Source code for stonesoup.sensor.actionable

import datetime
import inspect
from abc import ABC, abstractmethod
from typing import Set, Sequence

from .action import Action, ActionGenerator
from ..base import Base, Property

[docs]class ActionableProperty(Property): """Property that is modified via an :class:`~.Action` with defined, non-equal start and end times.""" def __init__(self, generator_cls, cls=None, *, default=inspect.Parameter.empty, doc=None, readonly=False): super().__init__(cls=cls, default=default, doc=doc, readonly=readonly) self.generator_cls = generator_cls
[docs]class Actionable(Base, ABC): """Base Actionable type. Contains the core methods of an actionable sensor/platform type. Notes ----- An Actionable is required to have a `timestamp` attribute, in order to validate actions and act. This is an abstract base class, and not intended for direct use. Attaining a timestamp is left to the inheriting type. """ resolutions: dict = Property( default=None, doc="Mapping of each :class:`~.ActionableProperty` of the sensor and " "corresponding resolutions at which the sensor is able to be tasked.") def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) self.scheduled_actions = dict() # dictionary of property - action pairs @property def _actionable_properties(self): """Dictionary of all name - property pairs where the property is an :class:`~.ActionableProperty` (i.e. it is modified via action).""" return {_name: _property for _name, _property in type(self).properties.items() if isinstance(_property, ActionableProperty)} def _default_action(self, name, property_, timestamp): """Returns the default action of the action generator associated with the property (assumes the property is an :class:`~.ActionableProperty`.""" if self.resolutions and name in self.resolutions.keys(): generator = property_.generator_cls(owner=self, attribute=name, start_time=self.timestamp, end_time=timestamp, resolution=self.resolutions[name]) else: generator = property_.generator_cls(owner=self, attribute=name, start_time=self.timestamp, end_time=timestamp) return generator.default_action
[docs] def actions(self, timestamp: datetime.datetime, start_timestamp: datetime.datetime = None ) -> Set[ActionGenerator]: """Method to return a set of action generators available up to a provided timestamp. A generator is returned for each actionable property that the sensor has. Parameters ---------- timestamp: datetime.datetime Time of action finish. start_timestamp: datetime.datetime, optional Time of action start. Returns ------- : set of :class:`~.ActionGenerator` Set of action generators, that describe the bounds of each action space. """ if not self.validate_timestamp(): self.timestamp = timestamp if start_timestamp is None: start_timestamp = self.timestamp generators = set() for name, property_ in self._actionable_properties.items(): if self.resolutions and name in self.resolutions.keys(): generators.add(property_.generator_cls(owner=self, attribute=name, start_time=start_timestamp, end_time=timestamp, resolution=self.resolutions[name])) else: generators.add(property_.generator_cls(owner=self, attribute=name, start_time=start_timestamp, end_time=timestamp)) return generators
[docs] def add_actions(self, actions: Sequence[Action]) -> bool: """Add actions to the sensor Parameters ---------- actions: sequence of :class:`~.Action` Sequence of actions that will be executed in order Returns ------- bool Return True if actions accepted. False if rejected. Returns neither if timestamp is invalid. Raises ------ NotImplementedError If sensor cannot be tasked. Notes ----- Base class returns True """ if not self.validate_timestamp(): return if any(action.end_time < self.timestamp for action in actions): raise ValueError("Cannot schedule an action that ends before the current time.") if len(actions) > len(self._actionable_properties): raise ValueError("Cannot schedule more actions than there are actionable properties.") for name in self._actionable_properties: for action in actions: if action.generator.attribute == name: self.scheduled_actions[name] = action break return True
[docs] def act(self, timestamp: datetime.datetime): """Carry out actions up to a timestamp. Parameters ---------- timestamp: datetime.datetime Carry out actions up to this timestamp. """ if not self.validate_timestamp(): self.timestamp = timestamp return for name, property_ in self._actionable_properties.items(): value = getattr(self, name) try: action = self.scheduled_actions[name] except KeyError: action = self._default_action(name, property_, timestamp) setattr(self, name, action.act(self.timestamp, timestamp, value)) else: end_time = action.end_time if end_time < timestamp: # complete action, remove from schedule # switch to default, and carry-out default until timestamp interim_value = action.act(self.timestamp, end_time, value) # remove scheduled action self.scheduled_actions.pop(name) action = self._default_action(name, property_, timestamp) setattr(self, name, action.act(end_time, timestamp, interim_value)) elif end_time == timestamp: # complete action and remove from schedule setattr(self, name, action.act(self.timestamp, timestamp, value)) self.scheduled_actions.pop(name) else: # carry-out action to timestamp setattr(self, name, action.act(self.timestamp, timestamp, value)) self.timestamp = timestamp
[docs] @abstractmethod def validate_timestamp(self) -> bool: """Method to validate the timestamp of the actionable. Returns ------- bool True if timestamp is valid, False otherwise. """ raise NotImplementedError