def navigation_task_to_task(task):
dest_str = task.navigation_task.location.description.data
dest_str = dest_str.replace(
"Waypoint",
"Way Point") # We don't use the same string for SOME reason :)
destination = TaskProtocol.look_up_value(TaskProtocol.location_dict,
dest_str)
if (destination == -1):
print("Converter: Destination %s not found" % dest_str)
print(
"Please add to suii_protocol/protocol/enum_location_identifier"
)
print(
"And specify if you want instance ids generated in suii_protocol/task_protocol.py"
)
return None
tmp_task = Task()
tmp_task.set_type(
TaskProtocol.look_up_value(TaskProtocol.task_type_dict,
TaskType.NAVIGATION.fullname))
tmp_task.set_source(-1)
tmp_task.set_destination(destination)
tmp_task.set_object(-1)
tmp_task.set_container(-1)
tmp_task.set_orientation(task.navigation_task.orientation.data)
return tmp_task
def transportation_task_to_task(task):
source = TaskProtocol.look_up_value(
TaskProtocol.location_dict,
task.transportation_task.source.description.data)
if (source == -1):
print("Error look up for: %s" %
task.transportation_task.source.description.data)
print(
"Please add to suii_protocol/protocol/enum_location_identifier"
)
print(
"And specify if you want instance ids generated in suii_protocol/task_protocol.py"
)
return None
destination = TaskProtocol.look_up_value(
TaskProtocol.location_dict,
task.transportation_task.destination.description.data)
if (destination == -1):
print("Error look up for: %s" %
task.transportation_task.destination.description.data)
print(
"Please add to suii_protocol/protocol/enum_location_identifier"
)
print(
"And specify if you want instance ids generated in suii_protocol/task_protocol.py"
)
return None
object_to_pick = TaskProtocol.look_up_value(
TaskProtocol.object_dict,
task.transportation_task.object.description.data)
if (object_to_pick == -1):
print("Error look up for: %s" %
task.transportation_task.object.description.data)
print(
"Please add to suii_protocol/protocol/enum_object_identifier")
return None
container = -1
if (task.transportation_task.container.description.data != ""):
container = TaskProtocol.look_up_value(
TaskProtocol.container_dict,
task.transportation_task.container.description.data)
if (container == -1):
print("Error look up for: %s" %
task.transportation_task.container.description.data)
print(
"Please add to suii_protocol/protocol/enum_object_identifier"
)
return None
# create a new task
tmp_task = Task()
tmp_task.set_type(
TaskProtocol.look_up_value(TaskProtocol.task_type_dict,
TaskType.TRANSPORTATION.fullname))
tmp_task.set_source(source)
location = source if (source == -1) else destination
tmp_task.set_destination(location)
tmp_task.set_object(object_to_pick)
tmp_task.set_container(container)
return tmp_task
def __init__(self):
Task.__init__(self)
self.action = -1
self.action_str = TaskProtocol.look_up_key(
TaskProtocol.task_action_dict, self.action)
def set_action(self, id):
self.action = id
self.action_str = TaskProtocol.look_up_key(
TaskProtocol.task_action_dict, id)
def set_object(self, obj):
self.object = obj
self.object_str = TaskProtocol.look_up_key(TaskProtocol.object_dict, obj)
def set_container(self, container):
self.container = container
self.container_str = TaskProtocol.look_up_key(TaskProtocol.container_dict, container)
def set_destination(self, dest):
self.destination = dest
self.destination_str = TaskProtocol.look_up_key(TaskProtocol.location_dict, dest)
def set_source(self, src):
self.source = src
self.source_str = TaskProtocol.look_up_key(TaskProtocol.location_dict, src)
def set_type(self, t_type):
self.type = t_type
self.type_str = TaskProtocol.look_up_key(TaskProtocol.task_type_dict, t_type)
def set_orientation(self, orientation):
self.orientation = orientation
self.orientation_str = TaskProtocol.look_up_key(TaskProtocol.orientation_dict, self.orientation)
from functools import cmp_to_key
from suii_mux_manager_comm.yaml_handler import YAMLHandler
from suii_mux_manager_comm.task_with_action import TaskWithAction
from suii_mux_manager_comm.task import Task, TaskStatus
from suii_mux_manager_comm.task_list import TaskList
from suii_mux_manager_comm.action_list import ActionList
from suii_protocol.task_protocol import TaskProtocol
from suii_protocol.protocol.enum_task_action import TaskActionType
from suii_protocol.protocol.enum_task_type import TaskType
from suii_protocol.protocol.enum_location_identifier import LocationIdentifierType
from suii_protocol.protocol.enum_orientation import OrientationIdentifierType
from enum import Enum
EXIT_KEY = TaskProtocol.look_up_value(TaskProtocol.location_dict, LocationIdentifierType.EX.fullname)
## ===== Main class ==== ##
class TaskManager(object):
MAX_HOLDING_CAPACITY = 3
def __init__(self, holding_capacity=MAX_HOLDING_CAPACITY, yaml_path="", verbose=False):
# Basic config
self.holding_capacity = holding_capacity
self.yaml_path = yaml_path
self.verbose = verbose
self.MAX_REPLAN_ATTEMPTS = 10
# Here come the lists
self.task_list = TaskList() # The current one
self.task_list_last_updated = TaskList() # Last replanned task list