class PredictionEngine(plugins.Monitor):
exposed = True
def __init__(self, bus, sleeping_time, traffic):
plugins.Monitor.__init__(self, bus, self.predictionEngine, sleeping_time)
self.bus.subscribe(progaconstants.UPDATED_TRAFFIC_CHANNEL_NAME,self.trafficUpdated)
self.bus.subscribe(progaconstants.INITIAL_WEIGHTS_COMPUTED_CHANNEL_NAME,self.initialWeightsComputed)
self.bus.subscribe(progaconstants.SIMULATION_STOPPED_CHANNEL_NAME,self.simulationFinished)
self.bus.subscribe(progaconstants.SIMULATION_FINISHED_CHANNEL_NAME,self.simulationFinished)
self.bus.subscribe(progaconstants.SIMULATION_STARTED_CHANNEL_NAME,self.simulationStarted)
self.monitor_active = False;
self.sleeping_time = sleeping_time
self.traffic = traffic
self.predictor = None
"""
prediction engine viene richiamata ogni sleeping_time secondi (vedi file progaconstant alla voce PREDICTION_SLEEP_SECONDS)
per il momento e' impostata a 2. Possiamo usare questo hook per svolgere attivita' di contorno relative alla predizione.
In teoria tutte quelle diverse dall'aggiornamento pesi che viene fatto dal Predictor su stimolo della funzione trafficUpdated
"""
def predictionEngine(self):
pass
#cherrypy.log("prediction engine running", context='DEBUG')
#pass
#cherrypy.log("asking for traffic", context='DEBUG')
#currentState = self.traffic.getTraffic()
def initialWeightsComputed(self, initialWeights):
#create Predictor Object
#cherrypy.log("initial weights computed", context='DEBUG')
self.predictor = Predictor(self.traffic,initialWeights)
def trafficUpdated(self, elapsedSeconds):
#cherrypy.log("Updating traffic", context='DEBUG')
v = self.traffic.getTraffic()
#for t in v.values():
#cherrypy.log("id:"+str(t['flight_id']) + " x:" + str(t['x']) + " y:"+str(t['y']) + " z:"+str(t['z']) + " lat:"+str(t['lat'])+ " lon:"+str(t['lon']), context='TRAFFIC')
self.predictor.trafficUpdated(elapsedSeconds)
def simulationFinished(self):
#cherrypy.log("I AM PREDICTION ENGINE AND I KNOW SIMULATION IT'S FINISHED", context='DEBUG')
self.unsubscribe()
self.stop()
def simulationStarted(self, t0):
self.subscribe()
self.start()
cherrypy.log("SIMULATION ENGINE STARTING", context='AUTO')
self.predictor.simulationStarted(t0)
def toBool(self, s):
return s.lower() in ['true', '1', 't', 'y', 'yes', 'yeah', 'yup', 'certainly', 'uh-huh']
'''
in questa funzione mettiamo il risultato del sensing di potenziali conflitti
il monitoraggio non verra fatto automaticamente dal server ma richiesto continuamente
dal client per tutta la durata di attivazione della funzione
in altre parole ci pensa il client a tenersi informato sullo stato dei conflitti potenziali
'''
def checkConflicts(self, ownPos, ownVel, flight_IDs, deltaT, nsteps, ownIntent=None):
"""
Input:
- ownPos, current position of monitored aircraft
- ownVel, current velocity of monitored aircraft
- ownIntent, flight intent of monitored aircraft
- ownID, flight ID of monitored aircraft
- flight_IDs, flight intent of surrounding traffic
- deltaT, prediction unit time interval
- nsteps, number of predictions
"""
potentialConflicts = {}
timeHorizons = [i*deltaT for i in range(1, nsteps+1)]
fp = futurePositions(ownPos, ownVel, ownIntent, timeHorizons)
prediction = self.predictor.predictionRequested(flight_IDs, deltaT, nsteps, True)
ztp = zip(timeHorizons, fp)
for aID, foo in prediction.items():
predDict = foo[0]
for t, p in ztp:
#cherrypy.log("Ownship will be at %s in %d seconds" % (p, t),context="MONITOR")
#cherrypy.log("%s will be at %s in %d seconds" % (aID, sum(predDict[t])/len(predDict[t]), t),context="MONITOR")
for q in predDict[t]:
if euclideanDistance(p,q) < ALERT_DISTANCE:
potentialConflicts.setdefault(t, []).append(aID)
break
#pdb.set_trace()
return potentialConflicts
@cherrypy.tools.accept(media='text/plain')
def GET(self, flight_id, deltaT, nsteps, raw, coords_type=progaconstants.COORDS_TYPE_GEO):
if flight_id == progaconstants.MONITOR_ME_COMMAND:
ownship_state = self.traffic.getMyState()
v = np.array([ownship_state['vx'],ownship_state['vy'],ownship_state['vz']])*FOOT2MT
p = Point3D(ownship_state['lon'], ownship_state['lat'], ownship_state['h']*FOOT2MT).getNumpyVector()
#pdb.set_trace()
fids = self.traffic.getActiveFlightIDs()
ownship_intent = self.traffic.getOwnshipIntent()
intruders = self.checkConflicts(p,v,fids,60,10,ownship_intent)
#pdb.set_trace()
return json.dumps(intruders)
else:
flight_IDs = [flight_id]
deltaT = int(deltaT)
nsteps = int(nsteps)
rawPrediction = self.toBool(raw)
prediction_matrix = self.predictor.predictionRequested(flight_IDs, deltaT, nsteps,rawPrediction)
#pdb.set_trace()
#RAW PREDICTION WAS REQUESTED, WE PROVIDE PARTICLES POSITIONS
if rawPrediction:
for flight in prediction_matrix:
for times in prediction_matrix[flight][0]:
#prediction_matrix[flight][0] e' l'elemento che contiene i valori di predizione
#mentre [1] contiene le leg utilizzate per predire quel volo
for i in range(0,len(prediction_matrix[flight][0][times])):
#for tris in range(0,len(prediction_matrix[flight][0][times][i])):
#pdb.set_trace()
if (coords_type == progaconstants.COORDS_TYPE_GEO):
p3d = Point3D()
#pdb.set_trace()
vect = p3d.lonLatAltFromXYZ(prediction_matrix[flight][0][times][i][0], prediction_matrix[flight][0][times][i][1], prediction_matrix[flight][0][times][i][2])
prediction_matrix[flight][0][times][i] = vect
prediction_matrix[flight][0][times] = prediction_matrix[flight][0][times].tolist()
jmat = json.dumps(prediction_matrix)
cherrypy.log("%s" % (jmat), context="PREDICTION")
return jmat
#NORMAL PREDICTION WAS REQUESTED, WE PROVIDE BINS OF PROBABILITY
else:
#pdb.set_trace()
for flight in prediction_matrix:
for dt in prediction_matrix[flight]:
prediction_matrix[flight][dt][0] = prediction_matrix[flight][dt][0].tolist()
for i in range(0,len(prediction_matrix[flight][dt][1])):
prediction_matrix[flight][dt][1][i] = prediction_matrix[flight][dt][1][i].tolist()
jmat = json.dumps(prediction_matrix)
cherrypy.log("%s" % (jmat), context="PREDICTION")
#scrivi qui codice di test
#cherrypy.log("%s" % prediction_matrix[flight_IDs[0]][deltaT][0], context="TEST")
return jmat
def POST(self,command=''):
if command == 'start':
cherrypy.log("starting prediction engine", context='AUTO')
self.subscribe()
self.start()
if command == 'stop':
self.unsubscribe()
self.stop()
def PUT(self,another_string):
pass
def DELETE(self):
pass
