def swarm_sim(argv):
"""In the main function first the config is getting parsed and than
the swarm_sim_world and the swarm_sim_world item is created. Afterwards the run method of the swarm_sim_world
is called in which the simlator is going to start to run"""
config_data = config.ConfigData()
unique_descriptor = "%s_%s_%s" % (config_data.local_time,
config_data.scenario.rsplit('.', 1)[0],
config_data.solution.rsplit('.', 1)[0])
logging.basicConfig(filename="outputs/logs/system_%s.log" %
unique_descriptor,
filemode='w',
level=logging.INFO,
format='%(message)s')
logging.info('Started')
read_cmd_args(argv, config_data)
create_directory_for_data(config_data, unique_descriptor)
random.seed(config_data.seed_value)
swarm_sim_world = world.World(config_data)
swarm_sim_world.init_scenario(get_scenario(swarm_sim_world.config_data))
reset = True
while reset:
reset = main_loop(config_data, swarm_sim_world)
logging.info('Finished')
generate_data(config_data, swarm_sim_world)
def __init__(self,
net_config,
num_agents=1,
timestep=0.010,
seed=None,
update_period=None):
if update_period is None:
update_period = len(goons)
#get config data
self.config_data = config.ConfigData()
#set up logging
unique_descriptor = "%s_%s_%s" % (
self.config_data.local_time,
self.config_data.scenario.rsplit(
'.', 1)[0], self.config_data.solution.rsplit('.', 1)[0])
logging.basicConfig(filename="outputs/logs/system_%s.log" %
unique_descriptor,
filemode='w',
level=logging.INFO,
format='%(message)s')
logging.info('Started')
read_cmd_args(self.config_data)
create_directory_for_data(self.config_data, unique_descriptor)
if seed is not None:
self.config_data.seed_value = seed
# random.seed(seed)
# TODO : Move this to be different lol
self.config_data.follow_the_leader = net_config.follow
self.config_data.flock_rad = net_config.flock_rad
self.config_data.flock_vel = net_config.flock_vel
self.config_data.conn_class = net_config.conn_class
self.config_data.num_agents = num_agents
#set up world
self.swarm_sim_world = world.World(self.config_data)
self.swarm_sim_world.timestep = timestep
self.swarm_sim_world.init_scenario(get_scenario(
self.swarm_sim_world.config_data),
num_agents=num_agents)
self.swarm_sim_world.network_formed = False
self._init_log(id="custom",
scenario=self.config_data.scenario,
num_agents=num_agents,
seed=self.config_data.seed_value,
comms=net_config.conn_class,
flock_rad=net_config.flock_rad,
flock_vel=net_config.flock_vel,
update_period=update_period)
def __init__(self):
super(SingleExplorer, self).__init__()
# Define action and observation space
# They must be gym.spaces objects
# Example when using discrete actions:
##may need to alter configdata to be closer to fit our needs.
config_data = config.ConfigData()
unique_descriptor = "%s_%s_%s" % (
config_data.local_time, config_data.scenario.rsplit(
'.', 1)[0], config_data.solution.rsplit('.', 1)[0])
logging.basicConfig(filename="outputs/logs/system_%s.log" %
unique_descriptor,
filemode='w',
level=logging.INFO,
format='%(message)s')
logging.info('Started')
swarmsim.read_cmd_args(config_data)
swarmsim.create_directory_for_data(config_data, unique_descriptor)
swarmsim.random.seed(config_data.seed_value)
self.swarm_sim_world = world.World(config_data)
self.ts = 0
self.discovered_items = set()
self.explored_points = set()
self.swarm_sim_world.init_scenario(swarmsim.get_scenario(config_data))
#self.NUM_AGENTS = self.swarm_sim_world.get_amount_of_agents()
#each agent can move one of 9 ways, with
#self.action_space = spaces.MultiDiscrete(np.full_like(self.NUM_AGENTS, 9)) # xyz motion
self.action_space = spaces.Discrete(
len(self.swarm_sim_world.grid.get_directions_list()))
#observation of the coordinates of each agent and the 6 neighboring locations
#space should be the current position, plus the hops
self.observation_space = spaces.Box(
np.array([-9999, -9999, -9999] + [0] *
len(self.swarm_sim_world.grid.get_directions_list())),
np.array([9999, 9999, 9999] + [1] *
len(self.swarm_sim_world.grid.get_directions_list())))