From 845823a166706cee952be22a5c5546fdf7c5e7dc Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Tue, 26 May 2020 23:47:11 +0200
Subject: [PATCH 1/6] Allow templated variables in config files.

The main advantage is that a cmdline argument can be used multiple times
in the config file and it does not have to be in app.init section. The
disadvantage is that the values are strings so they need to be explicitly
converted on the application side.
---
 osgar/lib/config.py      | 16 ++++++++++++++++
 osgar/lib/test_config.py | 19 ++++++++++++++++++-
 subt/main.py             | 29 ++++++++++++++---------------
 subt/zmq-subt-x2.json    |  4 ++++
 4 files changed, 52 insertions(+), 16 deletions(-)

diff --git a/osgar/lib/config.py b/osgar/lib/config.py
index 72fe74de1..53d9e7b4d 100644
--- a/osgar/lib/config.py
+++ b/osgar/lib/config.py
@@ -64,4 +64,20 @@ def merge_dict(dict1, dict2):
             ret[key] = dict2[key]
     return ret
 
+
+def expand(cfg, data):
+    if isinstance(cfg, dict):
+        ret = {}
+        for k,v in cfg.items():
+            ret[eval(f"f'{k}'", data)] = expand(v, data)
+        return ret
+    if isinstance(cfg, list):
+        ret = []
+        for v in cfg:
+            ret.append(expand(v, data))
+        return ret
+    if isinstance(cfg, str):
+        return eval(f"f'{cfg}'", data)
+    return cfg
+
 # vim: expandtab sw=4 ts=4
diff --git a/osgar/lib/test_config.py b/osgar/lib/test_config.py
index 18846ee40..a3ec1c0b5 100644
--- a/osgar/lib/test_config.py
+++ b/osgar/lib/test_config.py
@@ -1,6 +1,6 @@
 import os
 import unittest
-from osgar.lib.config import config_load, merge_dict, MergeConflictError, get_class_by_name
+from osgar.lib.config import config_load, merge_dict, MergeConflictError, get_class_by_name, expand
 from osgar.drivers.logsocket import LogTCPStaticIP as LogTCP
 
 def test_data(filename, test_dir='test_data'):
@@ -62,5 +62,22 @@ def test_application(self):
         conf = config_load(filename, application='osgar.lib.test_config:MyTestRobot')
         self.assertTrue(conf['robot']['modules']['app']['driver'].endswith('lib.test_config:MyTestRobot'))
 
+    def test_expand(self):
+        a = expand('{application}', dict(application="subt"))
+        self.assertEqual(a, 'subt')
+        a = expand('before{application}after', dict(application="subt"))
+        self.assertEqual(a, 'beforesubtafter')
+        a = expand(['{application}'], dict(application="subt"))
+        self.assertEqual(a, ['subt'])
+        a = expand({'{application}': []}, dict(application="subt"))
+        self.assertEqual(a, {'subt': []})
+        a = expand({'{application}': ['{item}']}, dict(application="subt", item='first'))
+        self.assertEqual(a, {'subt': ['first']})
+
+        a = expand('{speed if speed is not None else 0.5}', dict(speed=1))
+        self.assertEqual(a, '1')
+        a = expand('{speed if speed is not None else 0.5}', dict(speed=None))
+        self.assertEqual(a, '0.5')
+
 # vim: expandtab sw=4 ts=4
 
diff --git a/subt/main.py b/subt/main.py
index 1aba80ff3..ddc43709f 100644
--- a/subt/main.py
+++ b/subt/main.py
@@ -93,10 +93,10 @@ def __init__(self, config, bus):
         self.start_pose = None
         self.traveled_dist = 0.0
         self.time = None
-        self.max_speed = config['max_speed']
+        self.max_speed = float(config['speed']) if config.get('speed', "") != "" else config['max_speed']
         self.max_angular_speed = math.radians(60)
-        self.walldist = config['walldist']
-        self.timeout = timedelta(seconds=config['timeout'])
+        self.walldist = float(config['walldist'])
+        self.timeout = timedelta(seconds=float(config['timeout']))
         self.symmetric = config['symmetric']  # is robot symmetric?
         self.dangerous_dist = config.get('dangerous_dist', 0.3)
         self.min_safe_dist = config.get('min_safe_dist', 0.75)
@@ -129,7 +129,7 @@ def __init__(self, config, bus):
         self.emergency_stop = None
         self.monitors = []  # for Emergency Stop Exception
 
-        self.use_right_wall = config['right_wall']
+        self.use_right_wall = 'auto' if config.get('side') == 'auto' else config.get('side') == 'right'
         self.use_center = False  # navigate into center area (controlled by name ending by 'C')
         self.is_virtual = config.get('virtual_world', False)  # workaround to handle tunnel differences
 
@@ -898,7 +898,7 @@ def join(self, timeout=None):
 
 def main():
     import argparse
-    from osgar.lib.config import config_load
+    from osgar.lib.config import config_load, expand as config_expand
     from osgar.record import record
 
     parser = argparse.ArgumentParser(description='SubT Challenge')
@@ -909,7 +909,7 @@ def main():
     parser_run.add_argument('--note', help='add description')
     parser_run.add_argument('--walldist', help='distance for wall following (default: %(default)sm)', default=1.0, type=float)
     parser_run.add_argument('--side', help='which side to follow', choices=['left', 'right', 'auto'], required=True)
-    parser_run.add_argument('--speed', help='maximum speed (default: from config)', type=float)
+    parser_run.add_argument('--speed', help='maximum speed (default: from config)', type=float, default="")
     parser_run.add_argument('--timeout', help='seconds of exploring before going home (default: %(default)s)',
                             type=int, default=10*60)
     parser_run.add_argument('--log', nargs='?', help='record log filename')
@@ -939,21 +939,20 @@ def main():
         cfg = config_load(*args.config, application=SubTChallenge)
 
         # apply overrides from command line
-        cfg['robot']['modules']['app']['init']['walldist'] = args.walldist
-        if args.side == 'auto':
-            cfg['robot']['modules']['app']['init']['right_wall'] = 'auto'
-        else:
-            cfg['robot']['modules']['app']['init']['right_wall'] = args.side == 'right'
-        cfg['robot']['modules']['app']['init']['timeout'] = args.timeout
+        overrides = {
+            "walldist": args.walldist,
+            "side": args.side,
+            "timeout": args.timeout,
+            "speed": args.speed,
+        }
+        cfg = config_expand(cfg, overrides)
+
         if args.init_offset is not None:
             x, y, z = [float(x) for x in args.init_offset.split(',')]
             cfg['robot']['modules']['app']['init']['init_offset'] = [int(x*1000), int(y*1000), int(z*1000)]
         if args.init_path is not None:
             cfg['robot']['modules']['app']['init']['init_path'] = args.init_path
 
-        if args.speed is not None:
-            cfg['robot']['modules']['app']['init']['max_speed'] = args.speed
-
         cfg['robot']['modules']['app']['init']['start_paused'] = args.start_paused
 
         prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
diff --git a/subt/zmq-subt-x2.json b/subt/zmq-subt-x2.json
index 87ef70c8c..259855e99 100644
--- a/subt/zmq-subt-x2.json
+++ b/subt/zmq-subt-x2.json
@@ -8,6 +8,10 @@
                  "sim_time_sec", "acc", "origin"],
           "out": ["desired_speed", "pose2d", "artf_xyz", "pose3d", "stdout", "request_origin"],
           "init": {
+            "walldist": "{walldist}",
+            "side": "{side}",
+            "speed": "{speed}",
+            "timeout": "{timeout}",
             "max_speed": 0.5,
             "symmetric": false,
             "virtual_bumper_sec": 60,

From a527ad8315f8b8064d92d15a40dad0d4642b4ff5 Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Thu, 28 May 2020 16:58:17 +0200
Subject: [PATCH 2/6] Implement generic argument machinery for osgar.record.

---
 osgar/lib/config.py                    | 17 +++++--
 osgar/lib/test_config.py               | 21 ++++----
 osgar/record.py                        | 42 ++++++++++++----
 subt/__main__.py                       |  3 --
 subt/docker/robotika/run_solution.bash |  4 +-
 subt/main.py                           | 66 --------------------------
 subt/zmq-subt-x2.json                  | 36 +++++++++++++-
 7 files changed, 92 insertions(+), 97 deletions(-)
 delete mode 100644 subt/__main__.py

diff --git a/osgar/lib/config.py b/osgar/lib/config.py
index 53d9e7b4d..585dfbcba 100644
--- a/osgar/lib/config.py
+++ b/osgar/lib/config.py
@@ -2,7 +2,9 @@
   Osgar Config Class
 """
 import json
+import re
 import sys
+
 from importlib import import_module
 
 from osgar.drivers import all_drivers
@@ -65,19 +67,26 @@ def merge_dict(dict1, dict2):
     return ret
 
 
-def expand(cfg, data):
+def _replace(input, data):
+    m = re.match("{(.*)}", input)
+    if m is not None and m.group(1) in data:
+        return data[m.group(1)]
+    return input
+
+
+def config_expand(cfg, data):
     if isinstance(cfg, dict):
         ret = {}
         for k,v in cfg.items():
-            ret[eval(f"f'{k}'", data)] = expand(v, data)
+            ret[_replace(k, data)] = config_expand(v, data)
         return ret
     if isinstance(cfg, list):
         ret = []
         for v in cfg:
-            ret.append(expand(v, data))
+            ret.append(config_expand(v, data))
         return ret
     if isinstance(cfg, str):
-        return eval(f"f'{cfg}'", data)
+        return _replace(cfg, data)
     return cfg
 
 # vim: expandtab sw=4 ts=4
diff --git a/osgar/lib/test_config.py b/osgar/lib/test_config.py
index a3ec1c0b5..109b9093a 100644
--- a/osgar/lib/test_config.py
+++ b/osgar/lib/test_config.py
@@ -1,6 +1,6 @@
 import os
 import unittest
-from osgar.lib.config import config_load, merge_dict, MergeConflictError, get_class_by_name, expand
+from osgar.lib.config import config_load, merge_dict, MergeConflictError, get_class_by_name, config_expand
 from osgar.drivers.logsocket import LogTCPStaticIP as LogTCP
 
 def test_data(filename, test_dir='test_data'):
@@ -63,21 +63,20 @@ def test_application(self):
         self.assertTrue(conf['robot']['modules']['app']['driver'].endswith('lib.test_config:MyTestRobot'))
 
     def test_expand(self):
-        a = expand('{application}', dict(application="subt"))
+        a = config_expand('{application}', dict(application="subt"))
         self.assertEqual(a, 'subt')
-        a = expand('before{application}after', dict(application="subt"))
-        self.assertEqual(a, 'beforesubtafter')
-        a = expand(['{application}'], dict(application="subt"))
+        a = config_expand('before{application}after', dict(application="subt"))
+        self.assertEqual(a, 'before{application}after')
+        a = config_expand(['{application}'], dict(application="subt"))
         self.assertEqual(a, ['subt'])
-        a = expand({'{application}': []}, dict(application="subt"))
+
+        a = config_expand({'{application}': []}, dict(application="subt"))
         self.assertEqual(a, {'subt': []})
-        a = expand({'{application}': ['{item}']}, dict(application="subt", item='first'))
+        a = config_expand({'{application}': ['{item}']}, dict(application="subt", item='first'))
         self.assertEqual(a, {'subt': ['first']})
 
-        a = expand('{speed if speed is not None else 0.5}', dict(speed=1))
-        self.assertEqual(a, '1')
-        a = expand('{speed if speed is not None else 0.5}', dict(speed=None))
-        self.assertEqual(a, '0.5')
+        a = config_expand('{speed-something}', dict(speed=1))
+        self.assertEqual(a, '{speed-something}')
 
 # vim: expandtab sw=4 ts=4
 
diff --git a/osgar/record.py b/osgar/record.py
index af257153e..a3352bf7e 100644
--- a/osgar/record.py
+++ b/osgar/record.py
@@ -10,7 +10,7 @@
 import logging
 
 from osgar.logger import LogWriter
-from osgar.lib.config import config_load, get_class_by_name
+from osgar.lib.config import config_load, get_class_by_name, config_expand
 from osgar.bus import Bus
 
 g_logger = logging.getLogger(__name__)
@@ -62,7 +62,9 @@ def request_stop(self, signum=None, frame=None): # pylint: disable=unused-argume
         self.stop_requested.set()
 
 
-def record(config, log_prefix, log_filename=None, duration_sec=None):
+def record(config, log_prefix, log_filename=None, duration_sec=None, args={}):
+    if len(args) > 0:
+        config['robot']['modules'] = config_expand(config['robot']['modules'], args)
     with LogWriter(prefix=log_prefix, filename=log_filename, note=str(sys.argv)) as log:
         log.write(0, bytes(str(config), 'ascii'))
         g_logger.info(log.filename)
@@ -81,16 +83,38 @@ def main():
         format='%(asctime)s %(name)-12s %(levelname)-8s %(message)s',
         datefmt='%Y-%m-%d %H:%M',
     )
-    parser = argparse.ArgumentParser(description='Record run on real HW with given configuration')
-    parser.add_argument('config', nargs='+', help='configuration file')
+    parser = argparse.ArgumentParser(description='Record run given configuration', add_help=False)
+    config_arg = parser.add_argument('config', nargs='*', help='configuration file')
+    parser.add_argument("-h", "--help", help="show this help message and exit", action="store_true")
     parser.add_argument('--note', help='add description')
     parser.add_argument('--duration', help='recording duration (sec), default infinite', type=float)
-    parser.add_argument('--application', help='import string to application', default=None)
-    args = parser.parse_args()
+    parser.add_argument('--log', nargs=1, help='record log filename')
+    args, unknown = parser.parse_known_args()
+
+    if len(args.config) > 0:
+        prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
+        cfg = config_load(*args.config)
+        types = {
+            "float": float,
+            "int": int
+        }
+        for k, v in cfg['robot'].get('arguments', {}).items():
+            if "type" in v:
+                v["type"] = types[v["type"]]
+            parser.add_argument("--" + k, **v)
+
+    config_arg.nargs = "+"
+    if args.help:
+        parser.print_help()
+        parser.exit()
+
+    if len(args.config) == 0:
+        parser.error("the following arguments are required: config")
+        parser.exit()
 
-    prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
-    cfg = config_load(*args.config, application=args.application)
-    record(cfg, log_prefix=prefix, duration_sec=args.duration)
+    args = parser.parse_args()
+    cfg_args = { k: getattr(args, k.replace('-','_')) for k in cfg['robot'].get('arguments', {})}
+    record(cfg, log_prefix=prefix, duration_sec=args.duration, args=cfg_args)
 
 if __name__ == "__main__":
     main()
diff --git a/subt/__main__.py b/subt/__main__.py
deleted file mode 100644
index c43000f4b..000000000
--- a/subt/__main__.py
+++ /dev/null
@@ -1,3 +0,0 @@
-from .main import main
-main()
-
diff --git a/subt/docker/robotika/run_solution.bash b/subt/docker/robotika/run_solution.bash
index 75c514055..c3d6a0739 100755
--- a/subt/docker/robotika/run_solution.bash
+++ b/subt/docker/robotika/run_solution.bash
@@ -22,7 +22,7 @@ trap "kill -s SIGINT 0; wait" EXIT
 
 echo "Waiting for robot name"
 while [ -z "$ROBOT_NAME" ]; do
-    ROBOT_NAME=$(rosparam get /robot_names)
+    ROBOT_NAME=$(rosparam get /robot_names 2>/dev/null)
     sleep 0.5
 done
 echo "Robot name is '$ROBOT_NAME'"
@@ -34,7 +34,7 @@ roslaunch proxy sim.launch --wait robot_name:=$ROBOT_NAME &
 
 echo "Starting osgar"
 export OSGAR_LOGS=/osgar-ws/logs
-/osgar-ws/env/bin/python3 -m subt run /osgar-ws/src/osgar/subt/zmq-subt-x2.json --side auto --walldist 0.8 --timeout 100 --speed 1.0 --note "run_solution.bash"
+/osgar-ws/env/bin/python3 -m osgar.record /osgar-ws/src/osgar/subt/zmq-subt-x2.json --side auto --walldist 0.8 --timeout 100 --speed 1.0 --note "run_solution.bash"
 
 echo "Sleep and finish"
 sleep 30
diff --git a/subt/main.py b/subt/main.py
index ddc43709f..f545a0c04 100644
--- a/subt/main.py
+++ b/subt/main.py
@@ -896,70 +896,4 @@ def join(self, timeout=None):
         self.thread.join(timeout)
 
 
-def main():
-    import argparse
-    from osgar.lib.config import config_load, expand as config_expand
-    from osgar.record import record
-
-    parser = argparse.ArgumentParser(description='SubT Challenge')
-    subparsers = parser.add_subparsers(help='sub-command help', dest='command')
-    subparsers.required = True
-    parser_run = subparsers.add_parser('run', help='run on real HW')
-    parser_run.add_argument('config', nargs='+', help='configuration file')
-    parser_run.add_argument('--note', help='add description')
-    parser_run.add_argument('--walldist', help='distance for wall following (default: %(default)sm)', default=1.0, type=float)
-    parser_run.add_argument('--side', help='which side to follow', choices=['left', 'right', 'auto'], required=True)
-    parser_run.add_argument('--speed', help='maximum speed (default: from config)', type=float, default="")
-    parser_run.add_argument('--timeout', help='seconds of exploring before going home (default: %(default)s)',
-                            type=int, default=10*60)
-    parser_run.add_argument('--log', nargs='?', help='record log filename')
-    parser_run.add_argument('--init-offset', help='inital 3D offset accepted as a string of comma separated values (meters)')
-    parser_run.add_argument('--init-path', help='inital path to be followed from (0, 0). 2D coordinates are separated by ;')
-    parser_run.add_argument('--start-paused', dest='start_paused', action='store_true',
-                            help='start robota Paused and wait for LoRa Contine command')
-
-    parser_replay = subparsers.add_parser('replay', help='replay from logfile')
-    parser_replay.add_argument('logfile', help='recorded log file')
-    parser_replay.add_argument('--force', '-F', dest='force', action='store_true', help='force replay even for failing output asserts')
-    parser_replay.add_argument('--config', nargs='+', help='force alternative configuration file')
-    args = parser.parse_args()
-
-    if args.command == 'replay':
-        from osgar.replay import replay
-        args.module = 'app'
-        app = replay(args, application=SubTChallenge)
-        app.play()
-
-    elif args.command == 'run':
-        # To reduce latency spikes as described in https://morepypy.blogspot.com/2019/01/pypy-for-low-latency-systems.html.
-        # Increased latency leads to uncontrolled behavior and robot either missing turns or hitting walls.
-        # Disabled garbage collection needs to be paired with gc.collect() at place(s) that are not time sensitive.
-        gc.disable()
-
-        cfg = config_load(*args.config, application=SubTChallenge)
-
-        # apply overrides from command line
-        overrides = {
-            "walldist": args.walldist,
-            "side": args.side,
-            "timeout": args.timeout,
-            "speed": args.speed,
-        }
-        cfg = config_expand(cfg, overrides)
-
-        if args.init_offset is not None:
-            x, y, z = [float(x) for x in args.init_offset.split(',')]
-            cfg['robot']['modules']['app']['init']['init_offset'] = [int(x*1000), int(y*1000), int(z*1000)]
-        if args.init_path is not None:
-            cfg['robot']['modules']['app']['init']['init_path'] = args.init_path
-
-        cfg['robot']['modules']['app']['init']['start_paused'] = args.start_paused
-
-        prefix = os.path.basename(args.config[0]).split('.')[0] + '-'
-        record(cfg, prefix, args.log)
-
-
-if __name__ == "__main__":
-    main()
-
 # vim: expandtab sw=4 ts=4
diff --git a/subt/zmq-subt-x2.json b/subt/zmq-subt-x2.json
index 259855e99..735b1fd44 100644
--- a/subt/zmq-subt-x2.json
+++ b/subt/zmq-subt-x2.json
@@ -1,9 +1,42 @@
 {
   "version": 2,
   "robot": {
+    "arguments": {
+      "walldist": {
+        "help": "distance for wall following (default: %(default)sm)",
+        "default": 1.0,
+        "type": "float"
+      },
+      "side": {
+        "help": "which side to follow",
+        "choices": ["left", "right", "auto"],
+        "required": true
+      },
+      "speed": {
+        "help": "maximum speed (%(default)sm)",
+        "default": 1.0,
+        "type": "float"
+      },
+      "timeout": {
+        "help": "seconds of exploring before going home (default: %(default)ss)",
+        "default": 600,
+        "type": "int"
+      },
+      "init-offset": {
+        "help": "inital 3D offset accepted as a string of comma separated values (meters)"
+      },
+      "init-path": {
+        "help": "inital path to be followed from (0, 0). 2D coordinates are separated by ;"
+      },
+      "start-paused": {
+        "dest": "start_paused",
+        "action": "store_true",
+        "help": "start robot Paused and wait for LoRa Contine command"
+      }
+    },
     "modules": {
       "app": {
-          "driver": "application",
+          "driver": "subt.main:SubTChallenge",
           "in": ["emergency_stop", "pose2d", "scan", "rot", "artf",
                  "sim_time_sec", "acc", "origin"],
           "out": ["desired_speed", "pose2d", "artf_xyz", "pose3d", "stdout", "request_origin"],
@@ -12,7 +45,6 @@
             "side": "{side}",
             "speed": "{speed}",
             "timeout": "{timeout}",
-            "max_speed": 0.5,
             "symmetric": false,
             "virtual_bumper_sec": 60,
             "virtual_bumper_radius": 10.0,

From 2065cf3b4ed7ca185730b391b699ed33e307d256 Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Thu, 28 May 2020 17:02:45 +0200
Subject: [PATCH 3/6] subt.main: some further simplifications

---
 subt/main.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/subt/main.py b/subt/main.py
index f545a0c04..68283f8c3 100644
--- a/subt/main.py
+++ b/subt/main.py
@@ -93,10 +93,10 @@ def __init__(self, config, bus):
         self.start_pose = None
         self.traveled_dist = 0.0
         self.time = None
-        self.max_speed = float(config['speed']) if config.get('speed', "") != "" else config['max_speed']
+        self.max_speed = config['speed']
         self.max_angular_speed = math.radians(60)
-        self.walldist = float(config['walldist'])
-        self.timeout = timedelta(seconds=float(config['timeout']))
+        self.walldist = config['walldist']
+        self.timeout = timedelta(seconds=config['timeout'])
         self.symmetric = config['symmetric']  # is robot symmetric?
         self.dangerous_dist = config.get('dangerous_dist', 0.3)
         self.min_safe_dist = config.get('min_safe_dist', 0.75)

From 842b8a5bb872d8016a09c79344e6faf4af972947 Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Thu, 28 May 2020 17:07:00 +0200
Subject: [PATCH 4/6] osgar.record: allow setting of log filename

---
 osgar/record.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osgar/record.py b/osgar/record.py
index a3352bf7e..53c337d12 100644
--- a/osgar/record.py
+++ b/osgar/record.py
@@ -88,7 +88,7 @@ def main():
     parser.add_argument("-h", "--help", help="show this help message and exit", action="store_true")
     parser.add_argument('--note', help='add description')
     parser.add_argument('--duration', help='recording duration (sec), default infinite', type=float)
-    parser.add_argument('--log', nargs=1, help='record log filename')
+    parser.add_argument('--log', help='record log filename')
     args, unknown = parser.parse_known_args()
 
     if len(args.config) > 0:
@@ -114,7 +114,7 @@ def main():
 
     args = parser.parse_args()
     cfg_args = { k: getattr(args, k.replace('-','_')) for k in cfg['robot'].get('arguments', {})}
-    record(cfg, log_prefix=prefix, duration_sec=args.duration, args=cfg_args)
+    record(cfg, log_prefix=prefix, log_filename=args.log, duration_sec=args.duration, args=cfg_args)
 
 if __name__ == "__main__":
     main()

From d3350cf46e134927af185ffabfde5655b5bb19b9 Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Fri, 29 May 2020 09:47:31 +0200
Subject: [PATCH 5/6] subt.main: provide backwards compatibility for max_speed
 setting

---
 subt/main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/subt/main.py b/subt/main.py
index 68283f8c3..6ae2e56d9 100644
--- a/subt/main.py
+++ b/subt/main.py
@@ -93,7 +93,7 @@ def __init__(self, config, bus):
         self.start_pose = None
         self.traveled_dist = 0.0
         self.time = None
-        self.max_speed = config['speed']
+        self.max_speed = config.get('speed') or config.get('max_speed')
         self.max_angular_speed = math.radians(60)
         self.walldist = config['walldist']
         self.timeout = timedelta(seconds=config['timeout'])

From 5daa58e276ec43bc322320ecd27dab5bea04dda2 Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Fri, 29 May 2020 10:01:55 +0200
Subject: [PATCH 6/6] subt.main: either speed or max_speed key is required

---
 subt/main.py      |  2 +-
 subt/test_subt.py | 13 +++++++++++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/subt/main.py b/subt/main.py
index 6ae2e56d9..f0dd6cf09 100644
--- a/subt/main.py
+++ b/subt/main.py
@@ -93,7 +93,7 @@ def __init__(self, config, bus):
         self.start_pose = None
         self.traveled_dist = 0.0
         self.time = None
-        self.max_speed = config.get('speed') or config.get('max_speed')
+        self.max_speed = config.get('speed') or config['max_speed']
         self.max_angular_speed = math.radians(60)
         self.walldist = config['walldist']
         self.timeout = timedelta(seconds=config['timeout'])
diff --git a/subt/test_subt.py b/subt/test_subt.py
index 6f7743a81..9ab2d091d 100644
--- a/subt/test_subt.py
+++ b/subt/test_subt.py
@@ -35,6 +35,19 @@ def test_maybe_remember_artifact(self):
         # 2nd report should be ignored
         self.assertEqual(game.maybe_remember_artifact(artf_data, artf_xyz), False)
 
+    def test_init(self):
+        bus = MagicMock()
+        config = {'virtual_world': True, 'max_speed': 1.0, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto'}
+        game = SubTChallenge(config, bus)
+
+        config = {'virtual_world': True, 'speed': 1.0, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto'}
+        game = SubTChallenge(config, bus)
+
+        # either speed or max_speed is required
+        with self.assertRaises(KeyError):
+            config = {'virtual_world': True, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto' }
+            game = SubTChallenge(config, bus)
+
     def test_go_to_entrance(self):
         config = {'virtual_world': True, 'max_speed': 1.0, 'walldist': 0.8, 'timeout': 600, 'symmetric': False, 'right_wall': 'auto'}
         bus = Bus(simulation.SimLogger())