First commit

run_simulator.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+"""
+A script to run the project in Webots.
+
+Largely just a shortcut to running the arena world in Webots.
+"""
+# ruff: noqa: E501
+from __future__ import annotations
+
+import sys
+import traceback
+from os.path import expandvars
+from pathlib import Path
+from shutil import which
+from subprocess import Popen
+
+BOLD_RED = '\x1b[31;1m'
+RESET_COLOUR = '\x1b[0m'
+
+
+if sys.platform == "win32":
+    from subprocess import CREATE_NEW_PROCESS_GROUP, DETACHED_PROCESS
+
+if (Path(__file__).parent / 'simulator/VERSION').exists():
+    print("Running in release mode")
+    SIM_BASE = Path(__file__).parent.resolve()
+else:
+    print("Running in development mode")
+    # Assume the script is in the scripts directory
+    SIM_BASE = Path(__file__).parents[1].resolve()
+
+POSSIBLE_WEBOTS_PATHS = [
+    ("darwin", "/Applications/Webots.app/Contents/MacOS/webots"),
+    ("win32", "C:\\Program Files\\Webots\\msys64\\mingw64\\bin\\webotsw.exe"),
+    ("win32", expandvars("%LOCALAPPDATA%\\Programs\\Webots\\msys64\\mingw64\\bin\\webotsw.exe")),
+    # Attempt to use the start menu shortcut
+    ("win32", expandvars("%ProgramData%\\Microsoft\\Windows\\Start Menu\\Programs\\Cyberbotics\\Webots.lnk")),
+    ("win32", expandvars("%APPDATA%\\Microsoft\\Windows\\Start Menu\\Programs\\Cyberbotics\\Webots.lnk")),
+    ("linux", "/usr/local/bin/webots"),
+    ("linux", "/usr/bin/webots"),
+]
+
+
+def get_webots_parameters() -> tuple[Path, Path]:
+    """
+    Get the paths to the Webots executable and the arena world file.
+
+    :return: The paths to the Webots executable and the arena world file
+    """
+    world_file = SIM_BASE / "simulator/worlds/arena.wbt"
+
+    if not world_file.exists():
+        raise RuntimeError("World file not found.")
+
+    if not (SIM_BASE / "venv").exists():
+        raise RuntimeError("Please run the setup.py script before running the simulator.")
+
+    # Check setup finish successfully
+    if not (SIM_BASE / "venv/setup_success").exists():
+        raise RuntimeError("Setup has not completed successfully. Please re-run the setup.py script.")
+
+    # Check if Webots is in the PATH
+    webots = which("webots")
+
+    # Find the webots executable, if it is not in the PATH
+    if webots is None:
+        for system_filter, path in POSSIBLE_WEBOTS_PATHS:
+            if sys.platform.startswith(system_filter):
+                print(f"Checking {path}")
+                if Path(path).exists():
+                    webots = path
+                    break
+
+    if webots is None or not Path(webots).exists():
+        raise RuntimeError("Webots executable not found.")
+
+    return Path(webots), world_file
+
+
+def main() -> None:
+    """Run the project in Webots."""
+    try:
+        webots, world_file = get_webots_parameters()
+
+        # Run the world file in Webots,
+        # detaching the process so it does not close when this script does
+        if sys.platform == "win32":
+            Popen(
+                [str(webots), str(world_file)],
+                creationflags=DETACHED_PROCESS | CREATE_NEW_PROCESS_GROUP,
+                # shell=True is needed to run from shortcuts
+                shell=(webots.suffix == ".lnk"),
+            )
+        else:
+            Popen([str(webots), str(world_file)], start_new_session=True)
+    except RuntimeError as e:
+        print(BOLD_RED)
+        print(f"An error occurred: \n{e}")
+        input(f"Press enter to continue...{RESET_COLOUR}")
+        exit(1)
+    except Exception as e:
+        print(BOLD_RED)
+        print(f"An error occurred: {e}")
+        print(traceback.format_exc())
+        input(f"Press enter to continue...{RESET_COLOUR}")
+        exit(1)
+
+
+if __name__ == "__main__":
+    main()