def __init__(self) :
""" state """
self._demandQ = []
self.vehiclePhase = self.IDLE
self.currentDemand = None
# statistics
self.demandLog = []
#self.odometer_full = 0.
#self.odometer_empty = 0.
""" sim interface """
# messaging interface
self.signalWakeup = Signal()
self.signalAssigned = Signal()
self.signalPickup = Signal() # emited when a demand is picked up
self.signalDeliver = Signal() # emited when a demand is delivered
self.signalIdle = Signal()
# state variables
self.vehicle = Vehicle()
# vehicle signal connections
self.vehicle.signalArrived.connect( self.vehicleArrived )
class Taxi :
""" vehicular agent whose tasks are pickup-and-delivery tasks """
IDLE = 0
EMPTY = 1
FULL = 2
class Demand :
def __init__(self, orig, dest, arrivalTime=None ) :
# task spec
self.origin = orig
self.destination = dest
# statistics
self.arrived = arrivalTime
self.embarked = None
self.delivered = None
def __init__(self) :
""" state """
self._demandQ = []
self.vehiclePhase = self.IDLE
self.currentDemand = None
# statistics
self.demandLog = []
#self.odometer_full = 0.
#self.odometer_empty = 0.
""" sim interface """
# messaging interface
self.signalWakeup = Signal()
self.signalAssigned = Signal()
self.signalPickup = Signal() # emited when a demand is picked up
self.signalDeliver = Signal() # emited when a demand is delivered
self.signalIdle = Signal()
# state variables
self.vehicle = Vehicle()
# vehicle signal connections
self.vehicle.signalArrived.connect( self.vehicleArrived )
""" programmer interface """
# vehicle pass-thrus
def setLocation(self, location ) : self.vehicle.setLocation(location)
def location(self) : return self.vehicle.location()
def setSpeed(self, speed ) : self.vehicle.setSpeed(speed)
def setPlanner(self, planningFunction ) : self.vehicle.setPlanner(planningFunction)
# demand queue
def _addDemand(self, demand ) :
if DEBUG :
time = self.sim.get_time()
args = ( repr(self), time, repr(demand.origin), repr(demand.destination) )
#print '%s, got demand at %f: (%s, %s)' % args
self._demandQ.append( demand )
self.demandLog.append( demand )
""" simulation interface """
def join_sim(self, sim ) :
self.sim = sim
# wake-up call
msg = Message( self.signalWakeup, self.location() )
self.sim.schedule( msg )
self.vehicle.join_sim( sim )
# slotoid
def _tryschedule(self) :
# if there are demands waiting, claim one
if len( self._demandQ ) > 0 :
if self.currentDemand is None :
dem = self._demandQ[0]
self.vehicle.queueWaypoint( dem.origin )
self.currentDemand = dem
self.vehiclePhase = self.EMPTY
else :
# we're already working on the first demand
pass
# otherwise, try to idle the taxi
else :
if not self.vehiclePhase == self.IDLE :
msg = Message( self.signalIdle, self.location() )
self.sim.schedule( msg )
self.vehiclePhase = self.IDLE
# slotoid
def _activate(self) :
if self.vehiclePhase == self.IDLE :
self.vehiclePhase = self.EMPTY # target should already be None
self._tryschedule()
""" simulation messaging interface """
# slot
def queueDemand(self, demand ) :
self._addDemand( demand )
self._activate()
# slot
def appendDemands(self, seq ) :
for dem in seq : self._addDemand( dem )
self._activate()
# auto-slot? --- switch
def vehicleArrived(self) :
if self.vehiclePhase == self.EMPTY :
self.arrivedOrigin()
elif self.vehiclePhase == self.FULL :
self.arrivedDestination()
else :
raise 'vehicle should not be moving'
# slot-oid
def arrivedOrigin(self) :
demand = self._demandQ[0]
time = self.sim.get_time()
demand.embarked = time
self.signalPickup() # send signal, does this need to be scheduled?
self.vehicle.queueWaypoint( demand.destination )
self.vehiclePhase = self.FULL
# slot-oid
def arrivedDestination(self) :
demand = self._demandQ.pop(0)
time = self.sim.get_time()
demand.delivered = time
self.signalDeliver() # send signal, does this need to be scheduled?
self.currentDemand = None
self._tryschedule()
