Merge branch 'cleanUp'

Forgot to merge branch on desktop end, so merging that CleanUp branch now.

botSimMain.py

@@ -30,7 +30,20 @@ def main(numSims=1):
         time.sleep(5)
         logger_b.info('Now on simulation {}'.format(i))
         logger_p.info('Now on simulation {}'.format(i))
-        run()
+        try:
+            controllerJobs = setUp()
+            # Start all threads
+            for p in controllerJobs:
+                p.start()
+                time.sleep(0.1)
+            # Wait for all threads to finish
+            for p in controllerJobs:
+                p.wait()
+        except KeyboardInterrupt:
+            print "Ctrl-C pressed..."
+            for p in controllerJobs:
+                p.stop()
+            sys.exit(1)
         time.sleep(5)
         eretCode = vrep.simxStopSimulation(clientID, vrep.simx_opmode_oneshot)
         if eretCode > 1:
@@ -40,28 +53,23 @@ def main(numSims=1):
         time.sleep(240)
 
 
-def run():
+def setUp():
     optionsList = [0, 1, 2, 3, 4]
     w = 1.0
     noise = 0.1
+    poolSize = 2
     numEpucks = 5  # 20
     ePucks = []
     populationBeliefs = (1.0/len(optionsList)) * np.ones((numEpucks,
                                                           len(optionsList)))
 
     for i, p in enumerate(populationBeliefs):
-        ePucks.append(EPuckSim(i, p, w, optionsList, noise))
+        ePucks.append(EPuckSim(i, p, w, optionsList, noise, poolSize))
         time.sleep(0.1)
 
     controllerJobs = [ControllerThread(name='controller{}'.format(e.ID),
                                        ePuck=e) for e in ePucks]
-    # Start all threads
-    for p in controllerJobs:
-        p.start()
-        time.sleep(0.1)
-    # Wait for all threads to finish
-    for p in controllerJobs:
-        p.join()
+    return controllerJobs
 
 
 if __name__ == '__main__':

configuration.ini

 [loggers]
-keys = root, ePucks, path, joints, proxSensors, lightSensors, botSimMain, bestOfN_lightReadings, myThreads, beliefLogger, main, poolLogger
+keys = root, ePucks, path, joints, proxSensors, lightSensors, botSimMain, bestOfN_lightReadings, myThreads, beliefLogger, main, evidenceLogger
 
 [handlers]
-keys = consoleHandler, fileHandler, beliefFileHandler, poolFileHandler
+keys = consoleHandler, fileHandler, beliefFileHandler, evidenceFileHandler
 
 [formatters]
-keys=defaultFormatter, beliefFormatter
+keys=defaultFormatter, dataFormatter
 
 [logger_root]
 handlers = consoleHandler
 
 [logger_main]
 handlers = consoleHandler
-level = DEBUG
+level = INFO
 qualname = main
 propagate = 0
 
@@ -66,14 +66,14 @@ propagate = 0
 
 [logger_beliefLogger]
 handlers = beliefFileHandler
-level = WARNING
+level = INFO
 qualname = beliefLogger
 propagate = 0
 
-[logger_poolLogger]
-handlers = poolFileHandler
-level = WARNING
-qualname = poolLogger
+[logger_evidenceLogger]
+handlers = evidenceFileHandler
+level = INFO
+qualname = evidenceLogger
 propagate = 0
 
 [handler_consoleHandler]
@@ -88,16 +88,16 @@ args=('botSim.log', 'w',)
 
 [handler_beliefFileHandler]
 class=logging.FileHandler
-formatter=beliefFormatter
+formatter=dataFormatter
 args=('botSim_beliefs.log', 'w')
 
-[handler_poolFileHandler]
+[handler_evidenceFileHandler]
 class=logging.FileHandler
-formatter=beliefFormatter
-args=('botSim_pools.log', 'w')
+formatter=dataFormatter
+args=('botSim_evidence.log', 'w')
 
 [formatter_defaultFormatter]
 format="%(asctime)s [%(levelname)s] (%(threadName)-10s) %(name)s: %(message)s"
 
-[formatter_beliefFormatter]
-format="%(asctime)s (%(threadName)-10s) %(name)s: %(message)s"
+[formatter_dataFormatter]
+format=%(asctime)s, %(message)s

lightSensors.py

@@ -74,6 +74,7 @@ class LightSensor(object):
     def retLightSensorReading(self):
         try:
             reading = self.readLightSensor()[11]
+            logger.info('Bare light reading is {}'.format(reading))
             noise = np.random.normal(loc=0.0,
                                      scale=self._sigma)
             noisyReading = reading + noise

myThreads.py

@@ -20,6 +20,9 @@ class StoppableThread(threading.Thread):
     def stopped(self):
         return self._stop_event.is_set()
 
+    def wait(self):
+        self._stop_event.wait()
+
 
 class ControllerThread(threading.Thread):
 
@@ -32,11 +35,15 @@ class ControllerThread(threading.Thread):
 
     def stop(self):
         logger.debug('ControllerThread is set to stop')
+        self.ePuck.cleanUp()
         self._stop_event.set()
 
     def stopped(self):
         return self._stop_event.is_set()
 
+    def wait(self):
+        self._stop_event.wait()
+
     def run(self):
         logger.debug('ControllerThread is starting.')
         retFlag = False
@@ -50,10 +57,9 @@ class ControllerThread(threading.Thread):
 
 class BroadcastingThread(threading.Thread):
 
-    def __init__(self, name, ePuck, message, messageName):
+    def __init__(self, name, ePuck, messageName):
         super(BroadcastingThread, self).__init__()
         self.daemon = True
-        self.message = message
         self.messageName = messageName
         self.ePuck = ePuck
         self._stop_event = threading.Event()
@@ -63,12 +69,18 @@ class BroadcastingThread(threading.Thread):
         logger.debug('BroadcastingThread is set to stop')
         self._stop_event.set()
 
+    def wait(self):
+        self._stop_event.wait()
+
     def stopped(self):
         return self._stop_event.is_set()
 
     def run(self):
         logger.debug('BroadcastingThread is starting.')
         while not self.stopped():
-            self.ePuck.sendMessage(self.message, self.messageName)
+            # Message is set from the ePuck side allowing for msg changes
+            # without having to stop and start Broacasting Threads
+            self.ePuck.sendMessage(self.ePuck.msgToSend,
+                                   self.messageName)
             time.sleep(random.random())
         logger.debug('BroadcastingThread has finished')

sites.py

@@ -15,7 +15,7 @@ class Site(object):
         self._name = "Site#" + str(siteID)
         self.handle = None
         self.position = None
-        self.radius = 0.15
+        self.radius = 0.1
         self.margin = 20
 
     def getSiteHandle(self):