def greedyCord(self, simulator):
#print "Starting Greedy Coordination"
task_allocation = []
idle_bots = simulator.getIdleBots()
assigned_bots = []
random.shuffle(idle_bots)
for bot in idle_bots:
goal = self.findBestBin(bot, [], simulator)
# print goal
if goal is not None:
loc = simulator.bins[goal].loc
end_loc = [loc[0], 0]
simulator.bins[goal].bot_assigned = True
if len(simulator.orchard_map[loc[0]][loc[1]].wkrs) == 0:
task_allocation.append(robotTask(bot, [loc, end_loc], ['get', 'place']))
else:
if simulator.bots[bot].hasBin():
#task_allocation.append([bot, [loc], ['get']])
task_allocation.append(robotTask(bot, [loc, end_loc], ['swap', 'place']))
else:
# Getting a bin then moving to goal location
r_loc = simulator.bots[bot].loc
r_loc = [r_loc[0],0]
#task_allocation.append([bot, [r_loc,loc],['get', 'get']])
task_allocation.append(robotTask(bot, [r_loc,loc,end_loc], ['get', 'swap', 'place']))
assigned_bots.append(bot)
for bot in assigned_bots:
idle_bots.remove(bot)
deliverys = simulator.getBinDeliveryRequests()
for loc in deliverys:
if idle_bots != []:
c_bot = self.findClosestBot(loc, idle_bots, simulator)
if simulator.bots[c_bot].hasBin():
task_allocation.append([c_bot, [loc], ['place']])
else:
# Getting a bin then moving to goal location
r_loc = simulator.bots[c_bot].loc
r_loc = [r_loc[0],0]
task_allocation.append(robotTask(c_bot, [r_loc,loc],['get', 'place']))
wkrs = simulator.orchard_map[loc[0]][loc[1]].wkrs
for worker in wkrs:
simulator.wkrs[worker].request_akn = True
simulator.wkrs[worker].delivery = False
idle_bots.remove(c_bot)
return task_allocation
def resetRequests(self,simulator): deliveries = simulator.getBinDeliveryRequests()
def auctionCord(self, simulator):
task_allocation = []
#Get idle bots, bins needing pickup, locations needing bin delivery
idle_bots = simulator.getIdleBots()
deliverys = simulator.getBinDeliveryRequests()
# While still robots without plans
still_planning = True
prev_idle = copy.deepcopy(idle_bots)
while still_planning:
plans = []
for bot in idle_bots:
plans.append(self.getRobotPlan(bot, simulator))
if len(plans) > 1:
plans = self.findNonConflictPlan(plans)
for plan in plans:
if plan != []:
c_bot = plan[0]
loc = simulator.bins[plan[1]].loc
end_loc = [loc[0], 0]
simulator.bins[plan[1]].bot_assigned = True
idle_bots.remove(c_bot)
r_loc = simulator.bots[c_bot].loc
r_loc = [r_loc[0],0]
if len(simulator.orchard_map[loc[0]][loc[1]].wkrs) == 0:
if simulator.bots[c_bot].hasBin():
task_allocation.append(robotTask(bot, [simulator.bots[c_bot].loc, loc, end_loc], ['place', 'get', 'place']))
else:
task_allocation.append(robotTask(bot, [loc, end_loc], ['get', 'place']))
else:
if simulator.bots[c_bot].hasBin():
#print "condition 2"
task_allocation.append(robotTask(c_bot, [loc, end_loc], ['swap', 'place']))
else:
# Getting a bin then moving to goal location
task_allocation.append(robotTask(c_bot, [r_loc,loc,end_loc],['get', 'swap', 'place']))
still_planning = not(idle_bots == [] or prev_idle == idle_bots)
prev_idle = copy.deepcopy(idle_bots)
for loc in deliverys:
if idle_bots != []:
c_bot = self.findClosestBot(loc, idle_bots, simulator)
if simulator.bots[c_bot].hasBin():
task_allocation.append(robotTask(c_bot, [loc], ['place']))
else:
# Getting a bin then moving to goal location
r_loc = simulator.bots[c_bot].loc
r_loc = [r_loc[0],0]
task_allocation.append(robotTask(c_bot, [r_loc,loc],['get', 'place']))
wkrs = simulator.orchard_map[loc[0]][loc[1]].wkrs
for worker in wkrs:
simulator.wkrs[worker].request_akn = True
simulator.wkrs[worker].delivery = False
#print task_allocation[0].tasks
idle_bots.remove(c_bot)
return task_allocation