class Bot:
def __init__(self, known_ports, state_map, config):
self.bot_instance = bot(config["port"], config, 0, 0)
self.port = config["port_socket"]
known_ports.discard(self.port)
self.other_ports = known_ports
self.chain = BlockChain(state_map)
self.vrep_port = config["port"]
pos = self.bot_instance.Get_postiton()
# print("this is pos in main bot: ", pos)
self.coordinates = {"x": pos[0], "y": pos[1]}
# print("coordinats::: ", self.coordinates)
# self.get_coordinates_from_vrep()
self.status = None # * "Picked" or "Placed" or "Dropped" or "Free"
self.block = None
# TODO INTEGRATION:
def get_coordinates_from_vrep(self):
self.coordinates = self.bot_instance.coordinates
# print("these are the bots coord", self.coordinates)
# return coordinates
# * computes euclideian distance between two points
def euclidean_dist(self, c1, c2):
# print("this is c1: ", c1)
# print("this is c2: ", c2)
delta_x = c1["x"] - c2["x"]
delta_y = c1["y"] - c2["y"]
# delta_x = 5
# delta_y = 10
return (delta_x**2 + delta_y**2)**(0.5)
def spit_weighted_number(self, length):
if length == 0:
return 0
random_array = []
for i in range(1, length + 1):
random_array.append([i] * (length + 1 - i))
flattened = [item for sublist in random_array for item in sublist]
return random.choice(flattened)
def force_update(self):
pass
def sort_coords(self, c1):
# print("this is bot coords:", self.coordinates)
# print("this is c1", c1)
c1 = {"x": c1["current"]["x"], "y": c1["current"]["y"]}
dist1 = self.euclidean_dist(c1, self.coordinates)
# dist2 = euclidean_dist(c2, bot_coordinates)
# if dist1 < dist2:
# return -1
# elif dist1 > dist2:
# return 1
# else:
# return 0
return dist1
# * query the blockchain and obtains the state_map (topmost block) as data
def queryBlockChain(self):
response = self.chain[len(self.chain.blocks) - 1]
# print("this is response::::", response.data)
return response
def prepare_to_send(self):
latest_block = self.chain.get_block()
json_string = json.dumps(latest_block.data)
return json_string
async def send_block(self):
print("sending block to all other ports: ")
block_json = self.prepare_to_send()
for port in self.other_ports:
async with websockets.connect(host + str(port)) as websocket:
await websocket.send("block " + block_json)
print("data sent to port number: ", port)
def start_server_loop_in_thread(self):
new_loop = asyncio.new_event_loop()
asyncio.set_event_loop(new_loop)
start_server = websockets.serve(self.bot_server, "localhost",
self.port)
new_loop.run_until_complete(start_server)
new_loop.run_forever()
# * Gets the blockchain and updates it
def update_blockchain(self, state):
# print("update blockchain called")
latest_block = self.queryBlockChain()
latest_copy = latest_block
# print("this is latest_copy", latest_copy)
# print("its type??: ", type(latest_copy))
# print("its data:: ", latest_copy.data)
block_data = latest_copy.data["block_data"]
block = block_data[self.block["id"]]
print(
"!!!!!!!!!!!!!!----------BLOCKCHAIN UPDATED-------------!!!!!!!!!!!!!!!!!!!!"
)
data_str = json.dumps(block_data)
data_dict = {"data": data_str}
G.add_node(data_dict)
print(data_dict["data"])
block["status"] = state
# block["current"]["x"] = self.coordinates["x"]
# block["current"]["y"] = self.coordinates["y"]
block_data[self.block["id"]] = block
latest_copy.data["block_data"] = block_data
self.chain.add_block(latest_copy.data)
new_loop = asyncio.new_event_loop()
new_loop.run_until_complete(self.send_block())
G.layout()
G.draw('blockchain_plot.png')
# * Returns the kth closest block to the bot
# * Return data:
# * {
# * "current":
# * {
# * "x":..
# * "y":..
# * },
# * "final":
# * {
# * "x"...,
# * "y"...
# * },
# * "id"..
# * }
# * if all blocks are picked or placed, it returns None
def get_kth_closest_block(self, k=1):
latest_block = self.queryBlockChain()
block_array = []
# self.coordinates = self.get_coordinates_from_vrep()
for block_id in latest_block.data["block_data"].keys():
block = latest_block.data["block_data"][block_id]
if (block["status"] != states["PLACED"]
and block["status"] != states["PICKED"]):
block_array.append({
"current": {
"x": block["current"]["x"],
"y": block["current"]["y"],
},
"final": {
"x": block["final"]["x"],
"y": block["final"]["y"]
},
"id": block_id,
})
if len(block_array) == 0:
return None
block_array = sorted(block_array, key=self.sort_coords)
if k <= len(block_array):
return block_array[k - 1]
else:
return block_array[len(block_array) - 1]
# * chooses a block and tries to pick it
def choose_block(self):
length = 0
latest_block = self.queryBlockChain()
# print(latest_block)
for bl in latest_block.data["block_data"]:
block = latest_block.data["block_data"][bl]
# print(block)
if (block["status"] == states["IDLE"]
or block["status"] == states["DROPPED"]):
length += 1
k = self.spit_weighted_number(length)
print("chosen k:: ", k)
if k == 0:
return None
block = self.get_kth_closest_block(k)
return block
# * pick_block if threshold error is less than given threshold
def state_block_check(self, state=states["MOVING"], threshold=0.1):
if state == states["MOVING"]:
block_coords = self.block["current"]
elif state == states["PICKED"]:
block_coords = self.block.final
if euclidean_dist(self.coordinates, block_coords) <= threshold:
return True
return False
def pick_block(self):
self.bot_instance.pick()
if self.bot_instance.objectPicked != 0:
self.update_blockchain(states["PICKED"])
return True
return False
def goto_destination(self):
pass
async def bot_server(self, websocket, path):
print("server running at port: ", self.port)
message = await websocket.recv()
print("MESSAGE RECEIVED")
if message[0:6] == "block ":
print("receiving block")
message = message[6:]
block = json.loads(message)
self.chain.add_block(block)
elif message[0:6] == "chain?":
chain_string = json.dumps(self.chain)
await websocket.send(chain_string)
def is_block_pickable(self):
latest_block = self.queryBlockChain()
block = latest_block.data["block_data"][self.block["id"]]
if block["status"] == states["DROPPED"] or block["status"] == states[
"IDLE"]:
return True
return False
def place_block(self):
self.update_blockchain(states["PLACED"])
self.bot_instance.place()
# self.coordinates = self.get_coordinates_from_vrep()
# self.status = states["LOOKING"]
# block_coords = latest_block["block_data"][block_id].final
def follow_path(self, block, final=False):
if final:
x = block["final"]["x"]
y = block["final"]["y"]
else:
x = block["current"]["x"]
y = block["current"]["y"]
# print(block)
# print(x,y)
self.bot_instance.Follow_path([x, y, 0.05])
def chooseTargetBlock(self, chosenLabel, labels):
pass
# choose closest block from chosen cluster
def infinite_loop(self):
# r=print("inside infinite loop")
self.state = states["BEGIN"]
while self.state != states["END"]:
self.block = self.choose_block()
if self.block == None:
print("No block to pick")
self.state = states["END"]
break
else:
print("chosen block id: ", self.block["id"])
self.state = states["MOVING"]
self.follow_path(self.block)
if self.is_block_pickable():
# print("before time sleep")
time.sleep(2)
# print("after time sleep")
status = self.pick_block()
print(status)
if status:
self.state = states["PICKED"]
self.follow_path(self.block, True)
self.place_block()
self.state = states["PLACED"]
self.states = states["BEGIN"]
continue
async def force_update(self):
chain_array = []
for port in self.other_ports:
async with websockets.connect(host + str(port)) as websocket:
await websocket.send("chain?")
response = await websocket.recv()
chain = json.loads(response)
chain_array.append(chain)
for chain in chain_array:
if len(chain) > len(self.chain):
self.chain = chain
def main_driver(self):
# inter = setInterval(3, self.get_coordinates_from_vrep)
t1 = threading.Thread(target=self.infinite_loop, args=[])
t1.start()
t3 = threading.Thread(target=self.start_server_loop_in_thread)
t3.start()
# foce_push_interval = setInterval(60, self.force_update)
# TODO: FORCE PUSH
t1.join()
t3.join()
class Bot:
def __init__(self, my_port, known_ports, data):
# ! DO THIS
self.coordinates = self.get_coordinates_from_vrep()
self.port = my_port
known_ports.discard(my_port)
self.other_ports = known_ports
self.chain = BlockChain(data)
# ! INSTEAD OF THIS
self.coordinates = {
"x": -0.024999968707561493,
"y": 0.04999999701976776
}
bot_coordinates = self.coordinates
self.status = None # * "Picked" or "Placed" or "Dropped" or "Free"
self.block = None
# TODO INTEGRATION:
def get_coordinates_from_vrep(self):
# <<<<<<< dev_blockchain
#*port is the port which the vrep simulation is running
# scene = scene(port)
# map = scene.scenesinit(port)
map = []
#*process map here according to req and return
return map
# =======
global bot_coordinates
self.coordinates = {
"x": -0.024999968707561493,
"y": 0.04999999701976776
}
bot_coordinates = self.coordinates
pass
# >>>>>>> master
# * query the blockchain and obtains the map as json data
def force_update():
pass
def queryBlockChain(self):
response = self.chain.get_block()
# JSONresponse = jsonpickle.decode(response)
# plotBots(JSONresponse)
# plotBlocks(JSONresponse)
return response
# * Comparator -> Sorts coordinatse based on least distance from bots cordinates
def prepare_to_send(self):
latset_block = self.chain.get_block()
json_string = json.dumps(latset_block)
return json_string
async def send_block(self):
global host
block_json = self.prepare_to_send()
for port in self.other_ports:
async with websockets.connect(host + str(port)) as websocket:
await websocket.send("block " + block_json)
# * Gets the blockchain and updates it
def update_blockchain(self, state):
latest_block = self.queryBlockChain()
block_data = latest_block.data["block_data"]
block = block_data[self.block["id"]]
block["state"] = state
block["current"]["x"] = self.coordinates["x"]
block["current"]["y"] = self.coordinates["y"]
block_data[self.block["id"]] = block
self.chain.add_block(block_data)
asyncio.get_event_loop().run_until_complete(self.send_block())
# * Returns the kth closest block to the bot
# * Return data:
# * {
# * "current":
# * {
# * "x":..
# * "y":..
# * },
# * "final":
# * {
# * "x"...,
# * "y"...
# * },
# * "id"..
# * }
# * if all blocks are picked or placed, it returns None
def get_kth_closest_block(self, k=1):
latest_block = self.queryBlockChain()
block_array = []
for block_id in latest_block.data["block_data"].keys():
block = latest_block.data["block_data"][block_id]
if (block["status"] != states["PLACED"]
and block["status"] != states["PICKED"]):
block_array.append({
"current": {
"x": block["current"]["x"],
"y": block["current"]["y"],
},
"final": {
"x": block["final"]["x"],
"y": block["final"]["y"]
},
"id": block_id,
})
if len(block_array) == 0:
return None
block_array = sorted(block_array, key=sort_coords)
if k <= len(block_array):
return block_array[k - 1]
else:
return block_array[len(block_array) - 1]
# * chooses a block and tries to pick it
def choose_block(self):
length = 0
latest_block = self.queryBlockChain()
print(latest_block)
for bl in latest_block.data["block_data"]:
block = latest_block.data["block_data"][bl]
print(block)
if (block["status"] == states["IDLE"]
or block["status"] == states["DROPPED"]):
length += 1
k = spit_weighted_number(length)
block = self.get_kth_closest_block(k)
return block
# * pick_block if threshold error is less than given threshold
def state_block_check(self, state=states["MOVING"], threshold=0.1):
if state == states["MOVING"]:
block_coords = self.block["current"]
elif state == states["PICKED"]:
block_coords = self.block.final
if euclidean_dist(self.coordinates, block_coords) <= threshold:
return True
return False
def pick_block(self):
# self.status = states["PICKED"]
self.update_blockchain(states["PICKED"])
def goto_destination(self):
pass
async def bot_server(self, websocket, path):
while True:
message = await websocket.recv()
if message[0:6] == "block ":
message = message[6:]
block = json.loads(message)
self.chain.add_block(block)
elif message[0:6] == "chain?":
chain_string = json.dumps(self.chain)
await websocket.send(chain_string)
def is_block_pickable(self):
latest_block = self.queryBlockChain()
block = latest_block.data["block_data"][self.block["id"]]
if block["status"] == states["DROPPED"] or block["status"] == states[
"IDLE"]:
return True
return False
def place_block(self):
self.update_blockchain(states["PLACED"])
# self.status = states["LOOKING"]
# block_coords = latest_block["block_data"][block_id].final
def chooseTargetBlock(self, chosenLabel, labels):
pass
# choose closest block from chosen cluster
def infinite_loop(self):
self.state = states["BEGIN"]
while self.state != states["END"]:
self.block = self.choose_block()
if self.block == None:
self.state = states["END"]
break
else:
self.state = states["MOVING"]
while not self.state_block_check(states["MOVING"], 0.5):
pass
if self.is_block_pickable():
self.state = states["PICKED"]
self.pick_block()
while not self.state_block_check(states["PICKED"], 0.5):
pass
self.state = states["PLACED"]
self.place_block()
self.state = states["BEGIN"]
continue
else:
self.state = states["BEGIN"]
continue
async def force_update(self):
chain_array = []
for port in self.other_ports:
async with websockets.connect(host + str(port)) as websocket:
await websocket.send("chain?")
response = await websocket.recv()
chain = json.loads(response)
chain_array.append(chain)
for chain in chain_array:
if len(chain) >= len(self.chain):
self.chain = chain
def main_driver(self):
inter = setInterval(1, self.get_coordinates_from_vrep())
start_server = websockets.serve(self.bot_server, "localhost",
self.port)
t1 = threading.Thread(target=self.infinite_loop, args=[])
t1.start()
foce_push_interval = setInterval(60, self.force_update)
loop = asyncio.get_event_loop()
loop.run_until_complete(start_server)
loop.run_forever()