def step(self):
super().before_step()
if self.at_base() and self.cargo:
self.emit_event(0, "ORE_DELIVERY", self.cargo, BASE)
self.cargo = 0
if self.full():
self.state = "MOVE_TO_TARGET"
self.target = self.base.pos()
if self.state == 'IDLE':
# Look for explorers and follow one of the nearest ones.
# If there are none, go to the base.
agents = self.box_scan(self.mp.P // 2)
self.energy -= self.mp.P
explorers = [a for a in agents if EXPLORER in a.group_ids]
transporters = [a for a in agents if TRANSPORTER in a.group_ids]
if explorers:
self.target = random.choice(explorers).pos()
if transporters:
if random.random() < 1 - 1 / (len(transporters) + 1):
v = random.choice(transporters).vec_to(self.pos())
v = v.normalize(
) if not v.is_zero_vec() else Vec2D.random_dir()
v *= 10
self.target = self.world.torus(self.pos() + v.round())
else:
self.target = self.base.pos()
self.target = self.base.pos() # TODO: temp
self.state = 'MOVE_TO_TARGET'
elif self.state == 'MOVE_TO_TARGET':
if self.reached_target():
self.state = 'IDLE' if not self.ores else 'COLLECT_ORES'
else:
if self.move_towards(self.target) or self.move_in_dir(
Vec2D.random_grid_dir()):
self.energy -= self.mp.Q
elif self.state == 'COLLECT_ORES':
ore_idx, ore_pos = self.ores[0]
if ore_pos == self.pos():
self.ores.pop(0)
if self.try_collect_ore(ore_idx):
self.cargo += 1
else:
self.failed_collect_attempts += 1
if self.failed_collect_attempts >= 2: # two failed attempts in a row
self.ores = []
if len(self.ores) == 0:
self.state = 'IDLE'
self.energy -= 1
else:
if self.move_towards(ore_pos) or self.move_in_dir(
Vec2D.random_grid_dir()):
self.energy -= 1
else:
assert False, "shouldn't reach unknown state: '{}'".format(
self.state)
super().after_step()
def main():
l = [Vec2D(0, 0), Vec2D(10, 10), Vec2D(0, 0), Vec2D(10, 10)]
tsm_idx = iterative_inf_norm_tsm(l)
ll = [l[i] for i in tsm_idx]
old_dist = calc_travel_inf_dist(l)
new_dist = calc_travel_inf_dist(ll)
assert old_dist == 30
assert new_dist == 10
print('test succeeded')
def create_world(mp: MasParams):
world = World(w=mp.G, h=mp.G, torus_enabled=True)
n_ores = round(mp.G**2 * mp.D)
for _ in range(n_ores):
world.add_agent(Ore())
positions = []
for x in range(mp.G):
for y in range(mp.G):
positions.append(Vec2D(x, y))
base_positions = random.sample(positions, mp.N)
if mp.M == 1: # cooperation
company_ids = [0] * mp.N
else: # competitive
company_ids = list(range(mp.N))
for base_pos, comp_id in zip(base_positions, company_ids):
base = Base(mp, comp_id)
world.add_agent(base, base_pos)
for _ in range(mp.X):
world.add_agent(Explorer(base, mp, comp_id), pos=base_pos)
for _ in range(mp.Y):
world.add_agent(Transporter(base, mp, comp_id), pos=base_pos)
return world
def initialize(self):
# Create a target a bit off center to view the torus effect
# self.world is set on the agent when added to a world,
# so the world can be accessed within the agent methods
self.start_target = Vec2D(
math.floor(self.world.w * 0.25),
math.floor(self.world.h * 0.25)
)
def step(self):
if not self.reached_target:
self.move_towards(self.start_target)
self.reached_target = self.pos() == self.start_target
else:
near_agents = self.box_scan(10, sort=False)
if near_agents:
self.color = Colors.RED
if random.random() < 0.2:
self.move_rel(Vec2D.random_grid_dir())
else:
other_agent = random.choice(near_agents)
self.move_away_from(other_agent.pos())
else:
self.color = Colors.BLUE
def initialize(self):
self.group_collision_ids = {2, 3}
self.color = Colors.RED
self.destination = Vec2D(random.randint(0,world.h), random.randint(0,world.h))
self.current_ore = []
self.ore_to_pick_up = []
self.ore_in_inventory = []
self.state = "Searching"
self.counter = 0
self.current_energy = self.energy_capacity
self.bases = []
for i in range(len(world.agents)):
if world.agents[i].group_ids == {0}:
self.bases.append(world.agents[i])
self.memory_capacity = self.memory_capacity - len(self.bases)
pass
def initialize(self):
self.group_collision_ids = {2, 3}
self.color = Colors.GREEN
self.destination = Vec2D(random.randint(0,world.h), random.randint(0,world.h))
self.temp_ore = set()
self.current_energy = self.energy_capacity
self.state = "Exploring"
self.counter = 0
self.bases = []
self.perception_radius = P
self.communication_radius = I
for i in range(len(world.agents)):
if world.agents[i].group_ids == {0}:
self.bases.append(world.agents[i])
self.memory_capacity = self.memory_capacity - len(self.bases)
pass
def draw_sample(T):
#world = World(200, 200, max_steps=T)
world = World(w=mining.G, h=mining.G, torus_enabled=True, max_steps=T)
# Add the agents to the world.
base_logger = AgentCountLogger()
BaseLog = base_logger.bind(mining.Base)
for _ in range(mining.N):
world.add_agent(BaseLog(), pos = Vec2D(random.randint(0,world.h), random.randint(0,world.h)))
# Dispurse robots equally amongst bases initially
explorer_logger = AgentCountLogger()
ExplorerLog = explorer_logger.bind(mining.Explorer)
for _ in range(mining.X):
for j in range(mining.N):
world.add_agent(ExplorerLog(), pos = world.agents[j].pos())
transporter_logger = AgentCountLogger()
TransporterLog = transporter_logger.bind(mining.Transporter)
for _ in range(mining.Y):
for j in range(mining.N):
world.add_agent(TransporterLog(), pos = world.agents[j].pos())
# Add ore on the map (as agents)
ore_total = world.w * world.h * mining.D # The density of ores is multiplied with the mapsize to make the correct amount of ore
ore_logger = AgentCountLogger()
OreLog = ore_logger.bind(mining.Ore)
for _ in range(int(ore_total)):
world.add_agent(OreLog())
explorer_counts = []
transporter_counts = []
base_counts = []
ore_counts = []
while not world.ended:
explorer_counts.append(explorer_logger.count)
transporter_counts.append(transporter_logger.count)
base_counts.append(base_logger.count)
ore_counts.append(ore_total - ore_logger.count)
world.step()
#vis = Visualizer(world, target_speed=25)
#vis.start()
return [explorer_counts, transporter_counts, ore_counts] # [explorer_counts, transporter_counts, base_counts]
def step(self):
#####################################################################################
if self.dist(self.bases[self.find_nearest_base()].pos()) + 10 > self.current_energy:
#print("Explorer " + str(self.idx) + " almost out of energy. Returning to base")
self.state = "Returning"
if self.state == "Exploring":
if self.counter < 15 :
self.move_towards(self.destination)
self.group_collision_ids = {2, 3}
self.consume_energy(Q)
self.counter = self.counter + 1
else:
self.temp_ore = self.box_scan(rng = self.perception_radius, group_id = 1) #Only performs scans when moving
while len(self.temp_ore) > self.memory_capacity:
self.temp_ore.pop()
self.consume_energy(self.perception_radius) #Consuming energy due to perception radius
if self.temp_ore != None:
self.emit_event(self.communication_radius, "Pickup request", self.temp_ore)
self.consume_energy(1) # Consume energy due to communication
# Reset the counter and make a new destination
self.counter = 0
self.destination = Vec2D(random.randint(0,world.h), random.randint(0,world.h))
#####################################################################################
elif self.state == "Returning":
self.destination = world.agents[self.find_nearest_base()].pos()
self.move_towards(self.destination)
self.consume_energy(Q)
if self.pos() == self.destination:
self.group_collision_ids = set()
#print("Explorer reached base. Recharging energy")
self.current_energy = self.energy_capacity
self.counter = 0
self.state = "Exploring"
if self.current_energy <= 0:
print("Agent " + str(self.idx) + " died")
world.remove_agent(self.idx)
pass
def main():
world = World(w=G, h=G, torus_enabled=True, max_steps=T) # create world, torus or not
# Add the agents to the world.
for _ in range(N):
world.add_agent(Base(), pos = Vec2D(random.randint(0,world.h), random.randint(0,world.h)))
# Dispurse robots equally amongst bases initially
for _ in range(X):
for j in range(N):
world.add_agent(Explorer(), pos = world.agents[j].pos())
for _ in range(Y):
for j in range(N):
world.add_agent(Transporter(), pos = world.agents[j].pos())
# Add ore on the map (as agents)
ore_total = world.w * world.h * D # The density of ores is multiplied with the mapsize to make the correct amount of ore
for _ in range(int(ore_total)):
world.add_agent(Ore())
# The world proceeds by calling 'world.step()'
while not world.ended:
world.step()
def initialize(self):
self.group_collision_ids = {2, 3}
self.color = Colors.GREEN
self.destination = Vec2D(random.randint(0,self.world.h), random.randint(0,self.world.h))
self.temp_ore = []
self.discovered_ore = []
self.ore_to_forget = []
self.current_energy = self.energy_capacity
self.state = "Exploring"
self.counter = 0
self.bases = []
self.perception_radius = P
self.communication_radius = I
self.current_friend = None
self.exploration_radius = random.randint(15, 30)
for i in range(len(self.world.agents)):
if self.world.agents[i].group_ids == {0}:
self.bases.append(self.world.agents[i])
self.memory_capacity = self.memory_capacity - len(self.bases)
pass
def step(self):
self.move_rel(Vec2D.random_grid_dir())
self.emit_event(brush_radius, "PAINT", self.pos())
if event_type == "PAINT":
emit_pos = data
dir = -self.vec_to(emit_pos)
dist = dir.magnitude()
dir_angle = (dir.angle() + (self.world.time * 0.1)) % (math.pi * 2)
hue = dir_angle / (2 * math.pi)
if dist < brush_radius:
self.color = colorsys.hsv_to_rgb(hue, 1, 1)
if dist < brush_radius * 0.5:
self.color = Colors.WHITE
for x in range(size):
for y in range(size):
world.add_agent(Canvas(), Vec2D(x, y))
class Brush(Agent):
color = Colors.WHITE
start_target: Vec2D = None
reached_target = False
def step(self):
self.move_rel(Vec2D.random_grid_dir())
self.emit_event(brush_radius, "PAINT", self.pos())
world.add_agent(Brush(), Vec2D(size // 2, size // 2))
vis = Visualizer(world, scale=3, target_speed=100)
def step(self):
if not self.world.ended:
#####################################################################################
if self.dist(self.bases[self.find_nearest_base()].pos()) + 15 > self.current_energy:
self.state = "Returning"
if self.state == "Exploring":
if self.counter < self.exploration_radius :
self.move_towards(self.destination)
self.group_collision_ids = {2, 3}
self.consume_energy(Q)
else:
self.temp_ore = self.box_scan(rng = self.perception_radius, group_id = 1) #Only performs scans when moving
self.consume_energy(self.perception_radius) #Consuming energy due to perception radius
for i in range(len(self.temp_ore)): # Add ore into memory until cap.
if len(self.discovered_ore) <= self.memory_capacity and self.temp_ore[i] not in self.discovered_ore:
self.discovered_ore.append(self.temp_ore[i])
if self.discovered_ore != None:
self.emit_event(self.communication_radius, "Pickup request", self.discovered_ore + [self.idx])
self.consume_energy(1) # Consume 1 energy unit due to communication
if len(self.discovered_ore) == self.memory_capacity:
self.state = "Requesting"
# Reset the counter and make a new destination
self.counter = 0
self.destination = Vec2D(random.randint(0,self.world.h), random.randint(0,self.world.h))
#####################################################################################
elif self.state == "Requesting":
# Counter has just been set to zero and we already have a new destionation,
# but we stay (using that counter) until a Transporter has releived us of some memory-space
if self.counter % 5 == 0: # Tries 10 times every fifth step to make pickup-request
self.emit_event(self.communication_radius, "Pickup request", self.discovered_ore)
self.consume_energy(1) # Consume 1 energy unit due to communication
if self.counter > 50 : # Give up and go exploring again... will in reality only move once and try again
self.counter = 0
self.state = "Exploring"
self.discovered_ore = []
#####################################################################################
elif self.state == "Choosing":
if self.discovered_ore != []:
for i in range(len(self.ore_to_forget)):
if self.ore_to_forget[i] in self.discovered_ore:
self.discovered_ore.remove(self.ore_to_forget[i])
self.emit_event(self.communication_radius, "Choose transporter", [self.current_friend, self.idx])
self.current_friend = None
self.state = "Exploring" # Now the explorers should not get stuck....
#####################################################################################
elif self.state == "Returning":
self.destination = self.world.agents[self.find_nearest_base()].pos()
self.move_towards(self.destination)
self.consume_energy(Q)
if self.pos() == self.destination: # Maybe change this into dist(pos, base)< 1.5 (lidt snyd)
self.group_collision_ids = set()
self.current_energy = self.energy_capacity
self.exploration_radius = random.randint(15, 30)
self.counter = 0
self.destination = Vec2D(random.randint(0,self.world.h), random.randint(0,self.world.h))
self.discovered_ore = []
self.current_friend = None
self.state = "Exploring"
if self.current_energy <= 0:
print("Agent " + str(self.idx) + " died")
self.world.remove_agent(self.idx)
self.counter = self.counter + 1
pass
def step(self):
if not self.world.ended:
if self.dist(self.bases[self.find_nearest_base()].pos()) + 15 > self.current_energy:
self.destination = self.bases[self.find_nearest_base()].pos()
self.state = "Returning"
#####################################################################################
if self.state == "Searching":
self.group_collision_ids = {2, 3}
if self.counter < 20 :
self.move_towards(self.destination)
self.consume_energy(Q)
else:
self.counter = 0
self.destination = Vec2D(random.randint(0,self.world.h), random.randint(0,self.world.h))
#####################################################################################
elif self.state == "Pickup" :
if len(self.ore_in_inventory) >= self.inventory_capacity: # Inventory full
self.destination = self.bases[self.find_nearest_base()].pos()
self.state = "Returning"
elif len(self.ore_to_pick_up) < 1:
self.state = "Searching"
else:
# Picking a new target
self.current_ore = self.ore_to_pick_up[0] #random.randint(0, len(self.ore_to_pick_up)-1)
if self.current_ore.idx in self.world.active_agents: #if self.current_ore.picked == False:
self.destination = self.current_ore.pos()
self.move_towards(self.destination)
self.consume_energy(Q)
self.state = "Moving"
else:
self.ore_to_pick_up.remove(self.current_ore)
self.state = "Pickup"
#####################################################################################
elif self.state == "Moving":
self.move_towards(self.destination)
self.consume_energy(Q)
if self.pos() == self.destination:
#deactive ore and remove from memory
self.ore_to_pick_up.remove(self.current_ore)
if self.current_ore.idx in self.world.active_agents: #if self.current_ore.picked == False:
self.current_ore.pickup(self) # Tell the ore that it has been picked up
self.ore_in_inventory.append(self.current_ore)
self.consume_energy(1) #Picking an ore costs 1 energy
self.state = "Pickup"
#####################################################################################
elif self.state == "Acknowledging":
# self.temp_ore now has as many ores as I can handle. Acknowledge back with my and friend's ID
self.emit_event(self.communication_radius, "Pickup acknowledgement", self.temp_ore + [self.current_friend, self.idx])
self.consume_energy(1)
self.state = "Pickup"
#####################################################################################
elif self.state == "Returning":
self.move_towards(self.destination)
self.consume_energy(Q)
if self.pos() == self.destination :
self.group_collision_ids = set()
self.bases[self.find_nearest_base()].deposit(self.ore_in_inventory) # Depositing ore into base
self.ore_in_inventory = []# Removing ore from inventory'
self.current_energy = self.energy_capacity #Recharging
#if self.ore_to_pick_up != []:
# self.destination = self.ore_to_pick_up[0].pos()
#else:
# This is not very smart...
self.destination = Vec2D(random.randint(0,self.world.h), random.randint(0,self.world.h))
self.state = "Pickup"
#####################################################################################
self.counter = self.counter + 1
if self.current_energy <= 0:
print("Agent " + str(self.idx) + " died")
self.world.remove_agent(self.idx)
pass
def step(self):
#####################################################################################
if self.dist(world.agents[0].pos()) + 10 > self.current_energy:
#print("Transporter " + str(self.idx) + " almost out of energy. Returning to base")
self.state = "Returning"
if self.state == "Searching":
self.group_collision_ids = {2, 3}
if self.counter < 15 :
self.move_towards(self.destination)
self.consume_energy(Q)
else:
self.counter = 0
self.destination = Vec2D(random.randint(0,world.h), random.randint(0,world.h))
#####################################################################################
elif self.state == "Pickup" :
if len(self.ore_in_inventory) > self.inventory_capacity:
#print("Inventory full on " + str(self.idx) + ". Returning to base")
self.destination = self.bases[self.pick_base()].pos()
self.state = "Returning"
elif len(self.ore_to_pick_up) < 2:
#print("Ran out of ore to find. Searching for an Explorer")
self.state = "Searching"
else:
# Picking a new target
self.current_ore = self.ore_to_pick_up[0] #random.randint(0, len(self.ore_to_pick_up)-1)
if self.current_ore.picked == False:
self.destination = Vec2D(self.current_ore.pos().x, self.current_ore.pos().y)
self.move_towards(self.destination)
self.consume_energy(Q)
self.state = "Moving"
else:
self.ore_to_pick_up.remove(self.current_ore)
self.state = "Pickup"
#####################################################################################
elif self.state == "Moving":
self.move_towards(self.destination)
self.consume_energy(Q)
if self.pos() == self.destination:
#deactive ore and remove from memory
self.ore_to_pick_up.remove(self.current_ore)
if self.current_ore.picked == False:
#print("Found valid ore. Picking ore from world.")
self.current_ore.pickup(self) # Tell the ore that it has been picked up
self.ore_in_inventory.append(self.current_ore)
self.consume_energy(1) #Picking an ore costs 1 energy
self.state = "Pickup"
#####################################################################################
elif self.state == "Returning":
self.move_towards(self.destination)
self.consume_energy(Q)
if self.pos() == self.destination :
self.bases[self.find_nearest_base()].deposit(self.ore_in_inventory) # Depositing ore into base
self.ore_in_inventory = []# Removing ore from inventory'
self.current_energy = self.energy_capacity #Recharging
self.state = "Searching"
#print("Agent number " + str(self.idx) + " has " + str(len(self.ore_to_pick_up)) + " to pick up")
self.counter = self.counter + 1
if self.current_energy <= 0:
print("Agent " + str(self.idx) + " died")
world.remove_agent(self.idx)
pass
def step(self):
self.move_rel(Vec2D.random_grid_dir())
for i in range(len(data)):
if data[i] not in self.ore_to_pick_up:# Make sure there are no duplicates
self.ore_to_pick_up.append(data[i])
self.state = "Pickup"
if event_type == "Base full":
print("Base full, going to returning state" + str(len(data)))
self.destination = self.bases[self.pick_base()].pos()
self.state = "Returning"
pass
def cleanup(self):
pass
# Add the agents to the world.
for i in range(N):
world.add_agent(Base(), pos = Vec2D(random.randint(0,world.h), random.randint(0,world.h)))
# Dispurse robots equally amongst bases initially
for i in range(X):
for j in range(N):
world.add_agent(Explorer(), pos = world.agents[j].pos())
for i in range(Y):
for j in range(N):
world.add_agent(Transporter(), pos = world.agents[j].pos())
# Add ore on the map (as agents)
ore_total = world.w * world.h * D # The density of ores is multiplied with the mapsize to make the correct amount of ore
for i in range(int(ore_total)):
world.add_agent(Ore())
def step(self):
super().before_step()
if self.state == "MOVE_TO_TARGET":
self.color = Colors.GREEN
if self.reached_target():
if self.at_base():
self.dir = Vec2D.random_dir()
if self.ore_data:
transporters = (self.box_scan(self.mp.P // 2, TRANSPORTER + str(self.company_id)))[:self.mp.S]
self.consume_energy(self.mp.P)
self.ore_data = (len(transporters), self.ore_data[1])
self.state = "EMIT_EVENT_ORE_POS"
else:
self.state = "SCAN"
else:
if not self.move_towards(self.target):
self.move_in_dir(Vec2D.random_grid_dir())
self.consume_energy(self.mp.Q)
elif self.state == "SCAN":
self.color = Colors.GREY25
agents = self.box_scan(self.mp.P // 2)
self.consume_energy(self.mp.P)
ores = [a for a in agents if ORE in a.group_ids]
explorers = [a for a in agents if EXPLORER in a.group_ids]
transporters = [a for a in agents if TRANSPORTER in a.group_ids]
if ores:
rel_ore_pos = [self.vec_to(o.pos()) for o in ores]
rel_ore_cog = sum(rel_ore_pos, Vec2D()) / len(ores)
if rel_ore_cog.magnitude() > self.mp.P / 4:
# TODO: set max iterations
self.color = Colors.MAGENTA
self.target = self.world.torus(self.pos() + rel_ore_cog.round())
self.state = "MOVE_TO_TARGET"
else:
rel_ore_pos = [self.vec_to(o.pos()) for o in ores]
tsm_idx = tsm.iterative_inf_norm_tsm(rel_ore_pos, n=1000)
ores = [ores[i] for i in tsm_idx]
ore_data = [(o.idx, o.pos()) for o in ores]
self.ore_data = (len(transporters), ore_data)
if transporters:
self.state = "EMIT_EVENT_ORE_POS"
else:
self.target = self.base.pos()
self.state = "MOVE_TO_TARGET"
elif explorers:
other_expl = random.choice(explorers)
dir = other_expl.vec_to(self.pos())
dir = dir / dir.magnitude() if not dir.is_zero_vec() else Vec2D.random_dir()
self.target = self.world.torus(other_expl.pos() + (dir * 20).round())
self.state = "MOVE_TO_TARGET"
else:
self.set_new_random_rel_target()
self.state = "MOVE_TO_TARGET"
elif self.state == "EMIT_EVENT_ORE_POS":
self.color = Colors.WHITE
self.emit_event(self.mp.I // 2, "ORE_POSITIONS", self.ore_data, TRANSPORTER + str(self.company_id))
self.consume_energy(1)
self.ore_data = None
self.set_new_random_rel_target()
self.state = "MOVE_TO_TARGET"
super().after_step()
group_ids = {1}
group_collision_ids = {
0, 1
} # Not able to enter wall tiles or other Mover tiles
def step(self):
self.move_rel(Vec2D.random_grid_dir())
# Create walls
x1, x2 = round(size * 0.3), round(size * 0.7)
y1, y2 = round(size * 0.6), round(size * 0.8)
for x in (x1, x2):
for y in range(y1 + 1):
world.add_agent(Wall(), Vec2D(x, y))
for y in range(y2, size):
world.add_agent(Wall(), Vec2D(x, y))
for y in (y1, y2):
for x in range(x1 + 1, x2):
world.add_agent(Wall(), Vec2D(x, y))
# Add Mover agents
for _ in range(200):
world.add_agent(Mover(), Vec2D(size // 2, size // 4))
# Start and visualize simulation
vis = Visualizer(world, scale=3, target_speed=200)
vis.start()
