如何将 Python UnetSocket 连接到我使用 agentForService 创建的代理？
How to connect a Python UnetSocket to an Agent that I have created using agentForService?
我正在尝试在 Python 脚本和 UnetSim 上的模拟 运行ning 之间创建一个 link。
我想使用我创建并添加到模拟中每个节点的容器的 Python_Agent.groovy 从 Python 发送消息并在 UnetStack 中接收它们。我也想反过来
我使用 fjage 文档 (https://buildmedia.readthedocs.org/media/pdf/fjage/dev/fjage.pdf) 来帮助我。问题是在网关 class 服务中没有我创建的 PYTHON_AGENT 服务。我可以理解，因为我的枚举服务没有修改 class 有 NODE_INFO、PHYSICAL 等的服务...
那么我的问题是文档 1.6.3 中的示例是如何工作的？它适用于我的情况吗？
这是我的代码：
PythonSocketExample.py
from unetpy import *
from fjagepy import *
import socket
node_address = '001'
host = socket.gethostname()
sock = UnetSocket(host, int(node_address) + 1100)
gw = sock.getGateway()
py_agent = gw.agentForService(Services.PYTHON_AGENT)
py_agent << DatagramReq(data = '$A001')
rsp = py_agent.receive()
print (rsp)
UnetSimulation.groovy
//! Simulation : Initialisation python
import org.arl.fjage.RealTimePlatform
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.phy.*
import org.arl.unet.sim.*
import org.arl.unet.sim.channels.*
import static org.arl.unet.Services.*
import static org.arl.unet.phy.Physical.*
//import java.net.ServerSocket
///////////////////////////////////////////////////////////////////////////////
// simulation settings
platform = RealTimePlatform // use real-time mode
///////////////////////////////////////////////////////////////////////////////
// channel and modem settings
channel = [
model: ProtocolChannelModel,
soundSpeed: 1500.mps,
communicationRange: 3.km,
interferenceRange: 3.km
]
modem.model = USMARTModem
modem.dataRate = [640.bps, 6400.bps]
modem.frameLength = [16.bytes, 64.bytes]
modem.powerLevel = [0.dB, -10.dB]
modem.headerLength = 0
modem.preambleDuration = 0
modem.txDelay = 0
///////////////////////////////////////////////////////////////////////////////
// nodes settings and geometry
def beacons = 2..4 // 3 anchors from 2 to 4
def sensors = 5..104 // 100 sensors from 5 to 104
def nodeLocation = [:]
def D = 4000.m // side of the simulation area
def L = 400.m // distance between two node
nodeLocation[1] = [D/2-L, D/2 -L, -5.m] //masterAnchor
nodeLocation[2] = [D/2+L, D/2 -L, -5.m]
nodeLocation[3] = [D/2, D/2+L, -5.m]
nodeLocation[4] = [D/2, D/2, -500.m]
sensors.each { myAddr ->
nodeLocation[myAddr] = [rnd(0, D), rnd(0, D), rnd(-480.m, -500.m)]
}
///////////////////////////////////////////////////////////////////////////////
// simulation details
simulate {
node '1', address: 1, location: nodeLocation[1], web: 8101, api: 1101, shell: true, stack: {
container -> container.add 'py_agent' + 1, new Python_Agent()
}
beacons.each { myAddr ->
def myNode = node("${myAddr}", address: myAddr, location: nodeLocation[myAddr], web: 8100 + myAddr , api: 1100 + myAddr,
stack: {container ->
container.add 'py_agent' + myAddr, new Python_Agent()})
}
sensors.each { myAddr ->
def myNode = node("${myAddr}", address: myAddr, location: nodeLocation[myAddr], web: 8100 + myAddr, api: 1100 + myAddr,
stack: {container ->
container.add 'py_agent' + myAddr, new Python_Agent()})
}
Python_Agent.groovy
import org.arl.fjage.*
import org.arl.unet.*
enum Services {
PYTHON_AGENT
}
class Python_Agent extends UnetAgent {
String fromNode;
String toNode;
String toClient;
def nodeInfo;
def myLocation;
def myAddress;
def phy;
void setup() {
register Services.PYTHON_AGENT
}
void startup() {
// TODO
nodeInfo = agentForService(Services.NODE_INFO)
myLocation = nodeInfo.location
myAddress = nodeInfo.address
println('pyAgent ' + myAddress + ' works')
}
void processMessage(Message msg) {
if (msg instanceof DatagramNtf /*&& msg.protocol == NODE_STATUS_PROTOCOL*/) {
println("Node "+ myAddress+ ' receiving ' + msg.text +' from ' + msg.from +" protocol is "+ msg.protocol)
toNode = phy.energy
}
}
}
我得到的第一个错误是：
1 error
org.codehaus.groovy.control.MultipleCompilationErrorsException: startup failed:
C:\Users\mathi\OneDrive\Bureau\unet-3.0.0\FakeModem\python.groovy: 85: Enum constructor calls are only allowed inside the enum class
. At [85:50] @ line 85, column 50.
container.add 'py_agent' + 1, new Python
^
然后如果我注释枚举部分并修改设置部分，模拟就可以工作
void setup() {
register 'PYTHON_AGENT'
}
当我 运行 PythonSocketExample.py 时，出现错误
Traceback (most recent call last):
File "PythonSocketExample.py", line 11, in <module>
py_agent = gw.agentForService(Services.PYTHON_AGENT)
AttributeError: type object 'Services' has no attribute 'PYTHON_AGENT'
UnetStack 上的日志结尾在这里：
1582820223131 INFO Python_Agent/84@1903:println pyAgent 84 works
1582820223132 INFO Python_Agent/39@1633:println pyAgent 39 works
1582820415798 INFO org.arl.unet.sim.SimulationMasterContainer@48:connected Incoming connection tcp:///137.195.214.230:1101//137.195.214.230.62913
1582820415875 INFO org.arl.unet.sim.SimulationMasterContainer@2131:connectionClosed Connection tcp:///137.195.214.230:1101//137.195.214.230.62913 closed
感谢您的帮助
编辑
感谢您的消息和一些研究，我现在可以使用 MessageBehavior 和 GenericMessage 在 UnetStack 和 Python 之间发送和接收消息。
我希望我的模拟接收到不止一条消息，但是因为我的 add new MessageBehavior 在我的 PythonAgent.groovy 的 startup() 中，所以我需要的 add new MessageBehavior 与我发送的消息一样多。
我测试将其放在 processMessage(Message msg) 上，但似乎此方法无法识别 GenericMessage()。
问题可能是如何多次使用 MessageBehavior...
这是我的代码：
Python
ping_test.py
# Need to run the script two times. First time UnetStack don't get the Message
# I don't know where the bug come from
serport = serial.Serial()
## SET SELF ADDRESS
nodeID = '001'
nodeID_ping = '002'
command = b'$A' + nodeID.encode()
serport.write(command)
ack_msg = serport.readline()
print('ack_msg : ', ack_msg)
ping_command = b'$P' + nodeID_ping.encode()
serport.write(ping_command)
ack_msg = serport.readline()
print('ack_msg :', ack_msg)
rsp_msg = serport.readline()
print('rsp_msg :', rsp_msg)
FakeSerial_V2.py
from unetpy import *
import socket
import clientSocket
# a Serial class emulator
class Serial:
## init(): the constructor. Many of the arguments have default values
# and can be skipped when calling the constructor.
def __init__( self, port='5000', baudrate = 19200, timeout=1, write_timeout=1,
bytesize = 8, parity = 'N', stopbits = 1, xonxoff=0,
rtscts = 0):
self.last_instruction = ''
self.nodeID = ''
self.remote_nodeID = ''
self.command = ''
self._isOpen = True
self._receivedData = ''
self._data = 'It was the best of times.\nIt was the worst of times.\n'
self.phy = ''
self.pySocket = ''
## write()
# writes a string of characters to the Arduino
def write( self, string):
self.command = string.decode()
_type = None
print( 'FakeSerial got: ' + self.command)
# SET_ADDRESS
if (self.command[0:2] == '$A' and len(self.command) == 5):
_type = 'set_address'
self.nodeID = string[2:]
self.pySocket = clientSocket.clientSocket(self.nodeID) # initialize the clientSocket class
self.pySocket.sendData(_type) # need to fix the rsp Generic Message on UnetStack
self.last_instruction = 'SET_ADDRESS_INSTRUCTION'
# PING
elif (self.command[0:2] == '$P' and len(self.command) == 5):
_type = 'ping'
to_addr = self.command[2:]
# print(to_addr, type(to_addr))
self.pySocket.sendData(_type, to_addr)
self.last_instruction = "PING_INSTRUCTION"
else:
print("write FAILURE")
## readline()
# reads characters from the fake Arduino until a \n is found.
def readline( self ):
self._receivedData = self.pySocket.receiveData()
return self._receivedData
clientSocket.py
import socket
from unetpy import *
from fjagepy import *
class clientSocket:
def __init__(self, nodeID = '001'):
self.host = socket.gethostname()
self.nodeID = int(nodeID)
self.port = int(nodeID) + 1100
self.sock = UnetSocket(self.host, self.port)
self.gw = self.sock.getGateway()
self.pyagent = 'pyagent' + str(self.nodeID)
def sendData(self, _type, to_addr = '000' , data = 'None'):
IDreq = 1
# gmsg = GenericMessage(perf = Performative.REQUEST, recipient = pyagent)
# gmsg.IDreq = IDreq
# self.gw.send(gmsg)
IDreq = IDreq + 1
gmsg2 = GenericMessage(perf = Performative.REQUEST, recipient = self.pyagent)
gmsg2.type = _type
gmsg2.from_addr = self.nodeID
gmsg2.to_addr = int(to_addr)
gmsg2.data = data
gmsg2.IDreq = IDreq
self.gw.send(gmsg2)
IDreq = 0
def receiveData( self ):
rgmsg = self.gw.receive(GenericMessage, 4000)
print ('UnetStack state :', rgmsg.state)
# print ('rsp :', rgmsg.data)
# print('Ping time is', rgmsg.time_ping, 'ms')
return rgmsg.data
Groovy
sim1.groovy
import org.arl.fjage.RealTimePlatform
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.sim.channels.*
platform = RealTimePlatform // use real-time mode
///////////////////////////////////////////////////////////////////////////////
// channel and modem settings
channel = [
model: ProtocolChannelModel,
soundSpeed: 1500.mps,
communicationRange: 3.km,
interferenceRange: 3.km
]
modem.model = USMARTModem
modem.dataRate = [640.bps, 6400.bps]
modem.frameLength = [16.bytes, 64.bytes]
modem.powerLevel = [0.dB, -10.dB]
modem.headerLength = 0
modem.preambleDuration = 0
modem.txDelay = 0
simulate {
node '1', address: 1, web: 8101, api: 1101, stack: {
container -> container.add 'pyagent1', new PythonAgent()
}
node '2', address: 2,location: [500.m ,500.m, -500.m], web: 8102, api: 1102, stack: {
container -> container.add 'pyagent2', new PythonAgent()
}
}
PythonAgent.groovy
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.phy.RxFrameNtf
import org.arl.unet.phy.TxFrameNtf
class PythonAgent extends UnetAgent {
final static int PING_PROTOCOL = 10;
final static int NODE_STATUS_PROTOCOL = 11;
final static int BROADCAST_PROTOCOL = 12;
final static int UNICAST_PROTOCOL = 13;
final static int UNICAST_ACK_PROTOCOL = 14;
final static int TEST_MSG_PROTOCOL = 15;
final static int ECHO_PROTOCOL = 16;
final static int QUALITY_PROTOCOL = 17;
def nodeInfo;
def phy;
def myLocation;
def myAddress;
def IDreq = 0;
def time_ping = null;
def function_state = null;
def data_to_py = null;
void startup() {
println(agentID.name + ' running')
nodeInfo = agentForService Services.NODE_INFO
phy = agentForService Services.PHYSICAL
myLocation = nodeInfo.location
myAddress = nodeInfo.address
subscribe topic(phy)
add new MessageBehavior(GenericMessage, { req ->
println("In PythonAgent::MessageBehavior req ="+req)
if (req.performative) println("req.performative is " + req.performative)
else println("req.performative is null")
def ack = new GenericMessage(req, Performative.INFORM)
def rsp = new GenericMessage(req, Performative.INFORM)
println('IDreq = ' + req.IDreq)
if ((req.performative == Performative.REQUEST) && (req.IDreq == 2)) {
// IDreq = req.IDreq
// println('IDreq = ' + IDreq)
//log.info "Generic message request of type ${req.type}"
function_state = 'None';
data_to_py = 'None';
switch (req.type) {
case 'set_address':
println("Handling set_address")
ack.state = "Handling set_address"
ack.data = '#A' + corrected_address(myAddress);
send ack;
rsp.data = ack.data; break;
}
}
})
add new MessageBehavior(GenericMessage, { req ->
println("In PythonAgent::MessageBehavior req ="+req)
if (req.performative) println("req.performative is " + req.performative)
else println("req.performative is null")
def ack = new GenericMessage(req, Performative.INFORM)
def rsp = new GenericMessage(req, Performative.INFORM)
println('IDreq = ' + req.IDreq)
if ((req.performative == Performative.REQUEST) && (req.IDreq == 2)) {
// IDreq = req.IDreq
// println('IDreq = ' + IDreq)
//log.info "Generic message request of type ${req.type}"
function_state = 'None';
data_to_py = 'None';
switch (req.type) {
case 'set_address':
println("Handling set_address")
ack.state = "Handling set_address"
ack.data = '#A' + corrected_address(myAddress);
send ack;
rsp.data = ack.data; break;
case 'loc':
//println("Handling localisation request");
sendUPSBeacon(); break;
case 'ping':
println("Handling ping request");
ack.state = "Handling ping request"; ack.data = '$P' + corrected_address(req.to_addr);
send ack;
ping(req.to_addr);
rsp.time_ping = time_ping; break;
case 'exe':
//println("Handling exe request");
exe(); break;
case 'sense':
//println("Handling sense request");
sense(); break;
default: println "Unknown request";
}
//println "In USMARTBaseAnchorDaemon::MessageBehavior, just after exe"
rsp.state = function_state
rsp.data = data_to_py
println "In PythonAgent::MessageBehavior, rsp is " + rsp
send rsp
}
})
}
void ping(to_addr) {
println "Pinging ${to_addr} at ${nanoTime()}"
DatagramReq req = new DatagramReq(to: to_addr, protocol: PING_PROTOCOL)
phy << req
def txNtf = receive(TxFrameNtf, 10000) // TO-DO:check protocol
def rxNtf = receive({ it instanceof RxFrameNtf && it.from == req.to}, 10000)
if (txNtf && rxNtf && rxNtf.from == req.to) {
time_ping = (rxNtf.rxTime-txNtf.txTime)/1000 //in ms
println("Response from ${rxNtf.from}: ")
println("rxTime=${rxNtf.rxTime}")
println("txTime=${txNtf.txTime}")
println("Response from ${rxNtf.from}: time = ${time_ping}ms")
function_state = 'Ping processed'
data_to_py = "#R" + corrected_address(to_addr) + 'T' + rxNtf.data
}
else {
function_state = 'Ping Request timeout'
println (function_state)
}
}
@Override
void processMessage(Message msg) {
// pong
if (msg instanceof DatagramNtf && msg.protocol == PING_PROTOCOL) {
println("pong : Node "+ myAddress + ' from ' + msg.from +" protocol is "+ msg.protocol)
send new DatagramReq(recipient: msg.sender, to: msg.from, data: phy.energy as byte[], protocol: PING_PROTOCOL)
println ('processMessage energy : ' + phy.energy)
}
}
String corrected_address(address) {
address = address.toString()
if (address.size() == 1) address = '00' + address
if (address.size() == 2) address = '0' + address
return address
}
}
USMARTModem.groovy
import org.arl.fjage.Message
import org.arl.unet.sim.HalfDuplexModem
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.phy.*
import org.arl.unet.sim.*
import org.arl.unet.sim.channels.*
import static org.arl.unet.Services.*
import static org.arl.unet.phy.Physical.*
/*
Ptx= V*Itx //power consumed in transmission in watt
Prx = V*Irx //power consumed in receiving packets in watt
Etx = Math.floor(avgSent)*(Ptx*0.3675)
energyAll = (Math.floor(avgSent)*(Ptx*0.3675)) + (Math.floor(avgReceived)*(Prx*0.3675)) // total energy consumed for all the packets sent and received throughout the simulation
// EtxSubset = Math.floor(avgTxCountNs)*(Ptx*0.3675) // energy consumed in transmitiing 25% of packets in Joul
bytesDelivered = Math.floor(avgReceived)* modem.frameLength[1]
JPerBit = energyAll/(bytesDelivered * 8)
*/
//Duration of data packet in seconds = data packet size (in bits)/bandwidth (in bps) = (15*8)/50000 = 0.0024
class USMARTModem extends HalfDuplexModem {
static final def txPower = -17.dB
static final def acousticDataRate = 640.bps
static final def payLoadSize = 5.bytes
static final def headerDuration = (30+75+200)/1000 //in seconds --> in our case nanomodem v3 provides us with the header (in ms) to add to the actual payload in the frame length.. refer to the modem datasheet
static final def V = 5 // supply voltage in volt
static final def Itx = 0.3, Irx = 0.005, Iidle = 0.0025 //current in Am
float payLoadDuration = (payLoadSize*8)/acousticDataRate //in seconds
float dataPacketDuration = payLoadDuration +headerDuration //in seconds
float energy = 2000 //initial energy in Joule
float test = energy+1
float Ptx = V*Itx, Prx=V*Irx, Pidle = V*Iidle //power in watt
float totalEtx =0
float totalErx =0
float totalEidle =0
float totalEnergyConsumed =0
float Etx = Ptx * dataPacketDuration //Energy in Joul
float Erx = Prx * dataPacketDuration
float Eidle = Pidle * dataPacketDuration
// float power = 0.00001995262315 //in watt (-17 in db=10log(p/1mw) .. so p = 10to the power -1.7 = 0.00001995262315
// BigDecimal Ptx = (Math.pow(10.0,(txPower/10) ))/1000 //????
// BigDecimal Etx= Ptx *((frameLength[1]*8)/640) // This is consumed energy (in transmission) Etx = Ptx*time it takes to tramsnit tha packet
//float Etx =10
@Override
boolean send(Message m) {
if (m instanceof TxFrameNtf)
{
energy -= Etx// Remaining energy
totalEtx += Etx //total energy consumed in tx
}
if (m instanceof RxFrameNtf)
{
energy -= Erx // Remaining energy
totalErx += Erx //total energy consumed in rx
}
if(!busy)
{
energy-= Eidle //Remaining energy
totalEidle += Eidle //total energy consumed while Eidle
}
totalEnergyConsumed = totalEtx+totalErx+totalEidle
return super.send(m)
}
}
抱歉拖了很长很长的时间post...我认为一切都是理解代码所必需的
你原代码中的几个问题：
- 您不需要创建服务，因为您可以通过代理的名称来寻址代理。这对于此处的示例应该足够了。
- 要处理请求（
DatagramReq 来自您的 Python 代码），您应该重写代理中的 processRequest() 方法。
这是一个基于您的原始代码的简化示例：
PythonAgent.groovy:
import org.arl.fjage.*
import org.arl.unet.*
class PythonAgent extends UnetAgent {
void startup() {
println('pyAgent running')
}
@Override
Message processRequest(Message msg) {
if (msg instanceof DatagramReq) {
println('Got a DatagramNtf')
// do whatever you want with the request
return new Message(msg, Performative.AGREE)
}
return null
}
}
sim1.groovy:
import org.arl.fjage.RealTimePlatform
platform = RealTimePlatform // use real-time mode
simulate {
node '1', address: 1, web: 8101, api: 1101, stack: {
container -> container.add 'pyagent', new PythonAgent()
}
}
和test1.py:
from unetpy import *
from fjagepy import *
sock = UnetSocket('localhost', 1101) # node 1's API port as per sim script
gw = sock.getGateway()
pyagent = gw.agent('pyagent') # agent name as per sim script
rsp = pyagent << DatagramReq()
print(rsp)
谢谢，我不知道我需要@Override。我还有一个问题，如何将可以在 UnetStack 中提取的数据放入 DatagramReq 中？
我尝试将此作为查看手册的第一个解决方案，但它不起作用..
PythonAgent.groovy
import org.arl.fjage.*
import org.arl.unet.*
class PythonAgent extends UnetAgent {
void startup() {
println('pyAgent running')
}
@Override
Message processRequest(Message msg) {
if (msg instanceof DatagramReq) {
println('Got a DatagramNtf')
println(msg.data)
// do whatever you want with the request
return new Message(msg, Performative.AGREE)
}
return null
}
}
test1.py
from unetpy import *
from fjagepy import *
sock = UnetSocket('localhost', 1101) # node 1's API port as per sim script
gw = sock.getGateway()
pyagent = gw.agent('pyagent') # agent name as per sim script
rsp1 = pyagent << DatagramReq( data = [42])
rsp2 = pyagent << DatagramReq( data = 'data_string')
print(rsp1, rsp2)
在 Python 终端上，我将得到 Agree None。我可以传输数组但不能传输字符串？
日志打印
Incoming connection tcp:///127.0.0.1:1101//127.0.0.1.51208
1583166206032 INFO PythonAgent/1@2643:println Got a DatagramNtf
1583166206032 INFO PythonAgent/1@2643:println [B@4e3d88df
1583166206033 WARNING org.arl.fjage.remote.ConnectionHandler@2670:run Bad JSON request: java.lang.IllegalArgumentException: Illegal base64 character 5f in {"action": "send", "relay": true, "message": { "clazz": "org.arl.unet.DatagramReq", "data": {"msgID":"492ac9dd-c2bf-4c0c-9198-3b32fb416f33","perf":"REQUEST","recipient":"pyagent","sender":"PythonGW-c8e66e0f-b5d5-433b-bfa9-09be708ab4c9","inReplyTo":null,"data":"data_string"} }}
1583166207081 INFO org.arl.unet.sim.SimulationMasterContainer@2670:connectionClosed Connection tcp:///127.0.0.1:1101//127.0.0.1.51208 closed
[B@4e3d88df 对应 [42] 但我不知道如何解码。事实上，我对发送字符串比发送数组更感兴趣。我知道如何使用 PDU，但它如何与 Python 一起使用？
我正在尝试在 Python 脚本和 UnetSim 上的模拟 运行ning 之间创建一个 link。 我想使用我创建并添加到模拟中每个节点的容器的 Python_Agent.groovy 从 Python 发送消息并在 UnetStack 中接收它们。我也想反过来
我使用 fjage 文档 (https://buildmedia.readthedocs.org/media/pdf/fjage/dev/fjage.pdf) 来帮助我。问题是在网关 class 服务中没有我创建的 PYTHON_AGENT 服务。我可以理解，因为我的枚举服务没有修改 class 有 NODE_INFO、PHYSICAL 等的服务... 那么我的问题是文档 1.6.3 中的示例是如何工作的？它适用于我的情况吗？
这是我的代码：
PythonSocketExample.py
from unetpy import *
from fjagepy import *
import socket
node_address = '001'
host = socket.gethostname()
sock = UnetSocket(host, int(node_address) + 1100)
gw = sock.getGateway()
py_agent = gw.agentForService(Services.PYTHON_AGENT)
py_agent << DatagramReq(data = '$A001')
rsp = py_agent.receive()
print (rsp)
UnetSimulation.groovy
//! Simulation : Initialisation python
import org.arl.fjage.RealTimePlatform
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.phy.*
import org.arl.unet.sim.*
import org.arl.unet.sim.channels.*
import static org.arl.unet.Services.*
import static org.arl.unet.phy.Physical.*
//import java.net.ServerSocket
///////////////////////////////////////////////////////////////////////////////
// simulation settings
platform = RealTimePlatform // use real-time mode
///////////////////////////////////////////////////////////////////////////////
// channel and modem settings
channel = [
model: ProtocolChannelModel,
soundSpeed: 1500.mps,
communicationRange: 3.km,
interferenceRange: 3.km
]
modem.model = USMARTModem
modem.dataRate = [640.bps, 6400.bps]
modem.frameLength = [16.bytes, 64.bytes]
modem.powerLevel = [0.dB, -10.dB]
modem.headerLength = 0
modem.preambleDuration = 0
modem.txDelay = 0
///////////////////////////////////////////////////////////////////////////////
// nodes settings and geometry
def beacons = 2..4 // 3 anchors from 2 to 4
def sensors = 5..104 // 100 sensors from 5 to 104
def nodeLocation = [:]
def D = 4000.m // side of the simulation area
def L = 400.m // distance between two node
nodeLocation[1] = [D/2-L, D/2 -L, -5.m] //masterAnchor
nodeLocation[2] = [D/2+L, D/2 -L, -5.m]
nodeLocation[3] = [D/2, D/2+L, -5.m]
nodeLocation[4] = [D/2, D/2, -500.m]
sensors.each { myAddr ->
nodeLocation[myAddr] = [rnd(0, D), rnd(0, D), rnd(-480.m, -500.m)]
}
///////////////////////////////////////////////////////////////////////////////
// simulation details
simulate {
node '1', address: 1, location: nodeLocation[1], web: 8101, api: 1101, shell: true, stack: {
container -> container.add 'py_agent' + 1, new Python_Agent()
}
beacons.each { myAddr ->
def myNode = node("${myAddr}", address: myAddr, location: nodeLocation[myAddr], web: 8100 + myAddr , api: 1100 + myAddr,
stack: {container ->
container.add 'py_agent' + myAddr, new Python_Agent()})
}
sensors.each { myAddr ->
def myNode = node("${myAddr}", address: myAddr, location: nodeLocation[myAddr], web: 8100 + myAddr, api: 1100 + myAddr,
stack: {container ->
container.add 'py_agent' + myAddr, new Python_Agent()})
}
Python_Agent.groovy
import org.arl.fjage.*
import org.arl.unet.*
enum Services {
PYTHON_AGENT
}
class Python_Agent extends UnetAgent {
String fromNode;
String toNode;
String toClient;
def nodeInfo;
def myLocation;
def myAddress;
def phy;
void setup() {
register Services.PYTHON_AGENT
}
void startup() {
// TODO
nodeInfo = agentForService(Services.NODE_INFO)
myLocation = nodeInfo.location
myAddress = nodeInfo.address
println('pyAgent ' + myAddress + ' works')
}
void processMessage(Message msg) {
if (msg instanceof DatagramNtf /*&& msg.protocol == NODE_STATUS_PROTOCOL*/) {
println("Node "+ myAddress+ ' receiving ' + msg.text +' from ' + msg.from +" protocol is "+ msg.protocol)
toNode = phy.energy
}
}
}
我得到的第一个错误是：
1 error
org.codehaus.groovy.control.MultipleCompilationErrorsException: startup failed:
C:\Users\mathi\OneDrive\Bureau\unet-3.0.0\FakeModem\python.groovy: 85: Enum constructor calls are only allowed inside the enum class
. At [85:50] @ line 85, column 50.
container.add 'py_agent' + 1, new Python
^
然后如果我注释枚举部分并修改设置部分，模拟就可以工作
void setup() {
register 'PYTHON_AGENT'
}
当我 运行 PythonSocketExample.py 时，出现错误
Traceback (most recent call last):
File "PythonSocketExample.py", line 11, in <module>
py_agent = gw.agentForService(Services.PYTHON_AGENT)
AttributeError: type object 'Services' has no attribute 'PYTHON_AGENT'
UnetStack 上的日志结尾在这里：
1582820223131 INFO Python_Agent/84@1903:println pyAgent 84 works
1582820223132 INFO Python_Agent/39@1633:println pyAgent 39 works
1582820415798 INFO org.arl.unet.sim.SimulationMasterContainer@48:connected Incoming connection tcp:///137.195.214.230:1101//137.195.214.230.62913
1582820415875 INFO org.arl.unet.sim.SimulationMasterContainer@2131:connectionClosed Connection tcp:///137.195.214.230:1101//137.195.214.230.62913 closed
感谢您的帮助
编辑
感谢您的消息和一些研究，我现在可以使用 MessageBehavior 和 GenericMessage 在 UnetStack 和 Python 之间发送和接收消息。
我希望我的模拟接收到不止一条消息，但是因为我的 add new MessageBehavior 在我的 PythonAgent.groovy 的 startup() 中，所以我需要的 add new MessageBehavior 与我发送的消息一样多。
我测试将其放在 processMessage(Message msg) 上，但似乎此方法无法识别 GenericMessage()。
问题可能是如何多次使用 MessageBehavior... 这是我的代码：
Python
ping_test.py
# Need to run the script two times. First time UnetStack don't get the Message
# I don't know where the bug come from
serport = serial.Serial()
## SET SELF ADDRESS
nodeID = '001'
nodeID_ping = '002'
command = b'$A' + nodeID.encode()
serport.write(command)
ack_msg = serport.readline()
print('ack_msg : ', ack_msg)
ping_command = b'$P' + nodeID_ping.encode()
serport.write(ping_command)
ack_msg = serport.readline()
print('ack_msg :', ack_msg)
rsp_msg = serport.readline()
print('rsp_msg :', rsp_msg)
FakeSerial_V2.py
from unetpy import *
import socket
import clientSocket
# a Serial class emulator
class Serial:
## init(): the constructor. Many of the arguments have default values
# and can be skipped when calling the constructor.
def __init__( self, port='5000', baudrate = 19200, timeout=1, write_timeout=1,
bytesize = 8, parity = 'N', stopbits = 1, xonxoff=0,
rtscts = 0):
self.last_instruction = ''
self.nodeID = ''
self.remote_nodeID = ''
self.command = ''
self._isOpen = True
self._receivedData = ''
self._data = 'It was the best of times.\nIt was the worst of times.\n'
self.phy = ''
self.pySocket = ''
## write()
# writes a string of characters to the Arduino
def write( self, string):
self.command = string.decode()
_type = None
print( 'FakeSerial got: ' + self.command)
# SET_ADDRESS
if (self.command[0:2] == '$A' and len(self.command) == 5):
_type = 'set_address'
self.nodeID = string[2:]
self.pySocket = clientSocket.clientSocket(self.nodeID) # initialize the clientSocket class
self.pySocket.sendData(_type) # need to fix the rsp Generic Message on UnetStack
self.last_instruction = 'SET_ADDRESS_INSTRUCTION'
# PING
elif (self.command[0:2] == '$P' and len(self.command) == 5):
_type = 'ping'
to_addr = self.command[2:]
# print(to_addr, type(to_addr))
self.pySocket.sendData(_type, to_addr)
self.last_instruction = "PING_INSTRUCTION"
else:
print("write FAILURE")
## readline()
# reads characters from the fake Arduino until a \n is found.
def readline( self ):
self._receivedData = self.pySocket.receiveData()
return self._receivedData
clientSocket.py
import socket
from unetpy import *
from fjagepy import *
class clientSocket:
def __init__(self, nodeID = '001'):
self.host = socket.gethostname()
self.nodeID = int(nodeID)
self.port = int(nodeID) + 1100
self.sock = UnetSocket(self.host, self.port)
self.gw = self.sock.getGateway()
self.pyagent = 'pyagent' + str(self.nodeID)
def sendData(self, _type, to_addr = '000' , data = 'None'):
IDreq = 1
# gmsg = GenericMessage(perf = Performative.REQUEST, recipient = pyagent)
# gmsg.IDreq = IDreq
# self.gw.send(gmsg)
IDreq = IDreq + 1
gmsg2 = GenericMessage(perf = Performative.REQUEST, recipient = self.pyagent)
gmsg2.type = _type
gmsg2.from_addr = self.nodeID
gmsg2.to_addr = int(to_addr)
gmsg2.data = data
gmsg2.IDreq = IDreq
self.gw.send(gmsg2)
IDreq = 0
def receiveData( self ):
rgmsg = self.gw.receive(GenericMessage, 4000)
print ('UnetStack state :', rgmsg.state)
# print ('rsp :', rgmsg.data)
# print('Ping time is', rgmsg.time_ping, 'ms')
return rgmsg.data
Groovy
sim1.groovy
import org.arl.fjage.RealTimePlatform
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.sim.channels.*
platform = RealTimePlatform // use real-time mode
///////////////////////////////////////////////////////////////////////////////
// channel and modem settings
channel = [
model: ProtocolChannelModel,
soundSpeed: 1500.mps,
communicationRange: 3.km,
interferenceRange: 3.km
]
modem.model = USMARTModem
modem.dataRate = [640.bps, 6400.bps]
modem.frameLength = [16.bytes, 64.bytes]
modem.powerLevel = [0.dB, -10.dB]
modem.headerLength = 0
modem.preambleDuration = 0
modem.txDelay = 0
simulate {
node '1', address: 1, web: 8101, api: 1101, stack: {
container -> container.add 'pyagent1', new PythonAgent()
}
node '2', address: 2,location: [500.m ,500.m, -500.m], web: 8102, api: 1102, stack: {
container -> container.add 'pyagent2', new PythonAgent()
}
}
PythonAgent.groovy
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.phy.RxFrameNtf
import org.arl.unet.phy.TxFrameNtf
class PythonAgent extends UnetAgent {
final static int PING_PROTOCOL = 10;
final static int NODE_STATUS_PROTOCOL = 11;
final static int BROADCAST_PROTOCOL = 12;
final static int UNICAST_PROTOCOL = 13;
final static int UNICAST_ACK_PROTOCOL = 14;
final static int TEST_MSG_PROTOCOL = 15;
final static int ECHO_PROTOCOL = 16;
final static int QUALITY_PROTOCOL = 17;
def nodeInfo;
def phy;
def myLocation;
def myAddress;
def IDreq = 0;
def time_ping = null;
def function_state = null;
def data_to_py = null;
void startup() {
println(agentID.name + ' running')
nodeInfo = agentForService Services.NODE_INFO
phy = agentForService Services.PHYSICAL
myLocation = nodeInfo.location
myAddress = nodeInfo.address
subscribe topic(phy)
add new MessageBehavior(GenericMessage, { req ->
println("In PythonAgent::MessageBehavior req ="+req)
if (req.performative) println("req.performative is " + req.performative)
else println("req.performative is null")
def ack = new GenericMessage(req, Performative.INFORM)
def rsp = new GenericMessage(req, Performative.INFORM)
println('IDreq = ' + req.IDreq)
if ((req.performative == Performative.REQUEST) && (req.IDreq == 2)) {
// IDreq = req.IDreq
// println('IDreq = ' + IDreq)
//log.info "Generic message request of type ${req.type}"
function_state = 'None';
data_to_py = 'None';
switch (req.type) {
case 'set_address':
println("Handling set_address")
ack.state = "Handling set_address"
ack.data = '#A' + corrected_address(myAddress);
send ack;
rsp.data = ack.data; break;
}
}
})
add new MessageBehavior(GenericMessage, { req ->
println("In PythonAgent::MessageBehavior req ="+req)
if (req.performative) println("req.performative is " + req.performative)
else println("req.performative is null")
def ack = new GenericMessage(req, Performative.INFORM)
def rsp = new GenericMessage(req, Performative.INFORM)
println('IDreq = ' + req.IDreq)
if ((req.performative == Performative.REQUEST) && (req.IDreq == 2)) {
// IDreq = req.IDreq
// println('IDreq = ' + IDreq)
//log.info "Generic message request of type ${req.type}"
function_state = 'None';
data_to_py = 'None';
switch (req.type) {
case 'set_address':
println("Handling set_address")
ack.state = "Handling set_address"
ack.data = '#A' + corrected_address(myAddress);
send ack;
rsp.data = ack.data; break;
case 'loc':
//println("Handling localisation request");
sendUPSBeacon(); break;
case 'ping':
println("Handling ping request");
ack.state = "Handling ping request"; ack.data = '$P' + corrected_address(req.to_addr);
send ack;
ping(req.to_addr);
rsp.time_ping = time_ping; break;
case 'exe':
//println("Handling exe request");
exe(); break;
case 'sense':
//println("Handling sense request");
sense(); break;
default: println "Unknown request";
}
//println "In USMARTBaseAnchorDaemon::MessageBehavior, just after exe"
rsp.state = function_state
rsp.data = data_to_py
println "In PythonAgent::MessageBehavior, rsp is " + rsp
send rsp
}
})
}
void ping(to_addr) {
println "Pinging ${to_addr} at ${nanoTime()}"
DatagramReq req = new DatagramReq(to: to_addr, protocol: PING_PROTOCOL)
phy << req
def txNtf = receive(TxFrameNtf, 10000) // TO-DO:check protocol
def rxNtf = receive({ it instanceof RxFrameNtf && it.from == req.to}, 10000)
if (txNtf && rxNtf && rxNtf.from == req.to) {
time_ping = (rxNtf.rxTime-txNtf.txTime)/1000 //in ms
println("Response from ${rxNtf.from}: ")
println("rxTime=${rxNtf.rxTime}")
println("txTime=${txNtf.txTime}")
println("Response from ${rxNtf.from}: time = ${time_ping}ms")
function_state = 'Ping processed'
data_to_py = "#R" + corrected_address(to_addr) + 'T' + rxNtf.data
}
else {
function_state = 'Ping Request timeout'
println (function_state)
}
}
@Override
void processMessage(Message msg) {
// pong
if (msg instanceof DatagramNtf && msg.protocol == PING_PROTOCOL) {
println("pong : Node "+ myAddress + ' from ' + msg.from +" protocol is "+ msg.protocol)
send new DatagramReq(recipient: msg.sender, to: msg.from, data: phy.energy as byte[], protocol: PING_PROTOCOL)
println ('processMessage energy : ' + phy.energy)
}
}
String corrected_address(address) {
address = address.toString()
if (address.size() == 1) address = '00' + address
if (address.size() == 2) address = '0' + address
return address
}
}
USMARTModem.groovy
import org.arl.fjage.Message
import org.arl.unet.sim.HalfDuplexModem
import org.arl.fjage.*
import org.arl.unet.*
import org.arl.unet.phy.*
import org.arl.unet.sim.*
import org.arl.unet.sim.channels.*
import static org.arl.unet.Services.*
import static org.arl.unet.phy.Physical.*
/*
Ptx= V*Itx //power consumed in transmission in watt
Prx = V*Irx //power consumed in receiving packets in watt
Etx = Math.floor(avgSent)*(Ptx*0.3675)
energyAll = (Math.floor(avgSent)*(Ptx*0.3675)) + (Math.floor(avgReceived)*(Prx*0.3675)) // total energy consumed for all the packets sent and received throughout the simulation
// EtxSubset = Math.floor(avgTxCountNs)*(Ptx*0.3675) // energy consumed in transmitiing 25% of packets in Joul
bytesDelivered = Math.floor(avgReceived)* modem.frameLength[1]
JPerBit = energyAll/(bytesDelivered * 8)
*/
//Duration of data packet in seconds = data packet size (in bits)/bandwidth (in bps) = (15*8)/50000 = 0.0024
class USMARTModem extends HalfDuplexModem {
static final def txPower = -17.dB
static final def acousticDataRate = 640.bps
static final def payLoadSize = 5.bytes
static final def headerDuration = (30+75+200)/1000 //in seconds --> in our case nanomodem v3 provides us with the header (in ms) to add to the actual payload in the frame length.. refer to the modem datasheet
static final def V = 5 // supply voltage in volt
static final def Itx = 0.3, Irx = 0.005, Iidle = 0.0025 //current in Am
float payLoadDuration = (payLoadSize*8)/acousticDataRate //in seconds
float dataPacketDuration = payLoadDuration +headerDuration //in seconds
float energy = 2000 //initial energy in Joule
float test = energy+1
float Ptx = V*Itx, Prx=V*Irx, Pidle = V*Iidle //power in watt
float totalEtx =0
float totalErx =0
float totalEidle =0
float totalEnergyConsumed =0
float Etx = Ptx * dataPacketDuration //Energy in Joul
float Erx = Prx * dataPacketDuration
float Eidle = Pidle * dataPacketDuration
// float power = 0.00001995262315 //in watt (-17 in db=10log(p/1mw) .. so p = 10to the power -1.7 = 0.00001995262315
// BigDecimal Ptx = (Math.pow(10.0,(txPower/10) ))/1000 //????
// BigDecimal Etx= Ptx *((frameLength[1]*8)/640) // This is consumed energy (in transmission) Etx = Ptx*time it takes to tramsnit tha packet
//float Etx =10
@Override
boolean send(Message m) {
if (m instanceof TxFrameNtf)
{
energy -= Etx// Remaining energy
totalEtx += Etx //total energy consumed in tx
}
if (m instanceof RxFrameNtf)
{
energy -= Erx // Remaining energy
totalErx += Erx //total energy consumed in rx
}
if(!busy)
{
energy-= Eidle //Remaining energy
totalEidle += Eidle //total energy consumed while Eidle
}
totalEnergyConsumed = totalEtx+totalErx+totalEidle
return super.send(m)
}
}
抱歉拖了很长很长的时间post...我认为一切都是理解代码所必需的
你原代码中的几个问题：
- 您不需要创建服务，因为您可以通过代理的名称来寻址代理。这对于此处的示例应该足够了。
- 要处理请求（
DatagramReq来自您的 Python 代码），您应该重写代理中的processRequest()方法。
这是一个基于您的原始代码的简化示例：
PythonAgent.groovy:
import org.arl.fjage.*
import org.arl.unet.*
class PythonAgent extends UnetAgent {
void startup() {
println('pyAgent running')
}
@Override
Message processRequest(Message msg) {
if (msg instanceof DatagramReq) {
println('Got a DatagramNtf')
// do whatever you want with the request
return new Message(msg, Performative.AGREE)
}
return null
}
}
sim1.groovy:
import org.arl.fjage.RealTimePlatform
platform = RealTimePlatform // use real-time mode
simulate {
node '1', address: 1, web: 8101, api: 1101, stack: {
container -> container.add 'pyagent', new PythonAgent()
}
}
和test1.py:
from unetpy import *
from fjagepy import *
sock = UnetSocket('localhost', 1101) # node 1's API port as per sim script
gw = sock.getGateway()
pyagent = gw.agent('pyagent') # agent name as per sim script
rsp = pyagent << DatagramReq()
print(rsp)
谢谢，我不知道我需要@Override。我还有一个问题，如何将可以在 UnetStack 中提取的数据放入 DatagramReq 中？ 我尝试将此作为查看手册的第一个解决方案，但它不起作用..
PythonAgent.groovy
import org.arl.fjage.*
import org.arl.unet.*
class PythonAgent extends UnetAgent {
void startup() {
println('pyAgent running')
}
@Override
Message processRequest(Message msg) {
if (msg instanceof DatagramReq) {
println('Got a DatagramNtf')
println(msg.data)
// do whatever you want with the request
return new Message(msg, Performative.AGREE)
}
return null
}
}
test1.py
from unetpy import *
from fjagepy import *
sock = UnetSocket('localhost', 1101) # node 1's API port as per sim script
gw = sock.getGateway()
pyagent = gw.agent('pyagent') # agent name as per sim script
rsp1 = pyagent << DatagramReq( data = [42])
rsp2 = pyagent << DatagramReq( data = 'data_string')
print(rsp1, rsp2)
在 Python 终端上，我将得到 Agree None。我可以传输数组但不能传输字符串？
日志打印
Incoming connection tcp:///127.0.0.1:1101//127.0.0.1.51208
1583166206032 INFO PythonAgent/1@2643:println Got a DatagramNtf
1583166206032 INFO PythonAgent/1@2643:println [B@4e3d88df
1583166206033 WARNING org.arl.fjage.remote.ConnectionHandler@2670:run Bad JSON request: java.lang.IllegalArgumentException: Illegal base64 character 5f in {"action": "send", "relay": true, "message": { "clazz": "org.arl.unet.DatagramReq", "data": {"msgID":"492ac9dd-c2bf-4c0c-9198-3b32fb416f33","perf":"REQUEST","recipient":"pyagent","sender":"PythonGW-c8e66e0f-b5d5-433b-bfa9-09be708ab4c9","inReplyTo":null,"data":"data_string"} }}
1583166207081 INFO org.arl.unet.sim.SimulationMasterContainer@2670:connectionClosed Connection tcp:///127.0.0.1:1101//127.0.0.1.51208 closed
[B@4e3d88df 对应 [42] 但我不知道如何解码。事实上，我对发送字符串比发送数组更感兴趣。我知道如何使用 PDU，但它如何与 Python 一起使用？