def init_post_coul(self):
self.com_state_factory = ComStateFactory(self.com)
if self.robot == "mark":
self.init_mission_mark()
else:
self.init_mission_pmi()
self.slave_manager = SlaveManager(self.com_state_factory)
self.mae = MAEGlobal(
self.com_state_factory,
self.slave_manager,
self) # disgusting but whatever
self.com.set_global_mae(self.mae)
def __init__(self, conf_file):
self.config = ConfigParser.ConfigParser(allow_no_value=True)
self.clean_time_gap = None
self.wait_time_for_slave = None
self.master_queue_name = None
self.task_queue_name = None
self.task_queue_size_limit = None
self.task_file_name = None
self.task_counter_file = None
self.ssh_key = None
self.s3_bucket = None
self.s3_folder = None
self.slave_num_every_packup = None
self.slave_max_sec_each_task = None
self.slave_python_version = None
self.master_ip = None
self.slaves_ip = None
self.slave_awake_frequency = None
self.configure(conf_file)
self.last_wake_time = None
self.repeated_timer = None
self.is_started = False
self.pop_forever_handler = None
logging.info('Starting task manager...')
self.task_manager = TaskManager(self.task_file_name, self.task_counter_file)
logging.info('Starting slave manager...')
self.slave_manager = SlaveManager(master_ip=self.master_ip,
slaves_ip=self.slaves_ip,
ssh_key=self.ssh_key,
s3_bucket=self.s3_bucket,
s3_folder=self.s3_folder,
slave_num_every_packup=self.slave_num_every_packup,
slave_max_sec_each_task=self.slave_max_sec_each_task,
slave_python_version=self.slave_python_version,
slave_awake_frequency=self.slave_awake_frequency,
slave_buffer_size=1)
logging.info('Starting connection manager...')
self.message_connection = ConnectionManager(queue_name=self.master_queue_name,
durable=False,
callback=self.msg_callback,
no_ack=True)
class Master:
def msg_callback(self, ch, method, properties, body):
callback_set = {'SUCCESS': self.success,
'FAIL': self.fail,
'AWAKE': self.update_slave_response_time,
'STOP': self.stop,
'ADD_SLAVE': self.add_slave,
'KILL_SLAVE': self.kill_slave,
'RESTART_SLAVE': self.restart_slave,
'STAT': self.stat,
'START': self.start,
'RECONFIGURE': self.configure,
'REFRESH': self.refresh
}
try:
command = body[:body.find(' ')]
info = body[body.find(' ')+1:]
if command in callback_set:
callback_set[command](ujson.loads(info))
else:
logging.debug(" [x] Unknown command %r" % (str(body),))
except KeyError as e:
if str(e) == "'Queue.DeclareOk'":
logging.debug("Queue.DelcareOk at %r" % (str(body),))
else:
logging.error("Unknown KeyError at %r:" % (str(body),))
except RuntimeError as e:
if 'recursion' in str(e):
logging.error('MAXIMUM RECURSION ERROR')
def __init__(self, conf_file):
self.config = ConfigParser.ConfigParser(allow_no_value=True)
self.clean_time_gap = None
self.wait_time_for_slave = None
self.master_queue_name = None
self.task_queue_name = None
self.task_queue_size_limit = None
self.task_file_name = None
self.task_counter_file = None
self.ssh_key = None
self.s3_bucket = None
self.s3_folder = None
self.slave_num_every_packup = None
self.slave_max_sec_each_task = None
self.slave_python_version = None
self.master_ip = None
self.slaves_ip = None
self.slave_awake_frequency = None
self.configure(conf_file)
self.last_wake_time = None
self.repeated_timer = None
self.is_started = False
self.pop_forever_handler = None
logging.info('Starting task manager...')
self.task_manager = TaskManager(self.task_file_name, self.task_counter_file)
logging.info('Starting slave manager...')
self.slave_manager = SlaveManager(master_ip=self.master_ip,
slaves_ip=self.slaves_ip,
ssh_key=self.ssh_key,
s3_bucket=self.s3_bucket,
s3_folder=self.s3_folder,
slave_num_every_packup=self.slave_num_every_packup,
slave_max_sec_each_task=self.slave_max_sec_each_task,
slave_python_version=self.slave_python_version,
slave_awake_frequency=self.slave_awake_frequency,
slave_buffer_size=1)
logging.info('Starting connection manager...')
self.message_connection = ConnectionManager(queue_name=self.master_queue_name,
durable=False,
callback=self.msg_callback,
no_ack=True)
def run(self):
logging.info(' [*] Waiting for messages. To exit press CTRL+C')
try:
self.message_connection.start_accepting_message()
except KeyboardInterrupt:
logging.info('Stopping master...')
master.stop(None)
except EOFError:
logging.info('Download finishes. Shutting down master.')
master.stop(None)
# except Exception as e:
# logging.info(str(e))
# logging.info('Stopping master...')
# TODO: write all configuration in one file
def configure(self, conf_file):
self.config.read(conf_file)
self.clean_time_gap = self.config.getint('main', 'clean_time_gap')
self.wait_time_for_slave = self.config.getint('main', 'wait_time_for_slave')
self.slave_awake_frequency = self.config.get('main', 'slave_awake_frequency')
self.master_ip = self.config.get('main', 'master_private_ip')
self.slaves_ip = self.config.get('main', 'slaves_private_ip')
self.master_queue_name = self.config.get('main', 'master_queue_name')
self.task_queue_name = self.config.get('main', 'task_queue_name')
self.task_file_name = self.config.get('main', 'task_file')
self.task_queue_size_limit = int(self.config.get('main', 'task_queue_size_limit'))
self.task_counter_file = self.config.get('main', 'task_counter_file')
self.ssh_key = self.config.get('main', 'ssh_key')
self.s3_bucket = self.config.get('main', 's3_bucket')
self.s3_folder = self.config.get('main', 's3_folder')
self.slave_num_every_packup = self.config.get('main', 'slave_num_every_packup')
self.slave_max_sec_each_task = self.config.get('main', 'slave_max_sec_each_task')
self.slave_python_version = self.config.get('main', 'slave_python_version')
def add_slave(self, slave_info):
if self.slave_manager.exist_slave(slave_info):
logging.info('Slave ' + slave_info['host'] + ' already exists.')
return
logging.info('master: add slave' + str(slave_info))
new_slave_info = self.slave_manager.add_slave(slave_info)
self.slave_manager.run_slave(new_slave_info)
# TODO:
def kill_slave(self, slave_info):
if not self.slave_manager.exist_slave(slave_info):
return
logging.info('kill slave ' + str(slave_info))
self.slave_manager.kill_slave(slave_info)
def restart_slave(self, slave_info):
logging.info(slave_info['host'])
logging.info('restart_slave' + str(slave_info))
self.kill_slave(slave_info)
self.add_slave(slave_info)
def start(self, info):
logging.info('Master Starts')
self.last_wake_time = datetime.datetime.utcnow()
self.is_started = True
self.pop_forever_handler = threading.Thread(target=self.start_popping_tasks)
self.pop_forever_handler.start()
self.repeated_timer = RepeatedTimer(self.clean_time_gap, self.notice_refresh, None)
def pop_forever(self):
self.start_popping_tasks()
def get_task_queue_size(self):
pass
# TODO: There is a bottle neck here
def start_popping_tasks(self):
task_connection = ConnectionManager(queue_name=self.task_queue_name,
durable=True, no_ack=False)
eof_reached = False
while self.is_started and not eof_reached:
current_task_queue_size = task_connection.get_task_queue_size()
while self.is_started and current_task_queue_size < self.task_queue_size_limit:
task = self.task_manager.pop_task()
if task is None:
# TODO: Don't use Error. Just break and handle the case later in this function
logging.info('EOF Reached')
eof_reached = True
break
message = 'WORK ' + ujson.dumps(task)
task_connection.publish(message)
current_task_queue_size += 1
task_connection.stop()
def fail(self, slave_task_info):
self.task_manager.add_task(slave_task_info['task'])
self.slave_manager.update_last_response(slave_task_info)
def success(self, slave_task_info):
slave_info = self.slave_manager.update_last_response(slave_task_info)
def update_slave_response_time(self, slave_task_info):
slave_info = self.slave_manager.update_last_response(slave_task_info)
def stop(self, info):
self.is_started = False
self.notice_slaves_stop()
if self.pop_forever_handler is not None:
self.pop_forever_handler.join()
if self.repeated_timer is not None:
self.repeated_timer.stop()
self.slave_manager.stop()
self.task_manager.stop()
self.message_connection.stop()
def notice_slaves_stop(self):
task_connection = ConnectionManager(queue_name=self.task_queue_name,
durable=True, no_ack=False)
screen_list = [key for key in self.slave_manager.slave_dict.keys()]
for screen in screen_list:
task_connection.publish('STOP {}')
# task_connection.broadcast_task('STOP {}')
task_connection.stop()
def refresh(self, info):
cur_progress, total_task = self.task_manager.get_progress()
logging.info('downloading {}/{} files'.format(cur_progress, total_task))
if not self.is_started:
return
# if time interval met, check failed slave
if self.last_wake_time is None:
self.last_wake_time = datetime.datetime.utcnow()
if self.last_wake_time + datetime.timedelta(
seconds=self.clean_time_gap) > datetime.datetime.utcnow():
return
failed_slaves = self.slave_manager.get_failed_slaves(self.wait_time_for_slave)
if len(failed_slaves) != 0:
logging.info('Finding failed slaves... ' + str(failed_slaves))
for slave in failed_slaves:
self.restart_slave(slave)
self.last_wake_time = datetime.datetime.utcnow()
def notice_refresh(self, info):
try:
self.message_connection.publish('REFRESH {}')
except IndexError:
logging.critical('INDEX_ERROR')
def stat(self, info):
logging.info('=====================================')
logging.info('Num of slave: ', self.slave_manager.get_num_slaves())
logging.info('=====================================')
if len(info) > 0:
for slave in self.slave_manager.slave_list:
if slave['last_response'] is None:
delta = 'new slave'
else:
delta = datetime.datetime.utcnow() - slave['last_response']
logging.info(slave['host'], '|', slave['queue'], '|', delta)
logging.info('====================================')
class RobotState:
""" class to store all the data regarding the state of the robot ( and the other robot) + its environment """
def __init__(self, robot="mark", pipo=False):
self.position = coord.Coord()
self.d_dos_cdg = 100
self.strat = []
self.coul = "rouge"
self.adversary_detection = []
self.last_position = (0, 0, 0)
self.debut_game = time.time() + 3600
self.vidange_fin = False
self.missions = {}
self.current_mission = None
self.robot = robot
if not pipo:
self.com = Communication(self, robot)
else:
self.com = PipoCommunication()
#self.com = self.com.set_robot_state(self)
self.init_post_coul()
def init_post_coul(self):
self.com_state_factory = ComStateFactory(self.com)
if self.robot == "mark":
self.init_mission_mark()
else:
self.init_mission_pmi()
self.slave_manager = SlaveManager(self.com_state_factory)
self.mae = MAEGlobal(
self.com_state_factory,
self.slave_manager,
self) # disgusting but whatever
self.com.set_global_mae(self.mae)
def init_mission_mark(self):
""" definition of the missions"""
#self.missions["m_torche"] = vidange_torches.get_mission(self.com_state_factory)
#self.missions["m_torche"].prioritize(2.)
#self.missions["m_arbre1"] = prise_arbre.get_mission(self.com_state_factory)
#self.missions["m_arbre1"].prioritize(10.)
self.missions["m_mammouths"] = tir_mamouths.get_mission(self.com_state_factory)
self.missions["m_mammouths"].prioritize(20.)
self.missions["m_feu0"] = prise_feu.get_mission(self.com_state_factory, 0)
self.missions["m_feu0"].prioritize(12.)
self.missions["m_feu1"] = prise_feu.get_mission(self.com_state_factory, 1)
self.missions["m_feu1"].prioritize(8.)
def init_mission_pmi(self):
#pousse feu
#prise torche
#pose torche
#pose fresque
#self.missions["m_torche_adv"] = mission_prise_torche_adv.get_mission(self.com_state_factory)
#self.missions["m_torche_adv"].prioritize(10.)
#tir filet
#self.missions["m_pousse_feu_loin"] = pousse_feu.get_mission(self.com_state_factory)
#self.missions["m_pose_foyer"] = mission_fresque.get_mission(self.com_state_factory)
#self.missions["m_pose_foyer"].prioritize(0.)
#self.missions["m_pousse_feu_loin"].prioritize(7.)
self.missions["m_fresque"] = mission_fresque.get_mission(self.com_state_factory)
self.missions["m_fresque"].prioritize(6.)
#self.missions["m_pose_torche"] = pose_torche.get_mission(self.com_state_factory)
#self.missions["m_pose_torche"].prioritize(4.)
#todo change priority after some time.
self.missions["m_tir"] = tir_filet.get_mission(self.com_state_factory)
self.missions["m_tir"].prioritize(2.)
#self.missions["m_testr"] = mission_test.get_mission(self.com_state_factory, 1)
#self.missions["m_test2"] = mission_test.get_mission(self.com_state_factory, 2)
def set_last_position(self, position):
self.last_position = position
self.slave_manager.set_current_position(position)
def post_on_server(self):
""" perform a post request to the server to update its data """
pass
def get_data_from_server(self):
""" get the data from the other robot """
pass
def choose_mission(self):
""" update current_mission """
self.slave_manager.build_pathfinder_map(self.adversary_detection)
traject_time = self.slave_manager.evaluate_time_to_missions({trans: self.missions[trans].start_coordinate for trans in self.missions.keys()})
scores = {trans: self.missions[trans].get_score(dt) for trans, dt in traject_time.items()}
print "mission scores "
print scores
self.current_mission = max(scores.items(), key=lambda (i, j): j)[0]
if self.missions[self.current_mission].done:
print "END OF GAME, NO MORE MISSION TO DO"
raw_input()
#self.current_mission = self.missions.keys()[0]
print bcolors.WARNING, "------------------- Mission Choice:", self.current_mission, " ---------------- ", bcolors.ENDC
self.mae.game.mae.update_dep(self.missions[self.current_mission])
def adversary_detected(self, adv):
""" adv is the global coordinate of the adversary (ie vector from robot) """
global_coords = adv # self.last_position.add_vector(adv)
print "ADVERSARY AT", global_coords
self.adversary_detection.insert(0, (time.time(), global_coords))
def run(self):
if time.time() - self.debut_game >= 65:
try:
self.missions["m_tir"].proritize(8000)
except:
pass
try:
if not self.vidange_fin:
self.vidange_fin = True
self.com.send_actio2("P4")
self.com.send_actio2("P1")
except:
pass
def start_game(self):
self.debut_game = time.time()
def start(self):
while True:
self.run()
self.mae.run()
self.com.run()
time.sleep(0.0005)
def mission_done(self):
print "#### MISSION DONE ###"
#for t, mis in self.missions.items():
# mis.to_do()
self.missions[self.current_mission].success()
def mission_failed(self):
print "#### MISSION DONE ###"
#for t, mis in self.missions.items():
# mis.to_do()
self.missions[self.current_mission].success()
#self.missions[self.current_mission].penalize(5.)
def prise(self):
print "yo prise la "
if "m_pose_foyer" in self.missions.keys():
print " active mission pose_foyer "
self.missions["m_pose_foyer"].to_do()
self.missions["m_pose_foyer"].prioritize(10)
def set_couleur(self, coul):
coord.couleur = coul
if coul:
self.coul = "jaune"
else:
self.coul = "rouge"
self.init_post_coul()
