class EventLoop(object):
KEEP_ALIVE = 60
class TOPIC(object):
PUBLISH = "pub_event_loop"
SUBSCRIBE = "sub_event_loop"
def __init__(self, _id=None):
self.event_loop_id = _id
if _id is None:
self.event_loop_id = str(uuid())
self.__subscribeTopic = Topic()
self.__subscribeTopic.set_id(self.event_loop_id)
self.__subscribeTopic.set_root(EventLoop.TOPIC.SUBSCRIBE)
self.__subscribeTopic.set_message(event_loop_message)
self.__publishTopic = Topic()
self.__publishTopic.set_id(self.event_loop_id)
self.__publishTopic.set_root(EventLoop.TOPIC.PUBLISH)
self.__publishTopic.set_message(event_loop_message)
self.__subscribers = {}
self.__publishers = {}
self.__client = None
self.__main_loop = None
self.__pid = os.getpid()
self.set_subscriber(self.__subscribeTopic.private)
self.__on_message_functions = []
self.__user_data = None
self.__user_will = None
def __del__(self):
if self.__client is not None:
message = self.__publishTopic.get_template()
message["action"] = "disconnect"
message["pid"] = self.__pid
payload = self.__publishTopic.serialize(message)
self.publish(self.__publishTopic.private, payload)
self.__client.disconnect()
def set_subscriber(self, topic):
self.__subscribers[str(uuid())] = {"topic": topic}
def set_user_data(self, user_data):
self.__user_data = user_data
def add_on_message_function(self, on_message_function):
self.__on_message_functions.append(on_message_function)
def set_main_loop(self, main_loop):
self.__main_loop = main_loop
def set_will(self, topic, payload):
self.__user_will = {"topic": topic, "payload": payload}
def publish(self, topic, payload, qos=0, retain=False):
# payload = self.__subscribeTopic.serialize(message)
self.__client.publish(topic, payload=payload, qos=qos, retain=retain)
def __on_message(self, client, userdata, message_data):
payload = message_data.payload.decode("utf-8")
if self.__subscribeTopic.root in message_data.topic and \
self.__subscribeTopic.get_id(message_data.topic) == self.event_loop_id:
message = self.__subscribeTopic.unserialize(payload)
if message["action"] == "start":
print(self.__subscribeTopic.root, message)
if message["action"] == "kill":
print(self.__subscribeTopic.root, message)
self.end()
if message["action"] == "check":
print(self.__subscribeTopic.root, message)
self.__check()
for onMessageFunction in self.__on_message_functions:
onMessageFunction(client, userdata, message_data.topic, payload)
return True
def connect(self, host, port):
self.__client = mqtt.Client(protocol=mqtt.MQTTv311,
userdata=self.__user_data)
will = self.__user_will
print(will)
if will is None:
message = self.__publishTopic.get_template()
message["action"] = "will"
message["pid"] = self.__pid
payload = self.__publishTopic.serialize(message)
will = {"topic": self.__publishTopic.private, "payload": payload}
self.__client.will_set(will["topic"],
payload=will["payload"],
qos=2,
retain=False)
self.__client.on_message = self.__on_message
self.__client.connect(host=host,
port=port,
keepalive=EventLoop.KEEP_ALIVE)
def start(self, host="localhost", port=1883):
self.connect(host, port)
for subscriber in self.__subscribers.values():
self.__client.subscribe(subscriber["topic"])
message = self.__publishTopic.get_template()
message["time"] = str(int(time()))
message["action"] = "start"
message["pid"] = self.__pid
payload = self.__publishTopic.serialize(message)
self.publish(self.__publishTopic.private, payload)
if self.__main_loop is None:
self.__client.loop_forever()
else:
self.__client.loop_start()
self.__main_loop()
def end(self):
self.__client.loop_stop()
self.__client.disconnect()
os.kill(self.__pid, SIGKILL)
def __check(self):
# todo: main_loop zombie
message = self.__publishTopic.get_template()
message["time"] = str(int(time()))
message["action"] = "ok"
message["pid"] = self.__pid
payload = self.__publishTopic.serialize(message)
self.publish(self.__publishTopic.private, payload)
def get_pid(self):
return self.__pid
class FleetManager(EventLoop):
class ACTION(object):
PUBLISH_RELATIONS = "pub_relations"
class TOPIC(object):
PUBLISH = "pub_fleet_manager"
SUBSCRIBE = "sub_fleet_manager"
def __init__(self, waypoint, arrow, route):
super().__init__()
self.topicUserPublish = Topic()
self.topicUserPublish.set_root(User.TOPIC.PUBLISH)
self.topicUserPublish.set_message(user_message)
self.topicUserSubscribe = Topic()
self.topicUserSubscribe.set_root(User.TOPIC.SUBSCRIBE)
self.topicUserSubscribe.set_message(user_message)
self.topicVehiclePublish = Topic()
self.topicVehiclePublish.set_root(Vehicle.TOPIC.PUBLISH)
self.topicVehiclePublish.set_message(vehicle_message)
self.topicVehicleSubscribe = Topic()
self.topicVehicleSubscribe.set_root(Vehicle.TOPIC.SUBSCRIBE)
self.topicVehicleSubscribe.set_message(vehicle_message)
self.topicTrafficSignalPublish = Topic()
self.topicTrafficSignalPublish.set_root(TrafficSignal.TOPIC.PUBLISH)
self.topicTrafficSignalPublish.set_message(traffic_signal_message)
self.topicFleetManagerPublish = Topic()
self.topicFleetManagerPublish.set_id(self.event_loop_id)
self.topicFleetManagerPublish.set_root(FleetManager.TOPIC.PUBLISH)
self.topicFleetManagerPublish.set_message(fleet_manager_message)
self.topicFleetManagerSubscribe = Topic()
self.topicFleetManagerSubscribe.set_id(self.event_loop_id)
self.topicFleetManagerSubscribe.set_root(FleetManager.TOPIC.SUBSCRIBE)
self.topicFleetManagerSubscribe.set_message(fleet_manager_message)
self.waypoint = waypoint
self.arrow = arrow
self.route = route
self.users = {}
self.vehicles = {}
self.traffic_signals = {}
self.relations = {} # vehicle_id -> user_id, user_id -> vehicle_id
self.add_on_message_function(self.update_user_status)
self.add_on_message_function(self.update_vehicle_status)
self.add_on_message_function(self.update_traffic_signal_status)
self.add_on_message_function(self.response_request)
self.set_subscriber(self.topicUserPublish.all)
self.set_subscriber(self.topicVehiclePublish.all)
self.set_subscriber(self.topicTrafficSignalPublish.all)
self.set_subscriber(self.topicFleetManagerSubscribe.all)
def update_user_status(self, _client, _userdata, topic, payload):
# print("update_user_status", topic)
if self.topicUserPublish.root in topic:
user_id = self.topicUserPublish.get_id(topic)
message = self.topicUserPublish.unserialize(payload)
if message["state"] == User.STATE.LOGIN:
# print("user", User.STATE.LOGIN)
# todo: move to dispatcher class
self.dispatch(user_id, message)
elif message["state"] == User.STATE.WAITING:
pass
# print("user", User.STATE.WAITING)
elif message["state"] == User.STATE.GETTING_ON:
pass
# print("user", User.STATE.GETTING_ON)
elif message["state"] == User.STATE.GOT_ON:
# print("user", User.STATE.GOT_ON)
vehicle_id = self.relations[user_id]
self.vehicles[vehicle_id]["schedules"][0][
"action"] = Vehicle.ACTION.MOVE
payload = self.topicVehicleSubscribe.serialize(
{"schedules": self.vehicles[vehicle_id]["schedules"]})
self.publish(
self.topicVehicleSubscribe.root + "/" + vehicle_id +
"/schedules", payload)
elif message["state"] == User.STATE.MOVING:
pass
# print("user", User.STATE.MOVING)
elif message["state"] == User.STATE.GETTING_OUT:
pass
# print("user", User.STATE.GETTING_OUT)
elif message["state"] == User.STATE.GOT_OUT:
pass
# print("user", User.STATE.GOT_OUT)
else:
print("user", message["state"])
self.users[user_id] = message
def update_vehicle_status(self, _client, _userdata, topic, payload):
if self.topicVehiclePublish.root in topic:
vehicle_id = self.topicVehiclePublish.get_id(topic)
message = self.topicVehiclePublish.unserialize(payload)
# print("update_vehicle_status", topic, message["state"])
if vehicle_id in self.relations:
prev_state = self.vehicles[vehicle_id]["state"]
if message["state"] == SimTaxi.STATE.MOVE_TO_USER:
# print("vehicle", SimTaxi.STATE.MOVE_TO_USER)
if prev_state == SimTaxi.STATE.STANDBY:
user_id = self.relations[vehicle_id]
self.users[user_id]["schedules"][0][
"action"] = User.ACTION.WAIT
self.publish(
self.topicUserSubscribe.root + "/" + user_id +
"/schedules",
self.topicUserSubscribe.serialize({
"schedules":
self.users[user_id]["schedules"]
}))
elif message["state"] == SimTaxi.STATE.STOP_FOR_PICKING_UP:
# print("vehicle", SimTaxi.STATE.STOP_FOR_PICKING_UP)
if prev_state == SimTaxi.STATE.MOVE_TO_USER:
# print("vehicle", SimTaxi.STATE.STOP_FOR_PICKING_UP, SimTaxi.STATE.MOVE_TO_USER)
user_id = self.relations[vehicle_id]
self.users[user_id]["schedules"][0][
"action"] = User.ACTION.GET_ON
self.publish(
self.topicUserSubscribe.root + "/" + user_id +
"/schedules",
self.topicUserSubscribe.serialize({
"schedules":
self.users[user_id]["schedules"]
}))
elif message[
"state"] == SimTaxi.STATE.MOVE_TO_USER_DESTINATION:
# print("vehicle", SimTaxi.STATE.MOVE_TO_USER_DESTINATION)
if prev_state == SimTaxi.STATE.STOP_FOR_PICKING_UP:
# print("vehicle", SimTaxi.STATE.MOVE_TO_USER_DESTINATION, SimTaxi.STATE.STOP_FOR_PICKING_UP)
user_id = self.relations[vehicle_id]
self.users[user_id]["schedules"][0][
"event"] = User.EVENT.MOVE_VEHICLE
self.publish(
self.topicUserSubscribe.root + "/" + user_id +
"/event",
self.topicUserSubscribe.serialize(
{"event": User.EVENT.MOVE_VEHICLE}))
elif message["state"] == SimTaxi.STATE.STOP_FOR_DISCHARGING:
# print("vehicle", SimTaxi.STATE.STOP_FOR_DISCHARGING)
if prev_state == SimTaxi.STATE.MOVE_TO_USER_DESTINATION:
user_id = self.relations[vehicle_id]
self.users[user_id]["schedules"][0][
"action"] = User.ACTION.GET_OUT
self.publish(
self.topicUserSubscribe.root + "/" + user_id +
"/schedules",
self.topicUserSubscribe.serialize({
"schedules":
self.users[user_id]["schedules"]
}))
elif message["state"] == SimTaxi.STATE.MOVE_TO_STANDBY:
pass
# print("vehicle", SimTaxi.STATE.MOVE_TO_STANDBY)
elif message["state"] == SimTaxi.STATE.STANDBY:
pass
# print("vehicle", SimTaxi.STATE.STANDBY)
else:
print("vehicle", message["state"])
# vehicleSchedule = vehicle.pop("schedule")
if vehicle_id not in self.vehicles:
# print("set vehicle", vehicle_id, message["name"])
self.vehicles[vehicle_id] = message
else:
# print("update vehicle", vehicle_id, message["name"])
self.vehicles[vehicle_id].update(message)
def update_traffic_signal_status(self, _client, _userdata, topic, payload):
if self.topicTrafficSignalPublish.root in topic:
message = self.topicTrafficSignalPublish.unserialize(payload)
for route in message["routes"]:
self.traffic_signals[route["route_code"]] = route
def response_request(self, _client, _userdata, topic, payload):
if self.topicFleetManagerSubscribe.root in topic:
message = self.topicFleetManagerSubscribe.unserialize(payload)
if message["action"] == FleetManager.ACTION.PUBLISH_RELATIONS:
self.publish_relations()
def get_dispatchable_vehicles(self):
return dict(
filter(lambda x: x[1]["state"] in [SimTaxi.STATE.STANDBY],
self.vehicles.items()))
def dispatch(self, user_id, user_status):
start_point = {
"arrow_code":
self.arrow.get_arrow_codes_from_waypoint_id(
user_status["schedules"][0]["start"]["waypoint_id"])[0],
"waypoint_id":
user_status["schedules"][0]["start"]["waypoint_id"],
}
vehicles = self.get_dispatchable_vehicles()
if len(vehicles) == 0:
print("no dispatchable vehicles")
return
goal_points = []
for vehicle_id, goal_waypoint_id in map(
lambda x: (x[0], x[1]["location"]["waypoint_id"]),
vehicles.items()):
goal_points.append({
"goal_id":
vehicle_id,
"arrow_code":
self.arrow.get_arrow_codes_from_waypoint_id(goal_waypoint_id)
[0],
"waypoint_id":
goal_waypoint_id,
})
routes = self.route.get_shortest_routes(start_point,
goal_points,
reverse=True)
if len(routes) == 0:
print("no pick_up_route")
return
pick_up_route = min(routes.items(), key=lambda x: x[1]["cost"])[1]
vehicle_id = pick_up_route["goal_id"]
start_point = {
"arrow_code":
self.arrow.get_arrow_codes_from_waypoint_id(
user_status["schedules"][0]["start"]["waypoint_id"])[0],
"waypoint_id":
user_status["schedules"][0]["start"]["waypoint_id"],
}
goal_points = [{
"goal_id":
user_id,
"arrow_code":
self.arrow.get_arrow_codes_from_waypoint_id(
user_status["schedules"][0]["goal"]["waypoint_id"])[0],
"waypoint_id":
user_status["schedules"][0]["goal"]["waypoint_id"],
}]
routes = self.route.get_shortest_routes(start_point,
goal_points,
reverse=False)
if len(routes) == 0:
print("cant carry_route")
return
carry_route = min(routes.items(), key=lambda x: x[1]["cost"])[1]
current_time = time()
vehicle_schedule = deepcopy(
self.topicVehicleSubscribe.get_template()["schedules"][0])
vehicle_schedule.update({
"name": "pickup",
"start_time": current_time,
"duration": 1000,
"action": Vehicle.ACTION.MOVE,
"route": {
"start": {
"waypoint_id": pick_up_route["goal_waypoint_id"],
},
"goal": {
"waypoint_id": pick_up_route["start_waypoint_id"],
},
"arrow_codes": pick_up_route["arrow_codes"],
}
})
self.vehicles[vehicle_id]["schedules"].append(vehicle_schedule)
vehicle_schedule = deepcopy(
self.topicVehicleSubscribe.get_template()["schedules"][0])
vehicle_schedule.update({
"name": "takeOn",
"start_time": current_time + 1000,
"duration": 10,
"action": Vehicle.ACTION.STOP,
})
self.vehicles[vehicle_id]["schedules"].append(vehicle_schedule)
vehicle_schedule = deepcopy(
self.topicVehicleSubscribe.get_template()["schedules"][0])
vehicle_schedule.update({
"name": "carry",
"start_time": current_time + 1010,
"duration": 1000,
"action": Vehicle.ACTION.MOVE,
"route": {
"start": {
"waypoint_id": carry_route["start_waypoint_id"],
},
"goal": {
"waypoint_id": carry_route["goal_waypoint_id"],
},
"arrow_codes": carry_route["arrow_codes"],
}
})
self.vehicles[vehicle_id]["schedules"].append(vehicle_schedule)
vehicle_schedule = deepcopy(
self.topicVehicleSubscribe.get_template()["schedules"][0])
vehicle_schedule.update({
"name": "discharge",
"start_time": current_time + 2010,
"duration": 10,
"action": Vehicle.ACTION.STOP,
})
self.vehicles[vehicle_id]["schedules"].append(vehicle_schedule)
vehicle_schedule = deepcopy(
self.topicVehicleSubscribe.get_template()["schedules"][0])
vehicle_schedule.update({
"name": "standBy",
"start_time": current_time + 2020,
"duration": 86400,
"action": SimTaxi.ACTION.STANDBY,
})
self.vehicles[vehicle_id]["schedules"].append(vehicle_schedule)
payload = self.topicVehicleSubscribe.serialize(
{"schedules": self.vehicles[vehicle_id]["schedules"]})
self.publish(
self.topicVehicleSubscribe.root + "/" + vehicle_id + "/schedules",
payload)
self.relations[user_id] = vehicle_id
self.relations[vehicle_id] = user_id
self.publish_relations()
def publish_relations(self):
message = self.topicFleetManagerPublish.get_template()
message["time"] = time()
message["relations"] = self.relations
payload = self.topicFleetManagerPublish.serialize(message)
self.publish(self.topicFleetManagerPublish.private, payload)
