def start_monitoring_local(self):
# monitoring lokal in thread starten
if self.monitor is None:
self.monitor = Monitoring()
self.monitor.start()
return True
else:
return False
def startMon(self):
print('Starting Mon')
self.monitor = Monitoring(self.mon_controller, '6666', self.exp_path,
self.iot, self.edge, self.tcpdump_if,
self.tcpdump_port, self.receiver)
self.monitor.init()
self.monitor.set_consumer_pid(self.consumer_PID)
self.monitor.start_components()
self.monitor.start_monitoring()
def start(args):
if args.setupmode == "QUICK_SETUP_MODE":
Monitoring.start_monitoring(f"monitoring/node-monitoring.yml")
elif args.setupmode == "PRODUCTION_MODE":
print(" PRODUCTION_MODE not supported yet ")
sys.exit()
else:
print(
"Invalid setup mode . It should be either QUICK_SETUP_MODE or PRODUCTION_MODE"
)
def __init__(self, height, width, num_actions, state_frames, gamma, batch_size=32):
self.gamma = gamma
self.num_actions = num_actions
self.input_var = T.tensor4('inputs')
self.target_var = T.vector('targets')
self.actions_var = T.matrix()
self.input_shared = theano.shared(np.zeros([batch_size, state_frames, height, width]),
dtype=theano.tensor.floatX)
self.taret_shared = theano.shared(np.zeros([batch_size, 1]), dtype=theano.tensor.floatX)
self.actions_shared = theano.shared(np.zeros([batch_size, num_actions]).astype('int32'),
dtype=theano.tensor.int32)
self.net = get_inference(self.input_var, num_actions, height, width, state_frames)
self.prediction = (lasagne.layers.get_output(self.net) * self.actions_var).sum(axis=1)
self.error = T.sqr(self.target_var - self.prediction).mean()
params = lasagne.layers.get_all_params(self.net, trainable=True)
#self.opt = lasagne.updates.rmsprop(
# self.error, params, learning_rate=0.0025, epsilon=0.01)
#self.opt = lasagne.updates.adagrad(
# self.error, params, learning_rate=0.001
#)
self.opt = gen_updates_rmsprop(params, T.grad(self.error, params))
self.train_step = theano.function([self.input_var, self.target_var, self.actions_var],
self.error, updates=self.opt, allow_input_downcast=True)
self.net_fun = theano.function([self.input_var], lasagne.layers.get_output(self.net),
allow_input_downcast=True)
self.monitor = Monitoring()
self.pred_fun = theano.function([self.input_var, self.actions_var], self.prediction, allow_input_downcast=True)
self.error_fun = theano.function([self.input_var, self.target_var, self.actions_var], self.error,
allow_input_downcast=True)
def __init__(self, height, width, session, num_actions, state_frames, gamma, net_type=1,
optimizer=tf.train.AdamOptimizer(1e-6)):
self.height = height
self.width = width
self.session = session
self.num_actions = num_actions
self.state_frames = state_frames
self.gamma = gamma
self.opt = optimizer
self.train_counter = 0
self.input_pl = tf.placeholder(tf.float32, [None, height, width, state_frames])
self.target_pl = tf.placeholder(tf.float32, [None])
self.actions_pl = tf.placeholder(tf.float32, [None, num_actions])
if net_type == 1:
self.network = get_inference(self.input_pl, num_actions, 'main_net')
else:
self.network = get_inference2(self.input_pl, num_actions, 'main_net')
self.prediction = tf.reduce_sum(tf.mul(self.network.output, self.actions_pl), 1)
#self.error = tf.reduce_mean(tf.square(self.target_pl - self.prediction))
self.error = tf.square(self.target_pl - self.prediction)
self.train_step = self.opt.minimize(self.error)
self.session.run([tf.initialize_all_variables()])
#todo: throw that away
self.monitor = Monitoring()
async def on_start(self):
self.terminate = False
self.SUCCESS = False
self.verbose = False
# Initialization
self.beliefs = WorldModel() # B := B0; Initial Beliefs
self.goals = self.beliefs.current_world_model.goals
self.intentions = self.beliefs.current_world_model.goals # I := I0; Initial Intentions
self.htn_planner = HierarchicalTaskNetworkPlanner(self.beliefs)
self.perception = Perception(self.beliefs)
self.coordination = Coordination(self.beliefs)
self.monitoring = Monitoring()
self.what, self.why, self.how_well, self.what_else, self.why_failed = "", "", "", "", ""
self.plans = []
self.selected_plan = []
self.percept = {}
self.action = ""
self.start_time = datetime.datetime.now()
def run(self, gen: Generator):
#print("********************* %s ********************\n" % (gen,))
for ct in self.controllers:
ct.setSLA(self.sla)
m = Monitoring(self.window)
ct.setMonitoring(m)
a = Application(self.sla)
s = Simulation(self.horizon, a, gen, m, ct)
# print(ct)
s.run()
self.simulations.append(s)
ct.reset()
async def on_start(self):
self.terminate = False
self.SUCCESS = False
self.verbose = False
# Initialization
self.htn_planner = HierarchicalTaskNetworkPlanner()
self.goal = [('transfer_target_object_to_container', 'arm',
'target_object', 'table', 'container')]
self.intentions = self.goal # I := I0; Initial Intentions
self.beliefs = WorldModel() # B := B0; Initial Beliefs
self.monitoring = Monitoring()
self.perception = Perception()
self.coordination = Coordination()
# Disable all 3 coordination switches for testing
self.coordination.control.send_requests = True
self.coordination.control.center_init = False
self.coordination.control.detect_last_position = True
self.what, self.why, self.how_well, self.what_else, self.why_failed = "", "", "", "", ""
self.plans = []
self.start_time = datetime.datetime.now()
def main():
# global data
database = Data()
database.debug_flag = False
"""
test from keyboard input
"""
#database.debug_flag = True
# sensor data
data_source = Source(database)
lidar_source_thread = threading.Thread(
target=data_source.lidar_stream_main)
left_cam_source_thread = threading.Thread(
target=data_source.left_cam_stream_main)
right_cam_source_thread = threading.Thread(
target=data_source.right_cam_stream_main)
mid_cam_source_thread = threading.Thread(
target=data_source.mid_cam_stream_main)
lidar_source_thread.start()
left_cam_source_thread.start()
right_cam_source_thread.start()
mid_cam_source_thread.start()
# Subroutines
monitoring = Monitoring(data_source, database)
platform = CarPlatform('COM5', database) # PLEASE CHECK YOUR COMPORT
sign_cam = SignCam(data_source, database)
planner = MotionPlanner(data_source, database)
control = Control(database)
monitoring_thread = threading.Thread(target=monitoring.main)
platform_thread = threading.Thread(target=platform.main)
sign_cam_thread = threading.Thread(target=sign_cam.main)
planner_thread = threading.Thread(target=planner.main)
control_thread = threading.Thread(target=control.main)
monitoring_thread.start()
platform_thread.start()
sign_cam_thread.start()
planner_thread.start()
control_thread.start()
while True:
time.sleep(0.1)
if database.is_all_system_stop():
break
time.sleep(2)
return 0
def run(self, gen: Generator):
#print("********************* %s ********************\n" % (gen,))
for ct in self.controllers:
ct.setSLA(self.sla)
if self.genMonitoring:
m = self.genMonitoring(self.window, self.sla)
else:
m = Monitoring(self.window, self.sla)
ct.setMonitoring(m)
ct.setGenerator(gen)
a = self.app
s = Simulation(self.horizon, a, gen, m, ct)
# print(ct)
s.run()
self.simulations.append(s)
ct.reset()
a.reset()
def __readConfig(self):
self._configfile = 'client.ini'
self._config = ConfigParser.RawConfigParser()
self._config.read(self._configfile)
self._monitoring = Monitoring()
self._user.name = self._config.get("server", 'username')
try:
try: self.__TCP_IP = self._config.get("server", 'tcp_ip')
except ConfigParser.NoOptionError: self.__TCP_IP = TCP_IP
try: self.__TCP_PORT = self._config.getint("server", 'tcp_port')
except ConfigParser.NoOptionError: self.__TCP_PORT = TCP_PORT
try: self.__BUFFER_SIZE = self._config.getint("server", 'buffer_size')
except ConfigParser.NoOptionError: self.__BUFFER_SIZE = BUFFER_SIZE
except ConfigParser.NoSectionError:
self.__TCP_IP = TCP_IP
self.__TCP_PORT = TCP_PORT
self.__BUFFER_SIZE = BUFFER_SIZE
from flask import Flask, request
from flask_restful import Resource, Api
from monitoring import Monitoring
app = Flask(__name__)
api = Api(app)
host = 'debuggerbasedmonitoring.appspot.com'
basePath = '/api/v1'
monitoring = Monitoring()
class Breakpoint(Resource):
def get(self, user_id, project_id):
ret, content = monitoring.getBreakpoints(user_id, project_id)
if not ret:
return None, 400
return content, 200
def post(self, user_id, project_id):
if request.is_json:
body = request.get_json()
else:
return None, 409
if 'content' not in body:
return None, 409
content = body['content']
try:
file, line = content.split(':')
def foodSense():
print('Starting Food Sense')
# Begin initializing necessary components)
fb = Firebase()
detect = Detect(fb)
monitor = Monitoring(fb)
scale = Scale()
# Set scale calibration
scale.setReferenceUnit(-25.725)
scale.reset()
scale.tare()
### START DEBUG ###
### END DEBUG ###
### MAIN LOOP ###
while True:
while monitor.powerOn:
print('Power is on')
time.sleep(1)
while monitor.doorClosed():
print('Door is closed')
monitor.checkTemp()
time.sleep(1)
if monitor.doorOpen():
print('Door was opened')
monitor.startDoorTimer()
while monitor.doorOpen():
print('Waiting for door to close')
monitor.checkDoorTimer()
monitor.checkTemp()
time.sleep(1)
else:
print('Door was closed')
scale.getWeight()
detect.getImage()
detect.detectItem()
detect.parseResponse(scale.weight)
else:
pass
else:
print('Door must be closed on program startup')
else:
monitor.powerSave()
else:
pass
class DeepQNetwork(object):
def __init__(self, height, width, session, num_actions, state_frames, gamma, net_type=1,
optimizer=tf.train.AdamOptimizer(1e-6)):
self.height = height
self.width = width
self.session = session
self.num_actions = num_actions
self.state_frames = state_frames
self.gamma = gamma
self.opt = optimizer
self.train_counter = 0
self.input_pl = tf.placeholder(tf.float32, [None, height, width, state_frames])
self.target_pl = tf.placeholder(tf.float32, [None])
self.actions_pl = tf.placeholder(tf.float32, [None, num_actions])
if net_type == 1:
self.network = get_inference(self.input_pl, num_actions, 'main_net')
else:
self.network = get_inference2(self.input_pl, num_actions, 'main_net')
self.prediction = tf.reduce_sum(tf.mul(self.network.output, self.actions_pl), 1)
#self.error = tf.reduce_mean(tf.square(self.target_pl - self.prediction))
self.error = tf.square(self.target_pl - self.prediction)
self.train_step = self.opt.minimize(self.error)
self.session.run([tf.initialize_all_variables()])
#todo: throw that away
self.monitor = Monitoring()
def get_best_action(self, example):
vals = self.evaluate_network([example.transpose([1, 2, 0])])[0]
return np.argmax(vals), vals
def train(self, batch):
self.train_counter += 1
prepare_batch(batch)
batch_size = batch['batch_size']
self.monitor.report_action_start('get_batch')
target = self.get_target(batch)
self.monitor.report_action_finish('get_batch')
actions = np.zeros([batch_size, self.num_actions])
actions[:, list(batch['actions'])] = 1
self.monitor.report_action_start('pred')
_, error_val, pred = self.session.run(
[self.train_step, self.error, self.prediction],
feed_dict={self.target_pl: target, self.actions_pl: actions, self.input_pl: batch['states_1']})
self.monitor.report_action_finish('pred')
return error_val.mean()
def get_target(self, batch):
prepare_batch(batch)
batch_size = batch['batch_size']
q_vals = self.evaluate_network(batch['states_2'])
best_actions = np.argmax(q_vals, 1)
target = np.choose(best_actions, q_vals.T)
for i in xrange(batch_size):
if batch['terminations'][i]:
mul = 0
else:
mul = self.gamma
target[i] = batch['rewards'][i] + mul * target[i]
return target
def evaluate_network(self, states_batch):
return self.session.run(self.network.output, feed_dict={self.input_pl: states_batch})
from control import Control
from car_platform import CarPlatform
from monitoring import Monitoring
testDT = Data()
"""
test code
특정 미션 번호에서 시작하도록 함
"""
testDT.current_mode = 1
testDS = Source(testDT)
car = CarPlatform('COM5', testDT)
testMP = MotionPlanner(testDS, testDT)
test_control = Control(testDT)
monitor = Monitoring(testDS, testDT)
lidar_source_thread = threading.Thread(target=testDS.lidar_stream_main)
left_cam_source_thread = threading.Thread(
target=testDS.left_cam_stream_main)
right_cam_source_thread = threading.Thread(
target=testDS.right_cam_stream_main)
mid_cam_source_thread = threading.Thread(target=testDS.mid_cam_stream_main)
planner_thread = threading.Thread(target=testMP.main)
control_thread = threading.Thread(target=test_control.main)
car_thread = threading.Thread(target=car.main)
monitoring_thread = threading.Thread(target=monitor.main)
lidar_source_thread.start()
planner_thread.start()
time.sleep(3)
import sys
# The logger
logging.basicConfig(format="[%(levelname)s] %(asctime)-15s - %(message)s", level=config.LOG_LEVEL)
logger = logging.getLogger('radiovisserver')
# Logging to file is handled outside by supvervisord instead of the application itself
# fh = FileHandler(filename='radiovis-server.log', mode='a')
# fh.setFormatter(Formatter(fmt="[%(levelname)s] %(asctime)-15s - %(message)s"))
# logger.addHandler(fh)
# Last message by TOPIC
LAST_MESSAGES = {}
monitoring = Monitoring()
monitoring.count("radiovis.global.servers")
# Create the class to manage the rabbit connexion
rabbitcox = RabbitConnexion(LAST_MESSAGES, monitoring)
# Handeler for new stomp clients
def stomp_client(socket, address):
logger.info('%s:%s: New stomp connection from' % address)
# Create a new stomp server
s = StompServer(socket, LAST_MESSAGES, rabbitcox, monitoring)
monitoring.count("radiovis.global.connections", {"session_id": s.session_id, "ip": s.info_ip + ':' + str(s.info_port) })
# Let rabbitmq send messages to the stomp server
async def request():
async with aiohttp.ClientSession() as session:
try:
async with session.get('http://127.0.0.1:80') as response:
return await response.text()
except Exception:
return False
def request_by_count(count: int):
return asyncio.run(asyncio.gather(*[
request() for _ in range(count)
]))
if __name__ == '__main__':
pidfile = sys.argv[1]
request_count = int(sys.argv[2])
monitoring = Monitoring(pidfile)
with ThreadPoolExecutor() as executor:
future = executor.submit(monitoring.measure_resource, .1)
start_time = timer()
result = request_by_count(request_count)
print(f"Latency: {timer() - start_time}")
print(f"Errors: {result.count(False)}")
monitoring.stop()
print(f"Report: {future.result()}")
def start_monitoring():
monitoring = Monitoring()
monitoring.call()
import bottle
import json
import time
from bottle import route, run, request, default_app, template, HTTPError
from docopt import docopt
from engine import ReconcileEngine
from suggest import SuggestEngine
from monitoring import Monitoring
from config import *
reconcile = ReconcileEngine(redis_client)
suggest = SuggestEngine(redis_client)
monitoring = Monitoring(redis_client)
def jsonp(view):
def wrapped(*posargs, **kwargs):
args = {}
# if we access the args via get(),
# we can get encoding errors…
for k in request.forms:
args[k] = getattr(request.forms, k)
for k in request.query:
args[k] = getattr(request.query, k)
callback = args.get('callback')
try:
result = view(args, *posargs, **kwargs)
except (ValueError, AttributeError, KeyError) as e:
result = {
def run(self):
# Set up LED pin
LED = 27
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(LED, GPIO.OUT)
# Initialize objects
f = Firebase(self.q)
d = Detect(f, self.q)
m = Monitoring(f, self.q)
s = Scale(self.q)
# Set scale calibration
s.setReferenceUnit(-25.725)
s.reset()
s.tare()
self.q.put('Ready')
# Loop until stop event is set
while not self.event.is_set():
# Loop while RPi is on AC power
while m.powerOn:
# Check if stop has been set
if self.event.is_set():
break
# Loop while fridge door is closed
while m.doorClosed():
if not m.powerOn():
break
m.checkTemp()
# Check if stop hsa been set
if self.event.is_set():
break
else:
print('Door was opened')
self.q.put('Door opened')
GPIO.output(LED, True)
m.startDoorTimer()
while m.doorOpen():
print('Waiting for door to close')
m.checkDoorTimer()
m.checkTemp()
else:
print('Door closed')
self.q.put('Door closed')
s.getWeight()
d.getImage()
d.detectItem()
d.parseResponse(s.weight)
s.tare()
GPIO.output(LED, False)
print('Done')
self.q.put('Done')
else:
m.powerSave()
f.close(
) # Firebase app must be closed before we can create another instance
return current_intentions
if __name__ == '__main__':
terminate = False
SUCCESS = False
verbose = False
# Initialization
htn_planner = HierarchicalTaskNetworkPlanner()
goal = [('transfer_target_object_to_container', 'arm', 'target_object',
'table', 'container')]
intentions = goal # I := I0; Initial Intentions
beliefs = WorldModel() # B := B0; Initial Beliefs
monitoring = Monitoring()
perception = Perception()
coordination = Coordination()
# Disable all 3 coordination switches for testing
coordination.control.send_requests = True
coordination.control.center_init = False
coordination.control.detect_last_position = True
what, why, how_well, what_else, why_failed = "", "", "", "", ""
start_time = datetime.datetime.now()
"""
Agent control loop version 7 (Intention Reconsideration)
I := I0; Initial Intentions
B := B0; Initial Beliefs
while true do
get next percept ρ; # OBSERVE the world
def handler():
device_name = argv[1]
CURRENT_TIME = str(int(time.time() * 1000))
monitoring = Monitoring()
process = monitoring.get_running_process()
dimensions = [{
'Name': 'script',
'Value': process['name']
}, {
'Name': 'device_id',
'Value': device_name
}, {
'Name': 'user',
'Value': process['username']
}, {
'Name': 'process_id',
'Value': str(process['pid'])
}]
common_attributes = {'Dimensions': dimensions, 'Time': CURRENT_TIME}
record = {
'cpu_usage': monitoring.get_cpu_usage_pct(),
'cpu_freq': monitoring.get_cpu_frequency(),
'cpu_temp': monitoring.get_cpu_temp(),
'ram_usage': int(monitoring.get_ram_usage() / 1024 / 1024),
'ram_total': int(monitoring.get_ram_total() / 1024 / 1024),
}
print("\n")
# print(dimensions)
# print(record)
print("\n")
# Output current CPU load as a percentage.
print('System CPU load is {} %'.format(monitoring.get_cpu_usage_pct()))
# Output current CPU frequency in MHz.
print('CPU frequency is {} MHz'.format(monitoring.get_cpu_frequency()))
# Output current CPU temperature in degrees Celsius
print('CPU temperature is {} degC'.format(monitoring.get_cpu_temp()))
# Output current RAM usage in MB
print('RAM usage is {} MB'.format(
int(monitoring.get_ram_usage() / 1024 / 1024)))
# Output total RAM in MB
print('RAM total is {} MB'.format(
int(monitoring.get_ram_total() / 1024 / 1024)))
# Output current RAM usage as a percentage.
print('RAM usage is {} %'.format(monitoring.get_ram_usage_pct()))
session = boto3.Session()
write_client = session.client('timestream-write', region_name='eu-west-1')
response = write_client.write_records(
DatabaseName=DB_NAME,
TableName=TABLE_NAME,
Records=monitoring.get_write_records(),
CommonAttributes=common_attributes)
print(response)
query_client = session.client('timestream-query', region_name='eu-west-1')
query = Query(query_client)
print("\n")
query.run_query_with_multiple_pages(20)
def setup(args):
if args.setupmode == "QUICK_SETUP_MODE":
monitor_url_dir = f'https://raw.githubusercontent.com/radixdlt/node-runner/{cli_version()}/monitoring'
print(f"Downloading artifacts from {monitor_url_dir}\n")
Monitoring.setup_prometheus_yml(
f"{monitor_url_dir}/prometheus/prometheus.yml")
Monitoring.setup_datasource(
f"{monitor_url_dir}/grafana/provisioning/datasources/datasource.yml"
)
Monitoring.setup_dashboard(
f"{monitor_url_dir}/grafana/provisioning/dashboards/",
["dashboard.yml", "sample-node-dashboard.json"])
Monitoring.setup_monitoring_containers(
f"{monitor_url_dir}/node-monitoring.yml")
Monitoring.setup_external_volumes()
monitoring_file_location = "monitoring/node-monitoring.yml"
Monitoring.start_monitoring(f"{monitoring_file_location}")
elif args.setupmode == "PRODUCTION_MODE":
print(" PRODUCTION_MODE not supported yet ")
sys.exit()
else:
print(
"Invalid setup mode . It should be either QUICK_SETUP_MODE or PRODUCTION_MODE"
)
def main():
while True:
print('Init Monitoring')
mevents = Monitoring()
mevents.monitoring_events()
class BDIBehaviour(PeriodicBehaviour):
async def on_start(self):
self.terminate = False
self.SUCCESS = False
self.verbose = False
# Initialization
self.beliefs = WorldModel() # B := B0; Initial Beliefs
self.goals = self.beliefs.current_world_model.goals
self.intentions = self.beliefs.current_world_model.goals # I := I0; Initial Intentions
self.htn_planner = HierarchicalTaskNetworkPlanner(self.beliefs)
self.perception = Perception(self.beliefs)
self.coordination = Coordination(self.beliefs)
self.monitoring = Monitoring()
self.what, self.why, self.how_well, self.what_else, self.why_failed = "", "", "", "", ""
self.plans = []
self.selected_plan = []
self.percept = {}
self.action = ""
self.start_time = datetime.datetime.now()
async def run(self):
"""
Agent control loop version 7 (Intention Reconsideration)
I := I0; Initial Intentions
B := B0; Initial Beliefs
while true do
get next percept ρ; # OBSERVE the world
B:= brf(B, ρ); # Belief revision function
D: = option(B, I);
I := filter(B, D, I);
π := plan(B, I); # MEANS_END REASONING
while not (empty(π) or succeeded(Ι, Β) or impossible(I, B)) do # Drop impossible or succeeded intentions
α := hd(π); # Pop first action
execute(α);
π := tail(π);
get next percept ρ;
B:= brf(B, ρ);
if reconsider(I, B) then # Meta-level control: explicit decision, to avoid reconsideration cost
D := options(B, I);
I := filter(B, D, I);
end-if
if not sound(π, I, B) then # Re-activity, re-plan
π := plan(B, I);
end-if
end-while
end-while
"""
if self.verbose:
print(f"--- arm_agent: "
f"PeriodicSenderBehaviour running "
f"at {datetime.datetime.now().time()}: "
f"{self.beliefs.current_world_model.ticks}")
# while true do
if not self.SUCCESS and not self.terminate and self.beliefs.update_tick(
) < self.beliefs.current_world_model.max_ticks:
if len(self.selected_plan) == 0:
# msg = Message(to="madks2@temp3rr0r-pc") # Instantiate the message # TODO: place holder for IM
# msg.body = "Hello World: " + str(self.counter) # Set the message content
# await self.send(msg)
# TODO: engrave figures: arm IK, gripper
self.percept = self.perception.get_percept(
text_engraving=(self.why_failed, self.how_well)
) # get next percept ρ; OBSERVE the world
self.beliefs = self.perception.belief_revision(
self.beliefs, self.percept) # B:= brf(B, ρ);
self.beliefs = self.monitoring.fire_events(
self.beliefs, self.percept)
self.intentions = self.deliberate(
self.beliefs, self.intentions
) # DELIBERATE about what INTENTION to achieve next
self.SUCCESS = True if self.intentions == "" else False
self.plans = self.htn_planner.get_plans(
self.beliefs.current_world_model, self.intentions
) # π := plan(B, I); MEANS_END REASONING
if self.plans != False:
if len(self.plans) > 0:
self.plans.sort(
key=len
) # TODO: check why sorting doesn't work on "deeper" levels
if self.verbose:
print("{}: Plan: {}".format(
self.beliefs.current_world_model.tick,
self.plans[0]))
self.selected_plan = deque(
self.plans[0]
) # TODO: Use a "cost function" to evaluate the best plan, not shortest
self.why_failed = ""
else:
self.why_failed = self.htn_planner.failure_reason
if self.verbose:
print("Plan failure_reason: {}".format(
self.why_failed),
end=" ")
self.how_well = (
self.beliefs.current_world_model.tick,
self.beliefs.current_world_model.max_ticks,
int((datetime.datetime.now() -
self.start_time).total_seconds() *
1000), # milliseconds
self.plans)
if self.verbose:
print("how_well: {}".format(self.how_well))
else: # while not (empty(π) or succeeded(Ι, Β) or impossible(I, B)) do
self.action, self.selected_plan = self.selected_plan.popleft(
), self.selected_plan # α := hd(π); π := tail(π);
if self.verbose:
print("{}: Action: {}".format(
self.beliefs.current_world_model.tick,
self.action))
self.coordination.execute_action(
self.action,
self.beliefs.current_world_model) # execute(α);
self.what, self.why = self.action, self.intentions
self.how_well = (
self.beliefs.current_world_model.tick,
self.beliefs.current_world_model.max_ticks,
int((datetime.datetime.now() -
self.start_time).total_seconds() *
1000), # milliseconds
self.selected_plan)
self.what_else = self.plans[1] if len(
self.plans) > 1 else self.plans[0]
if self.verbose:
self.print_answers(self.what, self.why, self.how_well,
self.what_else)
# get next percept ρ; OBSERVE the world
# TODO: Don't update target object location, when it is obscured
if self.action != ('move_arm_above',
'target_object') and self.action != (
'move_arm', 'target_object'):
self.percept = self.perception.get_percept(
text_engraving=(self.what, self.why, self.how_well,
self.what_else))
self.beliefs = self.perception.belief_revision(
self.beliefs, self.percept)
self.beliefs = self.monitoring.fire_events(
self.beliefs, self.percept)
# TODO: trigger sound percept?
if self.action == ('initialize', 'arm'):
self.percept = {
"initialized": {
'arm': True
}
} # TODO: post conditions or monitoring
self.beliefs = self.perception.belief_revision(
self.beliefs,
self.percept) # TODO: post conditions
self.beliefs = self.monitoring.fire_events(
self.beliefs, self.percept)
elif self.action == ('move_arm', 'target_object'):
self.percept = {
"distance": {
'distance_to_gripper': 2.2
}
} # TODO: update with monitoring
self.beliefs = self.perception.belief_revision(
self.beliefs, self.percept)
self.beliefs = self.monitoring.fire_events(
self.beliefs, self.percept)
elif self.action == ('move_arm_above', 'container'):
self.percept = {
"location": {
"target_object": "container"
},
"grabbed": {
'target_object': False
}
}
self.beliefs = self.perception.belief_revision(
self.beliefs, self.percept)
self.beliefs = self.monitoring.fire_events(
self.beliefs, self.percept)
# if reconsider(I, B) then
# D := options(B, I);
# I := filter(B, D, I);
# if not sound(π, I, B) then
# π := plan(B, I)
# TODO: Backtracking of action?
else:
self.done()
self.kill()
async def on_end(self):
print("-- on_end")
print("Done.")
self.perception.destroy()
# stop agent from behaviour
await self.agent.stop()
# async def _step(self): # TODO: Need?
# # the bdi stuff
# pass
def done(self):
print("-- Sender Agent: Done")
show_history = True
print("Final World model:")
print("-- Ticks: {}".format(self.beliefs.current_world_model.tick))
print("-- initialized: {}".format(
self.beliefs.current_world_model.initialized))
print("-- location: {}".format(
self.beliefs.current_world_model.location))
print("-- grabbed: {}".format(
self.beliefs.current_world_model.grabbed))
if show_history:
print()
print("World model History:")
for tick in range(len(self.beliefs.world_model_history)):
print("Tick {}:".format(tick))
print("-- initialized: {}".format(
self.beliefs.world_model_history[tick].initialized))
print("-- location: {}".format(
self.beliefs.world_model_history[tick].location))
print("-- grabbed: {}".format(
self.beliefs.world_model_history[tick].grabbed))
print()
print("{}!".format("SUCCESS" if self.SUCCESS else "FAIL"))
def print_answers(self, what_answer, why_answer, how_well_answer,
what_else_answer):
print(
"Q: What is the robot doing? A: {}\n"
"Q: Why is it doing it? A: {}\n"
"Q: How well is it doing it? A: {}\n"
"Q: What else could it have been doing instead? A: {}".format(
what_answer, why_answer, how_well_answer,
what_else_answer))
def deliberate(self, current_beliefs, current_intentions):
"""
Decide WHAT sate of affairs you want to achieve.
:param current_beliefs: WordModel instance, the world model, information about the world.
:param current_intentions: List of tuples, tasks that the agent has COMMITTED to accomplish.
:return: List of tuples, filtered intentions that the agent COMMITS to accomplish.
"""
# 1. Option Generation: The agent generates a set of possible alternatives.
current_desires = current_intentions # TODO: D := option(B, I);
# 2. Filtering: Agent chooses between competing alternatives and commits to achieving them.
current_intentions = self.filter_intentions(
current_beliefs, current_desires,
current_intentions) # I := filter(B, D, I);
return current_intentions
def filter_intentions(self, current_beliefs, current_desires,
current_intentions):
"""
Choose between competing alternatives and COMMITTING to achieving them.
:param current_beliefs: WordModel instance, the world model, information about the world.
:param current_desires: List of tuples, tasks that the agent would like to accomplish.
:param current_intentions: List of tuples, tasks that the agent has COMMITTED to accomplish.
:return: List of tuples, filtered intentions that the agent COMMITS to accomplish.
"""
for current_intention in current_intentions:
if current_intention == self.goals[0] and current_beliefs.current_world_model.location["target_object"] \
== "container":
current_intentions = "" # if goal(s) achieved, empty I
return current_intentions
from monitoring import Monitoring
from records import Records
# name = input("Please Enter name: ")
# weight= int(input("Please Enter your weight in kg: "))
# calories=int(input("Please Enter your burned calory in kcal: "))
M1 = Monitoring("yuxuan", "female", 22, 174, 55, 1778)
M1.new_weight(55)
M1.new_calory(1893)
M1.new_weight(56.4)
M1.new_calory(1993)
M1.new_weight(57.4)
M1.new_calory(1893)
M1.new_weight(58.4)
M1.new_calory(1893)
M1.new_weight(58.4)
M1.weight_calory_plot()
def readdata(self, gpio):
m = Monitoring()
m.run()
m.read(self.ser, gpio)
m.store()
class TCPClient:
def __init__(self):
self._user = User()
self._command = Command()
self._type_package = 0
self.__readConfig()
def send(self):
package = Package()
package.type = self._type_package
package.user = self._user
package.command = self._command
PACKAGE = package.getPackage()
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
s.send(PACKAGE)
data = s.recv(BUFFER_SIZE)
s.close()
package = Package()
package.setPackage(data)
if package.type == 0:
pass
if package.type == 1:
message = str(package.data)
#message = message.split('$$NEWLINE$$ $$NEWLINE$$')
#message = '\n'.join(message)
#message = message.replace('$$NEWLINE$$','',1)
print message
if package.type == 2:
print "Status: {}".format(package.data)
if package.type == 3:
print "Data sending"
def setCommand(self, id, command, variables=''):
var = ' '.join(variables)
self._type_package = 0
self._command.id = id
self._command.name = command
self._command.variables = var
#print "Calling command: ID={}: {}({})".format(self.command.id, self.command.name, self.command.variables)
def setTypePackage(self, type=0):
self._type_package = type
def sendFile(self, filename):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
package = Package(3)
package.command.variables = ' '.join([filename, 'wb'])
print "Starting sending file"
with open(filename,'rb') as file:
print 'Sending..'
data = file.read(2048)
package.command.name = 'send_file'
package.data = data.encode()
s.send(package.getPackage())
package.command.variables = '{} {}'.format(filename, 'a')
def __readConfig(self):
self._configfile = 'client.ini'
self._config = ConfigParser.RawConfigParser()
self._config.read(self._configfile)
self._monitoring = Monitoring()
self._user.name = self._config.get("server", 'username')
try:
try: self.__TCP_IP = self._config.get("server", 'tcp_ip')
except ConfigParser.NoOptionError: self.__TCP_IP = TCP_IP
try: self.__TCP_PORT = self._config.getint("server", 'tcp_port')
except ConfigParser.NoOptionError: self.__TCP_PORT = TCP_PORT
try: self.__BUFFER_SIZE = self._config.getint("server", 'buffer_size')
except ConfigParser.NoOptionError: self.__BUFFER_SIZE = BUFFER_SIZE
except ConfigParser.NoSectionError:
self.__TCP_IP = TCP_IP
self.__TCP_PORT = TCP_PORT
self.__BUFFER_SIZE = BUFFER_SIZE
def getServerParameters(self):
return self.__TCP_IP, self.__TCP_PORT, self.__BUFFER_SIZE
def setServerParameters(self, tcp_ip, tcp_port, buffer_size):
self.__TCP_IP = tcp_ip
self.__TCP_PORT = tcp_port
self.__BUFFER_SIZE = buffer_size
self._config.set("server", 'ip', self.__TCP_IP)
self._config.set("server", 'port', self.__TCP_PORT)
self._config.set("server", 'buffer_size', self.__BUFFER_SIZE)
with open(self._configfile, 'wb') as configfile:
self._config.write(configfile)
print self._monitoring.Status()
message = "Set socket: {}:{}".format(self.__TCP_IP, TCP_PORT)
self._monitoring.sendMessage(message)
print self._monitoring.Status()
def setUser(self, username):
self._user.name = username
print "Set username: {}".format(username)
self._config.set("server", 'username', self._user.name)
with open(self._configfile, 'wb') as configfile:
self._config.write(configfile)
def getUser(self):
return self._user.name
class BDIBehaviour(PeriodicBehaviour):
async def on_start(self):
self.terminate = False
self.SUCCESS = False
self.verbose = False
# Initialization
self.htn_planner = HierarchicalTaskNetworkPlanner()
self.goal = [('transfer_target_object_to_container', 'arm',
'target_object', 'table', 'container')]
self.intentions = self.goal # I := I0; Initial Intentions
self.beliefs = WorldModel() # B := B0; Initial Beliefs
self.monitoring = Monitoring()
self.perception = Perception()
self.coordination = Coordination()
# Disable all 3 coordination switches for testing
self.coordination.control.send_requests = True
self.coordination.control.center_init = False
self.coordination.control.detect_last_position = True
self.what, self.why, self.how_well, self.what_else, self.why_failed = "", "", "", "", ""
self.plans = []
self.start_time = datetime.datetime.now()
async def run(self):
# print(f"-- Sender Agent: PeriodicSenderBehaviour running at {datetime.datetime.now().time()}: {self.counter}")
print("run tick: {}".format(self.beliefs.current_world_model.tick))
# msg = Message(to="madks2@temp3rr0r-pc") # Instantiate the message
# msg.body = "Hello World: " + str(self.counter) # Set the message content
# await self.send(msg)
self.add_belief()
self.add_desire()
self.add_intention()
print("-- Sender Agent: Message sent!")
if self.beliefs.update_tick(
) > self.beliefs.current_world_model.max_ticks:
self.done()
self.kill()
else:
SUCCESS = True if self.intentions == "" else False
self.plans = self.htn_planner.get_plans(
self.beliefs.current_world_model,
self.intentions) # π := plan(B, I); MEANS_END REASONING
async def on_end(self):
print("-- on_end")
# stop agent from behaviour
await self.agent.stop()
# async def _step(self):
# # the bdi stuff
# pass
#
def add_belief(self):
print("-- Sender Agent: add_belief")
percept = self.perception.get_percept(text_engraving=(
self.why_failed,
self.how_well)) # get next percept ρ; OBSERVE the world
self.beliefs = self.perception.belief_revision(
self.beliefs, percept) # B:= brf(B, ρ);
self.beliefs = self.monitoring.fire_events(self.beliefs, percept)
def add_desire(self):
print("-- Sender Agent: add_desire")
def add_intention(self):
print("-- Sender Agent: add_intention")
self.intentions = self.deliberate(
self.beliefs, self.intentions
) # DELIBERATE about what INTENTION to achieve next
def done(self):
# the done evaluation
print("-- Sender Agent: Done")
def deliberate(self, current_beliefs, current_intentions):
"""
Decide WHAT sate of affairs you want to achieve.
:param current_beliefs: WordModel instance, the world model, information about the world.
:param current_intentions: List of tuples, tasks that the agent has COMMITTED to accomplish.
:return: List of tuples, filtered intentions that the agent COMMITS to accomplish.
"""
# 1. Option Generation: The agent generates a set of possible alternatives.
current_desires = current_intentions # TODO: D := option(B, I);
# 2. Filtering: Agent chooses between competing alternatives and commits to achieving them.
current_intentions = self.filter_intentions(
current_beliefs, current_desires,
current_intentions) # I := filter(B, D, I);
return current_intentions
def filter_intentions(self, current_beliefs, current_desires,
current_intentions):
"""
Choose between competing alternatives and COMMITTING to achieving them.
:param current_beliefs: WordModel instance, the world model, information about the world.
:param current_desires: List of tuples, tasks that the agent would like to accomplish.
:param current_intentions: List of tuples, tasks that the agent has COMMITTED to accomplish.
:return: List of tuples, filtered intentions that the agent COMMITS to accomplish.
"""
for current_intention in current_intentions:
if current_intention == (
'transfer_target_object_to_container', 'arm', 'target_object', 'table', 'container') \
and current_beliefs.current_world_model.location["target_object"] == "container":
current_intentions = "" # if goal(s) achieved, empty I
return current_intentions
class SimpleNetworkExperiment(Experiment):
def __init__(self, conn, conf_file, setName, title, duration, tcpdump_if,
tcpdump_port):
self.conn = conn
self.conf_file = conf_file
self.setName = setName
self.title = title
self.duration = duration
self.tcpdump_if = tcpdump_if
self.tcpdump_port = tcpdump_port
self.exp_name = 'exp_' + title + '_' + str(int(time.time()))
self.mon_controller = self.conn.monHostName
self.iot = self.conn.monHostName # this is the same host where the Lattice controller id running
self.edge = self.conn.clusterMgmHostName # the host where the processing functions are (cm in the case of faas / containers)
self.receiver = self.conn.receiverHostName
Experiment.__init__(self, conn, self.exp_name, self.setName)
self.init()
def startIoT(self):
command = 'java -cp /home/uceeftu/lattice/jars/monitoring-bin-core-2.0.1.jar mon.lattice.appl.demo.iot.IotEmulator ' \
+ self.conf_file + ' ' + str(self.duration)
result = self.monHost.run(command)
def init(self):
# create dir: /home/setName/name/
self.exp_path = os.getenv("HOME") + '/' + self.setName + '/'
if not os.path.exists(self.exp_path):
os.makedirs(self.exp_path)
self.exp_path = self.exp_path + self.exp_name
os.mkdir(self.exp_path)
print('Starting experiment ' + self.setName + ' / ' + self.exp_name)
print('Redirecting output to: ' + self.exp_path + '/output.log')
print('Redirecting error to: ' + self.exp_path + '/error.log')
self.stdout = sys.stdout
self.stderr = sys.stderr
sys.stdout = open(self.exp_path + '/output.log', 'w')
sys.stderr = open(self.exp_path + '/error.log', 'w')
#setting exp title in file
f = open(self.exp_path + '/title.txt', 'w')
f.write(self.title)
f.close()
print('+++ IoT: ' + self.conn.monHostName)
print('+++ Edge: ' + self.conn.clusterMgmHostName)
print('+++ Receiver: ' + self.conn.receiverHostName)
def cleanup(self):
sys.stdout.close()
sys.stderr.close()
sys.stdout = self.stdout
sys.stderr = self.stderr
print('Experiment ' + self.exp_path + ' completed')
def startMon(self):
print('Starting Mon')
self.monitor = Monitoring(self.mon_controller, '6666', self.exp_path,
self.iot, self.edge, self.tcpdump_if,
self.tcpdump_port, self.receiver)
self.monitor.init()
self.monitor.set_consumer_pid(self.consumer_PID)
self.monitor.start_components()
self.monitor.start_monitoring()
def stopMon(self):
print('Stopping Mon')
self.monitor.stop_monitoring()
self.monitor.stop_components()
self.monitor.cleanup()
self.__cleanup_tcpdump()
#we need this until we manage to kill child tcpdump process properly
def __cleanup_tcpdump(self):
command = 'killall tcpdump'
result = self.clusterMgmHost.sudo(command, pty=True)
def saveIotConf(self):
# copy iot.properties into setName/name
print('Saving iot emulator conf file')
copy(self.conf_file, self.exp_path + '/iot.properties')
def startConsumer():
raise NotImplementedError('subclasses must override startConsumer!')
def stopConsumer():
raise NotImplementedError('subclasses must override stopConsumer!')
def collectLatticeLogs(self):
directory = self.exp_path + '/ds/'
command = 'mkdir ' + directory
result = self.monHost.run(command)
if result.ok == True:
command = 'cp /tmp/data-source-* ' + directory
result = self.monHost.run(command)
if result.ok == True:
print('Successfully imported ds logs')
Experiment.collectLatticeLogs(self)
def collectConsumerStats(self):
directory = self.exp_path + '/'
command = 'mv /tmp/stats_*.log ' + directory
result = self.clusterMgmHost.run(command)
if result.ok == True:
print('Successfully imported consumer stats')
def start(self):
self.startLattice()
self.startConsumer()
self.startMon()
self.startIoT()
self.stopMon()
self.stopConsumer()
self.stopLattice()
self.collectLatticeLogs()
self.saveIotConf()
self.collectTimestamp()
self.collectConsumerStats()
self.cleanup()
c1 = CTControllerScaleXNode(1, initCores, maxCores, BC=3, DC=15)
c2 = OPTCTRL(monitoringWindow,
init_cores=initCores,
st=0.8,
stime=[1 / stimes[i] for i in range(appsCount)],
maxCores=maxCores)
c2.setName("OPTCTRL")
c2.reset()
runner = Runner(
horizon, [c2, c1],
monitoringWindow,
app,
lambda window, sla: MultiMonitoring(
[Monitoring(monitoringWindow, appsSLA[i]) for i in range(appsCount)]),
name=name)
g = MultiGenerator([SP2, RP2])
runner.run(g)
g = MultiGenerator([RP2, SP2])
runner.run(g)
g = MultiGenerator([SN2, SP2])
runner.run(g)
g = MultiGenerator([SP2, SN2])
runner.run(g)
g = MultiGenerator([SN2, RP2])
runner.run(g)
class Gru:
def __init__(self):
self.minions = []
self.monitor = None
def start_monitoring_local(self):
# monitoring lokal in thread starten
if self.monitor is None:
self.monitor = Monitoring()
self.monitor.start()
return True
else:
return False
def start_monitoring_remote(self, remote):
# TODO Monitoring mithilfe von salt auf minion starten
return False
def stop_monitoring_local(self):
if self.monitor is None:
return False
else:
self.monitor.stop()
self.monitor = None
return True
def stop_monitoring_remote(self, remote):
requests.get("http://{}:5000/stop".format(remote))
def add_regex_local(self, regex):
# einen neuen regelären ausdruck für den lokalen monitor hinzufügen
if self.monitor is None:
return False
else:
self.monitor.regs.append(regex)
return True
def add_regex_remote(self, remote, regex):
# einen neuen regelären ausdruck für den remote monitor hinzufügen
requests.post("http://{}:5000/add_regex".format(remote), data={'regex': regex})
def remove_regex_local(self, regex):
if self.monitor is None:
return False
else:
self.monitor.remove_regex(regex)
return True
def remove_regex_remote(self, remote, regex):
requests.post("http://{}:5000/del_regex".format(remote), data={'regex': regex})
def list_regex_local(self):
if self.monitor is None:
return None
else:
return self.monitor.regs
def list_regex_remote(self, remote):
response = requests.get("http://{}:5000/list_regex".format(remote))
return json.loads(response.content)
def get_events(self):
events = []
if self.monitor is not None:
events.extend(self.monitor.get_events_dict())
for minion in self.minions:
response = requests.get("http://{}:5000/get_events".format(minion))
events.extend(json.loads(response.content))
# events von allen aktiven monitor instanzen abfragen
return events
class DeepQNetwork(object):
def __init__(self, height, width, num_actions, state_frames, gamma, batch_size=32):
self.gamma = gamma
self.num_actions = num_actions
self.input_var = T.tensor4('inputs')
self.target_var = T.vector('targets')
self.actions_var = T.matrix()
self.input_shared = theano.shared(np.zeros([batch_size, state_frames, height, width]),
dtype=theano.tensor.floatX)
self.taret_shared = theano.shared(np.zeros([batch_size, 1]), dtype=theano.tensor.floatX)
self.actions_shared = theano.shared(np.zeros([batch_size, num_actions]).astype('int32'),
dtype=theano.tensor.int32)
self.net = get_inference(self.input_var, num_actions, height, width, state_frames)
self.prediction = (lasagne.layers.get_output(self.net) * self.actions_var).sum(axis=1)
self.error = T.sqr(self.target_var - self.prediction).mean()
params = lasagne.layers.get_all_params(self.net, trainable=True)
#self.opt = lasagne.updates.rmsprop(
# self.error, params, learning_rate=0.0025, epsilon=0.01)
#self.opt = lasagne.updates.adagrad(
# self.error, params, learning_rate=0.001
#)
self.opt = gen_updates_rmsprop(params, T.grad(self.error, params))
self.train_step = theano.function([self.input_var, self.target_var, self.actions_var],
self.error, updates=self.opt, allow_input_downcast=True)
self.net_fun = theano.function([self.input_var], lasagne.layers.get_output(self.net),
allow_input_downcast=True)
self.monitor = Monitoring()
self.pred_fun = theano.function([self.input_var, self.actions_var], self.prediction, allow_input_downcast=True)
self.error_fun = theano.function([self.input_var, self.target_var, self.actions_var], self.error,
allow_input_downcast=True)
def get_best_action(self, example):
vals = self.evaluate_network([example])[0]
return np.argmax(vals), vals
def evaluate_network(self, batch):
return self.net_fun(batch)
def train(self, batch):
batch_size = batch['batch_size']
self.monitor.report_action_start('get_target')
target = self.get_target(batch)
self.monitor.report_action_finish('get_target')
actions = np.zeros([batch_size, self.num_actions])
actions[:, list(batch['actions'])] = 1
self.monitor.report_action_start('pred_fun')
self.pred_fun(batch['states_1'], actions)
self.monitor.report_action_finish('pred_fun')
self.monitor.report_action_start('error_fun')
self.error_fun(batch['states_1'], target, actions)
self.monitor.report_action_finish('error_fun')
self.monitor.report_action_start('train_step')
error_val = self.train_step(batch['states_1'], target, actions)
self.monitor.report_action_finish('train_step')
return error_val
def get_target(self, batch):
batch_size = batch['batch_size']
self.monitor.report_action_start('only_q')
q_vals = self.evaluate_network(batch['states_2'])
self.monitor.report_action_finish('only_q')
best_actions = np.argmax(q_vals, 1)
target = np.choose(best_actions, q_vals.T)
for i in xrange(batch_size):
if batch['terminations'][i]:
mul = 0
else:
mul = self.gamma
target[i] = batch['rewards'][i] + mul * target[i]
return target
# flake8: noqa
from flask import Flask, render_template
from monitoring import Monitoring
app = Flask(__name__)
monitor = Monitoring(backend=False)
@app.route('/')
def main_page():
return "Your monitor is started"
def run_webmonitor():
app.run()
if __name__ == "__main__":
run_webmonitor()
horizon = 300
monitoringWindow = 1
ctPeriod = 1
maxCores = 200000
Names=[f'App{i}' for i in range(1, appsCount+1)]
srateAvg=[1.0/stime for stime in stimes]
initCores=[1 for _ in stimes]
app=AppsCluster(appNames=Names,srateAvg=srateAvg,initCores=initCores,isDeterministic=False)
AppsCluster.sla=appsSLA
c1 = CTControllerScaleXNode(1, initCores, maxCores, BCs=3, DCs=15)
c2 = OPTCTRL(monitoringWindow, init_cores=initCores, st=0.8, stime=[1/stimes[i] for i in range(appsCount)],maxCores=maxCores)
c2.setName("OPTCTRL")
c2.reset()
runner = Runner(horizon, [c2], monitoringWindow, app, lambda window, sla: MultiMonitoring([Monitoring(monitoringWindow, appsSLA[i]) for i in range(appsCount)]), name=name)
g = MultiGenerator([RP1, RP1])
runner.run(g)
# g = MultiGenerator([SN1, SN1])
# runner.run(g)
#
# g = MultiGenerator([SP1, SP1])
# runner.run(g)
runner.log()
runner.plot()
def main():
global monitor
monitor = Monitoring()
monitor.start()
app.run(debug=True, use_reloader=False)
