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2,287,400 | scheduler_ros.py | cyiyang_miniros/deliver_scheduler/scripts/scheduler_ros.py | # -*- coding: utf-8 -*-
import threading
import rospy
from playsound import playsound
from scheduler import NeedToChangeStatus, RequestType, Scheduler, TargetStatus
from deliver_scheduler.msg import EveryoneStatus
from deliver_scheduler.srv import (
ChangeTimeResult,
ChangeTimeResultResponse,
DestinationMsg,
DestinationMsgResponse,
NeedToSeeMsg,
NeedToSeeMsgResponse,
)
emptyResponse = DestinationMsgResponse()
emptyResponse.drug_location = -1
emptyResponse.deliver_destination = -1
class SchedulerROS(Scheduler):
def __init__(self, DEBUG=False):
# 将数字编码类型请求转换为GetNewRequest方法接受的字符类型"A","B","C"
self.requestDrugTypeToString = {0: "A", 1: "B", 2: "C"}
self.requestDrugTypeToInt = {"A": 0, "B": 1, "C": 2, None: -1}
rospy.init_node("scheduler_server")
super(SchedulerROS, self).__init__(DEBUG)
def HandleRequests(self, req):
"""处理ROS中Actuator节点请求的方法"""
response = DestinationMsgResponse()
rospy.loginfo("[scheduler] %d 号车:", req.car_no)
if req.request_type == RequestType.GetNewRequest.value:
rospy.loginfo("[scheduler]收到新的目标板信息!")
# 将药物类型数字转换为字符"A","B","C"
stringRequestDrugType = self.requestDrugTypeToString[req.request_drug_type]
rospy.loginfo(
"[scheduler] 新的药物需求类型:%s, 配送终点: %d",
stringRequestDrugType,
req.request_deliver_destination,
)
self.GetNewRequest(stringRequestDrugType, req.request_deliver_destination)
return emptyResponse
if req.request_type == RequestType.GetNextTarget.value:
rospy.loginfo("[scheduler] 收到获取新目标请求!")
# FUTURE WARNING: Service的requestType和scheduler的requestType含义不同,之后可能会统一
rospy.loginfo(
"[scheduler] 当前药物剩余: A:%d, B:%d, C:%d",
self.GetRemainDrug("A"),
self.GetRemainDrug("B"),
self.GetRemainDrug("C"),
)
currentQueue = self.GetRequestStatus()
rospy.loginfo("[scheduler] 当前配送需求:")
for item in currentQueue:
rospy.loginfo("[scheduler] %c -> %d", item[0], item[1])
schedulerResponse, status = self.GetNextTarget(req.car_no)
# schedulerResponse的requestType字段为请求药物的类型,为字符,需要将其转换为整数
response.drug_location = self.requestDrugTypeToInt[
schedulerResponse["requestType"]
]
response.deliver_destination = schedulerResponse["deliverDestination"]
if status == TargetStatus.DROP_DRUG.value:
rospy.loginfo("[scheduler] 执行药品清理!")
if status == TargetStatus.DUPLICATE_REQUEST.value:
rospy.loginfo("[scheduler] 重复请求,返回上一次任务!")
# 对于当前无目标的情形,schedulerResponse的两个字段均为None, 在这里用-1表示None
if response.drug_location is None or response.deliver_destination is None:
response.drug_location = -1
response.deliver_destination = -1
if status == TargetStatus.NO_DRUG_REMAIN.value:
rospy.loginfo("[scheduler] 当前没有目标! 因为药品没有库存")
elif status == TargetStatus.NO_MORE_REQUEST.value:
rospy.loginfo("[scheduler] 当前没有目标! 因为没有配送需求")
rospy.loginfo("[scheduler] 对 actuator 的回复:")
rospy.loginfo(response)
return response
# 对于DrugLoaded和Delivered信息,返回空信息
if req.request_type == RequestType.DrugLoaded.value:
rospy.loginfo("Got DrugLoaded!")
self.DrugLoaded()
return emptyResponse
if req.request_type == RequestType.Delivered.value:
rospy.loginfo("Got Delivered!")
self.Delivered(req.car_no)
return emptyResponse
def RegisterService(self):
"""注册board_reminder客户端服务和mission服务端服务"""
self.missionServer = rospy.Service(
"/mission", DestinationMsg, self.HandleRequests
)
self.boardReminderClient = rospy.ServiceProxy(
"board_reminder_server", NeedToSeeMsg
)
rospy.loginfo("[reminder] reminder_client正常启动")
self.boardReminderClient.wait_for_service()
rospy.loginfo("[reminder] 连接recognizer_server成功")
self.watcherListenerThread = threading.Thread(target=self.WatcherStatusListener)
self.watcherListenerThread.setDaemon(True)
self.watcherListenerThread.start()
return True
def WatcherStatusListener(self):
"""订阅话题,并阻塞地等待Watcher到达手写数字点"""
def CheckTopic(msg):
if msg.name != "Watcher":
return
elif msg.status == "Harbour":
self.WatcherArrived()
rospy.loginfo("成功订阅/location话题")
topicSubscriber = rospy.Subscriber(
"/location",
EveryoneStatus,
CheckTopic,
queue_size=10,
)
rospy.spin()
def start(self):
# 启动计时器
super(SchedulerROS, self).start()
# 启动监听 watcher 状态线程
# watcherStatusListenerThread 在 RegisterService 中启动,此处无需处理
# 执行初始识别任务
self.BoardRemind()
def BoardRemind(self):
rospy.logwarn("[reminder] 去看目标板!")
self.boardReminderClient.call(True)
def WatcherArrived(self):
"""当 watcher 到达时,调用该方法,在固定时间后调整药物刷新时间和小哥刷新时间"""
rospy.loginfo("Watcher到达手写数字点,将在定时时间到达后修改药物刷新时间和小哥刷新时间!")
self.changeDrugCoolingCountDown.start()
self.changeNeedToSeeCountDown.start()
def UpdateNeedToSeeInterval(self, plan):
rospy.logerr("修改为小哥周期2")
playsound("/home/EPRobot/Music/DeliverPeriod2.mp3", block=False)
super(SchedulerROS, self).UpdateNeedToSeeInterval(plan)
# rospy.logwarn("已修改目标板刷新时间!")
def UpdateDrugCoolingTime(self, plan):
rospy.logerr("修改为药品周期3")
playsound("/home/EPRobot/Music/DrugPeriod3.mp3", block=False)
super(SchedulerROS, self).UpdateDrugCoolingTime(plan)
# rospy.logwarn("已修改药物刷新时间!")
| 6,837 | Python | .py | 137 | 33.810219 | 88 | 0.641378 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,401 | scheduler.py | cyiyang_miniros/deliver_scheduler/scripts/scheduler.py | # -*- coding: utf-8 -*-
import threading
import time
from enum import Enum, unique
from math import ceil, floor
from reloadable_timer import ReloadableTimer
from statemachine import State, StateMachine
from statemachine.exceptions import TransitionNotAllowed
LitterStrategy = Enum("LitterStrategy", ("DROP_MAX", "DROP_SMALLER_MAX", "DONT_THROW"))
# 1-3 从慢到快
CoolingTimePlan = Enum("CoolingTimePlan", ("PERIOD_1", "PERIOD_2", "PERIOD_3"))
NeedToSeePlan = Enum("NeedToSeePlan", ("PERIOD_1", "PERIOD_2", "PERIOD_3"))
# 垃圾场的取药点编号
LANDFILL_DST = 5
class Scheduler(object):
"""
调度器对象
"""
def __init__(
self,
DEBUG=False,
remindInterval=60 * 3,
LitterStrategy=LitterStrategy.DONT_THROW,
):
"""
queue中的元素为一字典,具有字段:
priority: 搬运的优先级,为关于targetType和elapsedTime的函数
requestType: 快递小哥的需求类型
deliverDestination: 需求需要被送往的位置
elapsedTime: 快递小哥的需求被检测到以来经过的时间
"""
self.queue = []
self.started = False
self.classWeights = {"A": 20, "B": 15, "C": 10}
self.CAR_CNT = 2
self.nextTarget = [None] * self.CAR_CNT
self.queueLock = threading.RLock()
self.DEBUG = DEBUG
self.litterStrategy = LitterStrategy
# 三种方案下的药物刷新时间
self.DRUG_PERIOD = {
CoolingTimePlan.PERIOD_1: {"A": 120, "B": 60, "C": 40},
CoolingTimePlan.PERIOD_2: {"A": 60, "B": 50, "C": 20},
CoolingTimePlan.PERIOD_3: {"A": 40, "B": 30, "C": 15},
}
# 三种方案下的目标板刷新时间
self.NEED_TO_SEE_PERIOD = {
NeedToSeePlan.PERIOD_1: 120,
NeedToSeePlan.PERIOD_2: 60,
NeedToSeePlan.PERIOD_3: 40,
}
# 起始时三种药各有一瓶
self.drugRemain = {"A": 1, "B": 1, "C": 1}
self.drugRemainLock = threading.RLock()
# self.drugSupplementInterval = {"A": 120, "B": 60, "C": 40}
if DEBUG:
self.drugSupplementInterval = {"A": 12, "B": 6, "C": 4}
else:
# 国赛版本
self.drugSupplementInterval = {"A": 180, "B": 120, "C": 60}
self.__noTarget = {
"requestType": None,
"deliverDestination": None,
}
self.__dropDrugTarget = {
"requestType": "C",
"deliverDestination": LANDFILL_DST,
}
self.coolingTimeStateMachine = CoolingTime()
# 定义记录药物补充的定时器
self.drugSupplementTimers = {
drugType: ReloadableTimer(
interval, True, self.__UpdateRemainDrug, [drugType, 1]
)
for drugType, interval in self.drugSupplementInterval.items()
}
# 目标板提示
self.remindInterval = remindInterval
self.reminder = ReloadableTimer(self.remindInterval, True, self.BoardRemind)
# TODO watcher 到达后,等待固定时间来修改小哥周期和药物周期
self.changeDrugCoolingCountDown = ReloadableTimer(
15, False, self.UpdateDrugCoolingTime, [CoolingTimePlan.PERIOD_3]
)
self.changeNeedToSeeCountDown = ReloadableTimer(
30, False, self.UpdateNeedToSeeInterval, [NeedToSeePlan.PERIOD_2]
)
def start(self):
"""启动药物刷新计时器和目标板提示计时器"""
for drugType, timer in self.drugSupplementTimers.items():
timer.start()
self.reminder.start()
self.started = True
def GetNextTarget(self, car_id=0):
"""获取下个目标
Returns:
一个包含字段requestType和deliverDestination的字典。
例如:
{"requestType": "A", "deliverDestination": 1}
{"requestType": None, "deliverDestination": None}
"""
if not self.started:
raise RuntimeError("请先调用start方法")
targetStatus = TargetStatus.SUCCESS.value
if (
self.nextTarget[car_id] is None
or self.nextTarget[car_id]["deliverDestination"] == 5
):
# 如果小车当前没有任务,或者当前为其分配了丢垃圾的任务,则为其分配新任务
with self.queueLock:
if self.queue:
# 小哥有取药需求时,更新优先级
self.__UpdatePriority()
for index, target in enumerate(self.queue):
# 当小哥要求的药物有剩余时,可分配任务
if self.GetRemainDrug(target["requestType"]) >= 1:
# 将目标赋予请求任务的车辆
self.nextTarget[car_id] = self.queue.pop(index)
# 为了避免小车对同一送药需求、不同配送目的地导致的“抢药”问题,将药物的更新放在这里处理
self.__UpdateRemainDrug(
self.nextTarget[car_id]["requestType"], -1
)
return self.nextTarget[car_id], TargetStatus.SUCCESS.value
# 循环正常结束,表明需求的药物现在都没有
targetStatus = TargetStatus.NO_DRUG_REMAIN.value
else:
# 队列为空,表明小哥没有取药需求
targetStatus = TargetStatus.NO_MORE_REQUEST.value
# 没有正常目标时,处理多余的药物
with self.drugRemainLock:
# * 策略1: 丢弃最多的药物
if self.litterStrategy == LitterStrategy.DROP_MAX:
# 获取存量最多的药物的类型和存量
mostStockedDrugType, mostStockedDrugAmount = max(
self.drugRemain.items(), key=lambda x: x[1]
)
if mostStockedDrugAmount < 3:
# 如果存量最多的药物不足3,不需要清理
pass
else:
# 将存量药物最多的存量-1
self.__UpdateRemainDrug(mostStockedDrugType, -1)
self.nextTarget[car_id] = self.__dropDrugTarget
self.nextTarget[car_id]["requestType"] = mostStockedDrugType
return self.nextTarget[car_id], TargetStatus.DROP_DRUG.value
# * 策略2: 丢弃存货大于等于3的较小者
elif self.litterStrategy == LitterStrategy.DROP_SMALLER_MAX:
drugTypeCloserTo3, drugTypeCloserTo3Amount = min(
self.drugRemain.items(),
key=lambda x: x[1] if x[1] >= 3 else float("inf"),
)
if drugTypeCloserTo3Amount == float("inf"):
pass
else:
# 将存量药物最多的存量-1
self.__UpdateRemainDrug(drugTypeCloserTo3, -1)
self.nextTarget[car_id] = self.__dropDrugTarget
self.nextTarget[car_id]["requestType"] = drugTypeCloserTo3
return self.nextTarget[car_id], TargetStatus.DROP_DRUG.value
# * 策略3: 开摆
elif self.litterStrategy == LitterStrategy.DONT_THROW:
pass
# 当也没有药物需要清理时,返回无目标
return self.__noTarget, targetStatus
else:
# 小车多次请求目标,返回上一次的目标
return self.nextTarget[car_id], TargetStatus.DUPLICATE_REQUEST.value
def Delivered(self, car_id=0):
"""
送达药物时调用该函数
"""
if self.nextTarget[car_id] is None:
# 多次调用的情况直接返回
return
self.nextTarget[car_id] = None
def GetNewRequest(self, requestType, deliverDestination):
"""
当获得新的快递小哥需求时,调用此函数。
"""
with self.queueLock:
requestDetail = {
"priority": self.classWeights[requestType],
"requestType": requestType,
"deliverDestination": deliverDestination,
"elapsedTime": 0,
}
for item in self.queue:
if (
item["requestType"] == requestDetail["requestType"]
and item["deliverDestination"]
== requestDetail["deliverDestination"]
):
# 如果两个字段与已有内容完全相同,表明是上一轮遗留的任务
return
self.queue.append(requestDetail)
def __UpdatePriority(self, timeNow=time.time()):
"""
周期性运行,更新队伍中优先级
"""
# TODO: 实现根据时间调整优先级
# 可重入锁允许在单一线程中多次获取锁,而不引起死锁
with self.queueLock:
self.queue.sort(key=lambda x: x["priority"], reverse=True)
def DrugLoaded(self, car_id=0):
"""当小车拾取药物,调用该函数。该函数现在不会进行任何操作"""
# self.__UpdateRemainDrug(self.nextTarget[car_id]["requestType"], -1)
return
def __DrugTracerMain(self, drugType):
"""周期性唤醒,使得某种药物的存量+1"""
while self.running:
time.sleep(self.drugSupplementInterval[drugType])
self.__UpdateRemainDrug(drugType, 1)
def __UpdateRemainDrug(self, drugType, addend):
"""带有锁机制的药物更新。更新后drugType类型药物的数量为原数量+addend."""
with self.drugRemainLock:
self.drugRemain[drugType] += addend
def GetRemainDrug(self, drugType):
with self.drugRemainLock:
return self.drugRemain[drugType]
def GetRequestStatus(self):
"""返回当前优先级队列信息,包括需求类型和配送目的地"""
res = []
with self.queueLock:
res = [
(item["requestType"], item["deliverDestination"]) for item in self.queue
]
# for item in self.queue:
# res.append((item["requestType"], item["deliverDestination"]))
return res
def Terminate(self):
self.running = False
def GetNeedToChangeStatus(self):
"""获取当前是否需要修改配送周期"""
with self.queueLock:
haveRequestForA = False
overflowForB = False
overflowForC = False
for request in self.queue:
if request["requestType"] == "A":
haveRequestForA = True
break
if self.GetRemainDrug("A") <= 0:
noRemainForA = True
else:
noRemainForA = False
if self.GetRemainDrug("B") >= 3:
overflowForB = True
if self.GetRemainDrug("C") >= 3:
overflowForC = True
if (
haveRequestForA
and noRemainForA
and self.coolingTimeStateMachine.current_state.value != "speedUpState"
):
return NeedToChangeStatus.SPEED_UP.value
elif (
(not noRemainForA)
and (overflowForB or overflowForC)
and self.coolingTimeStateMachine.current_state.value != "slowDownState"
):
# B或C发生堆积而且A有剩余时,应减缓药物刷新
return NeedToChangeStatus.SLOW_DOWN.value
else:
return NeedToChangeStatus.DONT_CHANGE.value
def ForgiveCurrentTask(self, car_no):
"""放弃小车当前的任务,返回之前取的药物到库存中"""
if self.nextTarget[car_no] is None:
return
# 返回之前取走的药物
self.__UpdateRemainDrug(self.nextTarget[car_no]["requestType"], 1)
self.nextTarget[car_no] = None
def UpdateDrugCoolingTime(self, plan):
"""设置药物刷新时间为周期 1, 2 或 3"""
for drugType, newInterval in self.DRUG_PERIOD[plan].items():
self.drugSupplementTimers[drugType].setNewInterval(newInterval)
self.drugSupplementTimers[drugType].setRemainTime(
newInterval
- floor(self.drugSupplementTimers[drugType].getElapsedTime())
)
def BoardRemind(self):
"""在目标板更新间隔到达时,会执行该方法"""
raise NotImplementedError("请在子类中实现该方法!")
def UpdateNeedToSeeInterval(self, plan):
newRemindInterval = self.NEED_TO_SEE_PERIOD[plan]
self.remindInterval = newRemindInterval
self.reminder.setNewInterval(newRemindInterval)
self.reminder.setRemainTime(
max([newRemindInterval - floor(self.reminder.getElapsedTime()), 1])
)
@unique
class RequestType(Enum):
GetNewRequest = 0
GetNextTarget = 1
DrugLoaded = 2
Delivered = 3
TargetStatus = Enum(
"TargetStatus",
("SUCCESS", "NO_DRUG_REMAIN", "NO_MORE_REQUEST", "DROP_DRUG", "DUPLICATE_REQUEST"),
)
NeedToChangeStatus = Enum(
"NeedToChangeStatus", ("SPEED_UP", "DONT_CHANGE", "SLOW_DOWN")
)
class CoolingTime(StateMachine):
# 定义状态
speedUpState = State("speedUpState")
slowDownState = State("slowDownState")
normalState = State("normalState", initial=True)
# 定义状态转换
SPEED_UP = slowDownState.to(normalState) | normalState.to(speedUpState)
SLOW_DOWN = speedUpState.to(normalState) | normalState.to(slowDownState)
| 13,975 | Python | .py | 309 | 28.003236 | 88 | 0.570476 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,402 | SchedulerExample.py | cyiyang_miniros/deliver_scheduler/scripts/examples/SchedulerExample.py | """
流程: GetNextTarget -> DrugLoaded -> Delivered
"""
import sys
sys.path.append("..")
import os
os.chdir(os.path.dirname(__file__))
import time
from scheduler import Scheduler
if __name__ == "__main__":
scheduler = Scheduler()
# 获取将A药品送到区域1的需求
scheduler.GetNewRequest("A", 1)
target = scheduler.GetNextTarget()
target1 = scheduler.GetNextTarget()
# 在Delivered前多次调用GetNextTarget会返回相同的目标,也就是说搬完一个药品并调用Delivered才会指派下一个搬运的药品
assert target == target1
print(target)
# Do something if you like
time.sleep(0.1)
# 多次调用Delivered没有后果
scheduler.Delivered()
scheduler.Delivered()
scheduler.GetNewRequest("C", 2)
scheduler.GetNewRequest("B", 3)
target = scheduler.GetNextTarget()
print(target)
scheduler.Delivered()
target = scheduler.GetNextTarget()
print(target)
time.sleep(0.1)
scheduler.Delivered()
# 当没有需求时,返回None
target = scheduler.GetNextTarget()
print(target)
while True:
pass | 1,139 | Python | .py | 37 | 22.540541 | 77 | 0.708245 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,403 | CoolingTimeRefreshTest.py | cyiyang_miniros/deliver_scheduler/scripts/examples/CoolingTimeRefreshTest.py | # -*- coding: utf-8 -*-
"""回归测试,修改后的Scheduler应通过该测试
"""
import sys
sys.path.append("..")
import os
os.chdir(os.path.dirname(__file__))
import time
from scheduler import Scheduler, NeedToChangeStatus
if __name__ == "__main__":
scheduler = Scheduler(DEBUG=True)
scheduler.GetNewRequest("A", 1)
nextTarget, _ = scheduler.GetNextTarget()
assert nextTarget["requestType"] == "A" and nextTarget["deliverDestination"] == 1
time.sleep(4)
scheduler.DrugLoaded()
assert scheduler.GetRemainDrug("A") == 0
time.sleep(2)
assert scheduler.GetNeedToChangeStatus() == NeedToChangeStatus.DONT_CHANGE.value
time.sleep(4)
scheduler.Delivered()
assert scheduler.GetRemainDrug("C") == 3
time.sleep(3)
assert scheduler.GetNeedToChangeStatus() == NeedToChangeStatus.SLOW_DOWN.value
scheduler.GetNewRequest("A", 2)
scheduler.GetNewRequest("B", 3)
scheduler.GetNewRequest("A", 4)
nextTarget, _ = scheduler.GetNextTarget()
assert nextTarget["requestType"] == "A" and nextTarget["deliverDestination"] == 2
time.sleep(3)
scheduler.DrugLoaded()
assert scheduler.GetRemainDrug("A") == 0
time.sleep(2)
assert scheduler.GetNeedToChangeStatus() == NeedToChangeStatus.SPEED_UP.value
scheduler.UpdateDrugCoolingTime(NeedToChangeStatus.SPEED_UP.value)
print(
scheduler.drugSupplementTimers["A"].getRemainTime(),
scheduler.drugSupplementTimers["B"].getRemainTime(),
scheduler.drugSupplementTimers["C"].getRemainTime(),
)
time.sleep(3.1)
scheduler.Delivered()
assert (
scheduler.GetRemainDrug("A") == 1
and scheduler.GetRemainDrug("B") == 5
and scheduler.GetRemainDrug("C") == 7
)
time.sleep(3)
assert scheduler.GetNeedToChangeStatus() == NeedToChangeStatus.SLOW_DOWN.value
scheduler.GetNewRequest("C", 1)
nextTarget, _ = scheduler.GetNextTarget()
assert nextTarget["requestType"] == "A" and nextTarget["deliverDestination"] == 4
assert (
scheduler.GetRemainDrug("A") == 1
and scheduler.GetRemainDrug("B") == 6
and scheduler.GetRemainDrug("C") == 8
)
print(
scheduler.drugSupplementTimers["A"].getRemainTime(),
scheduler.drugSupplementTimers["B"].getRemainTime(),
scheduler.drugSupplementTimers["C"].getRemainTime(),
)
time.sleep(3)
scheduler.DrugLoaded()
assert (
scheduler.GetRemainDrug("A") == 1
and scheduler.GetRemainDrug("B") == 7
and scheduler.GetRemainDrug("C") == 10
)
time.sleep(1)
assert scheduler.GetNeedToChangeStatus() == NeedToChangeStatus.SLOW_DOWN.value
scheduler.UpdateDrugCoolingTime(NeedToChangeStatus.SLOW_DOWN.value)
time.sleep(4)
scheduler.Delivered()
assert (
scheduler.GetRemainDrug("A") == 1
and scheduler.GetRemainDrug("B") == 8
and scheduler.GetRemainDrug("C") == 11
)
# scheduler.GetNewRequest("A", 1)
# nextTarget, _ = scheduler.GetNextTarget()
# needToChange = scheduler.GetNeedToChangeStatus()
# assert needToChange == NeedToChangeStatus.DONT_CHANGE.value
# scheduler.DrugLoaded()
# time.sleep(5)
# scheduler.Delivered()
# scheduler.GetNewRequest("B", 2)
# scheduler.GetNewRequest("C", 4)
# scheduler.GetNewRequest("A", 1)
# nextTarget, _ = scheduler.GetNextTarget()
# # 药物A无剩余,此时应该取药物B
# assert nextTarget["requestType"] == "B" and nextTarget["deliverDestination"] == 2
# needToChange = scheduler.GetNeedToChangeStatus()
# assert needToChange == NeedToChangeStatus.SPEED_UP.value
# time.sleep(1)
# assert scheduler.UpdateDrugCoolingTime(NeedToChangeStatus.SPEED_UP.value)
# # 等待药物A补充,同时送达当前药物
# scheduler.Delivered()
# scheduler.GetNewRequest("B", 3)
# nextTarget, _ = scheduler.GetNextTarget()
# assert nextTarget["requestType"] == "A" and nextTarget["deliverDestination"] == 1
# scheduler.DrugLoaded()
scheduler.Terminate()
time.sleep(1)
print("通过测试!")
exit(0)
| 4,116 | Python | .py | 106 | 32.566038 | 87 | 0.691146 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,404 | ReloadableTimerTests.py | cyiyang_miniros/deliver_scheduler/scripts/examples/ReloadableTimerTests.py | import sys
sys.path.append("/home/ncut/drug-deliverer/deliver_scheduler/scripts")
import time
from scheduler import ReloadableTimer
def timeCostlyFun():
print("timeCostlyFun running!")
time.sleep(5)
print("timeCostlyFun finished!")
def MakePrint():
print("Triggered!")
if __name__ == "__main__":
# timer = ReloadableTimer(5, True, timeCostlyFun)
timer = ReloadableTimer(5, True, MakePrint)
timer.start()
print(timer.getElapsedTime())
timer.setRemainTime(1)
print(timer.getElapsedTime())
print(timer.getRemainTime())
while True:
pass
| 597 | Python | .py | 20 | 25.65 | 70 | 0.717047 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,405 | regressionTests.py | cyiyang_miniros/deliver_scheduler/scripts/examples/regressionTests.py | # -*- coding: utf-8 -*-
"""回归测试,修改后的Scheduler应通过该测试
"""
import sys
sys.path.append("..")
import os
os.chdir(os.path.dirname(__file__))
import time
from scheduler import Scheduler
if __name__ == "__main__":
scheduler = Scheduler(DEBUG=True)
scheduler.start()
scheduler.GetNewRequest("A", 1)
nextTarget, _ = scheduler.GetNextTarget()
scheduler.DrugLoaded()
time.sleep(5)
scheduler.Delivered()
scheduler.GetNewRequest("B", 2)
scheduler.GetNewRequest("C", 4)
scheduler.GetNewRequest("A", 1)
nextTarget, _ = scheduler.GetNextTarget()
# 药物A无剩余,此时应该取药物B
assert nextTarget["requestType"] == "B" and nextTarget["deliverDestination"] == 2
time.sleep(8)
# 等待药物A补充,同时送达当前药物
scheduler.Delivered()
scheduler.GetNewRequest("B", 3)
nextTarget, _ = scheduler.GetNextTarget()
assert nextTarget["requestType"] == "A" and nextTarget["deliverDestination"] == 1
scheduler.DrugLoaded()
scheduler.Terminate()
time.sleep(1)
print("通过测试!")
exit(0)
| 1,119 | Python | .py | 34 | 26.117647 | 85 | 0.688008 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,406 | RestartWithIntervalTest.py | cyiyang_miniros/deliver_scheduler/scripts/examples/RestartWithIntervalTest.py | import sys
sys.path.append("/home/ncut/drug-deliverer/deliver_scheduler/scripts")
import time
from scheduler import ReloadableTimer
def SayHi():
print("Hi!")
timer = ReloadableTimer(5, True, SayHi)
timer.restartWithInterval(10)
timer.start()
time.sleep(15)
| 267 | Python | .py | 10 | 24.7 | 70 | 0.804781 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,407 | multicarTest.py | cyiyang_miniros/deliver_scheduler/scripts/examples/multicarTest.py | # -*- coding: utf-8 -*-
"""多车回归测试,修改后的Scheduler应通过该测试
"""
import sys
sys.path.append("..")
import os
os.chdir(os.path.dirname(__file__))
import time
from scheduler import Scheduler, NeedToChangeStatus
scheduler = Scheduler()
scheduler.GetNewRequest("A", 1)
scheduler.GetNewRequest("B", 2)
scheduler.GetNewRequest("C", 3)
scheduler.GetNewRequest("A", 4)
car0Target = scheduler.GetNextTarget(0)
car1Target = scheduler.GetNextTarget(1)
print(car0Target)
print(car1Target)
| 511 | Python | .py | 18 | 25.055556 | 51 | 0.78714 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,408 | StateMachineTest.py | cyiyang_miniros/deliver_scheduler/scripts/examples/StateMachineTest.py | # -*- coding: utf-8 -*-
from statemachine import State, StateMachine
from statemachine.exceptions import TransitionNotAllowed
class CoolingTime(StateMachine):
# 定义状态
speedUpState = State("speedUpState")
slowDownState = State("slowDownState")
normalState = State("normalState", initial=True)
# 定义状态转换
SPEED_UP = slowDownState.to(normalState) | normalState.to(speedUpState)
SLOW_DOWN = speedUpState.to(normalState) | normalState.to(slowDownState)
sm = CoolingTime()
print(sm.current_state.value)
sm.send("SPEED_UP")
print(sm.current_state.value == "speedUpState")
| 616 | Python | .py | 15 | 36.466667 | 76 | 0.765217 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,409 | reminder_basic.py | cyiyang_miniros/board_reminder/scripts/reminder_basic.py | #!/usr/bin/env python
# -*- coding: utf-8 -*-
import threading
import time
import warnings
DEBUGING = True
class Reminder(object):
"""每隔Interval时间非阻塞调用DefaultRemind方法的定时器对象,第一个定时器的等待时间为firstInterval"""
def __init__(self, defaultInterval=3 * 60):
self.defaultInterval = defaultInterval
# Python 的 Timer 是一次性的,因此周期性任务需要在上一个 Timer 结束时释放出新的 Timer,
# 考虑到 ROS 等待服务返回是阻塞的,因此每次均新建一个 Timer, 而不是在旧的 Timer 的回调函数中重新开始 Timer.
# timerUpdater 负责定时释放出新的 Timer
# 维护三分钟定时器的定时器
self.defaultTimerUpdater = threading.Timer(
self.defaultInterval, self.CreateNewDefaultTimer
)
self.running = True
self.timerUpdateThread = threading.Thread(target=self.ReminderMain)
def start(self):
# 启动之前定义的定时器和线程
self.CreateNewDefaultTimer()
self.defaultTimerUpdater.start()
self.timerUpdateThread.start()
def DefaultRemind(self):
"""每三分钟触发一次该函数。"""
if DEBUGING:
print("Triggered Default Remind, but do nothing!")
else:
raise NotImplementedError("请在子类中实现该方法")
def ReminderMain(self):
"""检查各个定时器产生器的运行状态,并更新失效的定时器"""
while self.running:
# 检查配送目标板提示定时器的运行状态,如定时已结束,则新建配送目标板提示定时器
if self.defaultTimerUpdater.is_alive():
pass
else:
self.defaultTimerUpdater = threading.Timer(
self.defaultInterval, self.CreateNewDefaultTimer
)
self.defaultTimerUpdater.start()
print("Release new timerUpdater!")
# if self.fullBoard:
def CreateNewDefaultTimer(self):
"""创建新的三分钟定时器"""
timer = threading.Timer(self.defaultInterval, self.DefaultRemind)
timer.start()
print("Release new DefaultTimer!")
return timer
def FullBoardUpdateReminder(self):
"""当有目标板满和小哥排队引起的目标板不定时更新时,发出提醒。"""
if DEBUGING:
print("Triggered FullBoard Update Reminder, but do nothing!")
else:
raise NotImplementedError("请在子类中实现该方法")
def Terminate(self):
self.running = False
class AutoReloadTimer(object):
def __init__(self, interval, function, argsToFunction=None, autoReload=True):
self.interval = interval
self.function = function
self.argsToFunction = argsToFunction
self.autoReload = autoReload
self.running = True
self.__argsLock = threading.Lock()
self.__timer = threading.Timer(interval=self.interval, function=self.TimesUp)
self.__timer.start()
def TimesUp(self):
"""计时结束时,新建线程执行function,并更新Timer"""
if self.running:
with self.__argsLock:
# 将参数传递给function,新建线程处理function
functionHandlerThread = threading.Thread(
target=self.function, args=self.argsToFunction
)
functionHandlerThread.start()
if self.autoReload:
# 自动重载定时器
self.__timer = threading.Timer(
interval=self.interval, function=self.TimesUp
)
self.__timer.start()
def UpdateArgsToFunction(self, newArgs):
with self.__argsLock:
self.argsToFunction = newArgs
if self.__timer.is_alive():
return True
else:
# 如果定时器已经执行完成,则更新参数无效,返回失败
return False
if __name__ == "__main__":
reminder = Reminder(5)
time.sleep(15)
reminder.Terminate()
| 4,199 | Python | .py | 94 | 27.808511 | 85 | 0.623328 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,410 | reminder_basic.py.bak | cyiyang_miniros/board_reminder/scripts/reminder_basic.py.bak | #!/usr/bin/env python
# -*- coding: utf-8 -*-
import threading
import time
import warnings
DEBUGING = True
class Reminder(object):
"""每隔Interval时间非阻塞调用DefaultRemind方法的定时器对象"""
def __init__(self, defaultInterval=3 * 60, elapsedTimeRemindInterval=5):
self.defaultInterval = defaultInterval
# Python 的 Timer 是一次性的,因此周期性任务需要在上一个 Timer 结束时释放出新的 Timer,
# 考虑到 ROS 等待服务返回是阻塞的,因此每次均新建一个 Timer, 而不是在旧的 Timer 的回调函数中重新开始 Timer.
# timerUpdater 负责定时释放出新的 Timer
# 维护三分钟定时器的定时器
self.defaultTimerUpdater = threading.Timer(
self.defaultInterval, self.CreateNewDefaultTimer
)
# 创建计时器(每 elapsedTimeRemindInterval 秒打印流逝时间)
self.elapsedTimeRemindInterval = elapsedTimeRemindInterval
# 经过的秒数为 elapsedTimeRemindInterval*elapsedTimeCounter
self.elapsedTimeCounter = 0
# 创建维护计时器的定时器
self.elapsedTimeReminderUpdater = threading.Timer(
self.elapsedTimeRemindInterval, self.CreateNewElapsedTimeReminderTimer
)
# 创建定时器维护线程
self.running = True
self.timerUpdateThread = threading.Thread(target=self.ReminderMain)
# 在比赛开始时,NeedToSee状态应该为真(检测比赛开始时起点的目标板),综合考虑其余节点的初始化状态,因此创建一个倒计时5s的一次性定时器来完成该任务
initialTimer = threading.Timer(5, self.DefaultRemind)
# 启动之前定义的定时器
self.defaultTimerUpdater.start()
self.elapsedTimeReminderUpdater.start()
initialTimer.start()
self.timerUpdateThread.start()
def DefaultRemind(self):
"""每三分钟触发一次该函数。"""
if DEBUGING:
print("Triggered Default Remind, but do nothing!")
else:
raise NotImplementedError("请在子类中实现该方法")
def ElapsedTimeRemind(self):
if DEBUGING:
print("Triggered Elapsed Time Remind, but do nothing!")
else:
raise NotImplementedError("请在子类中实现该方法")
def ReminderMain(self):
"""检查各个定时器产生器的运行状态,并更新失效的定时器"""
while self.running:
# 检查配送目标板提示定时器的运行状态,如定时已结束,则新建配送目标板提示定时器
if self.defaultTimerUpdater.is_alive():
pass
else:
self.defaultTimerUpdater = threading.Timer(
self.defaultInterval, self.CreateNewDefaultTimer
)
self.defaultTimerUpdater.start()
print("Release new timerUpdater!")
if self.elapsedTimerUpdater.is_alive():
pass
else:
self.defaultTimerUpdater = threading.Timer(
self.defaultInterval, self.CreateNewElapsedTimeReminderTimer
)
self.defaultTimerUpdater.start()
print("Release new CreateNewElapsedTimeReminderTimer!")
def CreateNewDefaultTimer(self):
"""创建新的三分钟定时器"""
timer = threading.Timer(self.defaultInterval, self.DefaultRemind)
timer.start()
print("Release new DefaultTimer!")
return timer
def CreateNewElapsedTimeReminderTimer(self):
timer = threading.Timer(self.defaultInterval, self.ElapsedTimeRemind)
timer.start()
print("Release new ElapsedTimeReminderTimer!")
return timer
def FullBoardUpdateReminder(self):
"""当有目标板满和小哥排队引起的目标板不定时更新时,发出提醒。"""
if DEBUGING:
print("Triggered FullBoard Update Reminder, but do nothing!")
else:
raise NotImplementedError("请在子类中实现该方法")
def Terminate(self):
self.running = False
class AutoReloadTimer(object):
def __init__(self, interval, function, argsToFunction=None, autoReload=True):
raise RuntimeError("该类未完成")
self.interval = interval
self.function = function
self.argsToFunction = argsToFunction
self.autoReload = autoReload
self.running = True
self.__argsLock = threading.Lock()
self.__timer = threading.Timer(interval=self.interval, function=self.TimesUp)
self.__timer.start()
def TimesUp(self):
"""计时结束时,新建线程执行function,并更新Timer"""
if self.running:
with self.__argsLock:
# 将参数传递给function,新建线程处理function
functionHandlerThread = threading.Thread(
target=self.function, args=self.argsToFunction
)
functionHandlerThread.start()
if self.autoReload:
# 自动重载定时器
self.__timer = threading.Timer(
interval=self.interval, function=self.TimesUp
)
self.__timer.start()
def UpdateArgsToFunction(self, newArgs):
with self.__argsLock:
self.argsToFunction = newArgs
if self.__timer.is_alive():
return True
else:
# 如果定时器已经执行完成,则更新参数无效,返回失败
return False
if __name__ == "__main__":
reminder = Reminder(5)
time.sleep(15)
reminder.Terminate()
| 5,783 | Python | .py | 123 | 29.731707 | 87 | 0.639732 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,411 | reminder_client.py | cyiyang_miniros/board_reminder/scripts/reminder_client.py | #!/usr/bin/env python
# -*- coding: utf-8 -*-
import sys
sys.path.append("/home/fanch/demo2/src/board_reminder/scripts")
import threading
import time
import rospy
from reminder_basic import Reminder
from board_reminder.srv import NeedToSeeMsg, NeedToSeeMsgResponse
class BoardReminder(Reminder):
def __init__(self, defaultInterval=3 * 60, firstInterval=5):
rospy.init_node("board_reminder")
self.boardReminderClient = rospy.ServiceProxy(
"board_reminder_server", NeedToSeeMsg
)
rospy.loginfo("[reminder]reminder_client正常启动")
self.boardReminderClient.wait_for_service()
rospy.loginfo("[reminder]连接recognizer_server成功")
# 在比赛开始时,NeedToSee状态应该为真(检测比赛开始时起点的目标板),综合考虑其余节点的初始化状态,因此创建一个倒计时5s的一次性定时器来完成该任务
self.initialTimer = threading.Timer(firstInterval, self.DefaultRemind)
self.countDownThread = threading.Thread(target=self.NeedToSeeCountDownMain)
super(BoardReminder, self).__init__(defaultInterval)
def DefaultRemind(self):
"""固定3分钟间隔调用一次,不受其他影响。"""
# 请求字段为 bool:need_to_see
rospy.loginfo("[reminder]去看目标板!")
self.boardReminderClient.call(True)
def start(self):
self.initialTimer.start()
threading.Thread(target=self.WaitForInitialTimer).start()
def WaitForInitialTimer(self):
rospy.loginfo("[reminder] 等待初始识别任务完成...")
while self.initialTimer.is_alive():
pass
rospy.loginfo("初始识别任务完成!")
super(BoardReminder, self).start()
self.countDownThread.start()
def NeedToSeeCountDownMain(self):
self.nextNeedToSeeCounter = self.defaultInterval
while self.running:
time.sleep(5)
self.nextNeedToSeeCounter -= 5
rospy.loginfo("[reminder] 下一次NeedToSee还有 %ds", self.nextNeedToSeeCounter)
if self.nextNeedToSeeCounter <= 0:
self.nextNeedToSeeCounter = self.defaultInterval
if __name__ == "__main__":
boardReminder = BoardReminder(defaultInterval=175)
boardReminder.start()
rospy.spin()
| 2,334 | Python | .py | 49 | 35.102041 | 87 | 0.699111 | cyiyang/miniros | 8 | 1 | 0 | GPL-2.0 | 9/5/2024, 10:48:18 PM (Europe/Amsterdam) |
2,287,412 | send_goals_scripts_send_goals_node_python.py.sisc | cyiyang_miniros/drug-deliverer.si4project/cache/parse/send_goals_scripts_send_goals_node_python.py.sisc | 0 T ) % Õµ Õµ Öµ Öµ ¥ÜÕÕµ ¥Ä©
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