def update_allocation_metrics(self, allocation_time):
allocation_info = self.auctioneer.winning_bid.get_allocation_info()
task = Task.get_task(allocation_info.new_task.task_id)
self.performance_tracker.update_allocation_metrics(task, allocation_time)
if allocation_info.next_task:
task = Task.get_task(allocation_info.next_task.task_id)
self.performance_tracker.update_allocation_metrics(task, only_constraints=True)
def get_next_task(self, task):
task_last_node = self.stn.get_task_node_ids(task.task_id)[-1]
if self.stn.has_node(task_last_node + 1):
next_task_id = self.stn.nodes[task_last_node + 1]['data'].task_id
try:
next_task = Task.get_task(next_task_id)
except DoesNotExist:
self.logger.warning("Task %s is not in db", next_task_id)
next_task = Task.create_new(task_id=next_task_id)
return next_task
def check_termination_test(self):
unallocated_tasks = Task.get_tasks_by_status(
TaskStatusConst.UNALLOCATED)
allocated_tasks = Task.get_tasks_by_status(TaskStatusConst.ALLOCATED)
preempted_tasks = Task.get_tasks_by_status(TaskStatusConst.PREEMPTED)
planned_tasks = Task.get_tasks_by_status(TaskStatusConst.PLANNED)
dispatched_tasks = Task.get_tasks_by_status(TaskStatusConst.DISPATCHED)
ongoing_tasks = Task.get_tasks_by_status(TaskStatusConst.ONGOING)
with switch_collection(TaskStatus, TaskStatus.Meta.archive_collection):
completed_tasks = Task.get_tasks_by_status(
TaskStatusConst.COMPLETED)
canceled_tasks = Task.get_tasks_by_status(TaskStatusConst.CANCELED)
aborted_tasks = Task.get_tasks_by_status(TaskStatusConst.ABORTED)
self.logger.info("Unallocated: %s", len(unallocated_tasks))
self.logger.info("Allocated: %s", len(allocated_tasks))
self.logger.info("Planned: %s ", len(planned_tasks))
self.logger.info("Dispatched: %s", len(dispatched_tasks))
self.logger.info("Ongoing: %s", len(ongoing_tasks))
self.logger.info("Completed: %s ", len(completed_tasks))
self.logger.info("Preempted: %s ", len(preempted_tasks))
self.logger.info("Canceled: %s", len(canceled_tasks))
self.logger.info("Aborted: %s", len(aborted_tasks))
tasks = completed_tasks + preempted_tasks
if len(tasks) == len(self.tasks):
self.logger.info("Terminating test")
self.logger.info("Allocations: %s", self.allocations)
self.terminated = True
def task_status_cb(self, msg):
payload = msg['payload']
timestamp = TimeStamp.from_str(
msg["header"]["timestamp"]).to_datetime()
task_status = TaskStatus.from_payload(payload)
if self.robot_id == task_status.robot_id:
task = Task.get_task(task_status.task_id)
self.logger.debug("Received task status %s for task %s",
task_status.task_status, task.task_id)
self.logger.debug("Sending task status %s for task %s",
task_status.task_status, task.task_id)
self.api.publish(msg, groups=["TASK-ALLOCATION"])
if task_status.task_status == TaskStatusConst.ONGOING:
self.update_timetable(task, task_status.task_progress,
timestamp)
elif task_status.task_status == TaskStatusConst.COMPLETED:
self.logger.debug("Completing execution of task %s",
task.task_id)
self.task = None
task.update_status(task_status.task_status)
def get_earliest_task(self):
task_id = self.stn.get_earliest_task_id()
if task_id:
try:
task = Task.get_task(task_id)
return task
except DoesNotExist:
self.logger.warning("Task %s is not in db or its first node is not the start node", task_id)
def get_r_time_previous_task(self,
insertion_point,
node_type,
earliest=True):
task_id = self.stn.get_task_id(insertion_point - 1)
previous_task = Task.get_task(task_id)
return self.dispatchable_graph.get_time(previous_task.task_id,
node_type, earliest)
def previous_task_is_frozen(self, insertion_point):
task_id = self.stn.get_task_id(insertion_point - 1)
previous_task = Task.get_task(task_id)
if previous_task.status.status in [
TaskStatusConst.DISPATCHED, TaskStatusConst.ONGOING
]:
return True
return False
def to_attrs(cls, dict_repr):
attrs = super().to_attrs(dict_repr)
tasks = list()
for task_id, task_dict in attrs.get("tasks").items():
tasks.append(
Task.from_payload(task_dict,
constraints=TaskConstraints,
request=TransportationRequest))
attrs.update(tasks=tasks)
return attrs
def get_tasks_status(robot_id):
tasks_status = collections.OrderedDict()
with switch_collection(Task, Task.Meta.archive_collection):
tasks = Task.get_tasks_by_robot(robot_id)
with switch_collection(TaskStatus, TaskStatus.Meta.archive_collection):
for task in tasks:
task_status = TaskStatus.objects.get({"_id": task.task_id})
if task_status.status == TaskStatusConst.COMPLETED:
tasks_status[task.task_id] = task_status
return tasks_status
def receive_msg_cb(self, msg_content):
msg = self.convert_zyre_msg_to_dict(msg_content)
if msg is None:
return
msg_type = msg['header']['type']
payload = msg['payload']
if msg_type == 'TASK':
task = Task.from_payload(payload)
if self.robot_id in task.assigned_robots:
self.logger.debug("Received task %s", task.task_id)
self.task = task
def start_test_cb(self, msg):
self.simulator_interface.stop()
initial_time = msg["payload"]["initial_time"]
self.logger.info("Start test at %s", initial_time)
tasks = Task.get_tasks_by_status(TaskStatusConst.UNALLOCATED)
for robot_id in self.auctioneer.robot_ids:
RobotPerformance.create_new(robot_id=robot_id)
for task in tasks:
self.add_task_plan(task)
TaskPerformance.create_new(task_id=task.task_id)
self.simulator_interface.start(initial_time)
self.auctioneer.allocate(tasks)
def task_status_cb(self, msg):
payload = msg['payload']
timestamp = TimeStamp.from_str(
msg["header"]["timestamp"]).to_datetime()
task_status = TaskStatus.from_payload(payload)
if self.robot_id == task_status.robot_id:
task = Task.get_task(task_status.task_id)
self.logger.debug("Received task status %s for task %s",
task_status.task_status, task.task_id)
if task_status.task_status == TaskStatusConst.ONGOING:
self._update_timetable(task, task_status.task_progress,
timestamp)
task.update_status(task_status.task_status)
def merge_temporal_graph(previous_graph, new_graph):
tasks = list()
new_task_ids = new_graph.get_tasks()
scheduled_tasks = [
task.task_id
for task in Task.get_tasks_by_status(TaskStatusConst.SCHEDULED)
if task
]
ongoing_tasks = [
task.task_id
for task in Task.get_tasks_by_status(TaskStatusConst.ONGOING)
if task
]
for i, task_id in enumerate(new_task_ids):
if task_id in scheduled_tasks or task_id in ongoing_tasks:
# Keep current version of task
tasks.append(previous_graph.get_task_graph(task_id))
else:
# Use new version of task
tasks.append(new_graph.get_task_graph(task_id))
# Get type of previous graph
merged_graph = previous_graph.__class__()
for task_graph in tasks:
merged_graph.add_nodes_from(task_graph.nodes(data=True))
merged_graph.add_edges_from(task_graph.edges(data=True))
for i in merged_graph.nodes():
if i != 0 and merged_graph.has_node(
i + 1) and not merged_graph.has_edge(i, i + 1):
merged_graph.add_constraint(i, i + 1)
return merged_graph
def get_task(self, position):
""" Returns the task in the given position
:param position: (int) position in the STN
:return: (Task) task
"""
task_id = self.stn.get_task_id(position)
if task_id:
try:
return Task.get_task(task_id)
except DoesNotExist:
self.logger.warning("Task %s is not in db", task_id)
raise DoesNotExist
else:
raise TaskNotFound(position)
def announce_tasks(self):
tasks = list(self.tasks_to_allocate.values())
earliest_task = Task.get_earliest_task(tasks)
closure_time = earliest_task.pickup_constraint.earliest_time - self.closure_window
if not self.is_valid_time(closure_time) and self.alternative_timeslots:
# Closure window should be long enough to allow robots to bid (tune if necessary)
closure_time = self.get_current_time() + self.closure_window
elif not self.is_valid_time(
closure_time) and not self.alternative_timeslots:
self.logger.warning(
"Task %s cannot not be allocated at its given temporal constraints",
earliest_task.task_id)
earliest_task.update_status(TaskStatusConst.PREEMPTED)
self.tasks_to_allocate.pop(earliest_task.task_id)
return
self.changed_timetable.clear()
for task in tasks:
if not task.hard_constraints:
self.update_soft_constraints(task)
self.round = Round(self.robot_ids,
self.tasks_to_allocate,
n_tasks=len(tasks),
closure_time=closure_time,
alternative_timeslots=self.alternative_timeslots,
simulator=self.simulator)
earliest_admissible_time = TimeStamp()
earliest_admissible_time.timestamp = self.get_current_time(
) + timedelta(minutes=1)
task_announcement = TaskAnnouncement(tasks, self.round.id,
self.timetable_manager.ztp,
earliest_admissible_time)
self.logger.debug("Starting round: %s", self.round.id)
self.logger.debug("Number of tasks to allocate: %s", len(tasks))
msg = self.api.create_message(task_announcement)
self.logger.debug("Auctioneer announces tasks %s",
[task.task_id for task in tasks])
self.round.start()
self.api.publish(msg, groups=['TASK-ALLOCATION'])
def run(self):
try:
self.api.start()
while True:
try:
tasks = Task.get_tasks_by_robot(self.robot_id)
if self.schedule_execution_monitor.task is None:
self.schedule_execution_monitor.process_tasks(tasks)
self.executor.run()
except DoesNotExist:
pass
self.api.run()
except (KeyboardInterrupt, SystemExit):
self.logger.info("Terminating %s robot ...", self.robot_id)
self.api.shutdown()
self.executor.shutdown()
self.logger.info("Exiting...")
def task_status_cb(self, msg):
while self.deleting_task:
time.sleep(0.1)
self.processing_task = True
payload = msg['payload']
timestamp = TimeStamp.from_str(
msg["header"]["timestamp"]).to_datetime()
task_status = TaskStatus.from_payload(payload)
task_progress = task_status.task_progress
task = Task.get_task(task_status.task_id)
self.logger.debug("Received task status %s for task %s by %s",
task_status.task_status, task_status.task_id,
task_status.robot_id)
if task_status.task_status == TaskStatusConst.ONGOING:
self._update_progress(task, task_progress, timestamp)
self.update_timetable(task, task_status.robot_id, task_progress,
timestamp)
self._update_task_schedule(task, task_progress, timestamp)
task.update_status(task_status.task_status)
elif task_status.task_status == TaskStatusConst.COMPLETED:
self.logger.debug("Adding task %s to tasks to remove",
task.task_id)
self.tasks_to_remove.append((task, task_status.task_status))
elif task_status.task_status == TaskStatusConst.UNALLOCATED:
self.re_allocate(task)
elif task_status.task_status == TaskStatusConst.PREEMPTED:
if task.status.status == TaskStatusConst.PREEMPTED:
self.logger.warning("Task %s is already preempted",
task_status.task_id)
return
try:
self._remove_task(task, task_status.task_status)
except TaskNotFound:
return
self.processing_task = False
def load_tasks_to_db(dataset_module, dataset_name, **kwargs):
dataset_dict = load_yaml_file_from_module(dataset_module,
dataset_name + '.yaml')
initial_time = kwargs.get('initial_time', datetime.now())
tasks_dict = dataset_dict.get('tasks')
ordered_tasks = collections.OrderedDict(sorted(tasks_dict.items()))
tasks = list()
for task_id, task_info in ordered_tasks.items():
earliest_pickup_time, latest_pickup_time = reference_to_initial_time(
task_info.get("earliest_pickup_time"),
task_info.get("latest_pickup_time"), initial_time)
request = TransportationRequest(
request_id=generate_uuid(),
pickup_location=task_info.get('pickup_location'),
delivery_location=task_info.get('delivery_location'),
earliest_pickup_time=earliest_pickup_time,
latest_pickup_time=latest_pickup_time,
hard_constraints=task_info.get('hard_constraints'))
request.save()
duration = InterTimepointConstraint()
pickup = TimepointConstraint(
earliest_time=request.earliest_pickup_time,
latest_time=request.latest_pickup_time)
temporal = TransportationTemporalConstraints(pickup=pickup,
duration=duration)
constraints = TransportationTaskConstraints(
hard=request.hard_constraints, temporal=temporal)
task = TransportationTask.create_new(task_id=task_id,
request=request.request_id,
constraints=constraints)
tasks.append(task)
return tasks
def allocate_to_robot(self, task_id):
allocation_info = self.bid_placed.get_allocation_info()
self.timetable.add_stn_task(allocation_info.new_task)
if allocation_info.next_task:
self.timetable.add_stn_task(allocation_info.next_task)
self.timetable.stn = allocation_info.stn
self.timetable.dispatchable_graph = allocation_info.dispatchable_graph
self.timetable.store()
self.logger.debug("Robot %s allocated task %s", self.robot_id, task_id)
self.logger.debug("STN: \n %s", self.timetable.stn)
self.logger.debug("Dispatchable graph: \n %s",
self.timetable.dispatchable_graph)
tasks = [task for task in self.timetable.get_tasks()]
self.logger.debug("Tasks allocated to robot %s:%s", self.robot_id,
tasks)
task = Task.get_task(task_id)
task.update_status(TaskStatusConst.ALLOCATED)
task.assign_robots([self.robot_id])
def get_smallest_bid(bids):
""" Get the bid with the smallest cost among all bids.
:param bids: list of bids
:return: the bid with the smallest cost
"""
smallest_bid = None
for bid in bids:
# Do not consider bids for tasks that were dispatched after the bid computation
task = Task.get_task(bid.task_id)
if task.status.status in [
TaskStatusConst.DISPATCHED, TaskStatusConst.ONGOING
]:
continue
if smallest_bid is None or\
bid < smallest_bid or\
(bid == smallest_bid and bid.task_id < smallest_bid.task_id):
smallest_bid = copy.deepcopy(bid)
return smallest_bid
def get_previous_task(self, task):
task_first_node = self.stn.get_task_node_ids(task.task_id)[0]
if task_first_node > 1 and self.stn.has_node(task_first_node - 1):
prev_task_id = self.stn.nodes[task_first_node - 1]['data'].task_id
prev_task = Task.get_task(prev_task_id)
return prev_task
def remove_task_cb(self, msg):
payload = msg['payload']
remove_task = RemoveTaskFromSchedule.from_payload(payload)
task = Task.get_task(remove_task.task_id)
self._remove_task(task, remove_task.status)
def task_cb(self, msg):
payload = msg['payload']
task = Task.from_payload(payload)
if self.robot_id in task.assigned_robots:
self.logger.debug("Received task %s", task.task_id)
task.update_status(TaskStatusConst.DISPATCHED)