def main(Data,daemon,ns):
LogicalProcess.nextLPID = 0
#
# initialization
#
print 'Starting run'
random.seed(Data.seedNum)
# Create Urban network/map
Map = GenMap(Data.mapX,Data.mapY)
Map.map(Data.numStreets,Data.Nuisance)
randNodes=[]
for i in range(Data.numTargets):
randNodes.append(Map.RandNode())
print '############################## MAP ENTRY PT'
print Map.MapEntryPt
# Create HMINT, will be separate process started by Controller
hmint = initHMINT(randNodes,Data)
hmintInQ = LPInputQueue()
hmintInQ.setLocalTime(0)
hmintInQ.setLPID(hmint.LPID)
hmintInQ_uri = daemon.register(hmintInQ)
hmintInQ_uri = daemon.uriFor(hmintInQ)
ns.register("inputqueue.hmint", hmintInQ_uri)
# Create CAOC, will be separate process started by Controller
caoc = initCAOC(Data,Map.MapEntryPt)
caocInQ = LPInputQueue()
caocInQ.setLocalTime(0)
caocInQ.setLPID(caoc.LPID)
caocInQ_uri = daemon.register(caocInQ)
caocInQ_uri = daemon.uriFor(caocInQ)
ns.register("inputqueue.caoc", caocInQ_uri)
# Create IMINT, will be separate process started by Controller
imint = initIMINT(Data.heuristic,Data.numTargets)
imintInQ = LPInputQueue()
imintInQ.setLocalTime(0)
imintInQ.setLPID(imint.LPID)
imintInQ_uri = daemon.register(imintInQ)
imintInQ_uri = daemon.uriFor(imintInQ)
ns.register("inputqueue.imint", imintInQ_uri)
# Create Simulation Controller
controller = DroneSimController(hmint, caoc, imint)
controller.setConnectionParams(PYRO_HOST, PYRO_PORT)
controllerInQ = LPInputQueue()
controllerInQ.setLocalTime(0)
controllerInQ_uri = daemon.register(controllerInQ)
controllerInQ_uri = daemon.uriFor(controllerInQ)
ns.register("inputqueue.controller", controllerInQ_uri)
# Create drone entities, each will be separate process started by Controller
droneInQs = DroneInputQueueContainer()
drones = []
for i in range(Data.numDrones):
dronename = i
print 'dronename is %s' % dronename
drone = createNewDrone(dronename, Data.typeOfDrone,Data.heuristic,Data.Legs)
drones.append(drone)
controller.addDrone(drone)
droneInQs.addDroneInputQueue(dronename)
droneInQs.setLPIDs(drones)
droneInQs_uri = daemon.register(droneInQs)
droneInQs_uri = daemon.uriFor(droneInQs)
ns.register("inputqueue.drones", droneInQs_uri)
#Shared loop controler
loopInQs=Loops()
loopInQs_uri = daemon.register(loopInQs)
loopInQs_uri = daemon.uriFor(loopInQs)
ns.register("inL.loop", loopInQs_uri)
# Start Controller process
pController = Process(group=None, target=controller, name='Drone Sim Controller Process')
print 'starting controller'
pController.start()
while not(pController.is_alive):
time.sleep(0.1)
print 'Controller process is alive'
sys.stdout.flush()
# HMINT
print 'starting hmint'
pHMINT = Process(group=None, target=hmint, name='HMINT Process')
pHMINT.start()
while not(pHMINT.is_alive):
time.sleep(0.1)
print 'HMINT process is alive'
# CAOC
print 'starting caoc'
pCAOC = Process(group=None, target=caoc, name='CAOC Process')
pCAOC.start()
while not(pCAOC.is_alive):
time.sleep(0.1)
print 'CAOC process is alive'
# Drones
print 'starting drones'
pDrones = []
for i in range(0, len(drones)):
pDrone = Process(group=None, target=drones[i], name='drone'+str(drones[i].uid), args=(Map.MapEntryPt,))
pDrones.append(pDrone)
pDrone.start()
while not(pDrone.is_alive):
time.sleep(0.1)
print 'Drone %d process is alive' % drones[i].uid
# IMINT
print 'starting imint'
pIMINT = Process(group=None, target=imint, name='IMINT Process')
pIMINT.start()
while not(pIMINT.is_alive):
time.sleep(0.1)
print 'IMINT process is alive'
# Run shared object requests loop
print 'starting shared objects request loop'
daemon.requestLoop(loopCondition=lambda:loopInQs.loopC())
# Request loop exited, simulation complete, release resources
daemon.unregister("inL.loop")
daemon.unregister("inputqueue.drones")
daemon.unregister("inputqueue.controller")
daemon.unregister("inputqueue.caoc")
daemon.unregister("inputqueue.caoc")
daemon.unregister("inputqueue.hmint")
try:
del hmint
print "Deleted hmint!"
del hmintInQ
print "Deleted hmintInq!"
del caoc
print "Deleted caoc!"
del caocInQ
print "Deleted caocInQ!"
del drones
print "Deleted drones!"
del droneInQs
print "Deleted dronesInQs!"
del imint
print "Deleted imint!"
del imintInQ
print "Deleted imint!"
del controller
print "Deleted controller!"
del controllerInQ
print "Deleted controller!"
print "Deleted all variables!"
except:
print "Failed to delete all variables"
daemon.close()
print "\n\n\n"
def main():
numDrones = 1
# Create PYRO remote object daemon
daemon = Pyro4.Daemon(host=PYRO_HOST, port=PYRO_PORT)
ns = Pyro4.locateNS()
# Create input queue instance to share
stublp = StubLP()
stublp.setConnectionParams(PYRO_HOST, PYRO_PORT)
stublpInQ = LPInputQueue()
stublpInQ.setLocalTime(0)
stublpInQ.setLPID(stublp.LPID)
uri = daemon.register(stublpInQ)
ns.register('inputqueue.stublp', uri)
# Producer Client
pc1 = ProducerClient()
pPc1 = Process(group=None, target=pc1, name='Test Message Producer Process')
pPc1.start()
# Consumer Client (StubLP)
pStubLP = Process(group=None, target=stublp, name='StubLP Process')
pStubLP.start()
# Create Simulation Controller
controller = StubController(stublp)
controller.setConnectionParams(PYRO_HOST, PYRO_PORT)
controllerInQ = LPInputQueue()
controllerInQ.setLocalTime(0)
controllerInQ_uri = daemon.register(controllerInQ)
ns.register("inputqueue.stubcontroller", controllerInQ_uri)
# Stub drones
# Create drone entities, each will be separate process started by Controller
droneInQs = DroneInputQueueContainer()
drones = []
for i in range(numDrones):
dronename = i
print 'dronename is %s' % dronename
drone = createNewDrone(dronename)
drones.append(drone)
controller.addDrone(drone)
droneInQs.addDroneInputQueue(dronename)
droneInQs.setLPIDs(drones)
droneInQs_uri = daemon.register(droneInQs)
ns.register("inputqueue.stubdrones", droneInQs_uri)
# Start Controller process
pController = Process(group=None, target=controller, name='Stub Controller Process')
print 'starting controller'
pController.start()
# Drones
print 'starting drones'
pDrones = []
for i in range(0, len(drones)):
pDrone = Process(group=None, target=drones[i], name='drone'+str(drones[i].uid))
pDrones.append(pDrone)
pDrone.start()
print i, pDrone.is_alive()
# Run shared object requests loop
print 'starting shared objects request loop'
daemon.requestLoop()
