From 5ae672981c3bf1b76bfbefd7aadaf85eb1c54b25 Mon Sep 17 00:00:00 2001
From: "dereeves@nps.edu" <dereeves@nps.edu>
Date: Tue, 9 Mar 2021 17:15:23 -0800
Subject: [PATCH] * added ability to talk to the borg in libraries
---
scripts/HTN/Trees/Red/RandomMove.xml | 11 ++++++---
scripts/HTNBehaviors.py | 35 +++++++++++++++++++++++++++
scripts/data/road_edges.srz | Bin 564136 -> 564136 bytes
3 files changed, 42 insertions(+), 4 deletions(-)
diff --git a/scripts/HTN/Trees/Red/RandomMove.xml b/scripts/HTN/Trees/Red/RandomMove.xml
index 2c36623..8edb793 100644
--- a/scripts/HTN/Trees/Red/RandomMove.xml
+++ b/scripts/HTN/Trees/Red/RandomMove.xml
@@ -13,15 +13,18 @@
<HTNNode AllowMsg="true" Name="moveToData" Type="DEFAULT">
<Parent>initInfo</Parent>
<Code IsFile="false">from HTNBehaviors import SendEntityEventDelay
+from HTNBehaviors import GetRandomPoint
import cxxi.model.behavior.PythonUtilities as PythonUtilities
import math
-int_num = PythonUtilities._py_getRandomNumber("UNIFORM", [0.0, 1.0])
-int_num *= borg.allWPs.size()
-int_num = int(round(int_num))
+#int_num = PythonUtilities._py_getRandomNumber("UNIFORM", [0.0, 1.0])
+#int_num *= borg.allWPs.size()
+#int_num = int(round(int_num))
#destName = "INTERSECTION" + str(int_num)
-destName = borg.allWPs.get(int_num).getName()
+#destName = borg.allWPs.get(int_num).getName()
+
+destName = GetRandomPoint()
SendEntityEventDelay(info.getMyAssignedName(), "GoalTracker_MoveToDestination", ["RANDOM", destName], 5.0)
borg.delay=1.0
diff --git a/scripts/HTNBehaviors.py b/scripts/HTNBehaviors.py
index 5f0f03a..c7e1aad 100644
--- a/scripts/HTNBehaviors.py
+++ b/scripts/HTNBehaviors.py
@@ -3,10 +3,45 @@ from java.util import ArrayList
import cxxi.model.objects.holders.CMHolder as CMHolder
import cxxi.model.behavior.OrderUtilities as OrderUtilities
+import mtry.cxxi.model.HierarchicalTaskNetwork.GoalContainer as GoalContainer
+import cxxi.model.behavior.PythonUtilities as PythonUtilities
+
+#from UtilityFuncsExp import HTNBorg as borg
+
__HTN_PATH__ = "HTN/Trees/"
__BASIC_MOVE_PATH__ = "HTN/Trees/BasicMove.xml"
__NETWORK_MOVE_PATH__ = "HTN/Trees/NetworkMove.xml"
+borg = None
+
+# Reads from a list of allWPs
+def GetRandomPoint():
+ _InitBorgInternal()
+
+ int_num = PythonUtilities._py_getRandomNumber("UNIFORM", [0.0, 1.0])
+ int_num *= borg.allWPs.size()
+ int_num = int(round(int_num))
+
+ destName = borg.allWPs.get(int_num).getName()
+
+ return destName
+
+def _InitBorgInternal():
+ global borg
+
+ if borg == None:
+ borgName = GoalContainer.getBorgName()
+ impStr = "from "+borgName+" import HTNBorg"
+ exec(impStr)
+ borg = HTNBorg()
+ print "Borg created"
+ else:
+ print "Borg already created"
+
+def TestBorg():
+ _InitBorgInternal()
+ print "Test borg=",borg.allWPs.size()
+
def ConvertToJavaList(l):
al = ArrayList()
for o in l:
diff --git a/scripts/data/road_edges.srz b/scripts/data/road_edges.srz
index 02e3dc721779a41d962e639a2dd8cdada8b0bd3c..81aa1bb6c916ab81494c4e66767ff651191f0f73 100644
GIT binary patch
delta 45
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B5cvQA
delta 45
zcmZ3nU1`O3r3tAVoU7-*TDvG^Q)6yxE@NvhQ)@1BYc5M`E^BKpTWc=+)?5zj*#OHF
B5=sC7
--
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