def __repr__(self):
s = 'Mechanical information\n***********************\n'
s = s + 'agent ID: ' + str(self.ID) +'\n'
s = s + 'color: ' + str(self.color) +'\n'
s = s + '\nposition: ' + str(conv_vecarr(self.position)) +'\n'
s = s + 'velocity: ' + str(conv_vecarr(self.velocity)) +'\n'
s = s + 'acceleration: ' + str(conv_vecarr(self.acceleration)) +'\n'
s = s + '\nOriginal room ID --->' + ' Current room ID ' +'---> Destination room ID\n'
s = s + str(self.roomId).ljust(16) +' ---> '+\
str(self.L.pt2ro(self.position)).ljust(16) +'---> ' + str(self.nextroomId)
s = s + '\ncurrent waypoint ID :' + str(self.rooms[0])
s = s + '\nremaining waypoint ID :' + str(self.rooms)
s = s + '\npos destination room ID: ' + str(conv_vecarr(self.destination))
s = s + '\nforbiden room list: ' + str(self.forbidroomId)
return s
def __repr__(self):
s = 'Mechanical information\n***********************\n'
s = s + 'agent ID: ' + str(self.ID) +'\n'
s = s + 'color: ' + str(self.color) +'\n'
s = s + '\nposition: ' + str(conv_vecarr(self.position)) +'\n'
s = s + 'velocity: ' + str(conv_vecarr(self.velocity)) +'\n'
s = s + 'acceleration: ' + str(conv_vecarr(self.acceleration)) +'\n'
s = s + '\nOriginal room ID --->' + ' Current room ID ' +'---> Destination room ID\n'
s = s + str(self.roomId).ljust(16) +' ---> '+\
str(self.L.pt2ro(self.position)).ljust(16) +'---> ' + str(self.nextroomId)
s = s + '\ncurrent waypoint ID :' + str(self.rooms[0])
s = s + '\nremaining waypoint ID :' + str(self.rooms)
s = s + '\npos destination room ID: ' + str(conv_vecarr(self.destination))
s = s + '\nforbiden room list: ' + str(self.forbidroomId)
return s
def move(self):
""" Move the Person
"""
if self.pdshow:
fig =plt.gcf()
fig,ax=self.L.showG('w',labels=False,alphacy=0.,edges=False,fig=fig)
plt.draw()
plt.ion()
while True:
if self.moving:
if self.sim.verbose:
print 'meca: updt ag ' + self.ID + ' @ ',self.sim.now()
# if np.allclose(conv_vecarr(self.destination)[:2],self.L.Gw.pos[47]):
# import ipdb
# ipdb.set_trace()
while self.cancelled:
yield passivate, self
print "Person.move: activated after being cancelled"
checked = []
for zone in self.world.zones(self):
if zone not in checked:
checked.append(zone)
zone(self)
# updating acceleration
acceleration = self.steering_mind(self)
acceleration = acceleration.truncate(self.max_acceleration)
self.acceleration = acceleration
# updating velocity
velocity = self.velocity + acceleration * self.interval
self.velocity = velocity.truncate(self.max_speed)
if velocity.length() > 0.2:
# record direction only when we've really had some
self.localy = velocity.normalize()
self.localx = vec3(self.localy.y, -self.localy.x)
# updating position
self.position = self.position + self.velocity * self.interval
# self.update()
self.position.z=0
self.world.update_boid(self)
self.net.update_pos(self.ID,conv_vecarr(self.position),self.sim.now())
p=conv_vecarr(self.position).reshape(3,1)
v=conv_vecarr(self.velocity).reshape(3,1)
a=conv_vecarr(self.acceleration).reshape(3,1)
# fill panda dataframe 2D trajectory
self.df = self.df.append(pd.DataFrame({'t':pd.Timestamp(self.sim.now(),unit='s'),
'x':p[0],
'y':p[1],
'vx':v[0],
'vy':v[1],
'ax':a[0],
'ay':a[1]},
columns=['t','x','y','vx','vy','ax','ay']))
if self.pdshow:
ptmp =np.array([p[:2,0],p[:2,0]+v[:2,0]])
if hasattr(self, 'pl'):
self.pl[0].set_data(self.df['x'].tail(1),self.df['y'].tail(1))
self.pla[0].set_data(ptmp[:,0],ptmp[:,1])
else :
self.pl = ax.plot(self.df['x'].tail(1),self.df['y'].tail(1),'o',color=self.color,ms=self.radius*10)
self.pla = ax.plot(ptmp[:,0],ptmp[:,1],'r')
# try:
# fig,ax=plu.displot(p[:2],p[:2]+v[:2],'r')
# except:
# pass
# import ipdb
# ipdb.set_trace()
plt.draw()
plt.pause(0.0001)
if 'mysql' in self.save:
self.db.writemeca(self.ID,self.sim.now(),p,v,a)
if 'txt' in self.save:
pyu.writemeca(self.ID,self.sim.now(),p,v,a)
# new target when arrived in poi
if self.arrived and\
(self.L.pt2ro(self.position) ==\
self.L.Gw.node[self.rooms[1]]['room']):
self.arrived = False
if self.endpoint:
self.endpoint=False
self.roomId = self.nextroomId
# remove the remaining waypoint which correspond
# to current room position
del self.waypoints[0]
del self.rooms[0]
# del self.dlist[0]
#
# If door lets continue
#
#
# ig destination --> next room
#
#adjroom = self.L.Gr.neighbors(self.roomId)
#Nadjroom = len(adjroom)
if self.cdest == 'random':
# self.nextroomId = int(np.floor(random.uniform(0,self.L.Gr.size())))
self.nextroomId = random.sample(self.L.Gr.nodes(),1)[0]
# test 1 ) next != actualroom
# 2 ) nextroom != fordiden room
# 3 ) room not share without another agent
while self.nextroomId == self.roomId or (self.nextroomId in self.forbidroomId):# or (self.nextroomId in self.sim.roomlist):
# self.nextroomId = int(np.floor(random.uniform(0,self.L.Gr.size())))
self.nextroomId = random.sample(self.L.Gr.nodes(),1)[0]
elif self.cdest == 'file':
self.room_counter=self.room_counter+1
if self.room_counter >= self.nb_room:
self.room_counter=0
self.nextroomId=self.room_seq[self.room_counter]
self.wait=self.room_wait[self.room_counter]
#self.sim.roomlist.append(self.nextroomId) # list of all destiantion of all nodes in object sim
self.rooms, wp = self.L.waypointGw(self.roomId,self.nextroomId)
# self.dlist = [i in self.L.Gw.ldo for i in self.rooms]
for tup in wp[1:]:
self.waypoints.append(vec3(tup))
#nextroom = adjroom[k]
# print "room : ",self.roomId
# print "nextroom : ",self.nextroomId
#p_nextroom = self.L.Gr.pos[self.nextroomId]
#setdoors1 = self.L.Gr.node[self.roomId]['doors']
#setdoors2 = self.L.Gr.node[nextroom]['doors']
#doorId = np.intersect1d(setdoors1,setdoors2)[0]
#
# coord door
#
#unode = self.L.Gs.neighbors(doorId)
#p1 = self.L.Gs.pos[unode[0]]
#p2 = self.L.Gs.pos[unode[1]]
#print p1
#print p2
#pdoor = (np.array(p1)+np.array(p2))/2
self.destination = self.waypoints[0]
if self.sim.verbose:
print 'meca: ag ' + self.ID + ' wait ' + str(self.wait)#*self.interval)
yield hold, self, self.wait
else:
del self.waypoints[0]
del self.rooms[0]
# del self.dlist[0]
#print "wp : ", self.waypoints
if len(self.waypoints)==1:
self.endpoint=True
self.destination = self.waypoints[0]
#print "dest : ", self.destination
else:
yield hold, self, self.interval
else:
# self.update()
self.world.update_boid(self)
self.net.update_pos(self.ID,conv_vecarr(self.position),self.sim.now())
yield hold, self, self.interval
def move(self):
""" Move the Agent
"""
while True:
if self.moving:
if self.ID == 0:
print 'meca update @',self.sim.now()
while self.cancelled:
yield passivate, self
print "Person.move: activated after being cancelled"
checked = []
for zone in self.world.zones(self):
if zone not in checked:
checked.append(zone)
zone(self)
acceleration = self.steering_mind(self)
acceleration = acceleration.truncate(self.max_acceleration)
self.acceleration = acceleration
velocity = self.velocity + acceleration * self.interval
self.velocity = velocity.truncate(self.max_speed)
if velocity.length() > 0.2:
# record direction only when we've really had some
self.localy = velocity.normalize()
self.localx = vec3(self.localy.y, -self.localy.x)
self.position = self.position + self.velocity * self.interval
# self.update()
self.world.update_boid(self)
self.net.update_pos(self.ID,conv_vecarr(self.position),self.sim.now())
if len(self.save)!=0:
p=conv_vecarr(self.position)
v=conv_vecarr(self.velocity)
a=conv_vecarr(self.acceleration)
if 'mysql' in self.save:
self.db.writemeca(self.ID,self.sim.now(),p,v,a)
if 'txt' in self.save:
pyu.writemeca(self.ID,self.sim.now(),p,v,a)
if self.arrived:
self.arrived = False
if self.endpoint:
self.endpoint=False
#pr = self.sim.roomlist.index(self.nextroomId)
#self.sim.roomlist.pop(pr)
self.roomId = self.nextroomId
#
# Si porte on continue
#
#
# ig destination --> next room
#
#adjroom = self.L.Gr.neighbors(self.roomId)
#Nadjroom = len(adjroom)
if self.cdest == 'random':
# self.nextroomId = int(np.floor(uniform(0,self.L.Gr.size())))
self.nextroomId = sample(self.L.Gr.nodes(),1)[0]
# test 1 ) next != actualroom
# 2 ) nextroom != fordiden room
# 3 ) room not share without another agent
while self.nextroomId == self.roomId or (self.nextroomId in self.forbidroomId):# or (self.nextroomId in self.sim.roomlist):
# self.nextroomId = int(np.floor(uniform(0,self.L.Gr.size())))
self.nextroomId = sample(self.L.Gr.nodes(),1)[0]
elif self.cdest == 'file':
self.room_counter=self.room_counter+1
if self.room_counter >= self.nb_room:
self.room_counter=0
self.nextroomId=self.room_seq[self.room_counter]
self.wait=self.room_wait[self.room_counter]
#self.sim.roomlist.append(self.nextroomId) # list of all destiantion of all nodes in object sim
wp = self.L.waypointGw(self.roomId,self.nextroomId)
for tup in wp[1:]:
self.waypoints.append(vec3(tup) )
#nextroom = adjroom[k]
# print "room : ",self.roomId
# print "nextroom : ",self.nextroomId
#p_nextroom = self.L.Gr.pos[self.nextroomId]
#setdoors1 = self.L.Gr.node[self.roomId]['doors']
#setdoors2 = self.L.Gr.node[nextroom]['doors']
#doorId = np.intersect1d(setdoors1,setdoors2)[0]
#
# coord door
#
#unode = self.L.Gs.neighbors(doorId)
#p1 = self.L.Gs.pos[unode[0]]
#p2 = self.L.Gs.pos[unode[1]]
#print p1
#print p2
#pdoor = (np.array(p1)+np.array(p2))/2
self.destination = self.waypoints[0]
#waittime = uniform(0,10)
#if self.manager:
# if self.manager(self, *self.manager_args):
# yield hold , self , waittime
#else:
# yield hold, self , waittime
# self.wait=abs(gauss(50,50))
# self.wait=abs(gauss(1,1))
print 'wait',self.wait*self.interval
yield hold, self, self.wait
else:
del self.waypoints[0]
#print "wp : ", self.waypoints
if len(self.waypoints)==1:
self.endpoint=True
self.destination = self.waypoints[0]
#print "dest : ", self.destination
else:
yield hold, self, self.interval
else:
# self.update()
self.world.update_boid(self)
self.net.update_pos(self.ID,conv_vecarr(self.position),self.sim.now())
yield hold, self, self.interval
def move(self):
"""
Move the Agent
"""
while True:
if self.moving:
if self.ID == 0:
print 'meca update @', self.sim.now()
while self.cancelled:
yield passivate, self
print "Person.move: activated after being cancelled"
checked = []
for zone in self.world.zones(self):
if zone not in checked:
checked.append(zone)
zone(self)
acceleration = self.steering_mind(self)
acceleration = acceleration.truncate(self.max_acceleration)
self.acceleration = acceleration
velocity = self.velocity + acceleration * self.interval
self.velocity = velocity.truncate(self.max_speed)
if velocity.length() > 0.2:
# record direction only when we've really had some
self.localy = velocity.normalize()
self.localx = vec3(self.localy.y, -self.localy.x)
self.position = self.position + self.velocity * self.interval
# self.update()
self.world.update_boid(self)
self.net.update_pos(self.ID, conv_vecarr(self.position))
if len(self.save) != 0:
p = conv_vecarr(self.position)
v = conv_vecarr(self.velocity)
a = conv_vecarr(self.acceleration)
if 'mysql' in self.save:
self.db.writemeca(self.ID, self.sim.now(), p, v, a)
if 'txt' in self.save:
pyu.writemeca(self.ID, self.sim.now(), p, v, a)
if self.arrived:
self.arrived = False
if self.endpoint:
self.endpoint = False
#pr = self.sim.roomlist.index(self.nextroomId)
#self.sim.roomlist.pop(pr)
self.roomId = self.nextroomId
#
# Si porte on continue
#
#
# ig destination --> next room
#
#adjroom = self.L.Gr.neighbors(self.roomId)
#Nadjroom = len(adjroom)
if self.cdest == 'random':
self.nextroomId = int(
np.floor(uniform(0, self.L.Gr.size())))
# test 1 ) next != actualroom
# 2 ) nextroom != fordiden room
# 3 ) room not share without another agent
while self.nextroomId == self.roomId or (
self.nextroomId in self.forbidroomId
): # or (self.nextroomId in self.sim.roomlist):
self.nextroomId = int(
np.floor(uniform(0, self.L.Gr.size())))
elif self.cdest == 'file':
self.room_counter = self.room_counter + 1
if self.room_counter >= self.nb_room:
self.room_counter = 0
self.nextroomId = self.room_seq[self.room_counter]
self.wait = self.room_wait[self.room_counter]
#self.sim.roomlist.append(self.nextroomId) # list of all destiantion of all nodes in object sim
wp = self.L.waypointGw(self.roomId, self.nextroomId)
for tup in wp[1:]:
self.waypoints.append(vec3(tup))
#nextroom = adjroom[k]
# print "room : ",self.roomId
# print "nextroom : ",self.nextroomId
#p_nextroom = self.L.Gr.pos[self.nextroomId]
#setdoors1 = self.L.Gr.node[self.roomId]['doors']
#setdoors2 = self.L.Gr.node[nextroom]['doors']
#doorId = np.intersect1d(setdoors1,setdoors2)[0]
#
# coord door
#
#unode = self.L.Gs.neighbors(doorId)
#p1 = self.L.Gs.pos[unode[0]]
#p2 = self.L.Gs.pos[unode[1]]
#print p1
#print p2
#pdoor = (np.array(p1)+np.array(p2))/2
self.destination = self.waypoints[0]
#waittime = uniform(0,10)
#if self.manager:
# if self.manager(self, *self.manager_args):
# yield hold , self , waittime
#else:
# yield hold, self , waittime
# self.wait=abs(gauss(50,50))
# self.wait=abs(gauss(1,1))
print 'wait', self.wait * self.interval
yield hold, self, self.wait
else:
del self.waypoints[0]
#print "wp : ", self.waypoints
if len(self.waypoints) == 1:
self.endpoint = True
self.destination = self.waypoints[0]
#print "dest : ", self.destination
else:
yield hold, self, self.interval
else:
# self.update()
self.world.update_boid(self)
self.net.update_pos(self.ID, conv_vecarr(self.position))
yield hold, self, self.interval
def move(self):
""" Move the Person
"""
if self.pdshow:
fig = plt.gcf()
fig, ax = self.L.showG('w',
labels=False,
alphacy=0.,
edges=False,
fig=fig)
plt.draw()
plt.ion()
while True:
if self.moving:
if self.sim.verbose:
print 'meca: updt ag ' + self.ID + ' @ ', self.sim.now()
# if np.allclose(conv_vecarr(self.destination)[:2],self.L.Gw.pos[47]):
# import ipdb
# ipdb.set_trace()
while self.cancelled:
yield passivate, self
print "Person.move: activated after being cancelled"
checked = []
for zone in self.world.zones(self):
if zone not in checked:
checked.append(zone)
zone(self)
# updating acceleration
acceleration = self.steering_mind(self)
acceleration = acceleration.truncate(self.max_acceleration)
self.acceleration = acceleration
# updating velocity
velocity = self.velocity + acceleration * self.interval
self.velocity = velocity.truncate(self.max_speed)
if velocity.length() > 0.2:
# record direction only when we've really had some
self.localy = velocity.normalize()
self.localx = vec3(self.localy.y, -self.localy.x)
# updating position
self.position = self.position + self.velocity * self.interval
# self.update()
self.position.z = 0
self.world.update_boid(self)
self.net.update_pos(self.ID, conv_vecarr(self.position),
self.sim.now())
p = conv_vecarr(self.position).reshape(3, 1)
v = conv_vecarr(self.velocity).reshape(3, 1)
a = conv_vecarr(self.acceleration).reshape(3, 1)
# fill panda dataframe 2D trajectory
self.df = self.df.append(
pd.DataFrame(
{
't': pd.Timestamp(self.sim.now(), unit='s'),
'x': p[0],
'y': p[1],
'vx': v[0],
'vy': v[1],
'ax': a[0],
'ay': a[1]
},
columns=['t', 'x', 'y', 'vx', 'vy', 'ax', 'ay']))
if self.pdshow:
ptmp = np.array([p[:2, 0], p[:2, 0] + v[:2, 0]])
if hasattr(self, 'pl'):
self.pl[0].set_data(self.df['x'].tail(1),
self.df['y'].tail(1))
self.pla[0].set_data(ptmp[:, 0], ptmp[:, 1])
circle = plt.Circle(
(self.df['x'].tail(1), self.df['y'].tail(1)),
radius=self.radius,
alpha=0.3)
ax.add_patch(circle)
else:
self.pl = ax.plot(self.df['x'].tail(1),
self.df['y'].tail(1),
'o',
color=self.color,
ms=self.radius * 10)
self.pla = ax.plot(ptmp[:, 0], ptmp[:, 1], 'r')
circle = plt.Circle(
(self.df['x'].tail(1), self.df['y'].tail(1)),
radius=self.radius,
alpha=0.3)
ax.add_patch(circle)
# try:
# fig,ax=plu.displot(p[:2],p[:2]+v[:2],'r')
# except:
# pass
# import ipdb
# ipdb.set_trace()
plt.draw()
plt.pause(0.0001)
if 'mysql' in self.save:
self.db.writemeca(self.ID, self.sim.now(), p, v, a)
if 'txt' in self.save:
pyu.writemeca(self.ID, self.sim.now(), p, v, a)
# new target when arrived in poi
if self.arrived and\
(self.L.pt2ro(self.position) ==\
self.L.Gw.node[self.rooms[1]]['room']):
self.arrived = False
if self.endpoint:
self.endpoint = False
self.roomId = self.nextroomId
# remove the remaining waypoint which correspond
# to current room position
del self.waypoints[0]
del self.rooms[0]
# del self.dlist[0]
#
# If door lets continue
#
#
# ig destination --> next room
#
#adjroom = self.L.Gr.neighbors(self.roomId)
#Nadjroom = len(adjroom)
if self.cdest == 'random':
# self.nextroomId = int(np.floor(random.uniform(0,self.L.Gr.size())))
self.nextroomId = random.sample(
self.L.Gr.nodes(), 1)[0]
# test 1 ) next != actualroom
# 2 ) nextroom != fordiden room
# 3 ) room not share without another agent
while self.nextroomId == self.roomId or (
self.nextroomId in self.forbidroomId
): # or (self.nextroomId in self.sim.roomlist):
# self.nextroomId = int(np.floor(random.uniform(0,self.L.Gr.size())))
self.nextroomId = random.sample(
self.L.Gr.nodes(), 1)[0]
elif self.cdest == 'file':
self.room_counter = self.room_counter + 1
if self.room_counter >= self.nb_room:
self.room_counter = 0
self.nextroomId = self.room_seq[self.room_counter]
self.wait = self.room_wait[self.room_counter]
#self.sim.roomlist.append(self.nextroomId) # list of all destiantion of all nodes in object sim
self.rooms, wp = self.L.waypointGw(
self.roomId, self.nextroomId)
# self.dlist = [i in self.L.Gw.ldo for i in self.rooms]
for tup in wp[1:]:
self.waypoints.append(vec3(tup))
#nextroom = adjroom[k]
# print "room : ",self.roomId
# print "nextroom : ",self.nextroomId
#p_nextroom = self.L.Gr.pos[self.nextroomId]
#setdoors1 = self.L.Gr.node[self.roomId]['doors']
#setdoors2 = self.L.Gr.node[nextroom]['doors']
#doorId = np.intersect1d(setdoors1,setdoors2)[0]
#
# coord door
#
#unode = self.L.Gs.neighbors(doorId)
#p1 = self.L.Gs.pos[unode[0]]
#p2 = self.L.Gs.pos[unode[1]]
#print p1
#print p2
#pdoor = (np.array(p1)+np.array(p2))/2
self.destination = self.waypoints[0]
if self.sim.verbose:
print 'meca: ag ' + self.ID + ' wait ' + str(
self.wait) #*self.interval)
yield hold, self, self.wait
else:
del self.waypoints[0]
del self.rooms[0]
# del self.dlist[0]
#print "wp : ", self.waypoints
if len(self.waypoints) == 1:
self.endpoint = True
self.destination = self.waypoints[0]
#print "dest : ", self.destination
else:
yield hold, self, self.interval
else:
# self.update()
self.world.update_boid(self)
self.net.update_pos(self.ID, conv_vecarr(self.position),
self.sim.now())
yield hold, self, self.interval
