def __init__(self):
super(DCKit, self).__init__()
self.environment = Environment()
class DCKit(object):
"""Main class that encapsulates everything
"""
def __init__(self):
super(DCKit, self).__init__()
self.environment = Environment()
def addDrone(self, drone):
drone.environment = self.environment
self.environment.addDrone(drone)
def addTask(self, task):
self.environment.addTask(task)
def run(self, visualize=False):
self._main_loop(visualize)
def _accumulateCapabilities(self):
tasks = self.environment.tasks
for task in tasks:
task.accumulateCapabilities()
def _iterate(self, iteration):
tasks = self.environment.tasks
if len(tasks) == 0:
return False
for task in tasks:
if task.environment is None:
task.environment = self.environment
if task.state == TaskState.COMPLETE:
task.evaluate()
logger.info("DONE")
return False
task.evaluate()
logger.debug("\nIteration: " + str(iteration))
#logger.debug(task)
return True
def _main_loop(self, visualize=False):
if visualize:
logger.info("Running with visualizations")
from dckit.visualization.task_tree import TaskVisualizer
from dckit.visualization.position import PositionVisualizer
task_visualizer = TaskVisualizer(self.environment.tasks)
position_visualizer = PositionVisualizer(self.environment.getAllDrones())
logger.info(self.environment.getAllDrones())
self._accumulateCapabilities()
if visualize:
thread = Thread(group=None, target=task_visualizer.visualize, name=None)
thread.daemon = True
thread.start()
cv2.waitKey(0)
i = 0
while True:
# logger.info("Iteration %s", i)
# self.environment
start = time.time()
result = self._iterate(i)
if not result:
logger.debug("Iterate finished last iteration")
self.environment.stopAllDrones()
if visualize:
logger.info("Stopping visualizer")
task_visualizer.stop()
break
if visualize:
#task_visualizer.visualize()
position_visualizer.visualize()
duration = time.time() - start
# logger.info("Iteration duration: %s", duration)
i += 1