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small refactorings;

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added comments;
This commit is contained in:
Marco Zeisler
2021-05-24 17:51:41 +02:00
parent 3e07ea65ce
commit 8df1930a96
3 changed files with 42 additions and 19 deletions
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components/orchestration/orchestrator.py
+34 -11
View File
@@ -1,20 +1,25 @@
import pickle
import sys
from random import randrange
from typing import List, Dict
from shared import daf
from shared.TrafficLightColor import Color
from shared.TrafficLightColor import TrafficLightColor
from shared.message_broker_wrapper import MBWrapper
# necessary to unpickle daf object
sys.modules['daf'] = daf
class Orchestrator:
vins = []
tls = {}
# vehicle ids
vins: List[str] = []
# traffic lights {tlid: {color: color, switching_time: in_seconds}}
tls: Dict[str, Dict] = {}
_daf_mbs = {}
_velocity_mbs = {}
# cache all active incoming daf connections
_daf_mbs: Dict[str, MBWrapper] = {}
_velocity_mbs: Dict[str, MBWrapper] = {}
def __init__(self):
# TODO fetch available car VINs from Entity Ident
@@ -24,12 +29,13 @@ class Orchestrator:
print('vins', self.vins)
# TODO fetch available TLs from Entity Ident
self.tls['traffic-light-1'] = {'color': Color.RED, 'switching_time': 120}
self.tls['traffic-light-2'] = {'color': Color.GREEN, 'switching_time': 240}
self.tls['traffic-light-3'] = {'color': Color.RED, 'switching_time': 360}
self.tls['traffic-light-1'] = {'color': TrafficLightColor.RED, 'switching_time': 120}
self.tls['traffic-light-2'] = {'color': TrafficLightColor.GREEN, 'switching_time': 240}
self.tls['traffic-light-3'] = {'color': TrafficLightColor.RED, 'switching_time': 360}
print('tls', self.tls)
def setup_msg_queues(self):
# spawn the vehicle related message broker channels
for vin in self.vins:
daf_channel = MBWrapper(exchange_name='vehicle_daf_{}'.format(vin), callback=self.handle_daf_receive)
daf_channel.setup_receiver()
@@ -39,20 +45,37 @@ class Orchestrator:
velocity_channel.setup_sender()
self._velocity_mbs[vin] = velocity_channel
# spawn the traffic light related mb channels
for tl in self.tls:
tl_channel = MBWrapper(exchange_name='traffic_light_state_{}'.format(tl), callback=self.handle_tl_state_receive)
tl_channel.setup_receiver()
def handle_daf_receive(self, msg):
received_daf_object = pickle.loads(msg)
def handle_daf_receive(self, pickle_binary):
"""
Gets the daf object's pickle binary dump.
Unpickle, calculate new target velocity based on daf and current tl data and
respond new target velicity for this vehicle.
:param pickle_binary: daf object pickle binary dump
"""
received_daf_object = pickle.loads(pickle_binary)
print(received_daf_object)
# TODO use the data from the traffic lights (self.tls)
# to transmit a new target velocity for this vehicle to achieve a green wave
response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
response_channel.send(randrange(0, 130))
response_channel.send(str(randrange(0, 130)).encode())
def handle_tl_state_receive(self, msg):
"""
Gets a dict full of traffic light state information:
{
'tlid': str,
'color': TrafficLightColor,
'last_switch': datetime
}
Updates internal information about available TLs
"""
tl_state = pickle.loads(msg)
self.tls[tl_state['tlid']]['color'] = tl_state['color']
print(tl_state)