def do(self, world: World, elapsed: float, location: Location, position: Position, ant: ModularAnt):
try:
# Get a list of ALL possible directions to move in.
# Compile list into a list of pairs, where the first entry is a direction, and the second a weight.
directions: Directions = Directions(world, position)
# Bias the direction in terms of the origin position.
if self.brood_position is not None:
directions.bias(brood_direction_func(self.hold_chance, self.brood_position))
# Bias the direction weights, by pheromone level (with respect to the bias amount).
directions.bias(pheromone_bias_func(age_bias(self.pheromone_bias, self.age)))
# Bias by brood pheromones, encouraging ants to adopt a nurse role.
directions.bias(brood_pheromone_bias_func(self.age))
# Make a random, weighted selection of these direction.
self.facing = directions.get_random_direction()
# Apply a wobble at random.
d: Direction = self.facing.get_wobble(random.choice(array([0, -1, 1]), p=array([1 - self.wobble_chance,
self.wobble_chance/2, self.wobble_chance/2])))
to: Location = world.get_location(position.x + d.get()[0], position.y + d.get()[1])
world.move(location, to)
except IndexError:
# The ant can't move...
pass
def __populate_with_objects(world: World, objects_file: str) -> World:
if objects_file is None or objects_file == "":
return world
with open(objects_file) as file:
lines: [str] = file.readlines()
for line in lines:
name, x, y = line.split()[0], int(line.split()[1]), int(
line.split()[2])
world.add_object(factory.make_object(name), x, y)
return world
def get_baked(world: World, position: Position) -> [(Direction, float)]:
if world not in Directions.compiled_positions:
Directions.compiled_positions[world] = {}
for i in range(world.get_dimensions()[0]):
for j in range(world.get_dimensions()[1]):
Directions.compiled_positions[world][(
i,
j)] = Directions.get_weighted_directions(world, i, j)
return Directions.compiled_positions[world][(position.x,
position.y)].copy()
def __generate_with_grounds(grounds_file: str) -> World:
with open(grounds_file) as file:
lines: [str] = file.readlines()
width, height = int(lines[0].split()[0]), int(lines[0].split()[1])
world = World(width, height)
for y in range(height):
strings = lines[y + 1].split()
for x in range(width):
world.set_location(Location(factory.make_ground(strings[x])),
x, y)
return world
def draw_world(world: World, *object_kinds: [Kind]):
"""\
Draws a World in its current state.
"""
colours: [[Colour]] = world.get_printable(*object_kinds)
colour_list_of_list = []
cmap = []
colour_dict = {}
for i in range(len(colours[0])):
colour_list_of_list.append([])
for j in range(len(colours)):
if colours[j][i].get_rgba() not in colour_dict:
colour_dict[colours[j][i].get_rgba()] = len(colour_dict)
cmap.append(colours[j][i].get_rgba())
colour_list_of_list[i].append(
colour_dict[colours[j][i].get_rgba()])
cmap = mpl.colors.ListedColormap(cmap)
plt.figure(figsize=(len(colour_list_of_list[0]),
len(colour_list_of_list)))
plt.axis("off")
plt.pcolor(colour_list_of_list[::-1], cmap=cmap)
plt.get_current_fig_manager().window.state("zoomed")
plt.show()
def change_dir_random(world: World, elapsed: float, location: Location, pos: Position):
possible_free_locations = []
# scan 1 range saving taking note of all available spots
for i in range(-1, 2):
for j in range(-1, 2):
if i != 0 and j != 0:
if world.get_location(pos.get_coordinates()[0] + i, pos.get_coordinates()[1] + j).is_free():
possible_free_locations.append(
[pos.get_coordinates()[0] + i, pos.get_coordinates()[1] + j, i, j])
# if at least 1 available spot in 1 range
if len(possible_free_locations) > 0:
# pick a random one and move there
random_available_space = random.choice(possible_free_locations)
WanderBehaviour.move(ant, world.get_location(pos.x, pos.y),
world.get_location(random_available_space[0], random_available_space[1]))
ant.current_dir = [random_available_space[2], random_available_space[3]]
def tick(self, world: World, elapsed: float, location: Location, position: Position):
self.age += elapsed * ModularAnt.AGE_SCALE
self.current_wander_behaviour.set_age(self.age)
self.current_wander_behaviour.set_seeking_food(not self.carrying_food)
if random.random() > self.hold_position_chance * (1 + self.interacting_ticks):
self.current_wander_behaviour.do(world, elapsed, location, position, self)
if self.age < ModularAnt.FORAGING_AGE or random.random() < ModularAnt.\
FORAGING_PHEROMONE_OVERRIDE_CHANCE:
location.add_pheromones(ModularAnt.PHEROMONES_PER_TICK)
else:
if location.get_brood_pheromone_count() == 0 and location.get_pheromone_count() == 0:
location.add_foraging_pheromones(ModularAnt.FORAGING_PHEROMONES_PER_TICK)
# If this ant is in the foraging area, it will pick up food readily.
if not self.carrying_food:
if location.get_ground().get_id() == ForageGrounds.get_id() or \
random.random() < ModularAnt.ALT_PICKUP_CHANCE:
foods: [Object] = location.get_objects(Kind.FOOD)
if len(foods) > 0:
self.carrying_food = True
location.remove_object(foods[-1])
elif location.get_ground().get_id() == Nest.get_id():
if random.random() < ModularAnt.FOOD_DROP_CHANCE or sum(map(lambda l: len(l.get_objects(Kind.FOOD)),
world.get_adjacent_locations(position.x, position.y, 1, False))) > 0:
location.add_object(Food())
self.carrying_food = False
# Measure interactions:
others: [int] = []
for loc in world.get_adjacent_locations(position.x, position.y, ModularAnt.INTERACTION_RADIUS, False):
if loc.get_actor() is None:
continue
if isinstance(loc.get_actor(), ModularAnt):
other: ModularAnt = loc.get_actor()
if ModularAnt.can_interact(self, other):
others.append(other.get_ant_id())
if self.interacting_with_id in others:
self.interacting_ticks += 1
if self.interacting_ticks > ModularAnt.INTERACTING_TICKS_THRESHOLD:
self.interact(self.interacting_with_id)
elif len(others) > 0:
self.interacting_with_id = others[0]
self.interacting_ticks = 0
def pheromone_bias(world: World, position: Position, direction: Direction,
weight: float) -> float:
try:
loc: Location = world.get_location(position.x + direction.get()[0],
position.y + direction.get()[1])
return weight + (bias * loc.get_pheromone_count()
if loc.is_free() and weight != 0 else 0)
except IndexError:
return 0
def tick(self, world: World, elapsed: float, location: Location, position: Position):
if self.brood_position is None:
self.brood_position = (position.x, position.y)
self.current_wander_behaviour.set_brood_position(self.brood_position)
# location.add_brood_pheromones(ModularQueen.BROOD_PHEROMONES_PER_TICK)
for loc in world.get_adjacent_locations(position.x, position.y, 1, False):
loc.add_brood_pheromones(ModularQueen.BROOD_PHEROMONES_PER_TICK)
self.current_wander_behaviour.set_age(ModularQueen.QUEEN_LOGICAL_AGE)
super().tick(world, elapsed, location, position)
def __populate_with_actors(world: World, actors_file: str) -> World:
if actors_file is None or actors_file == "":
return world
with open(actors_file) as file:
lines: [str] = file.readlines()
for line in lines:
name, x, y = line.split()[0], int(line.split()[1]), int(
line.split()[2])
attributes: Union[Attributes, None]
if len(line.split()) > 3:
attributes = Attributes(
ast.literal_eval(''.join(line.split()[3:])))
else:
attributes = None
world.add_actor(factory.make_actor(name, attributes), x, y)
return world
def exploration_bias(world: World, position: Position,
direction: Direction, weight: float) -> float:
try:
loc: Location = world.get_location(position.x + direction.get()[0],
position.y + direction.get()[1])
return weight * (tanh((age - 130) / 10) + 2 # weight * 5 * (tanh((age - 130)/(10)) + 1.2 #
) if (loc.get_pheromone_count() <= FORAGING_PHEROMONE_THRESHOLD and
loc.get_brood_pheromone_count() <= FORAGING_PHEROMONE_THRESHOLD) or \
loc.get_foraging_pheromone_count() > FORAGING_PHEROMONE_THRESHOLD else weight
except IndexError:
return 0
def tick(self, world: World, elapsed: float, location: Location,
position: Position):
try:
# COMPLETELY RANDOM CHOICES FOR WALKS (no preserving of direction).
to: Location = Random().choice(
world.get_adjacent_locations(position.x, position.y, 1, True))
self.move(location, to)
self.food_interaction(to, world, position)
except IndexError:
# The ant can't find anywhere to move...
location.add_object(TestObject())
def get_weighted_directions(world: World, x: int,
y: int) -> [(Direction, float)]:
directions: [(Directions, float)] = []
for i in range(-1, 2):
for j in range(-1, 2):
if i == j:
continue
weight: float
try:
loc: Location = world.get_location(x + i, y + j)
weight = 1 if loc.is_free() else 0
except (IndexError, InvalidLocationException):
weight = 0
directions.append((Direction(i, j), weight))
return directions
def food_interaction(self, loc: Location, world: World,
position: Position):
if self.carrying is not None and Random().random(
) < StigmergyAnt.DROP_CHANCE:
for l in world.get_adjacent_locations(position.x, position.y, 1,
False):
if len(l.get_objects(Kind.FOOD)) > 0:
loc.add_object(self.carrying)
self.carrying = None
break
else:
food_items: [Object] = loc.get_objects(Kind.FOOD)
if len(food_items) > 0:
self.carrying = food_items[0]
loc.remove_object(self.carrying)
def change_dir_random_chance(self, world: World, elapsed: float, location: Location, pos: Position, chance: float):
if chance < random.random(): #90% of the time
#if spot in same direction is free and passes a 33% chance, go there
if world.get_location(pos.get_coordinates()[0] + self.current_dir[0], pos.get_coordinates()[1] + self.current_dir[1]).is_free() and random.random() < 1/3:
self.move_ant(world, elapsed, pos, [pos.get_coordinates()[0] + self.current_dir[0], pos.get_coordinates()[1] + self.current_dir[1]])
else:
#with a 50% choose the adjacent spot e.g. if going north, pick north-east 50% of the time , north-west 50% of the time
next_dirr = self.give_dir_next_to_current( self.current_dir[0], self.current_dir[1])
#if the first picked adjacent spot is free go there
if world.get_location(pos.get_coordinates()[0] + next_dirr[0][0],pos.get_coordinates()[1] + next_dirr[0][1]).is_free():
self.move_ant(world, elapsed, pos, [pos.get_coordinates()[0] + next_dirr[0][0], pos.get_coordinates()[1] + next_dirr[0][1]])
# else if the second picked adjacent spot is free go there
elif world.get_location(pos.get_coordinates()[0] + next_dirr[1][0],pos.get_coordinates()[1] + next_dirr[1][1]).is_free():
self.move_ant(world, elapsed, pos, [pos.get_coordinates()[0] + next_dirr[1][0], pos.get_coordinates()[1] + next_dirr[1][1]])
#else go random available spot ... and if no spot available change_dir_random will make the ant stay still
else:
self.change_dir_random(world,elapsed,location,pos)
else: #10% of the time go random available spot ... and if no spot available change_dir_random will make the ant stay still
self.change_dir_random(world,elapsed,location,pos)
def food_lure(world: World, position: Position, direction: Direction,
weight: float) -> float:
locations: [(Location, int, int)
] = world.get_adjacent_locations_with_positions(
position.x, position.y, FOOD_LURE_RADIUS, True)
return weight + sum(
map(
lambda lxy: FOOD_BIAS_FACTOR * len(lxy[0].get_objects(Kind.FOOD
)),
filter(
lambda lxy:
(sign(lxy[1] - position.x) == sign(direction.x) or
direction.x == 0) and (sign(lxy[2] - position.y) == sign(
direction.y) or direction.y == 0),
filter(
lambda lxy: lxy[0].get_ground().get_id() ==
ForageGrounds.get_id(), locations))))
def move_ant(self,world: World, elapsed: float, pos: Position, target:list):
world.get_location(pos.get_coordinates()[0], pos.get_coordinates()[1]).remove_actor()
world.get_location(target[0], target[1]).set_actor(self)
world.get_location(target[0], target[1]).add_object(TestObject())
def save(world: World):
world.write_out()
ModularAnt.save_interactions()
def tick(self, world: World, elapsed: float, location: Location, position: Position):
if random.random() < FoodGenerator.CHANCE:
for loc in world.get_adjacent_locations(position.x, position.y, FoodGenerator.RADIUS, False):
if len(loc.get_objects(Kind.FOOD)) == 0:
loc.add_object(Food())
def change_dir_random_chance(self, world: World, elapsed: float, location: Location, pos: Position,
variation_chance: float, wobble_chance: float, ant: BehaviourAnt):
def give_dir_next_to_current(i, j):
if i == -1 and j == 1:
if random.random() > 0.5:
return ([[-1, 0], [0, 1]])
return ([[0, 1], [-1, 0]])
if i == -1 and j == 0:
if random.random() > 0.5:
return ([[-1, 1], [-1, -1]])
return ([[-1, -1], [-1, 1]])
if i == -1 and j == -1:
if random.random() > 0.5:
return ([[-1, 0], [0, -1]])
return ([[0, -1], [-1, 0]])
if i == 0 and j == 1:
if random.random() > 0.5:
return ([[-1, 1], [1, 1]])
return ([[1, 1], [-1, 1]])
if i == 0 and j == -1:
if random.random() > 0.5:
return ([[-1, -1], [1, -1]])
return ([[1, -1], [-1, -1]])
if i == 1 and j == 1:
if random.random() > 0.5:
return ([[0, 1], [1, 0]])
return ([[1, 0], [0, 1]])
if i == 1 and j == 0:
if random.random() > 0.5:
return ([[1, 1], [1, -1]])
return ([[1, -1], [1, 1]])
if i == 1 and j == -1:
if random.random() > 0.5:
return ([[1, 0], [0, -1]])
return ([[0, -1], [1, 0]])
def change_dir_random(world: World, elapsed: float, location: Location, pos: Position):
possible_free_locations = []
# scan 1 range saving taking note of all available spots
for i in range(-1, 2):
for j in range(-1, 2):
if i != 0 and j != 0:
if world.get_location(pos.get_coordinates()[0] + i, pos.get_coordinates()[1] + j).is_free():
possible_free_locations.append(
[pos.get_coordinates()[0] + i, pos.get_coordinates()[1] + j, i, j])
# if at least 1 available spot in 1 range
if len(possible_free_locations) > 0:
# pick a random one and move there
random_available_space = random.choice(possible_free_locations)
WanderBehaviour.move(ant, world.get_location(pos.x, pos.y),
world.get_location(random_available_space[0], random_available_space[1]))
ant.current_dir = [random_available_space[2], random_available_space[3]]
if variation_chance < random.random(): # 90% of the time
# if spot in same direction is free and passes a 33% chance, go there
if world.get_location(pos.get_coordinates()[0] + ant.current_dir[0],
pos.get_coordinates()[1] + ant.current_dir[
1]).is_free() and random.random() < wobble_chance:
WanderBehaviour.move(ant, world.get_location(pos.x, pos.y),
world.get_location(pos.get_coordinates()[0] + ant.current_dir[0],
pos.get_coordinates()[1] + ant.current_dir[1]))
else:
# with a 50% choose the adjacent spot e.g. if going north, pick north-east 50% of the time , north-west 50% of the time
next_dirr = give_dir_next_to_current(ant.current_dir[0], ant.current_dir[1])
# if the first picked adjacent spot is free go there
if world.get_location(pos.get_coordinates()[0] + next_dirr[0][0],
pos.get_coordinates()[1] + next_dirr[0][1]).is_free():
WanderBehaviour.move(ant, world.get_location(pos.x, pos.y),
world.get_location(pos.get_coordinates()[0] + next_dirr[0][0],
pos.get_coordinates()[1] + next_dirr[0][1]))
# else if the second picked adjacent spot is free go there
elif world.get_location(pos.get_coordinates()[0] + next_dirr[1][0],
pos.get_coordinates()[1] + next_dirr[1][1]).is_free():
WanderBehaviour.move(ant, world.get_location(pos.x, pos.y),
world.get_location(pos.get_coordinates()[0] + next_dirr[1][0],
pos.get_coordinates()[1] + next_dirr[1][1]))
# else go random available spot ... and if no spot available change_dir_random will make the ant stay still
else:
change_dir_random(world, elapsed, location, pos)
else: # 10% of the time go random available spot ... and if no spot available change_dir_random will make the ant stay still
change_dir_random(world, elapsed, location, pos)