Reference for MissionMessage
This class is used to parse incoming messages into attributes (see below) and provide a simple interface for responding to each message.
IMPORTANT NOTE: Messages MUST be responded by one of the following methods to as BHV_Agent will not send another update until it has a response to the last.
act(action)<---- Most commonrequest_new()start()pause()stop()
Attributes:
| Name | Type | Description |
|---|---|---|
vname |
str |
The vehicle's name which generated the message. |
state |
dict |
A dictionary containing key, value pairs of MOOS vars and their associated value at the time the message was created by |
episode_report |
dict or None |
If |
episode_state |
str or None |
If |
Source code in mivp_agent/messages.py
class MissionMessage:
'''
This class is used to parse incoming messages into attributes (see below) and provide a simple interface for responding to each message.
**IMPORTANT NOTE:** Messages **MUST** be responded by one of the following methods to as `BHV_Agent` will not send another update until it has a response to the last.
- [`act(action)`][mivp_agent.manager.MissionMessage.act] **<---- Most common**
- [`request_new()`][mivp_agent.manager.MissionMessage.request_new]
- [`start()`][mivp_agent.manager.MissionMessage.start]
- [`pause()`][mivp_agent.manager.MissionMessage.pause]
- [`stop()`][mivp_agent.manager.MissionMessage.stop]
Attributes:
vname (str): The vehicle's name which generated the message.
state (dict): A dictionary containing key, value pairs of MOOS vars and their associated value at the time the message was created by `BHV_Agent`.
episode_report (dict or None): If `pEpisodeManager` is present on the vehicle this message will contain any "report" generated by it at the end of episodes. If no `pEpisodeManager` is present, the **value will be** `None`.
episode_state (str or None): If `pEpisodeManager` is present on the vehicle this message will be the state which that app is broadcasting. Otherwise, it will be `None`.
'''
def __init__(self, addr, msg, is_transition=True):
# For use my MissionManager
self._addr = addr
self._response = None
self._rsp_lock = Lock()
# For use by client
self.state = msg
self.vname = msg[KEY_ID]
self.episode_report = self.state[KEY_EPISODE_MGR_REPORT]
self.episode_state = None
if self.state[KEY_EPISODE_MGR_STATE] is not None:
self.episode_state = self.state[KEY_EPISODE_MGR_STATE]
# For use by logger
self._is_transition = is_transition
def _assert_no_rsp(self):
assert self._response is None, 'This message has already been responded to'
def mark_transition(self):
with self._rsp_lock:
assert self._response is None, "A message's state can only be marked at a transition before a response to that message has been set."
self._is_transition = True
def act(self, action):
'''
This is used to send an action for the `BHV_Agent` to execute.
Args:
action (dict): An action to send (see below)
Example:
Actions submitted through `MissionMessage` are python dictionaries with the following **required** fields.
```
msg.act({
'speed': 1.0
'course': 180.0
})
```
Example:
Optionally, one can add a MOOS var and value they would like to post.
```
msg.act({
'speed': 0.0
'course': 0.0
'posts': {
'ACTION': 'ATTACK_LEFT'
},
})
```
'''
self._assert_no_rsp()
# Copy so we don't run into threading errors if client reuses the action dict
instr = action.copy()
if 'posts' not in action:
instr['posts'] = {}
validateAction(instr)
instr['ctrl_msg'] = 'SEND_STATE'
with self._rsp_lock:
self._response = instr
def start(self):
'''
This method is used to send a message to `pEpisodeManager` to **start** an episode. The following message will be constructed and dispatched.
```
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=start'
},
}
```
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_START
def pause(self):
'''
This method is used to send a message to `pEpisodeManager` to **pause** after the current episode. The following messagewill be constructed and dispatched.
```
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=pause'
},
}
```
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_PAUSE
def stop(self):
'''
This method is used to send a message to `pEpisodeManager` to **hardstop** an episode immediately. The following messagewill be constructed and dispatched.
```
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=hardstop'
},
}
```
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_STOP
def request_new(self):
'''
This method is used to send ask `BHV_Agent` to send another action.
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_SEND_STATE
act(self, action)
This is used to send an action for the BHV_Agent to execute.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
action |
dict |
An action to send (see below) |
required |
Examples:
Actions submitted through MissionMessage are python dictionaries with the following required fields.
msg.act({
'speed': 1.0
'course': 180.0
})
Examples:
Optionally, one can add a MOOS var and value they would like to post.
msg.act({
'speed': 0.0
'course': 0.0
'posts': {
'ACTION': 'ATTACK_LEFT'
},
})
Source code in mivp_agent/messages.py
def act(self, action):
'''
This is used to send an action for the `BHV_Agent` to execute.
Args:
action (dict): An action to send (see below)
Example:
Actions submitted through `MissionMessage` are python dictionaries with the following **required** fields.
```
msg.act({
'speed': 1.0
'course': 180.0
})
```
Example:
Optionally, one can add a MOOS var and value they would like to post.
```
msg.act({
'speed': 0.0
'course': 0.0
'posts': {
'ACTION': 'ATTACK_LEFT'
},
})
```
'''
self._assert_no_rsp()
# Copy so we don't run into threading errors if client reuses the action dict
instr = action.copy()
if 'posts' not in action:
instr['posts'] = {}
validateAction(instr)
instr['ctrl_msg'] = 'SEND_STATE'
with self._rsp_lock:
self._response = instr
pause(self)
This method is used to send a message to pEpisodeManager to pause after the current episode. The following messagewill be constructed and dispatched.
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=pause'
},
}
Source code in mivp_agent/messages.py
def pause(self):
'''
This method is used to send a message to `pEpisodeManager` to **pause** after the current episode. The following messagewill be constructed and dispatched.
```
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=pause'
},
}
```
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_PAUSE
request_new(self)
This method is used to send ask BHV_Agent to send another action.
Source code in mivp_agent/messages.py
def request_new(self):
'''
This method is used to send ask `BHV_Agent` to send another action.
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_SEND_STATE
start(self)
This method is used to send a message to pEpisodeManager to start an episode. The following message will be constructed and dispatched.
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=start'
},
}
Source code in mivp_agent/messages.py
def start(self):
'''
This method is used to send a message to `pEpisodeManager` to **start** an episode. The following message will be constructed and dispatched.
```
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=start'
},
}
```
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_START
stop(self)
This method is used to send a message to pEpisodeManager to hardstop an episode immediately. The following messagewill be constructed and dispatched.
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=hardstop'
},
}
Source code in mivp_agent/messages.py
def stop(self):
'''
This method is used to send a message to `pEpisodeManager` to **hardstop** an episode immediately. The following messagewill be constructed and dispatched.
```
{
'speed': 0.0,
'course': 0.0,
'posts': {
'EPISODE_MGR_CTRL': 'type=hardstop'
},
}
```
'''
self._assert_no_rsp()
with self._rsp_lock:
self._response = INSTR_STOP