from __future__ import annotations
from operator import attrgetter
from typing import Any, Optional
import yaml
from irsim.config import env_param
from irsim.util.util import file_check
from irsim.world import World
from irsim.world.object_factory import ObjectFactory
from .env_plot import EnvPlot
[docs]
class EnvConfig:
"""
Environment configuration loader and builder from YAML.
Responsibilities:
- Resolve and parse a YAML configuration into structured dictionaries
(basic categories: ``world``, ``gui``, ``robot``, ``obstacle``)
- Construct ``World`` and object collections and produce an ``EnvPlot``
- Support reloading the YAML and updating the scene in the same figure
"""
def __init__(self, world_name: Optional[str]) -> None:
self.object_factory = ObjectFactory()
self.load_yaml(world_name)
[docs]
def load_yaml(self, world_name: Optional[str] = None) -> None:
"""Parse the YAML file and populate internal configuration state.
Args:
world_name: Path or name of the YAML file. If ``None``, will try to
resolve via ``file_check`` and fall back to empty/defaults.
"""
self.world_name = world_name
self.world_file_path = file_check(world_name)
self._kwargs_parse: dict[str, Any] = {
"world": {},
"gui": {},
"robot": None,
"obstacle": None,
}
self.world_file_path = self.world_file_path
self.world_name = world_name
if self.world_file_path is not None:
with open(self.world_file_path) as file:
com_list = yaml.load(file, Loader=yaml.FullLoader)
for key in com_list:
if key in self._kwargs_parse:
self._kwargs_parse[key] = com_list[key]
else:
self.logger.error(
f"There are invalid key: '{key}' in {self.world_name} file!"
)
raise KeyError
else:
self.logger.warning(
f"{self.world_name} YAML File not found!, using default world config."
)
[docs]
def initialize_objects(self) -> Any:
"""Construct world, objects and plot from the current parsed config.
Returns:
Tuple: ``(world, objects, env_plot, robot_collection, obstacle_collection, map_collection)``
Notes:
- Caches the created ``EnvPlot`` and ``objects`` internally for use
during in-place reloads.
"""
world = World(self.world_name, **self.parse["world"])
robot_collection = self.object_factory.create_from_parse(
self.parse["robot"], "robot"
)
obstacle_collection = self.object_factory.create_from_parse(
self.parse["obstacle"], "obstacle"
)
map_collection = self.object_factory.create_from_map(
world.obstacle_positions, world.buffer_reso
)
objects = robot_collection + obstacle_collection + map_collection
objects.sort(key=attrgetter("id"))
env_plot = EnvPlot(world, objects)
# cache for in-place reload
self._env_plot = env_plot
self._objects = objects
return (
world,
objects,
self._env_plot,
robot_collection,
obstacle_collection,
map_collection,
)
[docs]
def reload_objects(self) -> Any:
"""Rebuild world/objects and update the current figure in-place.
This method reuses the existing ``EnvPlot`` instance and its figure/axes,
clearing old artists and re-initializing with the new world and objects.
Returns:
Tuple: ``(world, objects, env_plot, robot_collection, obstacle_collection, map_collection)``
"""
world = World(self.world_name, **self.parse["world"])
robot_collection = self.object_factory.create_from_parse(
self.parse["robot"], "robot"
)
obstacle_collection = self.object_factory.create_from_parse(
self.parse["obstacle"], "obstacle"
)
map_collection = self.object_factory.create_from_map(
world.obstacle_positions, world.buffer_reso
)
objects = robot_collection + obstacle_collection + map_collection
objects.sort(key=attrgetter("id"))
# env_plot = EnvPlot(world, objects, **world.plot_parse)
self._env_plot.clear_components("all", self._objects)
self._env_plot._init_plot(world, objects)
return (
world,
objects,
self._env_plot,
robot_collection,
obstacle_collection,
map_collection,
)
[docs]
def reload_yaml_objects(self, world_name) -> Any:
"""Reload YAML and update the scene using the existing figure.
This re-parses the YAML and then calls :py:meth:`reload_objects` to
apply the new configuration without creating a new figure window.
Args:
world_name: Optional path/name of the YAML to reload. If ``None``,
uses the previously resolved YAML file.
Returns:
Tuple: ``(world, objects, env_plot, robot_collection, obstacle_collection, map_collection)``
"""
reload_world_name = world_name if world_name is not None else self.world_name
self.load_yaml(reload_world_name)
(
world,
objects,
env_plot,
robot_collection,
obstacle_collection,
map_collection,
) = self.reload_objects()
return (
world,
objects,
env_plot,
robot_collection,
obstacle_collection,
map_collection,
)
@property
def parse(self) -> dict[str, Any]:
"""
The parsed kwargs from the yaml file.
"""
return self._kwargs_parse
@property
def logger(self):
"""
Get the logger of the env_param.
"""
return env_param.logger