def init_ztp(self):
midnight = self.get_current_time().replace(hour=0,
minute=0,
second=0,
microsecond=0)
ztp = TimeStamp()
ztp.timestamp = midnight
return ztp
def to_timestamp(ztp, r_time):
""" Returns a timestamp ztp(TimeStamp) + relative time(float) in seconds
"""
if r_time == float('inf'):
time_ = TimeStamp()
time_.timestamp = datetime.max
else:
time_ = ztp + timedelta(seconds=r_time)
return time_
def announce_tasks(self):
tasks = list(self.tasks_to_allocate.values())
earliest_task = Task.get_earliest_task(tasks)
closure_time = earliest_task.pickup_constraint.earliest_time - self.closure_window
if not self.is_valid_time(closure_time) and self.alternative_timeslots:
# Closure window should be long enough to allow robots to bid (tune if necessary)
closure_time = self.get_current_time() + self.closure_window
elif not self.is_valid_time(
closure_time) and not self.alternative_timeslots:
self.logger.warning(
"Task %s cannot not be allocated at its given temporal constraints",
earliest_task.task_id)
earliest_task.update_status(TaskStatusConst.PREEMPTED)
self.tasks_to_allocate.pop(earliest_task.task_id)
return
self.changed_timetable.clear()
for task in tasks:
if not task.hard_constraints:
self.update_soft_constraints(task)
self.round = Round(self.robot_ids,
self.tasks_to_allocate,
n_tasks=len(tasks),
closure_time=closure_time,
alternative_timeslots=self.alternative_timeslots,
simulator=self.simulator)
earliest_admissible_time = TimeStamp()
earliest_admissible_time.timestamp = self.get_current_time(
) + timedelta(minutes=1)
task_announcement = TaskAnnouncement(tasks, self.round.id,
self.timetable_manager.ztp,
earliest_admissible_time)
self.logger.debug("Starting round: %s", self.round.id)
self.logger.debug("Number of tasks to allocate: %s", len(tasks))
msg = self.api.create_message(task_announcement)
self.logger.debug("Auctioneer announces tasks %s",
[task.task_id for task in tasks])
self.round.start()
self.api.publish(msg, groups=['TASK-ALLOCATION'])
