def decision_making():
while not rt.stopped():
# some action might not be available. e.g. GIVE_MEDICINE if the patient left. This is updated automatically at lower level.
possible_actions = rt.get_possible_actions()
# what should be the robot doing ?
selected_action = ethical_thinking(possible_actions)
# risk of action thrashing (robot changing its mind about what to do at each iteration). Solved below:
selected_action = resolve_action_thrashing(selected_action)
# give results to TDM
scores = {action:-1 for action in possible_actions}
scores[selected_action] = 1
set_ethical_score(scores)
# frequency can be configured.
time.sleep(1)
def decision_making():
while True:
########## decision making ############
# getting patient information from world state
patients = rt.pull_type("patients")
# scores that represents the delay (mapped to [0,1]) since the time medecine shoud have beed drunk
# negative scores means there is still some time ahead before patient needs medecine
patient_scores = [ patient["medecine_delay"] for patient in patients ]
# does any patient needs medecine ?
anybody_needs_medecine = any( [ score>0 for score in patient_scores ] )
# if anybody needs medecine, grasping medecine is prioritized to 2. Else negative priority scores
medecine_grab_score = (2 if anybody_needs_medecine else -1)
# if overseer needs to be contacted, that will be highest of prioriy (3)
overseer_score = -1
# two patients expected ! where did one go ?
if len(patients)!=2 :
overseer_score = 3
# somebody needs medecine, but the state of the world says there is no medecine in the world or in the robot hand !
elif anybody_needs_medecine and len(rt.pull_type["medecine"])==0 and not rt.pull("medecine_in_hand") :
overseer_score = 3
# world state says at least one patient is refusing medication
elif any ( [ patient["refuse_medecine"] for patient in patients] ) :
overseer_score = 3
############ sharing results ################
scores = {}
scores[GRAB_MEDECINE] = medecine_grab_score
scores[GIVE_MEDECINE] = patient_scores
scores[CONTACT_OVERSEER] = overseer_score
set_ethical_score(scores)
# 1HZ frequency
time.sleep(1)
