47 lines
1.6 KiB
Python
47 lines
1.6 KiB
Python
from __future__ import annotations
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import asyncio
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import time
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import uuid
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from dataclasses import dataclass, field
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from typing import Dict, Any
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from .models import LocalRobotPlan, PlanDelta, SharedSignals, DualVariables
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# Simple, production-leaning delta version counter to enable deterministic repro and auditing
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_delta_version: int = 0
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@dataclass
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class SolverState:
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duals: Dict[str, DualVariables] = field(default_factory=dict)
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deltas: Dict[str, PlanDelta] = field(default_factory=dict)
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async def admm_step(left_plan: LocalRobotPlan, right_plan: LocalRobotPlan, signals: SharedSignals) -> PlanDelta:
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# Very small, toy ADMM-like step: adjust a simple objective value per fleet and produce delta
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# This is a placeholder for a real, more complex asynchronous coordination loop.
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await asyncio.sleep(0.01) # simulate async work
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delta_changes = {
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"cost_improvement": max(0.0, 1.0 - signals.signals.get("energy", 0.0))
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}
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# Increment a global delta version for deterministic reconciliation/auditing
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global _delta_version
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_delta_version += 1
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nonce = uuid.uuid4().hex
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timestamp = time.time()
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return PlanDelta(
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delta_id=f"delta-{left_plan.robot_id}-{right_plan.robot_id}",
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fleet_id=left_plan.fleet_id,
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changes=delta_changes,
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version=_delta_version,
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nonce=nonce,
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timestamp=timestamp,
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)
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async def coordinate_fleets(left_plan: LocalRobotPlan, right_plan: LocalRobotPlan, registry_signals: SharedSignals) -> PlanDelta:
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# Run a single ADMM-like step between two fleets.
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delta = await admm_step(left_plan, right_plan, registry_signals)
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return delta
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