def worldKiller(self, id):
req = InstructionCommandRequest()
req.instruction = "die"
response = serverClient(req, "/magna/Worlds/die", InstructionCommand)
self.world_spawner_launch.shutdown()
def worldGetFSPset(self, fspset_path):
req = WorldGetFSPsetRequest()
req.fspset_path = json.dumps(fspset_path)
response = serverClient(req, "/magna/Worlds/get_fspset",
WorldGetFSPset)
return response.fspset
def sendsendNewFlightplanToGS(self, ids, poses_list):
req = UTMnotificationRequest()
req.instruction = json.dumps({"action": "new flightplan", "ids": ids})
req.goal_path_poses_list = poses_list
response = serverClient(req, "/magna/utm/notification",
UTMnotification)
return response
def GazeboModelsKiller(self):
for n_agent in np.arange(self.N_agents):
model_name = "{0}_{1}".format(self.agent_models[n_agent],
n_agent + 1)
response = serverClient(model_name, 'gazebo/delete_model',
DeleteModel)
time.sleep(0.1)
return
def worldAdd(self, world_part_definition):
if world_part_definition == "from_hyperparameters":
world_part_definition = [{
"name": "JSON",
"world": self.world_name,
"subworld": self.subworld_name
}]
req = InstructionCommandRequest()
req.instruction = json.dumps(world_part_definition)
response = serverClient(req, "/magna/Worlds/add", InstructionCommand)
return response
def sendNotificationsToAgents(self, agents_list, message):
if type(agents_list) == int:
agents_list = [agents_list]
msg = InstructionCommandRequest()
for agent in agents_list:
msg.instruction = message
print(agent, msg)
response = serverClient(
msg, '/magna/GS_Agent_{}/notification'.format(agent),
InstructionCommand)
return "completed"
def AlgorithmControlCommand(self, agents_list, name, action, params,
values):
if type(agents_list) == int:
agents_list = [agents_list]
for agent in agents_list:
request = AlgorithmControlRequest()
request.name = name
request.params = params
request.action = action
request.values = values
response = serverClient(
request, '/magna/GS_Agent_{}/algorithm_control'.format(agent),
AlgorithmControl)
return "completed"
def SimulationTerminationCommand(self):
response = serverClient(True, '/magna/GS/simulation_termination',
DieCommand)
return
