def Simulate_All_Original_Bots(self):
s = pyrosim.Simulator(debug=False,
play_paused=False,
eval_time=c.evaluationTime)
for r in range(0, c.popSize):
self.Send_Bot_And_Environment(s, self.originalBots[r],
c.swarmPositionOffsets[r],
c.swarmDrawOffsets[r], c.noFade)
self.Print_Preamble()
print('These were the original bots...')
print('')
print('')
print('')
print('')
print('')
print('')
s.start()
self.Draw_Visualization(-1, -1)
s.wait_to_finish()
def __init__(self,simulationType,database,positionsOfRobotsBeingSimulated,robots, play_blind=False, silent_mode=True, oldRobotID=-1):
self.simulationType = simulationType
self.database = database
self.robots = robots
self.oldRobotID = oldRobotID
self.positionsOfRobotsBeingSimulated = positionsOfRobotsBeingSimulated
self.Determine_Speed()
self.simulator = pyrosim.Simulator(play_blind=play_blind, play_paused=False, eval_time=c.evaluationTime * c.ACCURACY, dt = 0.05 / c.ACCURACY, silent_mode=silent_mode, window_size=(375, 250), speed=self.speed * c.ACCURACY , xyz = [0.8317*2,-0.9817*2,0.8000*2], hpr = [121,-27.5*0.75,0.0])
self.environment = ENVIRONMENT( self.database , self.simulator )
self.command = COMMAND( self.database, distribution="ranked" )
self.visualization = VISUALIZATION( self.database , self.positionsOfRobotsBeingSimulated, self.robots, oldRobotID=self.oldRobotID )
self.messageToCrowd = MESSAGE_TO_CROWD( self.simulationType , self.robots, self.positionsOfRobotsBeingSimulated , self.command.Get_String(), self.speed, self.database, self.environment.Get_Index() )
if self.simulationType == c.SIMULATE_SURVIVAL:
self.speech = SPEECH( self.command , self.positionsOfRobotsBeingSimulated )
else:
self.speech = None
self.Initialize_Evaluations()
def Simulate_All_Current_Bots(self):
s = pyrosim.Simulator(debug=False,
play_paused=False,
eval_time=c.evaluationTime)
for r in range(0, c.popSize):
self.Send_Bot_And_Environment(s, self.robots[r],
c.swarmPositionOffsets[r],
c.swarmDrawOffsets[r], c.noFade)
self.Print_Preamble()
print('...and these are the current bots.')
print('')
print('Are they doing a better job at obeying the command !' +
self.command + '?')
print('')
print('')
print('')
print('')
s.start()
self.Draw_Visualization(-1, -1)
self.Perform_Housekeeping()
s.wait_to_finish()
def Simulate_Survival(self):
s = pyrosim.Simulator(debug=False,
play_paused=False,
eval_time=c.evaluationTime)
self.Store_Evaluation(self.aggressorPosition)
self.Send_Bot_And_Environment(s, self.robots[self.aggressorPosition],
[0, 0, 0], [0, 0, 0], c.noFade)
self.Print_Preamble()
botColorName = c.colorNames[self.aggressorPosition]
print('This is the ' + botColorName + ' bot.')
print('')
color = c.colors[self.aggressorPosition]
self.Print_Info(color)
self.Run_Sim(s, self.aggressorPosition, -1)
s.wait_to_finish()
def Simulate_Birth_De_Novo(self):
self.Spawn_De_Novo(self.defenderPosition)
s = pyrosim.Simulator(eval_time=c.evaluationTime)
self.Store_Evaluation(self.defenderPosition)
self.Send_Bot_And_Environment(s, self.robots[self.defenderPosition],
[0, 0, 0], [0, 0, 0], c.fadeIn)
self.Print_Preamble()
colorOfNewBot = c.colorNames[self.defenderPosition]
print('This is the new ' + colorOfNewBot +
' bot, just spawned from scratch.')
print('')
color = c.colors[self.defenderPosition]
self.Print_Info(color)
self.Run_Sim(s, self.defenderPosition, -1)
s.wait_to_finish()
def Simulate_Death(self):
s = pyrosim.Simulator(eval_time=c.evaluationTime)
self.Store_Evaluation(self.aggressorPosition)
self.Send_Bot_And_Environment(s, self.robots[self.aggressorPosition],
[0, 0, 0], [0, 0, 0], c.noFade)
self.Send_Bot_And_Environment(s, self.robots[self.defenderPosition],
[-100, +100, 0], [100 - 1, -100 + 1, 0],
c.fadeOut)
self.Print_Preamble()
botColorName = c.colorNames[self.aggressorPosition]
print('This is the ' + botColorName +
' bot, which just killed the bot above.')
print('')
color = c.colors[self.aggressorPosition]
self.Print_Info(color)
self.Run_Sim(s, self.aggressorPosition, self.defenderPosition)
s.wait_to_finish()
self.database.Kill_Bot(self.defenderID)
def Simulate_Birth_From_Aggressor(self):
self.Spawn_From_Aggressor()
s = pyrosim.Simulator(eval_time=c.evaluationTime)
self.Store_Evaluation(self.defenderPosition)
self.Send_Bot_And_Environment(s, self.robots[self.defenderPosition],
[0, 0, 0], [0, 0, 0], c.fadeIn)
self.Send_Bot_And_Environment(s, self.robots[self.aggressorPosition],
[-100, +100, 0], [100 - 1, -100 + 1, 0],
c.noFade)
self.Print_Preamble()
colorOfNewBot = c.colorNames[self.defenderPosition]
print('This is the new ' + colorOfNewBot +
' bot, just spawned by the bot above.')
print('')
color = c.colors[self.defenderPosition]
self.Print_Info(color)
self.Run_Sim(s, self.defenderPosition, self.aggressorPosition)
s.wait_to_finish()
def Simulate_Empty_World(self):
s = pyrosim.Simulator(debug=False,
play_paused=False,
eval_time=c.evaluationTime)
s.start()
s.wait_to_finish()
def Start_Evaluation(self, playBlind, playPaused):
self.s = pyrosim.Simulator(debug=False,
play_blind=playBlind,
play_paused=playPaused,
eval_time=c.evaluationTime)
self.Send_To_Simulator()
