def load_stn(file_path, stp_solver):
with open(file_path) as json_file:
stn_dict = json.load(json_file)
stn_json = json.dumps(stn_dict)
stp = STP(stp_solver)
stn = stp.get_stn(stn_json=stn_json)
return stp, stn
def setUp(self):
# Load the stn as a dictionary
with open(STN) as json_file:
stn_dict = json.load(json_file)
# Convert the dict to a json string
stn_json = json.dumps(stn_dict)
self.stp = STP('fpc')
self.stn = self.stp.get_stn(stn_json=stn_json)
def get_stp_solver(self):
allocation_method = self._components.get('allocation_method')
solver_name = self._allocation_methods.get(allocation_method)
if not solver_name:
self.logger.error("The given allocation method is not available")
raise ValueError(allocation_method)
return STP(solver_name)
def __init__(self,
ccu_store,
api,
stp_solver,
allocation_method,
round_time=5,
**kwargs):
self.logger = logging.getLogger("mrs.auctioneer")
self.robot_ids = list()
self.timetables = dict()
self.api = api
self.stp = STP(stp_solver)
self.allocation_method = allocation_method
self.round_time = timedelta(seconds=round_time)
self.alternative_timeslots = kwargs.get('alternative_timeslots', False)
self.logger.debug("Auctioneer started")
self.tasks_to_allocate = dict()
self.allocations = list()
self.waiting_for_user_confirmation = list()
self.round = Round()
# TODO: Update zero_timepoint
today_midnight = datetime.today().replace(hour=0,
minute=0,
second=0,
microsecond=0)
self.zero_timepoint = TimeStamp()
self.zero_timepoint.timestamp = today_midnight
def __init__(self, robot_id, api, robot_store, stp_solver, task_type):
self.id = robot_id
self.api = api
self.stp = STP(stp_solver)
self.timetable = Timetable(robot_id, self.stp)
today_midnight = datetime.today().replace(hour=0, minute=0, second=0, microsecond=0)
self.timetable.zero_timepoint = TimeStamp()
self.timetable.zero_timepoint.timestamp = today_midnight
def __init__(self, ccu_store, api, stp_solver, freeze_window, **kwargs):
self.logger = logging.getLogger('mrs.dispatcher')
self.api = api
self.stp = STP(stp_solver)
self.freeze_window = timedelta(minutes=freeze_window)
self.re_allocate = kwargs.get('re_allocate', False)
self.robot_ids = list()
self.scheduler = Scheduler(self.stp)
self.logger.debug("Dispatcher started")
def from_dict(timetable_dict):
robot_id = timetable_dict['robot_id']
stp_solver = STP(timetable_dict['solver_name'])
timetable = Timetable(robot_id, stp_solver)
stn_cls = timetable.stp_solver.get_stn()
ztp = timetable_dict.get('ztp')
timetable.ztp = TimeStamp.from_str(ztp)
timetable.stn = stn_cls.from_dict(timetable_dict['stn'])
timetable.dispatchable_graph = stn_cls.from_dict(timetable_dict['dispatchable_graph'])
timetable.stn_tasks = timetable_dict['stn_tasks']
return timetable
class TestFPC(unittest.TestCase):
""" Tests the solver FullPathConsistency
"""
logger = logging.getLogger('stn.test')
def setUp(self):
# Load the stn as a dictionary
with open(STN) as json_file:
stn_dict = json.load(json_file)
# Convert the dict to a json string
stn_json = json.dumps(stn_dict)
self.stp = STP('fpc')
self.stn = self.stp.get_stn(stn_json=stn_json)
def test_build_stn(self):
self.logger.info("STN: \n %s", self.stn)
metric, minimal_network = self.stp.solve(self.stn)
self.logger.info("Minimal STN: \n %s", minimal_network)
completion_time = minimal_network.get_completion_time()
makespan = minimal_network.get_makespan()
self.logger.info("Completion time: %s ", completion_time)
self.logger.info("Makespan: %s ", makespan)
self.assertEqual(completion_time, 65)
self.assertEqual(makespan, 100)
constraints = minimal_network.get_constraints()
for (i, j) in constraints:
if i == 0 and j == 1:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 35)
self.assertEqual(upper_bound, 41)
if i == 0 and j == 2:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 41)
self.assertEqual(upper_bound, 47)
if i == 0 and j == 3:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 45)
self.assertEqual(upper_bound, 51)
if i == 0 and j == 4:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 90)
self.assertEqual(upper_bound, 96)
if i == 0 and j == 5:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 96)
self.assertEqual(upper_bound, 102)
if i == 0 and j == 6:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 100)
self.assertEqual(upper_bound, 106)
if i == 1 and j == 2:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 6)
self.assertEqual(upper_bound, 12)
if i == 2 and j == 3:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 4)
self.assertEqual(upper_bound, 10)
if i == 3 and j == 4:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 39)
self.assertEqual(upper_bound, 51)
if i == 4 and j == 5:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 6)
self.assertEqual(upper_bound, 12)
if i == 5 and j == 6:
lower_bound = -minimal_network[j][i]['weight']
upper_bound = minimal_network[i][j]['weight']
self.assertEqual(lower_bound, 4)
self.assertEqual(upper_bound, 10)
class TestDSC(unittest.TestCase):
""" Tests the solver Degree of Strong Controllability
"""
logger = logging.getLogger('stn.test')
def setUp(self):
# Load the stn as a dictionary
with open(STNU) as json_file:
stnu_dict = json.load(json_file)
# Convert the dict to a json string
stnu_json = json.dumps(stnu_dict)
self.stp = STP('dsc')
self.stn = self.stp.get_stn(stn_json=stnu_json)
def test_build_stn(self):
self.logger.info("STNU: \n %s", self.stn)
self.logger.info("Getting Schedule...")
schedule = self.stp.solve(self.stn)
self.logger.info("DSC: %s ", schedule.risk_metric)
self.logger.info("schedule: %s ", schedule)
completion_time = schedule.get_completion_time()
makespan = schedule.get_makespan()
self.logger.info("Completion time: %s ", completion_time)
self.logger.info("Makespan: %s ", makespan)
self.assertEqual(completion_time, 157)
self.assertEqual(makespan, 98)
expected_risk_metric = 0.0
self.assertEqual(schedule.risk_metric, expected_risk_metric)
constraints = schedule.get_constraints()
for (i, j) in constraints:
if i == 0 and j == 1:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 37)
self.assertEqual(upper_bound, 37)
if i == 0 and j == 2:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 41)
self.assertEqual(upper_bound, 45)
if i == 0 and j == 3:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 43)
self.assertEqual(upper_bound, 51)
if i == 0 and j == 4:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 92)
self.assertEqual(upper_bound, 92)
if i == 0 and j == 5:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 96)
self.assertEqual(upper_bound, 100)
if i == 0 and j == 6:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 98)
self.assertEqual(upper_bound, 106)
if i == 1 and j == 2:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 4)
self.assertEqual(upper_bound, 8)
if i == 2 and j == 3:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 2)
self.assertEqual(upper_bound, 6)
if i == 3 and j == 4:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 0)
self.assertEqual(upper_bound, MAX_FLOAT)
if i == 4 and j == 5:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 4)
self.assertEqual(upper_bound, 8)
if i == 5 and j == 6:
lower_bound = -schedule[j][i]['weight']
upper_bound = schedule[i][j]['weight']
self.assertEqual(lower_bound, 2)
self.assertEqual(upper_bound, 6)
class TestSREA(unittest.TestCase):
""" Tests the solver Static Robust Execution
"""
logger = logging.getLogger('stn.test')
def setUp(self):
# Load the stn as a dictionary
with open(STN) as json_file:
pstn_dict = json.load(json_file)
# Convert the dict to a json string
pstn_json = json.dumps(pstn_dict)
self.stp = STP('srea')
self.stn = self.stp.get_stn(stn_json=pstn_json)
def test_build_stn(self):
self.logger.info("PSTN: \n %s", self.stn)
self.logger.info("Getting GUIDE...")
alpha, guide_stn = self.stp.solve(self.stn)
self.logger.info("GUIDE")
self.logger.info(guide_stn)
self.logger.info("Alpha: %s ", alpha)
completion_time = guide_stn.get_completion_time()
makespan = guide_stn.get_makespan()
self.logger.info("Completion time: %s ", completion_time)
self.logger.info("Makespan: %s ", makespan)
self.assertEqual(completion_time, 60)
self.assertEqual(makespan, 97)
expected_alpha = 0.0
self.assertEqual(alpha, expected_alpha)
constraints = guide_stn.get_constraints()
for (i, j) in constraints:
if i == 0 and j == 1:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 37)
self.assertEqual(upper_bound, 38)
if i == 0 and j == 2:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 41)
self.assertEqual(upper_bound, 47)
if i == 0 and j == 3:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 42)
self.assertEqual(upper_bound, 54)
if i == 0 and j == 4:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 92)
self.assertEqual(upper_bound, 94)
if i == 0 and j == 5:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 96)
self.assertEqual(upper_bound, 102)
if i == 0 and j == 6:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 97)
self.assertEqual(upper_bound, 109)
if i == 1 and j == 2:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 0)
self.assertEqual(upper_bound, 47)
if i == 2 and j == 3:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 0)
self.assertEqual(upper_bound, 61)
if i == 3 and j == 4:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 0)
self.assertEqual(upper_bound, 61)
if i == 4 and j == 5:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 0)
self.assertEqual(upper_bound, 61)
if i == 5 and j == 6:
lower_bound = -guide_stn[j][i]['weight']
upper_bound = guide_stn[i][j]['weight']
self.assertEqual(lower_bound, 0)
self.assertEqual(upper_bound, MAX_FLOAT)
import json
from stn.stp import STP
STNU = "data/stnu_two_tasks.json"
if __name__ == '__main__':
with open(STNU) as json_file:
stnu_dict = json.load(json_file)
# Convert the dict to a json string
stnu_json = json.dumps(stnu_dict)
stp = STP('dsc_lp')
stn = stp.get_stn(stn_json=stnu_json)
print(stn)
stn_dict = stn.to_dict()
print(stn_dict)
print(type(stn_dict['nodes'][0]['data']))
