def __init__(self, delta, energy, ID, x, y, theta, red, green, blue, state):
self.about_me_wm = AboutMe_WM(delta, energy, ID, x, y, theta, red, green, blue, state)
self.Alive = 20
self.old_state = 1
#From the list of services select 30% (this number can be modified) for the agent to be providing - at random
#[id time energy reward ...] ... -> dependencies on other services for instance 4 5 2 1
#active_servs format: [[5, 100, 3705, 42], [6, 97, 5736, 19], [9, 96, 9156, 4]]
self.active_servs = simulation_functions.select_services()
self.changed_servs = 1
self.iteration = 1
self.task_idx = 0
self.service = self.active_servs[self.task_idx]
self.message = Message_Type()
self.message.id = self.about_me_wm.ID
self.message.rank = 10
self.message.group = 1
self.message.content = []
self.message.content.append([x[0] for x in self.active_servs])
self.message.timestamp = time.strftime('%X', time.gmtime())
print self.message
rospy.init_node('agent', anonymous=True)
self.publish_global = rospy.Publisher('msgs', Message_Type, queue_size=200)
rospy.Subscriber('trigger', StateTrigger, self.callback)
def __init__(self, delta, energy, ID, x, y, theta, red, green, blue, state):
self.about_me_wm = AboutMe_WM(delta, energy, ID, x, y, theta, red, green, blue, state)
self.Alive = 20
#From the list of services select 30% (this number can be modified) for the agent to be providing - at random
#[id time energy reward]
#active_servs format: [[5, 100, 3705, 42], [6, 97, 5736, 19], [9, 96, 9156, 4]]
active_servs = simulation_functions.select_services()
rospy.init_node('agent', anonymous=True)
rospy.Subscriber('trigger', StateTrigger, self.callback)
def __init__(self, delta, energy, ID, x, y, theta, red, green, blue, state,
depend_nr, popSize, provaNr):
self.TIME = time.time()
self.DURATION = 3600 # 20min
## The attributes below serve as a timestamp for each function called ######
self.handle = 0
self.call = 0
self.callback_bc = 0
self.w = 0
self.a = 0
self.run_step = 0
self.fsm = 0
self.helping = False
############################################################################
# use this variable to count the instances in which an agent asks for help the same agent who asked it for help in the first place
self.count_posReq = 0
self.COUNT_noones = 0
self.count_loops = 0
self.steps_b4_equilibrium = 100
self.lock = Lock()
self.stdout_log = 'RESULT/pop_size.' + str(popSize) + '/prova.' + str(
provaNr) + '/stdout_' + str(ID) + '_' + str(delta) + '_' + str(
depend_nr)
self.stdout_callback = 'RESULT/pop_size.' + str(
popSize) + '/prova.' + str(provaNr) + '/stdout_callback' + str(
ID) + '_' + str(delta) + '_' + str(depend_nr)
self.stdout_handle = 'RESULT/pop_size.' + str(
popSize) + '/prova.' + str(provaNr) + '/stdout_handle' + str(
ID) + '_' + str(delta) + '_' + str(depend_nr)
self.about_me_wm = AboutMe_WM(delta, energy, ID, x, y, theta, red,
green, blue, state)
self.Alive = 20000
self.attempted_jobs = 0
self.completed_jobs = 0
self.attempted_jobs_depend = 0
self.completed_jobs_depend = 0
self.depend_myself = 0
self.collected_reward = 0
self.old_state = 1
## These vars are manipulated by multiple threads ###
self.adaptive_state = []
self.current_client = []
self.service_req = []
self.service_resp = []
self.service_resp_content = []
#####################################################
self.client_index = -1
self.old_client_index = -1
#follows the indexing of known_people
self.helping_interactions = []
self.total_interactions = []
# example format [[[e1-pos-inter, e1-tot-inter], [e2-pos-inter, e2-tot-inter] ...], ..], for serv1, serv2.... for the first guy in known_people
self.capability_expertise = []
self.timeouts = 0
self.timeouts_xinteract = []
#From the list of services select 30% (this number can be modified) for the agent to be providing - at random
#[id time energy reward ...] ... -> dependencies on other services for instance 4 5 2 1
#active_servs format: [[5, 100, 3705, 42], [6, 97, 5736, 19], [9, 96, 9156, 4]]
self.active_servs = simulation_functions.select_services(
self.about_me_wm.ID, depend_nr)
print self.active_servs
self.write_log_file(
self.stdout_log,
'[INIT] active_servs: ' + str(self.active_servs) + '\n')
self.service = []
self.changed_servs = 1
self.iteration = 1
self.message = Message_Type()
self.message.id = self.about_me_wm.ID
self.message.rank = 10
self.message.group = 1
self.message.content = ''
for x in self.active_servs:
self.message.content = self.message.content + str(x[0]) + '|'
self.message.timestamp = time.strftime('%X', time.gmtime())
## ROS Topics and Services ################################################
###########################################################################
self.conn_reset = 0
rospy.init_node('agent', anonymous=True)
myservice = '/robot' + str(self.about_me_wm.ID) + '/serve'
srv = rospy.Service(myservice, Service_One, self.handle_serve)
self.publish_global = rospy.Publisher('msgs',
Message_Type,
queue_size=200)
rospy.Subscriber('trigger', Message_Type, self.callback)
rospy.sleep(10)