def test_chemotaxisge(self):
"""
test creation of ChemotaxisGe
"""
components = create_from_yaml(os.path.join(os.path.dirname(__file__),
'../so_coordinator/'
'so_specification.yaml'),
'test1',
config_key='ChemotaxisGe',
params={'pose_frame': 'pose_frame',
'motion_topic': 'motion_topic'},
mapping=SO_MAPPING,
components_class=SOComponents)
self.assert_(True)
def test_flocking_exploration(self):
"""
test creation of FlockingReyExploration
"""
components = create_from_yaml(os.path.join(os.path.dirname(__file__),
'../so_coordinator/'
'so_specification.yaml'),
'test1',
config_key='FlockingReyExploration',
params={'pose_frame': 'pose_frame',
'motion_topic': 'motion_topic'},
mapping=SO_MAPPING,
components_class=SOComponents)
self.assert_(True)
def test_center(self):
"""
test creation of Foraging
"""
components = create_from_yaml(os.path.join(os.path.dirname(__file__),
'../so_coordinator/'
'so_specification.yaml'),
'test1',
config_key='MorphogenesisBarycenter',
params={'pose_frame': 'pose_frame'},
mapping=SO_MAPPING,
components_class=SOComponents,
name='centertest')
self.assert_(True)
def test_morpho_chem(self):
"""
test creation of MorphogenesisBarycenterChemotaxisBalch
"""
components = create_from_yaml(os.path.join(os.path.dirname(__file__),
'../so_coordinator/'
'so_specification.yaml'),
'test1',
config_key='MorphogenesisBarycenterChemotaxisBalch',
params={'pose_frame': 'pose_frame',
'motion_topic': 'motion_topic'},
mapping=SO_MAPPING,
components_class=SOComponents,
name='chemtest2')
self.assert_(True)
def test_repGradient(self):
"""
test creation of RepulsionFernandez
"""
components = create_from_yaml(os.path.join(os.path.dirname(__file__),
'../so_coordinator/'
'so_specification.yaml'),
'test1',
config_key='RepulsionGradient',
params={'pose_frame': 'pose_frame',
'motion_topic': 'motion_topic'},
mapping=SO_MAPPING,
components_class=SOComponents,
name='repGrad')
self.assert_(True)
def replace_components(self, config_key):
"""
method to remove existing components and create new ones
:return:
"""
# remove current components
self.remove_components()
# create new components
self.components = create_from_yaml(
os.path.join(self.path, self.pattern_knowledge), self.id,
planner_prefix=self.get_manager_prefix(), config_key=config_key,
params=self.params, mapping=self.mapping,
components_class=self.components_class,
optional_params=self.optional_params)
def test_gossip(self):
"""
test creation of GossipMax
"""
components = create_from_yaml(os.path.join(os.path.dirname(__file__),
'../so_coordinator/'
'so_specification.yaml'),
'test1',
config_key='GossipMax',
params={'pose_frame': 'pose_frame',
'value': 0,
'initial_value': 0},
mapping=SO_MAPPING,
components_class=SOComponents,
name='gossipmax')
self.assert_(True)
def __init__(self, so_goal, correlations=None, id='robot1',
name='SoCoordinator', path=os.path.dirname(__file__),
expert_knowledge='so_expert_knowledge.yaml',
pattern_knowledge='so_specification.yaml',
decision=DecisionStrategy,
components_class=SOComponents,
mapping=SO_MAPPING,
requires_execution_steps=True,
params=None, optional_params=None, **kwargs):
"""
initialization
:param correlations: effects of SoCoordinator (on higher level)
:param so_goal: self-organization goal used in coordination mechanism
selection
:param id: id of the agent
:param name: unique name of the object
:param path: path to the yaml files
:param expert_knowledge: yaml file containing mapping goal - option
:param pattern_knowledge: yaml file containing option configurations
:param decision: class containing decision strategy
:param components_class: class containing factory to create RHBP
components
:param mapping: dictionary mapping strings to classes
:param requires_execution_steps: whether the execution steps should be
caused from the parent manager or not.
:param params: agent specific parameters for creation of RHBP
components
:param optional_params: dictionary indicating component parameters to
be adjusted; form: component_key: {parameters}
:param kwargs: keyword arguments
"""
self.path = path
self.pattern_knowledge = pattern_knowledge
self.params = params
self.mapping = mapping
self.components_class = components_class
if optional_params is None:
self.optional_params = {}
else:
self.optional_params = optional_params
self.id = id
# init parent class (NetworkBehaviour)
super(SoCoordinator, self).__init__(name=name, requires_execution_steps=requires_execution_steps,
correlations=correlations, always_update_activation=True, **kwargs)
# Coordination Mechanism Selection
# 1) Expert Knowledge + Decision Making Strategy
self.selector = decision(so_goal, os.path.join(path, expert_knowledge))
selection = self.selector.select()
# combine optional params and parameters included in expert knowledge
# (optional params dominate params included in expert knowledge)
selection[1].update(self.optional_params)
# 2) Creation of SO Components based on selected so configuration
self.components = create_from_yaml(
os.path.join(path, pattern_knowledge), id,
planner_prefix=self.get_manager_prefix(), config_key=selection[0],
params=params, mapping=mapping, components_class=components_class,
optional_params=selection[1])
