def start(self,
visualization=False,
robots=10,
comment="",
model="C:\\SAP 2000\\template.sdb"):
'''
This starts up the SAP 2000 Program and hides it.
visualization = should we display the simulation as it occurs?
robots = number of robots in simulation
comment = a comment attached to the name of the folder
model = location of a file which contains a starting model
'''
outputfolder = ''
if self.started:
print("Simulation has already been started")
else:
outputfolder = self.makeOutputFolder(comment)
outputfilename = "tower.sdb"
self.SapProgram, self.SapModel = commandline.run(
model, outputfolder + outputfilename)
self.SapProgram.hide()
self.started = True
# Make python structure and start up the colony
self.Structure = Structure(visualization)
self.Swarm = SmartSwarm(robots, self.Structure, self.SapProgram)
# If we started with a previous model, we have to add all of the beams
# to our own model in python
if model != "":
ret = self.Structure.load_model(self.SapProgram)
assert ret == 0
self.folder = outputfolder
def start(self, visualization = False, robots = 10, comment = "",
model="C:\\SAP 2000\\template.sdb"):
'''
This starts up the SAP 2000 Program and hides it.
visualization = should we display the simulation as it occurs?
robots = number of robots in simulation
comment = a comment attached to the name of the folder
model = location of a file which contains a starting model
'''
outputfolder = ''
if self.started:
print("Simulation has already been started")
else:
outputfolder = self.makeOutputFolder(comment)
outputfilename = "tower.sdb"
self.SapProgram, self.SapModel = commandline.run(model,
outputfolder + outputfilename)
self.SapProgram.hide()
self.started = True
# Make python structure and start up the colony
self.Structure = Structure(visualization)
self.Swarm = SmartSwarm(robots, self.Structure, self.SapProgram)
# If we started with a previous model, we have to add all of the beams
# to our own model in python
if model != "":
ret = self.Structure.load_model(self.SapProgram)
assert ret == 0
self.folder = outputfolder
class Simulation(object):
def __init__(self, seed=None, template="C:\\SAP 2000\\template.sdb"):
self.SapProgram = None
self.SapModel = None
self.Structure = None
self.Swarm = None
self.started = False
self.folder = None
self.run = False
# Keeps track of the excel data since we can only write it in one go
self.excel = {}
self.excel['headers'] = []
self.excel['data'] = [[]]
# Seed the simulation
self.seed = seed
# Stores the template
self.template = template
def __setup_general(self):
'''
Function to setup the general settigns for the SAP2000 program
'''
# switch to default units HERE
ret = self.SapModel.SetPresentUnits(UNITS[PROGRAM['units']])
if ret:
return False
if not self.__setup_case("DEAD"):
print("Failure setting up DEAD case.")
return False
return True
def __setup_wind(self, name=PROGRAM['wind_case']):
'''
We initalize the wind based on the information in variables.python
'''
# Add loadpattern and case
if not helpers.addloadpattern(self.SapModel, name, 'LTYPE_WIND'):
return False
# Make static non-linear
if not self.__setup_case(name):
return False
def __setup_case(self, name):
# Initialize Non-linear
ret = self.SapModel.LoadCases.StaticNonlinear.SetCase(name)
if ret:
return False
# Set options (P-delta)
ret = self.SapModel.LoadCases.StaticNonlinear.SetGeometricNonlinearity(
name, 1)
if ret:
return False
ret, load_types, loads, scales = self.SapModel.LoadCases.StaticNonlinear.SetLoads(
name, 1, ["Load"], [name], [1])
if ret:
return False
return True
def __setup_analysis(self):
'''
Funtion to set up the analysis model to the correct values
'''
# Set the degrees of Freedom
DOF = (True, True, True, True, True, True)
ret, DOF = self.SapModel.Analyze.SetActiveDOF(DOF)
if ret:
print("Failure with DOF.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag("", False, True)
if ret:
print("Failure with run flag.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag(PROGRAM['robot_load_case'],
True, False)
if ret:
print("Failure with run flag.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag("DEAD", True, False)
if ret:
print("Failure with run flag.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag("Wind", True, False)
if ret:
print("Failure with setting the wind case to be analyzed.")
# Set Solver Options (Multithreaded, Auto, 64bit, robot_load_case)
ret = self.SapModel.Analyze.SetSolverOption_1(
2, 0, False, PROGRAM['robot_load_case'])
if ret:
print("Failure with solver options")
return False
return True
def __setup_material(self):
'''
Sets up our beam materials
'''
# Defining our Scaffold Tube Material Property
ret, name = self.SapModel.PropMaterial.AddQuick(
MATERIAL['material_property'],
MATERIAL_TYPES[MATERIAL['material_type']],
STEEL_SUBTYPES[MATERIAL['material_subtype']], PLACEHOLDER,
PLACEHOLDER, PLACEHOLDER, PLACEHOLDER, PLACEHOLDER,
MATERIAL['material_property'])
if ret or name != MATERIAL['material_property']:
return False
# Defining the Frame Section. This is the Scaffold Tube
ret = self.SapModel.PropFrame.SetPipe(MATERIAL['frame_property_name'],
MATERIAL['material_property'],
MATERIAL['outside_diameter'],
MATERIAL['wall_thickness'])
if ret:
return False
return True
def __push_information(self, file_obj):
'''
Writes out the data from variables and construction
'''
# Pull the names of all the variables and use that to get their attributes
# and store them in a list of names, values
variables_text = 'variables', ([
(constant, getattr(variables, constant))
for constant in dir(variables)
if '__' not in constant and '.' not in constant
])
construction_text = 'construction', ([
(constant, getattr(construction, constant))
for constant in dir(construction)
if '__' not in constant and '.' not in constant
])
constants_text = 'behaviour', ([
(constant, getattr(BConstants, constant))
for constant in dir(BConstants)
if '__' not in constant and '.' not in constant
])
# Cycle through both modules and store information the data
data = ''
for name, file_data in variables_text, construction_text, constants_text:
data += 'Data from the file {}.\n\n'.format(name)
for var_name, value in file_data:
data += var_name + ' : ' + str(value) + '\n'
data += '\n\n'
# Write out the data and you are now done
file_obj.write(data)
def __push_data(self, data, file_obj, i):
'''
Writes a set of data to a data file in specified format
'''
to_write = "Data for Timestep: {}\n\n\n".format(str(i))
for name, state in data.items():
to_write += "{} = \n\n".format(name)
for key, temp_data in state.items():
to_write += "{} : {}\n".format(str(key),
pprint.pformat(temp_data))
to_write += "\n"
file_obj.write(to_write + "\n")
def __add_excel(self, data):
'''
Stores timestep data in the simulation
'''
timestep = []
for name, state in data.items():
# Add names to headers if not already there
if name not in self.excel['headers']:
self.excel['headers'].append(name)
self.excel['headers'].append("{}-height".format(name))
self.excel['headers'].append("{}-measured moment".format(name))
# Add the location to a list
timestep.append(state['location'])
timestep.append(state['location'][2])
timestep.append(state['read_moment'])
# Add the location list to a list of rows
self.excel['data'].append(timestep)
def __push_excel(self, file_name):
'''
Writes a set of data to an excel file
'''
# Open work book
workbook = Workbook(file_name)
worksheet = workbook.add_worksheet()
# start at top left corner and write headers
row, col = 0, 0
for header in self.excel['headers']:
worksheet.write(row, col, str(header))
col += 1
# start in second row and write data
row, col = 1, 0
for row_data in self.excel['data']:
for cell_data in row_data:
worksheet.write(row, col, str(cell_data))
col += 1
row += 1
col = 0
workbook.close()
# Empty memory (this usually happens every 4000 timesteps)
self.excel['header'] = []
self.excel['data'] = [[]]
def makeOutputFolder(self, comment):
return (PROGRAM['root_folder'] + "\\" + strftime("%Y-%b") + "\\" +
strftime("%b-%d") + "\\" + strftime("%H_%M_%S") + comment +
"\\")
def reset(self, comment=""):
'''
Allows us to reset everything without exiting the SAP program
'''
if self.started:
# Resetting the SAP Program (this saves the previous file)
self.SapProgram.reset(template=self.template)
# Creating new SAP Files
outputfolder = self.makeOutputFolder(comment)
outputfilename = "tower.sdb"
outputfile = outputfolder + outputfilename
# Create directory if necessary
path = os.path.dirname(outputfile)
helpers.path_exists(path)
# Save to the new file
ret = self.SapModel.File.Save(outputfolder + outputfilename)
assert ret == 0
# Reset the structure and the swarm
self.Structure.reset()
self.Swarm.reset()
self.folder = outputfolder
self.run = False
else:
print("The simulation is not started. Cannot reset.")
def start(self,
visualization=False,
robots=10,
comment="",
model="C:\\SAP 2000\\template.sdb"):
'''
This starts up the SAP 2000 Program and hides it.
visualization = should we display the simulation as it occurs?
robots = number of robots in simulation
comment = a comment attached to the name of the folder
model = location of a file which contains a starting model
'''
outputfolder = ''
if self.started:
print("Simulation has already been started")
else:
outputfolder = self.makeOutputFolder(comment)
outputfilename = "tower.sdb"
self.SapProgram, self.SapModel = commandline.run(
model, outputfolder + outputfilename)
self.SapProgram.hide()
self.started = True
# Make python structure and start up the colony
self.Structure = Structure(visualization)
self.Swarm = SmartSwarm(robots, self.Structure, self.SapProgram)
# If we started with a previous model, we have to add all of the beams
# to our own model in python
if model != "":
ret = self.Structure.load_model(self.SapProgram)
assert ret == 0
self.folder = outputfolder
def stop(self):
'''
This stops the simulation gracefully
'''
if self.started:
ret = self.SapProgram.exit()
assert ret == 0
self.started = False
self.run = False
self.folder = None
else:
print("No simulation started. Use Simulation.Start() to begin.")
def go(self,
visualization=False,
robots=10,
timesteps=10,
debug=True,
comment=""):
'''
Direct accesss
'''
outputfolder = ""
if not self.started:
outputfolder = self.start(visualization, robots, comment)
self.folder = outputfolder
self.run_simulation(visualization, timesteps, debug, comment)
self.stop()
# Run visualization
self.run_visualization()
def run_visualization(self, fullscreen=True, inverse_speed=.25):
'''
Displays the visualization if an outputfolder exist and the simulation has
been run.
'''
if self.run:
window = Visualization(self.folder)
window.load_data()
window.run(fullscreen, inverse_speed)
else:
print(
"The visualization cannot be started becase simulation has not run."
)
def run_simulation(self,
visualization=False,
timesteps=10,
debug=True,
comment="",
writeOut=True):
'''
Runs the simulation according to the variables passed in.
'''
outputfolder = self.folder
start_time = strftime("%H:%M:%S")
# Make sure the simulation has been started. If not, exit.
if not self.started:
print(
"The simulation has not been started. Start it, then run it, or "
+ "simply Simulation.go()")
sys.exit(1)
# Make sure that the model is not locked so that we can change properties.
# Unlock it if it is
if self.SapModel.GetModelIsLocked():
self.SapModel.SetModelIsLocked(False)
# Set everything up.
if not self.__setup_general():
sys.exit("General Setup Failed.")
if not self.__setup_material():
sys.exit("Material Setup Failed.")
if not self.__setup_analysis():
sys.exit("Analysis Setup Failed.")
# Open files for writing if debugging
with open(outputfolder + 'repair_info.txt', 'a') as repair_file, open(
outputfolder + "robot_data.txt",
'a') as loc_text, open(outputfolder + "sap_failures.txt",
'a') as sap_failures, open(
outputfolder + "run_data.txt",
'a') as run_text, open(
outputfolder + "structure.txt",
"a") as struct_data:
loc_text.write(
"This file contains information on the robots at each" +
" timestep if debugging.\n\n")
sap_failures.write(
"This file contains messages created when SAP 2000 does" +
" not complete a function successfully if debugging.\n\n")
struct_data.write(
"This file contains the data about the Pythonic" +
" structure.\n\nCurrently unused do to space issues.")
run_text.write(
"This file contains the variables used in the run of the" +
" simulation.\n\nTotal timesteps: " + str(timesteps) +
"\nStart time of" + " simumation: " + start_time + "\nSeed:" +
str(self.seed) + "\n\n")
run_text.write("Folder: {}\n\n".format(str(self.folder)))
# Write variables
self.__push_information(run_text)
if debug:
print(PROGRAM['debug_message'])
# setup a nice visual
if visualization:
scene = Visual.setup_scene(False)
Visual.setup_base()
# Run the simulation!
for i in range(timesteps):
if visualization:
self.Swarm.show()
# Add number and new line to structure visualization data
self.Structure.visualization_data += "\n"
self.Structure.structure_data.append([])
try:
self.Structure.color_data += '\n'
except MemoryError:
self.Structure.color_data = ''
# Save to a different filename every now and again
try:
if (i + 1) % PROGRAM['analysis_timesteps'] == 0 and i != 0:
filename = "tower-" + str(i + 1) + ".sdb"
self.SapModel.File.Save(outputfolder + filename)
except:
print("Simulation ended when saving output.")
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data, loc_text, i + 1)
self.exit(run_text)
raise
# Run the analysis if there is a structure to analyze and there are \
# robots on it (ie, we actually need the information)
if self.Structure.tubes > 0 and self.Swarm.need_data():
try:
sap_failures.write(helpers.run_analysis(self.SapModel))
except:
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data, loc_text, i + 1)
self.exit(run_text)
raise
# Check the structure for stability
failed = self.Structure.failed(self.SapProgram)
if failed:
print(failed)
break
# debuggin here for quick access to decide/act methods
if debug <= i and debug:
pdb.set_trace()
# Make the decision based on analysis results
try:
self.Swarm.decide()
except:
print("Simulation ended at decision.")
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data, loc_text, i + 1)
self.exit(run_text)
raise
# Make sure that the model has been unlocked, and if not, unlock it
if self.SapModel.GetModelIsLocked():
self.SapModel.SetModelIsLocked(False)
# Change the model based on decisions made (act on your decisions)
try:
self.Swarm.act()
except:
print("Simulation ended at act.")
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data, loc_text, i + 1)
self.exit(run_text)
raise
# Write out errors on movements
errors = self.Swarm.get_errors()
if errors != '':
sap_failures.write(
"Errors that occurred in timestep {}. {}\n\n".format(
str(i + 1), errors))
# Write out repair information
repair_data = self.Swarm.get_repair_data()
if repair_data != '':
repair_file.write(
"Repairs for begun at timestep {}:\n {}\n".format(
str(i + 1), repair_data))
# Give a status update if necessary
commandline.status("Finished timestep {}.".format(str(i + 1)))
print()
# Sort beam data
if self.Structure.structure_data[-1] != []:
self.Structure.structure_data[-1].sort(
key=lambda t: int(t[0]))
# Check height of structure and break out if we will reach maximum
if self.Structure.height > WORLD['properties'][
'dim_z'] - 2 * BEAM['length']:
break
with open(self.folder + 'random_seed_results.txt',
'a') as rand_tex:
rand_tex.write("{},".format(str(random.randint(0, i + 1))))
with open(self.folder + 'structure_height.txt',
'a') as str_height:
str_height.write("{},\n".format(str(
self.Structure.height)))
# We run out of mememory is we don't do this every once in a while
if i % 100 == 0 and i != 0:
# Write out visualization data
self.visualization_data()
# Write out structure physics
self.structure_physics()
# We run out of memory for Excel information if we don't clean it out
# everynow and again
if i % 5000 == 0 and i != 0:
self.__push_excel(self.folder +
"locations-{}.xlsx".format(str(i)))
# This section writes the robots decisions out to a file
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data, loc_text, i + 1)
# END OF LOOOP
# Clean up
self.exit(run_text)
def exit(self, run_text):
# Sort beam data
if self.Structure.structure_data[-1] != []:
self.Structure.structure_data[-1].sort(key=lambda t: int(t[0]))
# Finish up run_data (add ending time and maximum height)
run_data = ("\n\nStop time : " + strftime("%H:%M:%S") +
".\n\n Total beams" + " on structure: " +
str(self.Structure.tubes) + ".")
run_data += "\n\n Maximum height of structure : " + str(
self.Structure.height) + "."
# Write out simulation data
run_text.write(run_data)
# Write out locations to excel
self.__push_excel(self.folder + "locations-end.xlsx")
# Write out visualization data
self.visualization_data()
# Write out structure moments
self.structure_physics()
self.run = True
def visualization_data(self):
'''
Writes out the data for the visualization currently stored and clears the
buffers
'''
# Write data
with open(self.folder + 'structure_color_data.txt',
'a') as c_struct, open(
self.folder + 'swarm_color_data.txt',
'a') as c_swarm, open(
self.folder + 'swarm_visualization.txt',
'a') as v_swarm, open(
self.folder + 'structure_visualization.txt',
'a') as v_struct:
v_swarm.write(self.Swarm.visualization_data)
c_swarm.write(self.Swarm.color_data)
v_struct.write(self.Structure.visualization_data)
c_struct.write(self.Structure.color_data)
# Clear buffers
self.Swarm.visualization_data = ''
self.Swarm.color_data = ''
self.Structure.visualization_data = ''
self.Structure.color_data = ''
def structure_physics(self):
'''
Writes out the physical data for the structure and clears the buffer.
'''
# Write data
with open(self.folder + 'structure_physics.txt', "a") as struct_phys:
for timestep in self.Structure.structure_data:
for beam, moment in timestep:
struct_phys.write("{},{},".format(beam, str(moment)))
struct_phys.write("\n")
# Clear buffers
self.Structure.structure_data = []
class Simulation(object):
def __init__(self,seed = None,template="C:\\SAP 2000\\template.sdb"):
self.SapProgram = None
self.SapModel = None
self.Structure = None
self.Swarm = None
self.started = False
self.folder = None
self.run = False
# Keeps track of the excel data since we can only write it in one go
self.excel = {}
self.excel['headers'] = []
self.excel['data'] = [[]]
# Seed the simulation
self.seed = seed
# Stores the template
self.template = template
def __setup_general(self):
'''
Function to setup the general settigns for the SAP2000 program
'''
# switch to default units HERE
ret = self.SapModel.SetPresentUnits(UNITS[PROGRAM['units']])
if ret:
return False
if not self.__setup_case("DEAD"):
print("Failure setting up DEAD case.")
return False
return True
def __setup_wind(self,name=PROGRAM['wind_case']):
'''
We initalize the wind based on the information in variables.python
'''
# Add loadpattern and case
if not helpers.addloadpattern(self.SapModel,name,'LTYPE_WIND'):
return False
# Make static non-linear
if not self.__setup_case(name):
return False
def __setup_case(self, name):
# Initialize Non-linear
ret = self.SapModel.LoadCases.StaticNonlinear.SetCase(name)
if ret:
return False
# Set options (P-delta)
ret = self.SapModel.LoadCases.StaticNonlinear.SetGeometricNonlinearity(name,
1)
if ret:
return False
ret,load_types,loads,scales = self.SapModel.LoadCases.StaticNonlinear.SetLoads(
name,1,["Load"],[name],[1])
if ret:
return False
return True
def __setup_analysis(self):
'''
Funtion to set up the analysis model to the correct values
'''
# Set the degrees of Freedom
DOF = (True,True,True,True,True,True)
ret, DOF = self.SapModel.Analyze.SetActiveDOF(DOF)
if ret:
print("Failure with DOF.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag("",False,True)
if ret:
print("Failure with run flag.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag(PROGRAM['robot_load_case'],True,
False)
if ret:
print("Failure with run flag.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag("DEAD",True,False)
if ret:
print("Failure with run flag.")
return False
# Set the cases to be analyzed (all cases)
ret = self.SapModel.Analyze.SetRunCaseFlag("Wind",True,False)
if ret:
print("Failure with setting the wind case to be analyzed.")
# Set Solver Options (Multithreaded, Auto, 64bit, robot_load_case)
ret = self.SapModel.Analyze.SetSolverOption_1(2,0,False,
PROGRAM['robot_load_case'])
if ret:
print("Failure with solver options")
return False
return True
def __setup_material(self):
'''
Sets up our beam materials
'''
# Defining our Scaffold Tube Material Property
ret, name = self.SapModel.PropMaterial.AddQuick(MATERIAL['material_property'],
MATERIAL_TYPES[MATERIAL['material_type']],
STEEL_SUBTYPES[MATERIAL['material_subtype']],PLACEHOLDER,PLACEHOLDER,
PLACEHOLDER,PLACEHOLDER,PLACEHOLDER,MATERIAL['material_property'])
if ret or name != MATERIAL['material_property']:
return False
# Defining the Frame Section. This is the Scaffold Tube
ret = self.SapModel.PropFrame.SetPipe(MATERIAL['frame_property_name'],
MATERIAL['material_property'],MATERIAL['outside_diameter'],
MATERIAL['wall_thickness'])
if ret:
return False
return True
def __push_information(self,file_obj):
'''
Writes out the data from variables and construction
'''
# Pull the names of all the variables and use that to get their attributes
# and store them in a list of names, values
variables_text = 'variables', ([(constant, getattr(variables, constant)) for
constant in dir(variables) if '__' not in constant and '.' not in constant])
construction_text = 'construction', ([(constant, getattr(construction,
constant)) for constant in dir(construction) if '__' not in constant
and '.' not in constant])
constants_text = 'behaviour', ([(constant, getattr(BConstants,
constant)) for constant in dir(BConstants) if '__' not in constant
and '.' not in constant])
# Cycle through both modules and store information the data
data = ''
for name, file_data in variables_text, construction_text, constants_text:
data += 'Data from the file {}.\n\n'.format(name)
for var_name, value in file_data:
data += var_name + ' : ' + str(value) + '\n'
data += '\n\n'
# Write out the data and you are now done
file_obj.write(data)
def __push_data(self,data,file_obj,i):
'''
Writes a set of data to a data file in specified format
'''
to_write = "Data for Timestep: {}\n\n\n".format(str(i))
for name, state in data.items():
to_write += "{} = \n\n".format(name)
for key, temp_data in state.items():
to_write += "{} : {}\n".format(str(key),pprint.pformat(temp_data))
to_write += "\n"
file_obj.write(to_write + "\n")
def __add_excel(self,data):
'''
Stores timestep data in the simulation
'''
timestep = []
for name, state in data.items():
# Add names to headers if not already there
if name not in self.excel['headers']:
self.excel['headers'].append(name)
self.excel['headers'].append("{}-height".format(name))
self.excel['headers'].append("{}-measured moment".format(name))
# Add the location to a list
timestep.append(state['location'])
timestep.append(state['location'][2])
timestep.append(state['read_moment'])
# Add the location list to a list of rows
self.excel['data'].append(timestep)
def __push_excel(self,file_name):
'''
Writes a set of data to an excel file
'''
# Open work book
workbook = Workbook(file_name)
worksheet = workbook.add_worksheet()
# start at top left corner and write headers
row, col = 0, 0
for header in self.excel['headers']:
worksheet.write(row,col, str(header))
col += 1
# start in second row and write data
row, col = 1, 0
for row_data in self.excel['data']:
for cell_data in row_data:
worksheet.write(row, col, str(cell_data))
col += 1
row += 1
col = 0
workbook.close()
# Empty memory (this usually happens every 4000 timesteps)
self.excel['header'] = []
self.excel['data'] = [[]]
def makeOutputFolder(self,comment):
return (PROGRAM['root_folder'] + "\\" + strftime("%Y-%b") + "\\" +
strftime("%b-%d") + "\\" + strftime("%H_%M_%S") + comment + "\\")
def reset(self, comment = ""):
'''
Allows us to reset everything without exiting the SAP program
'''
if self.started:
# Resetting the SAP Program (this saves the previous file)
self.SapProgram.reset(template=self.template)
# Creating new SAP Files
outputfolder = self.makeOutputFolder(comment)
outputfilename = "tower.sdb"
outputfile = outputfolder + outputfilename
# Create directory if necessary
path = os.path.dirname(outputfile)
helpers.path_exists(path)
# Save to the new file
ret = self.SapModel.File.Save(outputfolder + outputfilename)
assert ret == 0
# Reset the structure and the swarm
self.Structure.reset()
self.Swarm.reset()
self.folder = outputfolder
self.run = False
else:
print("The simulation is not started. Cannot reset.")
def start(self, visualization = False, robots = 10, comment = "",
model="C:\\SAP 2000\\template.sdb"):
'''
This starts up the SAP 2000 Program and hides it.
visualization = should we display the simulation as it occurs?
robots = number of robots in simulation
comment = a comment attached to the name of the folder
model = location of a file which contains a starting model
'''
outputfolder = ''
if self.started:
print("Simulation has already been started")
else:
outputfolder = self.makeOutputFolder(comment)
outputfilename = "tower.sdb"
self.SapProgram, self.SapModel = commandline.run(model,
outputfolder + outputfilename)
self.SapProgram.hide()
self.started = True
# Make python structure and start up the colony
self.Structure = Structure(visualization)
self.Swarm = SmartSwarm(robots, self.Structure, self.SapProgram)
# If we started with a previous model, we have to add all of the beams
# to our own model in python
if model != "":
ret = self.Structure.load_model(self.SapProgram)
assert ret == 0
self.folder = outputfolder
def stop(self):
'''
This stops the simulation gracefully
'''
if self.started:
ret = self.SapProgram.exit()
assert ret == 0
self.started = False
self.run = False
self.folder = None
else:
print("No simulation started. Use Simulation.Start() to begin.")
def go(self,visualization = False, robots = 10, timesteps = 10, debug = True,
comment = ""):
'''
Direct accesss
'''
outputfolder = ""
if not self.started:
outputfolder = self.start(visualization,robots,comment)
self.folder = outputfolder
self.run_simulation(visualization,timesteps,debug,comment)
self.stop()
# Run visualization
self.run_visualization()
def run_visualization(self,fullscreen=True,inverse_speed=.25):
'''
Displays the visualization if an outputfolder exist and the simulation has
been run.
'''
if self.run:
window = Visualization(self.folder)
window.load_data()
window.run(fullscreen,inverse_speed)
else:
print("The visualization cannot be started becase simulation has not run.")
def run_simulation(self,visualization = False, timesteps = 10, debug = True,
comment = "",writeOut=True):
'''
Runs the simulation according to the variables passed in.
'''
outputfolder = self.folder
start_time = strftime("%H:%M:%S")
# Make sure the simulation has been started. If not, exit.
if not self.started:
print("The simulation has not been started. Start it, then run it, or " +
"simply Simulation.go()")
sys.exit(1)
# Make sure that the model is not locked so that we can change properties.
# Unlock it if it is
if self.SapModel.GetModelIsLocked():
self.SapModel.SetModelIsLocked(False)
# Set everything up.
if not self.__setup_general():
sys.exit("General Setup Failed.")
if not self.__setup_material():
sys.exit("Material Setup Failed.")
if not self.__setup_analysis():
sys.exit("Analysis Setup Failed.")
# Open files for writing if debugging
with open(outputfolder + 'repair_info.txt', 'a') as repair_file, open(outputfolder + "robot_data.txt", 'a') as loc_text, open(outputfolder + "sap_failures.txt", 'a') as sap_failures, open(outputfolder + "run_data.txt", 'a') as run_text, open(outputfolder + "structure.txt", "a") as struct_data:
loc_text.write("This file contains information on the robots at each" +
" timestep if debugging.\n\n")
sap_failures.write("This file contains messages created when SAP 2000 does"
+ " not complete a function successfully if debugging.\n\n")
struct_data.write("This file contains the data about the Pythonic" +
" structure.\n\nCurrently unused do to space issues.")
run_text.write("This file contains the variables used in the run of the" +
" simulation.\n\nTotal timesteps: " + str(timesteps) + "\nStart time of"
+ " simumation: " + start_time + "\nSeed:" + str(self.seed) + "\n\n")
run_text.write("Folder: {}\n\n".format(str(self.folder)))
# Write variables
self.__push_information(run_text)
if debug:
print(PROGRAM['debug_message'])
# setup a nice visual
if visualization:
scene = Visual.setup_scene(False)
Visual.setup_base()
# Run the simulation!
for i in range(timesteps):
if visualization:
self.Swarm.show()
# Add number and new line to structure visualization data
self.Structure.visualization_data += "\n"
self.Structure.structure_data.append([])
try:
self.Structure.color_data += '\n'
except MemoryError:
self.Structure.color_data = ''
# Save to a different filename every now and again
try:
if (i+1) % PROGRAM['analysis_timesteps'] == 0 and i != 0:
filename = "tower-" + str(i+1) + ".sdb"
self.SapModel.File.Save(outputfolder + filename)
except:
print("Simulation ended when saving output.")
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data,loc_text,i+1)
self.exit(run_text)
raise
# Run the analysis if there is a structure to analyze and there are \
# robots on it (ie, we actually need the information)
if self.Structure.tubes > 0 and self.Swarm.need_data():
try:
sap_failures.write(helpers.run_analysis(self.SapModel))
except:
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data,loc_text,i+1)
self.exit(run_text)
raise
# Check the structure for stability
failed = self.Structure.failed(self.SapProgram)
if failed:
print(failed)
break
# debuggin here for quick access to decide/act methods
if debug <= i and debug:
pdb.set_trace()
# Make the decision based on analysis results
try:
self.Swarm.decide()
except:
print("Simulation ended at decision.")
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data,loc_text,i+1)
self.exit(run_text)
raise
# Make sure that the model has been unlocked, and if not, unlock it
if self.SapModel.GetModelIsLocked():
self.SapModel.SetModelIsLocked(False)
# Change the model based on decisions made (act on your decisions)
try:
self.Swarm.act()
except:
print("Simulation ended at act.")
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data,loc_text,i+1)
self.exit(run_text)
raise
# Write out errors on movements
errors = self.Swarm.get_errors()
if errors != '':
sap_failures.write("Errors that occurred in timestep {}. {}\n\n".format(
str(i+1),errors))
# Write out repair information
repair_data = self.Swarm.get_repair_data()
if repair_data != '':
repair_file.write("Repairs for begun at timestep {}:\n {}\n".format(
str(i+1),repair_data))
# Give a status update if necessary
commandline.status("Finished timestep {}.".format(str(i + 1)))
print()
# Sort beam data
if self.Structure.structure_data[-1] != []:
self.Structure.structure_data[-1].sort(key=lambda t: int(t[0]))
# Check height of structure and break out if we will reach maximum
if self.Structure.height > WORLD['properties']['dim_z'] - 2* BEAM['length']:
break
with open(self.folder + 'random_seed_results.txt', 'a') as rand_tex:
rand_tex.write("{},".format(str(random.randint(0,i+1))))
with open(self.folder + 'structure_height.txt', 'a') as str_height:
str_height.write("{},\n".format(str(self.Structure.height)))
# We run out of mememory is we don't do this every once in a while
if i % 100 == 0 and i != 0:
# Write out visualization data
self.visualization_data()
# Write out structure physics
self.structure_physics()
# We run out of memory for Excel information if we don't clean it out
# everynow and again
if i % 5000 == 0 and i != 0:
self.__push_excel(self.folder + "locations-{}.xlsx".format(str(i)))
# This section writes the robots decisions out to a file
if writeOut:
swarm_data = self.Swarm.get_information()
self.__add_excel(swarm_data)
self.__push_data(swarm_data,loc_text,i+1)
# END OF LOOOP
# Clean up
self.exit(run_text)
def exit(self,run_text):
# Sort beam data
if self.Structure.structure_data[-1] != []:
self.Structure.structure_data[-1].sort(key=lambda t: int(t[0]))
# Finish up run_data (add ending time and maximum height)
run_data = ("\n\nStop time : " + strftime("%H:%M:%S") +
".\n\n Total beams" + " on structure: " + str(self.Structure.tubes)
+ ".")
run_data += "\n\n Maximum height of structure : " + str(
self.Structure.height) + "."
# Write out simulation data
run_text.write(run_data)
# Write out locations to excel
self.__push_excel(self.folder + "locations-end.xlsx")
# Write out visualization data
self.visualization_data()
# Write out structure moments
self.structure_physics()
self.run = True
def visualization_data(self):
'''
Writes out the data for the visualization currently stored and clears the
buffers
'''
# Write data
with open(self.folder + 'structure_color_data.txt','a') as c_struct, open(self.folder + 'swarm_color_data.txt', 'a') as c_swarm, open(self.folder + 'swarm_visualization.txt', 'a') as v_swarm, open(self.folder + 'structure_visualization.txt','a') as v_struct:
v_swarm.write(self.Swarm.visualization_data)
c_swarm.write(self.Swarm.color_data)
v_struct.write(self.Structure.visualization_data)
c_struct.write(self.Structure.color_data)
# Clear buffers
self.Swarm.visualization_data = ''
self.Swarm.color_data = ''
self.Structure.visualization_data = ''
self.Structure.color_data = ''
def structure_physics(self):
'''
Writes out the physical data for the structure and clears the buffer.
'''
# Write data
with open(self.folder + 'structure_physics.txt',"a") as struct_phys:
for timestep in self.Structure.structure_data:
for beam,moment in timestep:
struct_phys.write("{},{},".format(beam,str(moment)))
struct_phys.write("\n")
# Clear buffers
self.Structure.structure_data = []