def initCAOC(Data,node):
caocref = CAOC(Data.numDrones,Data.heuristic,node)
caocref.setConnectionParams(PYRO_HOST, PYRO_PORT)
print('CAOC initialized')
return caocref
def main():
print 'Start'
#x=5
#a=[2,4,6,8]
#if x>=a[len(a)-1]:
#a.append(x)
#else:
#for i in range(len(a)):
#if x<a[i]:
#a.insert(i,x)
#break
#print a
#print a.pop()
for i in range(3):
print ''
print '############################# Heuristic ' + str(i+1) + ' #############################'
random.seed(1)
mapX=50
mapY=50
numStreets=10
numTargets=9
numDrones=3
heuristic=i+1
seedNum=1
Nuisance=0.8
print 'Heuristic: ' + str(heuristic)
print '-------------Generate Map-------------'
Map = GenMap(mapX,mapY)
Map.map(numStreets,Nuisance)
randNodes=[]
for i in range(numTargets+numDrones):
randNodes.append(Map.RandNode())
print 'Node List: ' + str(randNodes)
print '-------------Generate HMINT, CAOC, IMINT, Drone-------------'
hmint = HMINT(numTargets, randNodes)
hmintInQ = LPInputQueue()
caoc=CAOC(numDrones,heuristic)
caocInQ = LPInputQueue()
imint=IMINT(heuristic,numTargets)
imintInQ = LPInputQueue()
drone=Drone(0,0,heuristic)
droneInQ=LPInputQueue()
lp=[hmint,caoc,imint]
print '-------------Initialize Target and Drone Data -------------'
tData=[]
for i in range(numTargets):
tData.append([i,10+i,random.random(),'Vehicle',1,1,randNodes[i],10*random.random(),0,0])
print 'Target Data: ' + str(tData)
dData=[]
for i in range(numDrones):
dData.append([i,'Idle',randNodes[numTargets+i]])
print 'Drone Data: ' + str(dData)
print '-------------Generate Messages-------------'
dMsg=[]
for i in range(numDrones):
dMsg.append(Message(3,dData[i],dData[i][0],'CAOC',0))
print 'Drone Messages: ' + str(dMsg)
tMsg=[]
for i in range(numTargets):
tMsg.append(Message(2,tData[i],'HMINT','CAOC',i+1))
print 'Target Messages: ' + str(tMsg)
print '-------------Send Messages-------------'
for i in range(numDrones):
print 'Drone ' + str(dMsg[i].data[0]) + ' Location: ' + str(dMsg[i].data[2].xpos) + ', ' +str(dMsg[i].data[2].ypos)
for i in range(numTargets):
print 'Tgt ' + str(tMsg[i].data[0]) + ' Location: ' + str(tMsg[i].data[6].xpos) + ', ' +str(tMsg[i].data[6].ypos)
for i in range(numDrones):
print 'CAOC handling Drone ' + str(dMsg[i].data[0]) + ' Status Msg...'
caoc.testHandleMessage(dMsg[i])
print 'CAOC Priority Queue: ' + str(caoc.priorityQueue)
print 'CAOC Drone Status Queue: ' + str(caoc.drones)
for i in range(numTargets):
print 'CAOC handling Tgt ' + str(tMsg[i].data[0]) + ' Msg from HMINT...'
caoc.testHandleMessage(tMsg[i])
print 'CAOC Priority Queue: ' + str(caoc.priorityQueue)
print 'CAOC Drone Status Queue: ' + str(caoc.drones)
while (len(caoc.priorityQueue)>0):
for i in range(numDrones):
print 'CAOC handling Drone ' + str(dMsg[i].data[0]) + ' Status Msg...'
caoc.testHandleMessage(dMsg[i])
print 'CAOC Priority Queue: ' + str(caoc.priorityQueue)
print 'CAOC Drone Status Queue: ' + str(caoc.drones)
print ''
print 'End'
def main():
print 'Start'
random.seed(1)
mapX=300
mapY=300
numStreets=50
numTargets=10
numDrones=3
heuristic=1
seedNum=1
Nuisance=0.8
print '---Generate Map---'
Map = GenMap(mapX,mapY)
Map.map(numStreets,Nuisance)
randNodes=[]
for i in range(numTargets):
randNodes.append(Map.RandNode())
print '---Generate HMINT, CAOC, IMINT---'
hmint = HMINT(numTargets, randNodes)
hmintInQ = LPInputQueue()
caoc=CAOC(numDrones,heuristic)
caocInQ = LPInputQueue()
imint=IMINT(heuristic,numTargets)
imintInQ = LPInputQueue()
print 'IMINT total value: ' + str(imint.totalValue)
drone=Drone(0,0,1)
droneInQ=LPInputQueue()
lp=[hmint,caoc,imint]
print '---Generate Messages---'
m2Data=[0,80,80,'Vehicle',1,1,randNodes[0],30,0,0]
m2=Message(2,m2Data,'CAOC','IMINT',0)
m3Data=[0,'Idle',randNodes[1]]
m3=Message(3,m3Data,'IMINT','CAOC',1)
print '---Save and Restore State---'
for i in lp:
i.localTime=0
drone.LocalSimTime=0
i.saveState()
i.localTime=3
drone.LocalSimTime=3
i.saveState()
i.localTime=7
drone.LocalSimTime=7
i.saveState()
i.localTime=12
drone.LocalSimTime=12
i.saveState()
print str(i.LPID) + ' state queue: ' + str(i.stateQueue)
print str(i.LPID) + ' state queue length: ' + str(len(i.stateQueue))
#for i in drone.stateQueue:
#print 'Drone LocalSimTime: ' + str(i.LocalSimTime)
hmint.restoreState(6)
caoc.restoreState(6)
imint.restoreState(6)
drone.restoreState(6)
for i in lp:
print str(i.LPID) + ' state queue: ' + str(i.stateQueue)
print str(i.LPID) + ' local time: ' + str(i.localTime)
print 'Drone actual local time: ' + str(drone.LocalSimTime)
i.localTime=13
i.saveState()
print str(i.LPID) + ' state queue: ' + str(i.stateQueue)
print 'End'
