def __init__(self):
self.bidder = ExplorationBidder()
self.grids_schedule = ExplorationSchedule()
self.objects_schedule = ExplorationSchedule()
self.bidder_timer = rospy.get_param("~bidder_timer", 3600)
self.rescheduleInterval = rospy.get_param('~rescheduleInterval', 86400)
self.slot_duration = 0
self.num_slots = 0
self.last_bid = 0
#every 5 min check current time slot
rospy.Timer(rospy.Duration(60 * 5), self.add_task)
rospy.Subscriber("/exploration_schedule", ExplorationSchedule,
self.schedule_grids_listener)
rospy.Subscriber("/object_schedule", ExplorationSchedule,
self.schedule_objects_listener)
def __init__(self,
start_time=(8, 0),
end_time=(18, 0),
observe_interval=rospy.Duration(1800)):
rospy.loginfo("Initiating budgetting control...")
# hand-allocated budget (between 8am to 6pm)
self.observe_interval = observe_interval
self._start_time = datetime.time(start_time[0], start_time[1])
self._end_time = datetime.time(end_time[0], end_time[1])
self.budget_alloc = list()
self.available_budget = 0
tmp = datetime.datetime.fromtimestamp(rospy.Time.now().secs)
self._update_budget_date = datetime.datetime(tmp.year, tmp.month,
tmp.day, 0, 0)
self.bidder = ExplorationBidder()
self.soma_config = rospy.get_param("~soma_config",
"activity_exploration")
self._db = MessageStoreProxy(collection="activity_exploration_log")
# all services to counters
people_srv_name = rospy.get_param(
"~people_srv", "/people_counter/people_best_time_estimate")
if people_srv_name != "":
rospy.loginfo("Connecting to %s service..." % people_srv_name)
self._people_srv = rospy.ServiceProxy(people_srv_name,
PeopleBestTimeEstimateSrv)
self._people_srv.wait_for_service()
act_srv_name = rospy.get_param(
"~activity_srv", "/activity_counter/activity_best_time_estimate")
if act_srv_name != "":
rospy.loginfo("Connecting to %s service..." % act_srv_name)
self._act_srv = rospy.ServiceProxy(act_srv_name,
ActivityBestTimeEstimateSrv)
self._act_srv.wait_for_service()
scene_srv_name = rospy.get_param(
"~scene_srv", "/scene_counter/scene_best_time_estimate")
if scene_srv_name != "":
rospy.loginfo("Connecting to %s service..." % scene_srv_name)
self._scene_srv = rospy.ServiceProxy(scene_srv_name,
SceneBestTimeEstimateSrv)
self._scene_srv.wait_for_service()
def __init__(self):
self.bidder = ExplorationBidder()
self.map_received = False
rospy.on_shutdown(self.shutdown)
self.service_timeout = rospy.get_param("~timeout", 10)
self.time_of_slots = rospy.get_param("~slot_time", 1200)
host = rospy.get_param("mongodb_host")
port = rospy.get_param("mongodb_port")
self.mongo_client = pymongo.MongoClient(host, port)
rospy.Subscriber('/topological_map', TopologicalMap, self.MapCallback)
rospy.loginfo("Waiting for Topological map ...")
while not self.map_received:
rospy.sleep(rospy.Duration(0.1))
rospy.loginfo("... Got Topological map")
self.get_info()
self.timer_obj = rospy.Timer(rospy.Duration(self.time_of_slots),
self.get_exploration_task_cb)
self.timer_obj2 = rospy.Timer(rospy.Duration(30), self.get_info_cb)
self.get_exploration_task()
rospy.spin()
def __init__(self):
self.bidder = ExplorationBidder()
rospy.Timer(rospy.Duration(60), self.add_task)