def handle_auctioneer_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)
# obtain auctioneer_position
auctioneer_position = {'auctioneer_position': rospy.get_param('~position')}
# Obtain nodes list to relay information with k=1
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
# Prepare auction information
if auction_req.auction_data.command == 'join_auction':
role = "be_buyer"
else:
role = 'none'
auction_type = 'k-sap'
sending_node = rospy.get_name()
auctioneer_node = rospy.get_name()
# updated nodes_collected
if rospy.has_param('/nodes_collected'):
nodes_collected = rospy.get_param('/nodes_collected')+','+rospy.get_name()
rospy.set_param('/nodes_collected',nodes_collected)
else:
nodes_collected = rospy.get_param('~neighbour_nodes_list')
auction_data = auction_req.auction_data
# send requests for neighbours
for node in neighbour_nodes_relay_list:
# prepare neighbours to be buyers
service_path = node+'/auction_config_server'
rospy.wait_for_service(service_path)
neighbour_node_auction_config_server = rospy.ServiceProxy(service_path,
auction_srvs.srv.AuctionConfigService)
try:
neighbour_node_auction_config_server_resp = neighbour_node_auction_config_server(role,auction_type,sending_node)
except rospy.ServiceException, e:
rospy.loginfo("Service call failed: %s",e)
# send the auction information to the buyer node
service_path = node+'/buyer_server'
rospy.wait_for_service(service_path)
buyer_service = rospy.ServiceProxy(service_path, auction_srvs.srv.BuyerService,headers=auctioneer_position)
try:
buyer_server_resp = buyer_service(auctioneer_node,sending_node,nodes_collected,auction_data)
except rospy.ServiceException, e:
print "Service did not process request: %s"%str(e)
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)
# default bid
bid = auction_msgs.msg.Bid()
# obtain auctioneer_position
auctioneer_position = {'auctioneer_position': rospy.get_param('~position')}
# Obtain nodes list to relay information with k=1
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(
auction_req)
print neighbour_nodes_relay_list
# Prepare auction information
if auction_req.auction_data.command == 'close_auction':
auction_req.role = 'none'
else:
auction_req.role = "be_buyer"
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 node
for node in neighbour_nodes_relay_list:
# compose service name (to be changed)
service_path = node + '/auction_server'
# wait for the service in the neighbour node to be available
rospy.wait_for_service(service_path)
neighbour_node_auction_server = rospy.ServiceProxy(
service_path,
auction_srvs.srv.AuctionService,
headers=auctioneer_position)
try:
bid_response = neighbour_node_auction_server(auction_req)
bid = bid_response.bid_data
# Evaluate bids, Min(cost_distance)
if winner_cost >= bid.cost_distance:
if bid.buyer_id != '':
winner_cost = bid.cost_distance
winner_id = bid.buyer_id
# log info for momentary winner
# rospy.loginfo("(winning at the moment) %s with offer %d",winner_id, winner_cost)
except rospy.ServiceException, e:
rospy.loginfo("Service call failed: %s", e)
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)
# Graph parameters
graph_parameters = eval(rospy.get_param("graph_info"))
N = int(graph_parameters[0])
l = int(graph_parameters[1])
d = int(graph_parameters[2])
r = math.sqrt((d * l * l) / (math.pi * (N - 1)))
print N, l, d, r
# Calculate k (number of hop)
node_position = eval(rospy.get_param('~position'))
auctioneer_position = eval(
auction_req._connection_header['auctioneer_position'])
x = float(node_position[0]) - float(auctioneer_position[0])
y = float(node_position[1]) - float(auctioneer_position[1])
z = float(node_position[2]) - float(auctioneer_position[2])
distance_from_node_to_auctioneer = math.sqrt(x * x + y * y + z * z)
k = int(distance_from_node_to_auctioneer / r)
print distance_from_node_to_auctioneer, k
# 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
print auction_req.auction_data.subject
# Check if node is in the k-hops required range
if k < int(auction_req.auction_data.subject):
# Relay information to neighbour nodes!
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(
auction_req)
print neighbour_nodes_relay_list
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')
for node in neighbour_nodes_relay_list:
# compose service name
service_path = node + '/auction_server'
rospy.wait_for_service(service_path)
neighbour_node_auction_server = rospy.ServiceProxy(
service_path,
auction_srvs.srv.AuctionService,
headers={'auctioneer_position': auctioneer_position})
try:
neighbour_node_bid_response = neighbour_node_auction_server(
auction_req)
# log bid information from the neighbour node (debug)
# rospy.loginfo(neighbour_node_bid_response)
except rospy.ServiceException, e:
rospy.loginfo("Service call failed: %s", e)
if neighbour_node_bid_response.bid_data.cost_distance < bid_response.cost_distance:
bid_response.buyer_id = neighbour_node_bid_response.bid_data.buyer_id
bid_response.cost_distance = neighbour_node_bid_response.bid_data.cost_distance
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)
# Graph parameters
graph_parameters = eval(rospy.get_param("graph_info"))
N = int(graph_parameters[0])
l = int(graph_parameters[1])
d = int(graph_parameters[2])
r = math.sqrt((d*l*l)/(math.pi*(N-1)))
print N, l, d, r
# Calculate k (number of hop)
node_position = eval(rospy.get_param('~position'))
auctioneer_position = eval(auction_req._connection_header['auctioneer_position'])
x = float(node_position[0])-float(auctioneer_position[0])
y = float(node_position[1])-float(auctioneer_position[1])
z = float(node_position[2])-float(auctioneer_position[2])
distance_from_node_to_auctioneer = math.sqrt(x*x+y*y+z*z)
k = int(distance_from_node_to_auctioneer/r)
print distance_from_node_to_auctioneer, k
# 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;
print auction_req.auction_data.subject
# Check if node is in the k-hops required range
if k < int(auction_req.auction_data.subject):
# Relay information to neighbour nodes!
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
print neighbour_nodes_relay_list
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')
for node in neighbour_nodes_relay_list:
# compose service name
service_path = node+'/auction_server'
rospy.wait_for_service(service_path)
neighbour_node_auction_server = rospy.ServiceProxy(service_path, auction_srvs.srv.AuctionService, headers={ 'auctioneer_position': auctioneer_position})
try:
neighbour_node_bid_response = neighbour_node_auction_server(auction_req)
# log bid information from the neighbour node (debug)
# rospy.loginfo(neighbour_node_bid_response)
except rospy.ServiceException, e:
rospy.loginfo("Service call failed: %s",e)
if neighbour_node_bid_response.bid_data.cost_distance < bid_response.cost_distance:
bid_response.buyer_id= neighbour_node_bid_response.bid_data.buyer_id
bid_response.cost_distance= neighbour_node_bid_response.bid_data.cost_distance
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
}
service_path = auction_req.auctioneer_node + '/auctioneer_bid_reception_server'
rospy.wait_for_service(service_path)
auctioneer_bid_reception_service = rospy.ServiceProxy(
service_path, auction_srvs.srv.AuctioneerBidReceptionService)
try:
sending_node = rospy.get_name()
auctioneer_bid_reception_server_resp = auctioneer_bid_reception_service(
sending_node, bid)
except rospy.ServiceException, e:
rospy.logwarn("Service did not process request: %s", e)
# Relay information to neighbour nodes!
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(
auction_req)
if neighbour_nodes_relay_list:
# Prepare information
if auction_req.auction_data.command == 'join_auction':
role = 'be_buyer'
else:
role = 'none'
auction_type = 'sap'
sending_node = rospy.get_name()
auctioneer_node = auction_req.auctioneer_node
# updated nodes_collected
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}
try:
sending_node = rospy.get_name()
auctioneer_bid_reception_server_resp = auctioneer_bid_reception_service(sending_node,bid)
except rospy.ServiceException, e:
print "Service did not process request: %s"%str(e)
print int(auction_req.auction_data.subject)
# check if node is in the k-hops required range
if k < int(auction_req.auction_data.subject):
# Relay information to neighbour nodes!
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
if neighbour_nodes_relay_list:
# Prepare information
if auction_req.auction_data.command == 'join_auction':
role = "be_buyer"
else:
role = 'none'
auction_type = 'k-sap'
sending_node = rospy.get_name()
auctioneer_node = auction_req.auctioneer_node
# updated nodes_collected
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)
# default bid
bid = auction_msgs.msg.Bid()
# obtain auctioneer_position
auctioneer_position = {'auctioneer_position': rospy.get_param('~position')}
# Obtain nodes list to relay information with k=1
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
print neighbour_nodes_relay_list
# Prepare auction information
if auction_req.auction_data.command == 'close_auction':
auction_req.role = 'none'
else:
auction_req.role = "be_buyer"
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 node
for node in neighbour_nodes_relay_list:
# compose service name (to be changed)
service_path = node+'/auction_server'
# wait for the service in the neighbour node to be available
rospy.wait_for_service(service_path)
neighbour_node_auction_server = rospy.ServiceProxy(service_path,
auction_srvs.srv.AuctionService,headers=auctioneer_position)
try:
bid_response = neighbour_node_auction_server(auction_req)
bid = bid_response.bid_data
# Evaluate bids, Min(cost_distance)
if winner_cost >= bid.cost_distance:
if bid.buyer_id != '':
winner_cost = bid.cost_distance
winner_id = bid.buyer_id
# log info for momentary winner
# rospy.loginfo("(winning at the moment) %s with offer %d",winner_id, winner_cost)
except rospy.ServiceException, e:
rospy.loginfo("Service call failed: %s",e)
def handle_auctioneer_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)
# Obtain nodes list to relay information with k=1
neighbour_nodes_relay_list = auction_common.create_neighbour_nodes_list(auction_req)
# Prepare auction information
if auction_req.auction_data.command == 'join_auction':
role = "be_buyer"
else:
role = 'none'
auction_type = 'sap'
sending_node = rospy.get_name()
auctioneer_node = rospy.get_name()
# updated nodes_collected
if rospy.has_param('/nodes_collected'):
nodes_collected = rospy.get_param('/nodes_collected')+','+rospy.get_name()
rospy.set_param('/nodes_collected',nodes_collected)
else:
nodes_collected = rospy.get_param('~neighbour_nodes_list')
auction_data = auction_req.auction_data
# send requests for neighbours
for node in neighbour_nodes_relay_list:
# prepare neighbours to be buyers
service_path = node+'/auction_config_server'
rospy.wait_for_service(service_path)
neighbour_node_auction_config_server = rospy.ServiceProxy(service_path,
auction_srvs.srv.AuctionConfigService)
try:
neighbour_node_auction_config_server_resp = neighbour_node_auction_config_server(role,auction_type,sending_node)
except rospy.ServiceException, e:
rospy.logwarn("[%s] Service call failed: %s",rospy.get_name(),e)
# send the auction information to the buyer node
service_path = node+'/buyer_server'
rospy.wait_for_service(service_path)
buyer_service = rospy.ServiceProxy(service_path, auction_srvs.srv.BuyerService)
try:
buyer_server_resp = buyer_service(auctioneer_node,sending_node,nodes_collected,auction_data)
except rospy.ServiceException, e:
rospy.logwarn("Service did not process request: %s",e)
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}
