def check_termination_test(self):
unallocated_tasks = Task.get_tasks_by_status(
TaskStatusConst.UNALLOCATED)
allocated_tasks = Task.get_tasks_by_status(TaskStatusConst.ALLOCATED)
preempted_tasks = Task.get_tasks_by_status(TaskStatusConst.PREEMPTED)
planned_tasks = Task.get_tasks_by_status(TaskStatusConst.PLANNED)
dispatched_tasks = Task.get_tasks_by_status(TaskStatusConst.DISPATCHED)
ongoing_tasks = Task.get_tasks_by_status(TaskStatusConst.ONGOING)
with switch_collection(TaskStatus, TaskStatus.Meta.archive_collection):
completed_tasks = Task.get_tasks_by_status(
TaskStatusConst.COMPLETED)
canceled_tasks = Task.get_tasks_by_status(TaskStatusConst.CANCELED)
aborted_tasks = Task.get_tasks_by_status(TaskStatusConst.ABORTED)
self.logger.info("Unallocated: %s", len(unallocated_tasks))
self.logger.info("Allocated: %s", len(allocated_tasks))
self.logger.info("Planned: %s ", len(planned_tasks))
self.logger.info("Dispatched: %s", len(dispatched_tasks))
self.logger.info("Ongoing: %s", len(ongoing_tasks))
self.logger.info("Completed: %s ", len(completed_tasks))
self.logger.info("Preempted: %s ", len(preempted_tasks))
self.logger.info("Canceled: %s", len(canceled_tasks))
self.logger.info("Aborted: %s", len(aborted_tasks))
tasks = completed_tasks + preempted_tasks
if len(tasks) == len(self.tasks):
self.logger.info("Terminating test")
self.logger.info("Allocations: %s", self.allocations)
self.terminated = True
def start_test_cb(self, msg):
self.simulator_interface.stop()
initial_time = msg["payload"]["initial_time"]
self.logger.info("Start test at %s", initial_time)
tasks = Task.get_tasks_by_status(TaskStatusConst.UNALLOCATED)
for robot_id in self.auctioneer.robot_ids:
RobotPerformance.create_new(robot_id=robot_id)
for task in tasks:
self.add_task_plan(task)
TaskPerformance.create_new(task_id=task.task_id)
self.simulator_interface.start(initial_time)
self.auctioneer.allocate(tasks)
def merge_temporal_graph(previous_graph, new_graph):
tasks = list()
new_task_ids = new_graph.get_tasks()
scheduled_tasks = [
task.task_id
for task in Task.get_tasks_by_status(TaskStatusConst.SCHEDULED)
if task
]
ongoing_tasks = [
task.task_id
for task in Task.get_tasks_by_status(TaskStatusConst.ONGOING)
if task
]
for i, task_id in enumerate(new_task_ids):
if task_id in scheduled_tasks or task_id in ongoing_tasks:
# Keep current version of task
tasks.append(previous_graph.get_task_graph(task_id))
else:
# Use new version of task
tasks.append(new_graph.get_task_graph(task_id))
# Get type of previous graph
merged_graph = previous_graph.__class__()
for task_graph in tasks:
merged_graph.add_nodes_from(task_graph.nodes(data=True))
merged_graph.add_edges_from(task_graph.edges(data=True))
for i in merged_graph.nodes():
if i != 0 and merged_graph.has_node(
i + 1) and not merged_graph.has_edge(i, i + 1):
merged_graph.add_constraint(i, i + 1)
return merged_graph