def handle_auction_server_callback(auction_req):
# update number of messages in parameter server
if rospy.has_param('/num_messages'):
num_messages = rospy.get_param('/num_messages')
num_messages += 2
rospy.set_param('/num_messages', num_messages)
# Create a bid messsage to put an offer for the item in auction_req!
bid_response = auction_msgs.msg.Bid()
bid_response.header.frame_id = 'base_link' # to be rechecked
bid_response.header.stamp = rospy.Time.now()
bid_response.buyer_id = rospy.get_name()
if auction_req.auction_data.metrics == "distance":
# to be given by the cost to go to position of the ocurring event
# the cost for the metrics==distance is calculated using the euclidean
# distance between the parameter position of the node and the task_position
# given in the auction_req
node_position = eval(rospy.get_param('~position'))
x = float(node_position[0])-auction_req.auction_data.task_location.x
y = float(node_position[1])-auction_req.auction_data.task_location.y
z = float(node_position[2])-auction_req.auction_data.task_location.z
bid_response.cost_distance = float(math.sqrt(x*x+y*y+z*z))
else:
rospy.loginfo("Metrics unkown")
bid_response.cost_distance = 999999;
# Relay information to neighbour nodes!
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
if neighbour_nodes_relay_list:
# Prepare auction information
if auction_req.auction_data.command == 'join_auction':
role = 'be_buyer'
else:
role = 'none'
auction_req.sending_node = rospy.get_name()
# updated nodes_collected
if rospy.has_param('/nodes_collected'):
auction_req.nodes_collected = rospy.get_param('/nodes_collected')+','+rospy.get_name()
rospy.set_param('/nodes_collected',auction_req.nodes_collected)
else:
auction_req.nodes_collected = rospy.get_param('~neighbour_nodes_list')
# call the Auction Service from each neighbour of the node
for node in neighbour_nodes_relay_list:
# obtain response from neighbour buyer node (in k=1)
bid_response_neighbour_node = auction_common.neighbour_node_auction_client(node,auction_req)
if bid_response_neighbour_node.cost_distance < bid_response.cost_distance:
bid_response.buyer_id= bid_response_neighbour_node.buyer_id
bid_response.cost_distance= bid_response_neighbour_node.cost_distance
# return best bid
return {'response_info': 'valid'+rospy.get_name(), 'bid_data':bid_response}
def handle_auction_server_callback(auction_req):
# update number of messages in parameter server
if rospy.has_param('/num_messages'):
num_messages = rospy.get_param('/num_messages')
num_messages += 2
rospy.set_param('/num_messages', num_messages)
# Create a bid messsage to put an offer for the item in auction_req!
bid_response = auction_msgs.msg.Bid()
bid_response.header.frame_id = 'base_link' # to be rechecked
bid_response.header.stamp = rospy.Time.now()
bid_response.buyer_id = rospy.get_name()
if auction_req.auction_data.metrics == "distance":
# to be given by the cost to go to position of the ocurring event
# the cost for the metrics==distance is calculated using the euclidean
# distance between the parameter position of the node and the task_position
# given in the auction_req
node_position = eval(rospy.get_param('~position'))
x = float(node_position[0]) - auction_req.auction_data.task_location.x
y = float(node_position[1]) - auction_req.auction_data.task_location.y
z = float(node_position[2]) - auction_req.auction_data.task_location.z
bid_response.cost_distance = float(math.sqrt(x * x + y * y + z * z))
else:
rospy.loginfo("Metrics unkown")
bid_response.cost_distance = 999999
# Relay information to neighbour nodes!
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(
auction_req)
if neighbour_nodes_relay_list:
# Prepare auction information
if auction_req.auction_data.command == 'join_auction':
role = 'be_buyer'
else:
role = 'none'
auction_req.sending_node = rospy.get_name()
# updated nodes_collected
if rospy.has_param('/nodes_collected'):
auction_req.nodes_collected = rospy.get_param(
'/nodes_collected') + ',' + rospy.get_name()
rospy.set_param('/nodes_collected', auction_req.nodes_collected)
else:
auction_req.nodes_collected = rospy.get_param(
'~neighbour_nodes_list')
# call the Auction Service from each neighbour of the node
for node in neighbour_nodes_relay_list:
# obtain response from neighbour buyer node (in k=1)
bid_response_neighbour_node = auction_common.neighbour_node_auction_client(
node, auction_req)
if bid_response_neighbour_node.cost_distance < bid_response.cost_distance:
bid_response.buyer_id = bid_response_neighbour_node.buyer_id
bid_response.cost_distance = bid_response_neighbour_node.cost_distance
# return best bid
return {
'response_info': 'valid' + rospy.get_name(),
'bid_data': bid_response
}
def handle_auction_server_callback(auction_req):
# define global variables
global winner_id
global winner_cost
# update number of messages in parameter server
if rospy.has_param('/num_messages'):
num_messages = rospy.get_param('/num_messages')
num_messages += 2
rospy.set_param('/num_messages', num_messages)
# check for auction_req.auction_data.command (if close_auction -> clear role assignment
if auction_req.auction_data.command == 'close_auction':
auction_req.role = 'none'
# Calculates its own bid offer for the item in auction_req
#return {'response_info': 'invalid_bid'}
elif auction_req.auction_data.command == 'join_auction':
# Obtain nodes list to relay information with k=1
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
# Change sending_node in auction_req to be sent to neighbour nodes
auction_req.sending_node = rospy.get_name()
# updated nodes_collected
if rospy.has_param('/nodes_collected'):
auction_req.nodes_collected = rospy.get_param('/nodes_collected')+','+rospy.get_name()
rospy.set_param('/nodes_collected',auction_req.nodes_collected)
else:
auction_req.nodes_collected = rospy.get_param('~neighbour_nodes_list')
auction_req.role = "be_buyer"
# Call the Auction Service from each neighbour node
for node in neighbour_nodes_relay_list:
# obtain response from neighbour buyer node (in k=1), relaying auction_req
bid_response = auction_common.neighbour_node_auction_client(node, auction_req)
# Evaluate bids, Min(cost_distance)
if winner_cost >= bid_response.cost_distance:
if bid_response.buyer_id != '':
winner_cost = bid_response.cost_distance
winner_id = bid_response.buyer_id
# log info for momentary winner
# rospy.loginfo("(winning at the moment) %s with offer %d",winner_id, winner_cost)
# verbose for auction status (received all the bids)
rospy.loginfo("winner was: %s with offer %d",winner_id, winner_cost)
"""
# (close auction and inform winner)
# (client to neighbour nodes with close_auction req)
# (in close_auction req the nodes reset their roles!!)
# Change the command in auction_req to be sent to neighbour nodes
auction_req.auction_data.command = "close_auction"
# Call the Auction Service Reset from each neighbour node
for node in neighbour_nodes_relay_list:
# obtain response from neighbour buyer node (in k=1), relaying auction_req
reset_response = auction_common.neighbour_node_auction_client(node, auction_req)
# Ok, now we can reset our role
role_assigned = False
node_role = 'none'
return {'response_info': 'valid', 'bid_data':bid_response}
"""
# return response
# return auction_srvs.srv.AuctionServiceResponse(bid_response)
return {'response_info': 'valid', 'bid_data':bid_response}
