: '900.006'
   action:
     type: panorama
     robot: honey
@@ -100,9 +97,8 @@
     - 11.0
     - -9.0
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
-- start_time_seconds: '1910.007'
+  duration_seconds: '780.000'
+- start_time_seconds: '1670.007'
   action:
     type: move
     robot: bumble
@@ -112,7 +108,7 @@
     - -5.0
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '1930.008'
+- start_time_seconds: '1690.008'
   action:
     type: panorama
     robot: bumble
@@ -121,9 +117,8 @@
     - 11.0
     - -5.0
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
-- start_time_seconds: '2830.009'
+  duration_seconds: '780.000'
+- start_time_seconds: '2470.009'
   action:
     type: move
     robot: bumble
@@ -133,7 +128,7 @@
     - -4.0
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '2850.010'
+- start_time_seconds: '2490.010'
   action:
     type: panorama
     robot: bumble
@@ -142,16 +137,14 @@
     - 11.0
     - -4.0
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
-- start_time_seconds: '3750.011'
+  duration_seconds: '780.000'
+- start_time_seconds: '3270.011'
   action:
     type: stereo
     robot: bumble
     fplan: jem_stereo_mapping_bay1_to_bay3.fplan
-    run: 1
   duration_seconds: '600.000'
-- start_time_seconds: '4350.012'
+- start_time_seconds: '3870.012'
   action:
     type: move
     robot: honey
@@ -161,7 +154,7 @@
     - -8.0
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '4370.013'
+- start_time_seconds: '3890.013'
   action:
     type: panorama
     robot: honey
@@ -170,9 +163,8 @@
     - 11.0
     - -8.0
     - 4.8
-    run: 1
-  duration_seconds: '900.000'
-- start_time_seconds: '5270.014'
+  duration_seconds: '780.000'
+- start_time_seconds: '4670.014'
   action:
     type: move
     robot: honey
@@ -182,7 +174,7 @@
     - -9.0
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '5290.015'
+- start_time_seconds: '4690.015'
   action:
     type: move
     robot: honey
@@ -192,7 +184,7 @@
     - -9.7
     - 4.8
   duration_seconds: '20.000'
-- start_time_seconds: '5310.016'
+- start_time_seconds: '4710.016'
   action:
     type: dock
     robot: honey

diff --git a/astrobee/survey_manager/survey_planner/tools/plan_interpreter.py b/astrobee/survey_manager/survey_planner/tools/plan_interpreter.py
@@ -34,10 +34,17 @@
 import pathlib
 import re
 import sys
-from typing import Any, Dict, List
+from typing import Any, Dict, Iterable, List
 
 import yaml
 
+from problem_generator import CWD, DATA_DIR, PDDL_DIR, load_yaml, path_list
+
+DEFAULT_CONFIGS = [
+    DATA_DIR / "jem_survey_static.yaml",
+    # Dynamic config not needed for interpreting the plan
+]
+
 ACTION_TYPE_OPTIONS = ("dock", "undock", "move", "panorama", "stereo")
 
 
@@ -54,14 +61,6 @@
 )
 
 
-def load_yaml(yaml_path: pathlib.Path) -> YamlMapping:
-    """
-    Return the YAML parse result for the file at `yaml_path`.
-    """
-    with yaml_path.open(encoding="utf-8") as yaml_stream:
-        return yaml.safe_load(yaml_stream)
-
-
 class PlanAction:
     """
     Class representing one entry in the output plan sequence of a PDDL planner.
@@ -187,19 +186,22 @@ def ignore_aliases(self, data):
 
 
 def plan_interpreter(
-    config_static_path: pathlib.Path, plan_path: pathlib.Path, output_path: pathlib.Path
+    config_paths: Iterable[pathlib.Path],
+    plan_path: pathlib.Path,
+    output_path: pathlib.Path,
 ) -> None:
     """
     The main function that interprets an entire plan file.
 
     However, if you are receiving one action at a time from an executor, you may prefer to import
     this module and call yaml_action_from_pddl() directly.
     """
-    config_static = load_yaml(config_static_path)
+    config = {}
+    for config_path in config_paths:
+        config.update(load_yaml(config_path))
     pddl_actions = parse_plan(plan_path)
     yaml_actions = [
-        yaml_plan_action_from_pddl(plan_action, config_static)
-        for plan_action in pddl_actions
+        yaml_plan_action_from_pddl(plan_action, config) for plan_action in pddl_actions
     ]
     with output_path.open("w", encoding="utf-8") as output_stream:
         yaml.dump(yaml_actions, output_stream, Dumper=NoAliasDumper, sort_keys=False)
@@ -217,30 +219,28 @@ def main():
         description=__doc__, formatter_class=CustomFormatter
     )
     parser.add_argument(
-        "--config-static",
-        help="Path to input static problem config YAML (module geometry, available stereo surveys, etc.)",
-        type=pathlib.Path,
-        default="jem_survey_static.yaml",
+        "--config",
+        help="Comma-separated list of paths to YAML problem config inputs (only static config needed)",
+        type=path_list,
+        default=DEFAULT_CONFIGS,
     )
     parser.add_argument(
         "--plan",
         help="Path to input plan generated by PDDL planner (parser currently tuned for POPF idiosyncrasies)",
         type=pathlib.Path,
-        default="sample_output_plan.txt",
+        default=DATA_DIR / "sample_output_plan.txt",
     )
     parser.add_argument(
         "-o",
         "--output",
         help="Path for output converted to YAML format",
         type=pathlib.Path,
-        default="sample_output_plan.yaml",
+        default=DATA_DIR / "sample_output_plan.yaml",
     )
     args = parser.parse_args()
 
     plan_interpreter(
-        config_static_path=args.config_static,
-        plan_path=args.plan,
-        output_path=args.output,
+        config_paths=args.config, plan_path=args.plan, output_path=args.output
     )