def handle(self,obj):
""" This function takes a LMCP.object and does the right thing with it
obj can contain ServicePlannerConfiguration or ServicePlannerRequest
if it is a Configuration we modify config and load a new region.
This type of message will reset the infostate, so one must resend any
outstanding requests.
This type of message is typically only used once at the beginning.
if it is a plan request, we update the infostate and return a plan.
This is the normal usage.
"""
if isinstance(obj,ServicePlannerConfiguration.ServicePlannerConfiguration):
#config.enableModification()
nameprefix = '_%s__'%obj.__class__.__name__
for k,v in confnames.items():
attrname = nameprefix+v
if hasattr(obj,attrname):
setattr(config,k,getattr(obj,attrname))
for k,v in obj.__dict__.items():
if (k.startswith('__') and not k.endswith('_') and
k not in notconfnames):
print k
setattr(config,k,v)
#config.disableModification()
try:
region = lmcpio.createRegion(obj.get_Region())
except:
region = None
if region is None:
print ("expected a region in Configuration message\n"
"falling back to plannermodule.region")
#pdb.set_trace()
else:
self.region = region
self.planner = self.plannerfactory(region)
self.infostate = InfoState(
self.region, sensor_radius=config.sensor_radius, nagents=config.nagents,
locations=None, speed=config.speed)
networkregion = lmcpio.createNetwork(self.region)
return LMCPFactory.packMessage(networkregion,True)
elif isinstance(obj,ServicePlannerRequest.ServicePlannerRequest):
if True:#try:
lmcplocs = obj.get_AgentLocations()
lmcpevent = obj.get_NewEvent()
dvrpevent = lmcpio.lmcpEvent2dvrpEvent(lmcpevent)
dvrplocs = [lmcpio.lmcpLoc2dvrpLoc(l) for l in lmcplocs]
else:#except Exception, err:
print err
pdb.set_trace()
event = dvrpevent
self.infostate.update(event,dvrplocs)
self.logStatus(event)
requests,belief = self.infostate.getRequests(),self.infostate.getBelief()
plan = self.planner.plan(belief,requests,dvrplocs)
#pdb.set_trace()
self.infostate.setPlan(plan)
#pdb.set_trace()
message = lmcpio.plansToMessage(plan)#,self.infostate.region)
return message
elif(isinstance(obj,RequestConfiguration.RequestConfiguration)):
try:
networkregion = lmcpio.createNetwork(self.region)
return LMCPFactory.packMessage(networkregion,True)
except Exception, err:
print err
pdb.set_trace()
class PlannerModule(object):
""" The planner module runs a server socket that accepts a connection
then reads the socket once for a message, writes a plan to the socket
and then closes the connection.
One message per connection"""
def __init__(self,plannerfactory,infostate,region,host=None):
self.infostate = infostate
self.plannerfactory = plannerfactory
self.region = region
self.planner = self.plannerfactory(region)
self.shelf = shelve.open(config.logfilename)
self.sock = socket.socket()
if not host:
self.host = ('localhost',PORT)
else:
self.host = host
self.sock.bind(self.host)
self.sock.listen(5)
def listen(self):
""" the listen loop """
socket, addy = self.sock.accept()
message = socket.recv(1e6)
obj = LMCPFactory.internalFactory.getObject(message)
retmessage = self.handle(obj)
#pdb.set_trace()
socket.send(retmessage)
socket.close()
def logStatus(self,event):
""" log the event and our internal state """
logentry = dict([('0',self._logStatus(event.time))])
logentry['event'] = event
self.shelf[str(event.id)] = logentry
def _logStatus(self,time):
""" what to actually put in the log """
return {'handlerclass':'MultiAgent',
'locations':self.infostate.getAgentlocs(time),
'plan':self.infostate.getPlan(),
'belief':self.infostate.getBelief(),
'known':[r.id for r in self.infostate.requests],
'updatetime':self.infostate.updatetime}
def handle(self,obj):
""" This function takes a LMCP.object and does the right thing with it
obj can contain ServicePlannerConfiguration or ServicePlannerRequest
if it is a Configuration we modify config and load a new region.
This type of message will reset the infostate, so one must resend any
outstanding requests.
This type of message is typically only used once at the beginning.
if it is a plan request, we update the infostate and return a plan.
This is the normal usage.
"""
if isinstance(obj,ServicePlannerConfiguration.ServicePlannerConfiguration):
#config.enableModification()
nameprefix = '_%s__'%obj.__class__.__name__
for k,v in confnames.items():
attrname = nameprefix+v
if hasattr(obj,attrname):
setattr(config,k,getattr(obj,attrname))
for k,v in obj.__dict__.items():
if (k.startswith('__') and not k.endswith('_') and
k not in notconfnames):
print k
setattr(config,k,v)
#config.disableModification()
try:
region = lmcpio.createRegion(obj.get_Region())
except:
region = None
if region is None:
print ("expected a region in Configuration message\n"
"falling back to plannermodule.region")
#pdb.set_trace()
else:
self.region = region
self.planner = self.plannerfactory(region)
self.infostate = InfoState(
self.region, sensor_radius=config.sensor_radius, nagents=config.nagents,
locations=None, speed=config.speed)
networkregion = lmcpio.createNetwork(self.region)
return LMCPFactory.packMessage(networkregion,True)
elif isinstance(obj,ServicePlannerRequest.ServicePlannerRequest):
if True:#try:
lmcplocs = obj.get_AgentLocations()
lmcpevent = obj.get_NewEvent()
dvrpevent = lmcpio.lmcpEvent2dvrpEvent(lmcpevent)
dvrplocs = [lmcpio.lmcpLoc2dvrpLoc(l) for l in lmcplocs]
else:#except Exception, err:
print err
pdb.set_trace()
event = dvrpevent
self.infostate.update(event,dvrplocs)
self.logStatus(event)
requests,belief = self.infostate.getRequests(),self.infostate.getBelief()
plan = self.planner.plan(belief,requests,dvrplocs)
#pdb.set_trace()
self.infostate.setPlan(plan)
#pdb.set_trace()
message = lmcpio.plansToMessage(plan)#,self.infostate.region)
return message
elif(isinstance(obj,RequestConfiguration.RequestConfiguration)):
try:
networkregion = lmcpio.createNetwork(self.region)
return LMCPFactory.packMessage(networkregion,True)
except Exception, err:
print err
pdb.set_trace()
else:
