def initHMINT(randNodes,Data): hmintref = HMINT(Data.numTargets, randNodes,Data.tarType) hmintref.setConnectionParams(PYRO_HOST, PYRO_PORT) print('HMINT initialized') return hmintref
def main(): print 'Start' random.seed(1) mapX=300 mapY=300 numStreets=50 numTargets=10 numDrones=3 heuristic=1 seedNum=1 Nuisance=0.8 print '---Generate Map---' Map = GenMap(mapX,mapY) Map.map(numStreets,Nuisance) randNodes=[] for i in range(numTargets): randNodes.append(Map.RandNode()) print '---Generate HMINT, CAOC, IMINT---' hmint = HMINT(numTargets, randNodes) hmintInQ = LPInputQueue() caoc=CAOC(numDrones,heuristic) caocInQ = LPInputQueue() imint=IMINT(heuristic,numTargets) imintInQ = LPInputQueue() print 'IMINT total value: ' + str(imint.totalValue) drone=Drone(0,0,1) droneInQ=LPInputQueue() lp=[hmint,caoc,imint] print '---Generate Messages---' m2Data=[0,80,80,'Vehicle',1,1,randNodes[0],30,0,0] m2=Message(2,m2Data,'CAOC','IMINT',0) m3Data=[0,'Idle',randNodes[1]] m3=Message(3,m3Data,'IMINT','CAOC',1) print '---Save and Restore State---' for i in lp: i.localTime=0 drone.LocalSimTime=0 i.saveState() i.localTime=3 drone.LocalSimTime=3 i.saveState() i.localTime=7 drone.LocalSimTime=7 i.saveState() i.localTime=12 drone.LocalSimTime=12 i.saveState() print str(i.LPID) + ' state queue: ' + str(i.stateQueue) print str(i.LPID) + ' state queue length: ' + str(len(i.stateQueue)) #for i in drone.stateQueue: #print 'Drone LocalSimTime: ' + str(i.LocalSimTime) hmint.restoreState(6) caoc.restoreState(6) imint.restoreState(6) drone.restoreState(6) for i in lp: print str(i.LPID) + ' state queue: ' + str(i.stateQueue) print str(i.LPID) + ' local time: ' + str(i.localTime) print 'Drone actual local time: ' + str(drone.LocalSimTime) i.localTime=13 i.saveState() print str(i.LPID) + ' state queue: ' + str(i.stateQueue) print 'End'