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Fix formats of rospy.loginfo #47

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May 23, 2020
Merged

Fix formats of rospy.loginfo #47

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26 changes: 13 additions & 13 deletions mros1_reasoner/scripts/mros1_reasoner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,9 +57,9 @@ def obtainBestFunctionDesign(o):
for fd in list(tomasys.FunctionDesign.instances()):
if fd.solvesF == f:
fds.append(fd)
rospy.loginfo("== FunctionDesigns available for obj: ", [fd.name for fd in fds])
rospy.loginfo("Objective NFR ENERGY: ", o.hasNFR)
rospy.loginfo("== FunctionDesigns available for obj: %s", str([fd.name for fd in fds]))
rospy.loginfo("Objective NFR ENERGY: %s", str(o.hasNFR))

# fiter fds to only those available
# FILTER if FD realisability is NOT FALSE (TODO check SWRL rules are complete for this)
realisable_fds = [fd for fd in fds if fd.fd_realisability != False]
Expand All @@ -77,19 +77,19 @@ def obtainBestFunctionDesign(o):
best_fd = fds_for_obj[0]
for fd in fds_for_obj:
u = utility(fd)
if u > aux:
if u > aux:
best_fd = fd
aux = u
rospy.loginfo("> Best FD available", best_fd.name)

rospy.loginfo("> Best FD available %s", str(best_fd.name))
return best_fd
else:
rospy.logerr("*** OPERATOR NEEDED, NO SOLUTION FOUND ***")
return None

def meetNFRs(o, fds):
filtered = []
rospy.loginfo("== Checking FDs for Objective with NFRs type: ", o.hasNFR[0].isQAtype.name, "and value: ", o.hasNFR[0].hasValue)
rospy.loginfo("== Checking FDs for Objective with NFRs type: %s and value %s ", str(o.hasNFR[0].isQAtype.name), str(o.hasNFR[0].hasValue))
for fd in fds:
for nfr in o.hasNFR:
qas = [qa for qa in fd.hasQAestimation if qa.isQAtype is nfr.isQAtype]
Expand Down Expand Up @@ -178,7 +178,7 @@ def updateValueQA(fg, qa_type, value):
qav = tomasys.QAvalue("obs_{}".format(qa_type.name
), namespace=onto, isQAtype=qa_type, hasValue=value)
fg.hasQAvalue.append(qav)
else:
else:
for qa in qas:
if qa.isQAtype == qa_type:
qa.hasValue = value
Expand Down Expand Up @@ -221,7 +221,7 @@ def print_ontology_status():
def timer_cb(event):
global onto
rospy.loginfo('Entered timer_cb for metacontrol reasoning')

# EXEC REASONING to update ontology with inferences
# TODO CHECK: update reasoner facts, evaluate, retrieve action, publish
# update reasoner facts
Expand All @@ -235,7 +235,7 @@ def timer_cb(event):

# PRINT system status
print_ontology_status()

# EVALUATE and retrieve desired configuration (MAPE - Analysis)
# init objectives in error
objectives_internal_error = []
Expand All @@ -258,7 +258,7 @@ def timer_cb(event):
rospy.logerr("RESULT CONFIG: {}".format(str_specs) ) # for DEBUGGING in csv
if len(str_specs) != 0:
request_reconfiguration() # CHEOPS request reconfiguration by sending cspecs names

# MVP (TODO fix when CHEOPS also only 1)
elif len(objectives_internal_error) == 1 :
fd = selectFD(objectives_internal_error[0])
Expand All @@ -268,7 +268,7 @@ def timer_cb(event):
rospy.loginfo(' >> Started MAPE-K ** EXECUTION **')
result = request_configuration(fd)
rospy.loginfo(' >> Finished MAPE-K ** EXECUTION **')
# Adaptation feedback:
# Adaptation feedback:
if result == 1: # reconfiguration executed ok
rospy.logerr("= RECONFIGURATION SUCCEEDED =") # for DEBUGGING in csv
# update the ontology according to the result of the adaptation action - destroy fg for Obj and create the newly grounded one
Expand Down Expand Up @@ -311,7 +311,7 @@ def request_configuration(fd):
# load ontology
onto_file = rospy.get_param('/onto_file')
loadOntology(onto_file)
rospy.loginfo("Loaded ontology: " + onto_file)
rospy.loginfo("Loaded ontology: %s", str(onto_file))

# initialize the system configuration (FG or grounded FD)
grounded_configuration = rospy.get_param('/desired_configuration', 'standard')
Expand Down