def __init__(self, plan):
self.plan4agents = plan
rospy.init_node('pseudo_planner', anonymous=True)
self.publish_plan = rospy.Publisher('/environment/plan',
Protocol_Msg,
queue_size=200)
self.used_planID = []
sim = simulation.Simulation0()
self.tasks, self.unformattedTasks = sim.get_tasks('specs')
rospy.loginfo(
'Agent with id: %d, delta: %f, theta: %f, has started successfully',
agent_id, delta, theta)
# Define the inputs/outputs to the agent (sensors, such as vision, tactile, message input etc)###
# They will be given as topic names
# This example consists of only the message channel
# [[topic_name, callback_function], [], ...]
inputs = [['bcasts_brain', 'bcasts_brain_callback']]
sensors = [200]
outputs = ['bcasts', '/environment/agent_position']
actuators = [200]
motors = []
# Give a list of function names that represent the capabilities of the agent
sim = simulation.Simulation0(pressure, abrupt)
agentfile = "conf_" + str(agent_id)
# Read agent configuration file
agent_conf = sim.read_agent_conf(agentfile)
print agent_conf
# From the list of services select 30% (this number can be modified) for the agent to be providing - at random
# [id time energy reward ...] ... -> dependencies on other services for instance 4 5 2 1
# Active_servs format: [[5, 100, 3705, 42], [6, 97, 5736, 19], [9, 96, 9156, 4]]
depends = 10 #Is this relevant for the rest of the code?
active_servs = sim.select_services(agent_id, depends)
# Health specification
battery = 10000
################################################################################################
popSize = 2