public void reallocate(RealAgent agent) {
String userPath = System.getProperty("user.dir") + "/"; // .replace("\\", "\\\\") + "\\\\";
String filePath = userPath + "scripts/reallocate.py";
System.out.println("USERPATH: " + userPath);
System.out.println("FILEPATH: " + filePath);
try {
Process proc = Runtime.getRuntime().exec(new String[] {"python", filePath});
// Process proc = Runtime.getRuntime().exec(filePath);
proc.waitFor();
// System.out.println("After wait");
HashMap<Integer, Integer> allocation = updateM_opt();
HashMap<Integer, Point> allocation_phis = new HashMap<Integer, Point>();
for (Map.Entry<Integer, Integer> entry : allocation.entrySet()) {
allocation_phis.put(
entry.getKey(), agent.getLocationIDs().get(entry.getValue() - 1).getPosition());
}
agent.setM_opt_p(allocation_phis);
agent.setWaitingLists(getAllNewWaitings(agent));
} catch (Exception e) {
e.printStackTrace();
}
return;
}
public HashMap<Integer, Point> callAsync(RealAgent agent, SimulatorConfig simConfig)
throws FileNotFoundException {
// java.awt.Toolkit.getDefaultToolkit().beep(); //Avvisa quando parte Stump
ArrayList<Integer> C_b_copy = new ArrayList<Integer>(agent.getC_beta());
ArrayList<Integer> V_b_copy = new ArrayList<Integer>(agent.getV_beta());
/*String env[] = new String[12];
String adj = String.valueOf(Arrays.deepToString(agent.getAdj()).replaceAll("],", "];"));
String G = String.valueOf(Arrays.deepToString(agent.getG()).replaceAll("],", "];"));
String D = String.valueOf(Arrays.deepToString(agent.getD()).replaceAll("],", "];"));
String R = String.valueOf(agent.getR());
String mu = String.valueOf(agent.getMu());
String C = String.valueOf(agent.getC());
String V = String.valueOf(agent.getV());
String m_1 = String.valueOf(agent.getM_1());
String w_p = String.valueOf(Arrays.deepToString(agent.getW_p()).replaceAll("],", "];"));*/
String userPath = System.getProperty("user.dir") + "/"; // .replace("\\", "\\\\") + "\\\\";
/*TODO if (System.getProperty("os.name").startsWith("Windows")) {
// includes: Windows 2000, Windows 95, Windows 98, Windows NT, Windows Vista, Windows XP
userPath = System.getProperty("user.dir").replace("\\", "\\\\") + "\\\\";
} else {
userPath = System.getProperty("user.dir");
// everything else
} */
String filePath;
if (simConfig.getExpAlgorithm() == exptype.IlpExploration) {
filePath = userPath + "scripts/ilp_model.py";
} else if (simConfig.getExpAlgorithm() == exptype.ApproxExploration
|| simConfig.getExpAlgorithm() == exptype.SwitchExploration) {
filePath = userPath + "scripts/approximate_deployement.py";
} else { // Both with time threshold
filePath = userPath + "scripts/mixed_deployement.py";
}
System.out.println("USERPATH: " + userPath);
System.out.println("FILEPATH: " + filePath);
int k = 1;
try {
Process proc = Runtime.getRuntime().exec(new String[] {"python", filePath});
// Process proc = Runtime.getRuntime().exec(filePath);
proc.waitFor();
// System.out.println("After wait");
} catch (Exception e) {
e.printStackTrace();
}
File fileCost = new File(userPath + "costMin.txt");
if (!fileCost.exists()) {
System.out.println(agent.toString() + "ERROR: FILE NOT FOUND!");
return null;
} else {
Scanner scanner3 = new Scanner(fileCost);
String result = new String();
result = scanner3.nextLine();
scanner3.close();
if (result.equals("Inf")) {
System.out.println(agent.toString() + " END EXPLORATION");
agent.setEndExploration(true);
return null;
} else {
System.out.println(agent.toString() + "Minimum cost structure found!");
// Retrieve instance dimension
File fileDim = new File(userPath + "dim.txt");
scanner3 = new Scanner(fileDim);
agent.setDimInstance(scanner3.nextLine());
scanner3.close();
HashMap<Integer, Integer> allocation = updateM_opt();
HashMap<Integer, Point> allocation_phis = new HashMap<Integer, Point>();
/*HashMap<Integer, Point> prevAllocationReady = new HashMap<Integer, Point>();
for(TeammateAgent t: agent.getAllTeammates().values()){
}*/
boolean all_equal = true;
for (Map.Entry<Integer, Integer> entry : allocation.entrySet()) {
System.out.println(
"Robot "
+ Integer.toString(entry.getKey())
+ " goes to "
+ Integer.toString(entry.getValue() - 1));
// agent.getGoalIds().put(entry.getKey(), entry.getValue() - 1);
allocation_phis.put(
entry.getKey(), agent.getLocationIDs().get(entry.getValue() - 1).getPosition());
if (agent.getM_opt_p().containsKey(entry.getKey())
&& !agent
.getM_opt_p()
.get(entry.getKey())
.equals(allocation_phis.get(entry.getKey()))) {
all_equal = false;
}
if (entry.getKey() != 0) setTeammateNotReady(agent, entry.getKey());
}
if (all_equal && agent.getEqualCounter() == -1) {
agent.setEqualCounter(0);
} else if (all_equal && agent.getEqualCounter() != -1) { // means initial plan
System.out.println("All equal");
agent.setEqualCounter(0);
agent.setAllEqual(true);
}
agent.setM_opt_p(allocation_phis);
// agent.updateWaitingLists(getNewWaitings(agent));
agent.setWaitingLists(getAllNewWaitings(agent));
// For reallocation of the whole set of communicating robots
// for logging, depends on the waiting list
agent.updateRobotAtFrontier();
if (simConfig.getExpAlgorithm() == exptype.MixedExploration) {
agent.updateWinner(getWinner());
}
return new HashMap<Integer, Point>(allocation_phis);
}
}
}
public void setTeammateNotReady(RealAgent agent, int robot) {
agent.getAllTeammates().get(robot + 1).setReady(false);
}