def get_pickup_timepoint(self, task, travel_edge, insertion_point):
r_earliest_pickup_time = relative_to_ztp(
self.ztp, task.pickup_constraint.earliest_time)
r_latest_pickup_time = relative_to_ztp(
self.ztp, task.pickup_constraint.latest_time)
if not task.hard_constraints and insertion_point > 1:
pickup_time_window = task.pickup_constraint.latest_time - task.pickup_constraint.earliest_time
r_earliest_delivery_time_previous_task = self.get_r_time_previous_task(
insertion_point, "delivery")
r_earliest_pickup_time = r_earliest_delivery_time_previous_task + travel_edge.mean
r_latest_pickup_time = r_earliest_pickup_time + pickup_time_window.total_seconds(
)
earliest_pickup_time = to_timestamp(
self.ztp, r_earliest_pickup_time).to_datetime()
latest_pickup_time = to_timestamp(
self.ztp, r_latest_pickup_time).to_datetime()
task.update_pickup_constraint(earliest_pickup_time,
latest_pickup_time)
pickup_timepoint = Timepoint(name="pickup",
r_earliest_time=r_earliest_pickup_time,
r_latest_time=r_latest_pickup_time)
return pickup_timepoint
def _update_timepoint(self, task, timetable, assigned_time, node_id):
r_assigned_time = relative_to_ztp(timetable.ztp, assigned_time)
timetable.check_is_task_delayed(task, r_assigned_time, node_id)
try:
self.performance_tracker.update_delay(task.task_id,
r_assigned_time, node_id,
timetable)
self.performance_tracker.update_earliness(task.task_id,
r_assigned_time, node_id,
timetable)
except AttributeError:
pass
timetable.update_timepoint(r_assigned_time, node_id)
nodes = timetable.stn.get_nodes_by_task(task.task_id)
self._update_edge(timetable, 'start', 'pickup', nodes)
self._update_edge(timetable, 'pickup', 'delivery', nodes)
try:
self.performance_tracker.update_timetables(timetable)
except AttributeError:
pass
self.auctioneer.changed_timetable.append(timetable.robot_id)
self.logger.debug("Updated stn: \n %s ", timetable.stn)
self.logger.debug("Updated dispatchable graph: \n %s",
timetable.dispatchable_graph)
timetable.store()
if self.d_graph_watchdog:
next_task = timetable.get_next_task(task)
self._re_compute_dispatchable_graph(timetable, next_task)
def update_timetable(self, task, task_progress, timestamp):
r_assigned_time = relative_to_ztp(self.timetable.ztp, timestamp)
first_action_id = task.plan[0].actions[0].action_id
if task_progress.action_id == first_action_id and \
task_progress.action_status.status == ActionStatusConst.ONGOING:
node_id, node = self.timetable.stn.get_node_by_type(task.task_id, 'start')
self.update_timepoint(task, task_progress, r_assigned_time, node, node_id)
else:
# An action could be associated to two nodes, e.g., between pickup and delivery there is only one action
nodes = self.timetable.stn.get_nodes_by_action(task_progress.action_id)
for node_id, node in nodes:
if (node.node_type == 'pickup' and
task_progress.action_status.status == ActionStatusConst.ONGOING) or\
(node.node_type == 'delivery' and
task_progress.action_status.status == ActionStatusConst.COMPLETED):
self.update_timepoint(task, task_progress, r_assigned_time, node, node_id)
def get_start_timepoint(self, pickup_timepoint, travel_edge,
insertion_point, earliest_admissible_time):
start_timepoint = self.stn.get_prev_timepoint("start",
pickup_timepoint,
travel_edge)
if insertion_point == 1:
r_earliest_admissible_time = relative_to_ztp(
self.ztp, earliest_admissible_time.to_datetime())
start_timepoint.r_earliest_time = max(
r_earliest_admissible_time, start_timepoint.r_earliest_time)
if insertion_point > 1 and self.previous_task_is_frozen(
insertion_point):
r_latest_delivery_time_previous_task = self.get_r_time_previous_task(
insertion_point, "delivery", earliest=False)
start_timepoint.r_earliest_time = max(
start_timepoint.r_earliest_time,
r_latest_delivery_time_previous_task)
return start_timepoint