Bagel Magic

BagelMagic

BagelMagic is a PyQt gui to interface the most common used Bagel tools through a simple user interface.

1. The environment group allows to select a simulation scenario which will be loaded when the simulation is started. To detect the available scenarios the gui parsed the subfolder models/environments. The first select box includes all subfolders found, while the second selectbox lists all files of the selected subfolder that can be loaded by the MARS simulation.
2. The robot group allows to select a robot model. Similar to the environment group the subfolder models/robots is parsed to detect the available models. The first select box includes all subfolders and defines the general model to load. The second select box includes again all loadable files, which can represent different configuraitons of the robot model.
3. The bagel control group allows to select a control graph that will be loaded in the simulation to control the selected robot model. It parses the bagel_db and filters the available graphs by the robot model name to fill the first select box. The second select box allows to specify the version of the selected Bagel graph. The bagel database manages a newer modelling of Bagel graphs with a more easy to use graphical user interface. To load the selected graph in the simulation (executed with the c_bagel library), one have to translate the new graph representation and all used subgraphs into the representation used by c_bagel. If extern Bagel nodes are used by the model (see extern Bagel nodes) they are also compiled. The resulting graph files and extern nodes (libraries) are installed into model specific subfolders:
   • install/share/bagel/models/[model_name]/[version]/...
   • tmp/bagel/extern_nodes/[model_name]/[version]/...
4. The button reloads the data of the models folders and the graph database. If for example a new robot model or Bagel control graph is generated the select boxes can be updated instead of closing and reopening the gui.
5. The button opens the selected Bagel control graph in the BagelGui to edit the graph.
6. The button generates, if not already existing, a new MARS configuration folder for the selected Bagel control graph and changes the configuration to the selected robot and scenario. The MARS configuration folder is generated in the following subfolder: install/configuration/mars/[model_name]/[version]/
   After the configuration is done, the simulation is started.
7. The window includes debug messages generated by the gui.