test_runner

#!/usr/bin/env python3

import argparse
import os

parser = argparse.ArgumentParser()
parser.add_argument("-viz", type=int, help="Bool if visualization should be used")


def runner(
    num_robots=2, world="v2_maze", method="combined", stop_time=400, tries=10, args=None
):
    """
    sets the environment variables for the search and starts the search
    """
    os.environ["tme_start_num"] = str(num_robots)
    os.environ["tme_stop_time"] = str(stop_time)
    print(method)
    os.environ["tme_expl_method"] = str(method)
    os.environ["tme_ROBOT_ENV"] = str(world)
    os.environ["tme_ROBOT"] = "rto-1"

    start_two = False
    start_three = False
    start_four = False
    start_five = False

    if num_robots >= 2:
        start_two = True
        if num_robots >= 3:
            start_three = True
            if num_robots >= 4:
                start_four = True
                if num_robots >= 5:
                    start_five = True

    os.environ["tme_start_two"] = str(start_two)
    os.environ["tme_start_three"] = str(start_three)
    os.environ["tme_start_four"] = str(start_four)
    os.environ["tme_start_five"] = str(start_five)

    file_location = "catkin_ws/src/TU_Much_Exploration/tme_startup/launch"
    file_name = "decentralized_launch.launch"
    file_name = os.path.join(os.path.expanduser("~"), file_location, file_name)

    for i in range(tries):
        os.system(
            f"roslaunch tme_startup decentralized_launch.launch arg_viz:={args.viz}"
        )


if __name__ == "__main__":
    # this is the main method for running multiple simulations without needing
    # to roslaunch manually
    args = parser.parse_args()

    num_robots = [5]  # [2, 3, 4, 5]
    world = ["v2_maze"]  # 'v2_maze', 'map_3', 'marty'
    # ["nearest", 'minPos', 'nextFrontier', 'coExplore', 'co122']
    method = ["coExplore"]
    stop_time = [250]  # [500, 400, 300, 250]
    tries = [1]
    for x in range(len(tries)):
        for j in range(len(num_robots)):
            for i in range(len(world)):
                for y in range(len(method)):
                    runner(
                        num_robots[j], world[i], method[y], stop_time[j], tries[x], args
                    )