def init(self, count):
# Resend mechanism
th_resend = threading.Thread(target=self.resend_data, args=())
th_resend.setDaemon(True)
th_resend.start()
connect = world_ups_pb2.UConnect()
connected = world_ups_pb2.UConnected()
# self.database = database
# Add truck to database with default settings
for i in range(count):
truck_id = create_truck()
newtruck = connect.trucks.add()
newtruck.id = truck_id
newtruck.x = 1
newtruck.y = 1
# truck = Truck()
# truck.save()
# newtruck = connect.trucks.add()
# newtruck.id = truck.truck_id
# newtruck.x = truck.x
# newtruck.y = truck.y
connect.isAmazon = False
self.send_data(connect)
self.recv_data(connected)
#self.file_handle.write(connected.result)
self.world_id = connected.worldid
th_handler = threading.Thread(target=self.handler, args=())
th_handler.setDaemon(True)
th_handler.start()
def recvMsg(socket, msgType):
var_int_buff = []
while True:
buf = socket.recv(1)
var_int_buff += buf
msg_len, new_pos = _DecodeVarint32(var_int_buff, 0)
if new_pos != 0:
break
whole_message = socket.recv(msg_len)
if msgType == "UConnected":
msg = wu.UConnected()
msg.ParseFromString(whole_message)
elif msgType == "UResponses":
msg = wu.UResponses()
msg.ParseFromString(whole_message)
elif msgType == "AMessages":
msg = ua.AMessages()
msg.ParseFromString(whole_message)
else:
print("Receive an undefined message.")
return
print("------------")
print("recv:", msg)
print("------------")
return msg
def init_world(world_fd, db_cur, db_conn):
UConnect = world_ups_pb2.UConnect()
UConnect.isAmazon = False
#UConnect.worldid = 1
for i in range(1, 3):
car1 = UConnect.trucks.add()
car1.id = i
car1.x = i
car1.y = i
send_to_world(UConnect, world_fd)
UConnected = world_ups_pb2.UConnected()
UConnected = recv_from_world(UConnected, world_fd)
world_id = UConnected.worldid
for i in range(1, 3):
db_cur.execute("insert into truck "
"(worldid, truckid, packageid, location_x,"
"location_y, status) values('" + str(world_id) +
"', '" + str(i) + "', " + '0' + ", '" + str(i) +
"', '" + str(i) + "', '" + 'I' + "')")
print(UConnected)
db_conn.commit()
UComm = world_ups_pb2.UCommands()
UComm.simspeed = 50000
send_to_world(UComm, world_fd)
return world_id
def URecv(sock, isUConnect=False):
all_data = b''
data = sock.recv(4)
if not data:
print('connection to world is closed')
data_len, new_pos = _DecodeVarint32(data, 0)
all_data += data[new_pos:]
data_left = data_len - len(all_data)
while True:
data = sock.recv(data_left)
all_data += data
data_left -= len(data)
if data_left <= 0:
break
if isUConnect:
msg = wupb.UConnected()
msg.ParseFromString(all_data)
return msg
msg = wupb.UResponses()
msg.ParseFromString(all_data)
return msg
def connect_world_simulator():
# UConnect message to world simulator
uconnect = world_ups_pb2.UConnect()
uconnect.trucks.extend([truck1, truck2])
uconnect.isAmazon = False
conn_world_req = uconnect.SerializeToString()
_EncodeVarint(conn_world.sendall, len(conn_world_req))
conn_world.sendall(conn_world_req)
# UConnected from world simulator
uconnected = world_ups_pb2.UConnected()
data = recv_world_id()
uconnected.ParseFromString(data)
print("world simulator status: ", uconnected.result)
return uconnected.worldid
def connect_to_world_again(truck_number, world_id):
global world_socket
uconnect = world_ups_pb2.UConnect()
uconnect.isAmazon = False
uconnect.worldid = world_id
#send UConnect to world
send_msg(world_socket, uconnect.SerializeToString())
print("[DEBUG] Sent UConnect")
#receive UConnected from world
received = receive_msg(world_socket)
uconnected = world_ups_pb2.UConnected()
uconnected.ParseFromString(received)
print("[DEBUG] Received MSG: " + uconnected.result)
def connect_to_world(truck_number):
global world_socket
uconnect = world_ups_pb2.UConnect()
uconnect.isAmazon = False
'''
===============================================================
TO DO (FINISHED & TESTED):
1. Finish the database, initialize the truck table.
2. Do not forget to drop the original table.
'''
# Connect to databse and initialize the table
conn = connect_to_database()
cur = conn.cursor()
cur.execute("truncate table ups_package;")
cur.execute("truncate table ups_truck;")
for num in range(1, truck_number + 1):
truck = uconnect.trucks.add()
truck.id = num
truck.x = 1
truck.y = 1
cur.execute("insert into ups_truck (truckid, truckstatus) values ('" +
str(num) + "', 'idle')")
conn.commit()
cur.close()
conn.close()
#send UConnect to world
send_msg(world_socket, uconnect.SerializeToString())
print("[DEBUG] Sent UConnect")
#receive UConnected from world
received = receive_msg(world_socket)
uconnected = world_ups_pb2.UConnected()
uconnected.ParseFromString(received)
worldid = uconnected.worldid
print("[DEBUG] Received MSG: " + uconnected.result)
return worldid
def parse_connected_msg(connected_msg_str):
msg = world_ups_pb2.UConnected()
msg.ParseFromString(connected_msg_str)
print("ups received UConnected: " + msg.result)
def parse_connected_msg(connected_msg_str):
msg = world_ups_pb2.UConnected()
msg.ParseFromString(connected_msg_str)
print("world_th ups received UConnected: " + msg.result)
print("world_th ups received worldid: " + str(msg.worldid))
return msg.worldid
def parse_uconnected(msg_str):
msg = world_ups_pb2.UConnected()
msg.ParseFromString(msg_str)
return msg
def connect_to_world(self):
send_msg_str_to_wld(uconnect_msg().SerializeToString(), self.skt)
uconnected_msg = world_ups_pb2.UConnected()
uconnected_msg.ParseFromString(recv_msg_str_from_wld(self.skt))
self.out_q.put(uconnected_msg)