class CommandSystem(object):
"""
The Command System is a special system build around a MessageQueue
it keeps track of running commands for periods of time and continues to execute commands until their execution time is complete
it will not process new commands while a blocking command was taken from the queue
"""
def __init__(self, parent, size):
self.__parent = parent
self.__queue = MessageQueue(size)
self.__queueSemaphore = threading.Semaphore()
def __len__(self):
return len(self.__queue)
def __contains__(self, item):
found = False
self.__queueSemaphore.acquire()
for cmd in self.__queue:
if item == cmd:
found = True
break
self.__queueSemaphore.release()
return found
def containstype(self, cmdtype, force=False):
found = None
if not force:
self.__queueSemaphore.acquire()
for cmd in self.__queue:
if isinstance(cmd, cmdtype):
found = cmd
break
if not force:
self.__queueSemaphore.release()
return found
def __getitem__(self, key):
return self.__queue[key]
def append(self, cmd):
if isinstance(cmd, Command):
logging.debug("Added Command to Queue: %s", repr(cmd))
self.__queueSemaphore.acquire()
self.__queue.append(cmd)
self.__queueSemaphore.release()
def update(self, t):
self.__queueSemaphore.acquire()
thrust = self.__parent.thrusterForce
for i in xrange(len(self) - 1, -1, -1):
cmd = self.__queue[i]
if cmd.initialrequiredenergy > 0 and self.__parent.energy.value < cmd.initialrequiredenergy:
logging.info("#%d Not Enough Energy To Start: %s",
self.__parent.id, repr(self.__queue[i]))
del self.__queue[i]
else:
self.__parent.energy -= cmd.initialrequiredenergy
cmd.initialrequiredenergy = 0 # spent cost
preven = self.__parent.energy
#TODO: This is over eager, could slice more energy on hiccup...
self.__parent.energy -= cmd.energycost * t
if cmd.isExpired() or cmd.isComplete(
) or self.__parent.energy.value == 0:
logging.info("Finished Executing Command: %s",
repr(self.__queue[i]))
if self.__parent.energy.value == 0:
logging.info("#%d Out of Energy", self.__parent.id)
del self.__queue[i]
logging.info("#%d Commands in Queue: %d", self.__parent.id,
len(self))
else:
nt = t
# Limit Thrust, TODO: Abstract
if cmd.NAME == "THRST":
thmod = self.__parent.thrusterForce * cmd.power
if thmod > thrust:
nt = t * (thrust / thmod)
logging.info(
"#%d Limiting Thrust time from %f to %f",
self.__parent.id, t, nt)
self.__parent.energy = preven
else:
thrust -= thmod
logging.debug("Thrust Left %f", float(thrust))
cmd.execute(t)
#eif
#eif
self.__queueSemaphore.release()
"""
if len(self) == 0 or not self.isBlockingCommandOnTop():
nmsg = self.__queue.getNextMessage()
if nmsg != None:
logging.info("Activating Command: %s", nmsg)
self.__activeCommandsSemaphore.acquire()
self.__activeCommands.append(nmsg)
self.__activeCommandsSemaphore.release()
"""
def isBlockingCommandOnTop(self):
# Returns True if there's a blocking command on top of the stack
self.__queueSemaphore.acquire()
x = (len(self.__queue) > 0
and self.__queue[len(self.__queue) - 1].blocking)
self.__queueSemaphore.release()
return x
def getRadarRepr(self):
# Returns a short form of list with just the command names
lst = []
self.__queueSemaphore.acquire()
for cmd in self.__queue:
lst.append(cmd.NAME)
self.__queueSemaphore.release()
return lst
def __repr__(self):
return "CommandSystem(" + repr(self.__queue) + ")"
class CommandSystem(object):
"""
The Command System is a special system build around a MessageQueue
it keeps track of running commands for periods of time and continues to execute commands until their execution time is complete
it will not process new commands while a blocking command was taken from the queue
"""
def __init__(self, parent, size):
self.__parent = parent
self.__queue = MessageQueue(size)
self.__queueSemaphore = threading.Semaphore()
def __len__(self):
return len(self.__queue)
def __contains__(self, item):
found = False
self.__queueSemaphore.acquire()
for cmd in self.__queue:
if item == cmd:
found = True
break
self.__queueSemaphore.release()
return found
def containstype(self, cmdtype, force=False):
found = None
if not force:
self.__queueSemaphore.acquire()
for cmd in self.__queue:
if isinstance(cmd, cmdtype):
found = cmd
break
if not force:
self.__queueSemaphore.release()
return found
def __getitem__(self, key):
return self.__queue[key]
def append(self, cmd):
if isinstance(cmd, Command):
logging.debug("Added Command to Queue: %s", repr(cmd))
self.__queueSemaphore.acquire()
self.__queue.append(cmd)
self.__queueSemaphore.release()
def update(self, t):
self.__queueSemaphore.acquire()
thrust = self.__parent.thrusterForce
for i in xrange(len(self)-1, -1, -1):
cmd = self.__queue[i]
if cmd.initialrequiredenergy > 0 and self.__parent.energy.value < cmd.initialrequiredenergy:
logging.info("#%d Not Enough Energy To Start: %s", self.__parent.id, repr(self.__queue[i]))
del self.__queue[i]
else:
self.__parent.energy -= cmd.initialrequiredenergy
cmd.initialrequiredenergy = 0 # spent cost
preven = self.__parent.energy
#TODO: This is over eager, could slice more energy on hiccup...
self.__parent.energy -= cmd.energycost * t
if cmd.isExpired() or cmd.isComplete() or self.__parent.energy.value == 0:
logging.info("Finished Executing Command: %s", repr(self.__queue[i]))
if self.__parent.energy.value == 0:
logging.info("#%d Out of Energy", self.__parent.id)
del self.__queue[i]
logging.info("#%d Commands in Queue: %d", self.__parent.id, len(self))
else:
nt = t
# Limit Thrust, TODO: Abstract
if cmd.NAME == "THRST":
thmod = self.__parent.thrusterForce * cmd.power
if thmod > thrust:
nt = t * (thrust / thmod)
logging.info("#%d Limiting Thrust time from %f to %f", self.__parent.id, t, nt)
self.__parent.energy = preven
else:
thrust -= thmod
logging.debug("Thrust Left %f", float(thrust))
cmd.execute(t)
#eif
#eif
self.__queueSemaphore.release()
"""
if len(self) == 0 or not self.isBlockingCommandOnTop():
nmsg = self.__queue.getNextMessage()
if nmsg != None:
logging.info("Activating Command: %s", nmsg)
self.__activeCommandsSemaphore.acquire()
self.__activeCommands.append(nmsg)
self.__activeCommandsSemaphore.release()
"""
def isBlockingCommandOnTop(self):
# Returns True if there's a blocking command on top of the stack
self.__queueSemaphore.acquire()
x = (len(self.__queue) > 0 and self.__queue[len(self.__queue)-1].blocking)
self.__queueSemaphore.release()
return x
def getRadarRepr(self):
# Returns a short form of list with just the command names
lst = []
self.__queueSemaphore.acquire()
for cmd in self.__queue:
lst.append(cmd.NAME)
self.__queueSemaphore.release()
return lst
def __repr__(self):
return "CommandSystem(" + repr(self.__queue) + ")"
