genericSupervisor.py

 
 
from abc import ABC, abstractmethod
from shesha.sutra_wrap import carmaWrap_context
 
 
class GenericSupervisor(ABC):
    """ This class defines generic methods and behavior of a supervisor
    It is not intended to be instantiated as it is : prefer to build
    a supervisor class inheriting from it. This approach allows to build multiple
    supervisors with various components and less effort
 
    Attributes:
        context : (CarmaContext) : a CarmaContext instance
 
        config : (config) : Parameters structure
 
        is_init : (bool) : Flag equals to True if the supervisor has already been initialized
 
        iter : (int) : Frame counter
    """
 
    def __init__(self, config):
        """ Init the a supervisor
 
        Args:
            config : (config module) : Configuration module
 
        """
        self.contextcontext = None
        self.configconfig = config
        self.is_initis_init = False
        self.iteriter = 0
 
        if (self.configconfig.p_loop.devices.size > 1):
            self.contextcontext = carmaWrap_context.get_instance_ngpu(
                    self.configconfig.p_loop.devices.size, self.configconfig.p_loop.devices)
        else:
            self.contextcontext = carmaWrap_context.get_instance_1gpu(
                    self.configconfig.p_loop.devices[0])
        self.force_contextforce_context()
 
        self._init_components_init_components()
 
    def get_config(self):
        """ Returns the configuration in use, in a supervisor specific format ?
 
        Returns:
            config : (config module) : Current supervisor configuration
        """
        return self.configconfig
 
    def get_frame_counter(self) -> int:
        """Return the current iteration number of the loop
 
        Returns:
            framecounter : (int) : Number of iteration already performed
        """
        return self.iteriter
 
    def force_context(self) -> None:
        """ Active all the GPU devices specified in the parameters file
        """
        if self.contextcontext is not None:
            current_device = self.contextcontext.active_device
            for device in range(len(self.configconfig.p_loop.devices)):
                self.contextcontext.set_active_device_force(device)
            self.contextcontext.set_active_device(current_device)
 
    @abstractmethod
    def _init_components(self) -> None:
        """ Initialize all the components
        """
        self.is_initis_init = True