def getEnv(self, id):
x = self._Robots[id]._real_location._x
y = self._Robots[id]._real_location._y
array = [True, True, True, True]
if (Point.existsXY(x, y - 1) == False or y - 1 == 0):
array[UP()] = False
elif (self._mat_robot_id[x][y - 1] != -1 | self._mat_zone[x][y - 1]):
array[UP()] = False
if (Point.existsXY(x, y + 1) == False or y + 1 != ARENA_Y() - 1):
array[DOWN()] = False
elif (self._mat_robot_id[x][y + 1] != -1 | self._mat_zone[x][y + 1]):
array[DOWN()] = False
if (Point.existsXY(x - 1, y) == False or x - 1 == 0):
array[LEFT()] = False
elif (self._mat_robot_id[x - 1][y] != -1 | self._mat_zone[x - 1][y]):
array[LEFT()] = False
if (Point.existsXY(x + 1, y) == False or x + 1 != ARENA_X() - 1):
array[RIGHT()] = False
elif (self._mat_robot_id[x + 1][y] != -1 | self._mat_zone[x + 1][y]):
array[RIGHT()] = False
return array
def getEnv(self, id):
x = self._Robots[id]._real_location._x
y = self._Robots[id]._real_location._y
array = [True,True,True,True]
if (Point.existsXY(x, y-1) == False or y-1 ==0):
array[UP()] = False
elif(self._mat_robot_id[x][y-1]!=-1 | self._mat_zone[x][y-1]):
array[UP()] =False
if (Point.existsXY(x, y+1) == False or y+1 != ARENA_Y()-1):
array[DOWN()] = False
elif(self._mat_robot_id[x][y+1]!=-1 | self._mat_zone[x][y+1]):
array[DOWN()] =False
if (Point.existsXY(x - 1, y) == False or x-1 ==0):
array[LEFT()] = False
elif(self._mat_robot_id[x-1][y]!=-1 | self._mat_zone[x-1][y]):
array[LEFT()] =False
if(Point.existsXY(x+1, y) == False or x+1 != ARENA_X()-1):
array[RIGHT()] = False
elif(self._mat_robot_id[x+1][y]!=-1 | self._mat_zone[x+1][y]):
array[RIGHT()] =False
return array
def showGUI(data):
X = []
for i in range(int(ARENA_X())):
line = int(ARENA_Y())*[-1]
X.append(line)
for i in range(int(ARENA_X())):
for j in range(int(ARENA_Y())):
if(X[i][j] != -1): continue
if(data._Arena._mat_robot_id[i][j]!=-1):
if(data._Arena._Robots[data._Arena._mat_robot_id[i][j]]._can_move):
X[i][j] = ROBOTS_MOVE_COLOR()
for i2 in range(i - ROBOT_LEANGHT(), i + ROBOT_LEANGHT()):
for j2 in range(j - ROBOT_LEANGHT(), j + ROBOT_LEANGHT()):
if (Point.existsXY(i2, j2)):
X[i2][j2] = ROBOTS_MOVE_COLOR()
else:
X[i][j] = ROBOTS_NOT_MOVE_COLOR()
for i2 in range(i - ROBOT_LEANGHT(), i + ROBOT_LEANGHT()):
for j2 in range(j - ROBOT_LEANGHT(), j + ROBOT_LEANGHT()):
if (Point.existsXY(i2, j2)):
X[i2][j2] = ROBOTS_NOT_MOVE_COLOR()
elif (data._Arena._mat_zone[i][j] == 2):
X[i][j] = 1000
elif (data._Arena._mat_zone[i][j] == 1):
X[i][j] = 500
elif (data._Arena._mat_zone[i][j] == 0):
X[i][j] = 0
fig, ax = plt.subplots()
ax.imshow(X, cmap='RdGy', interpolation='nearest')
callback = data
Msg1_loc = plt.axes([0.05, 0.95, 0.90, 0.045])
Msg1 = Button(Msg1_loc, "Time= "+str(data._time) + ", Robot moved= "+str(Arena._mone_move) + ", Messages = " + str(data.Messages_mone))#) +" | << Click here for details >>")
#Msg1.on_clicked(callback.actionMsg1)
#button1:
butt1_loc = plt.axes([0.1, 0.001, 0.25, 0.065])
butt1 = Button(butt1_loc, str(BUTTON_NUMBER_1())+' step forward')
butt1.on_clicked(callback.actionButton1)
# button2:
butt2_loc = plt.axes([0.4, 0.001, 0.25, 0.065])
butt2 = Button(butt2_loc, str(BUTTON_NUMBER_2()) +' step forward')
butt2.on_clicked(callback.actionButton2)
##button3:
butt3_loc = plt.axes([0.7, 0.001, 0.25, 0.065])
butt3 = Button(butt3_loc, str(BUTTON_NUMBER_3()) +' step forward')
butt3.on_clicked(callback.actionButton3)
plt.show()
def sendMessage(message, robot):
canSend = Air.canSend(robot)
if(canSend == True):
message._real_location = robot._real_location
if (bool(ACTIVE_MATDISTANCE())):
Point.fillMatDistance(Air.static_mat_zone,message._mat_distance, message._real_location)
#Air._self.Id_message = Air._self.mone*1000 +robot._id
#Air._self.mone = Air._self.mone+1
Air._messages.append(message)
return canSend
def sendMessage(message, robot):
canSend = Air.canSend(robot)
if(canSend == True):
message._real_location = robot._real_location
if (bool(ACTIVE_MATDISTANCE())):
Point.fillMatDistance(Air.static_mat_zone,message._mat_distance, message._real_location)
#Air._self.Id_message = Air._self.mone*1000 +robot._id
#Air._self.mone = Air._self.mone+1
Air._messages.append(message)
return canSend
def showGUI(self):
X = []
for i in range(int(ARENA_X())):
line = int(ARENA_Y())*[-1]
X.append(line)
for i in range(int(ARENA_X())):
for j in range(int(ARENA_Y())):
if(X[i][j] != -1): continue
if(self._Arena._mat_robot_id[i][j]!=-1):
X[i][j] = -1000
for i2 in range(i-ROBOT_LEANGHT(), i+ROBOT_LEANGHT()):
for j2 in range(j - ROBOT_LEANGHT(), j + ROBOT_LEANGHT()):
if(Point.existsXY(i2,j2)):
X[i2][j2] = -1000
elif (self._Arena._mat_zone[i][j] == 2):
X[i][j] = 1000
elif (self._Arena._mat_zone[i][j] == 1):
X[i][j] = 500
elif (self._Arena._mat_zone[i][j] == 0):
X[i][j] = 0
fig, ax = plt.subplots()
ax.imshow(X, cmap='RdGy', interpolation='nearest')
plt.show()
def getMessage(robot):
sum_range = 0
flag = False
if(len(Air._messages) ==0 ): return NO_MSG()
nearest_messagesa = Air._messages[0]
robot_loc = robot._real_location
r=0
for i in range(0, len(Air._messages)):
r =0
if (bool(ACTIVE_MATDISTANCE())):
r = Air._messages[i]._mat_distance[robot_loc._x][robot_loc._y]
else:
r = Point.airDistancePoints(robot_loc, Air._messages[i]._real_location)
if(r == INFINITY() or r<=0): continue
if(r <=MIN_MSG_RANGE()):
Air._messages[i]._snn = (MAX_MSG_RANGE()-r)*(MAX_MSG_RANGE()-r)
return Air._messages[i] ##################################put distance to msg
elif(r >=MAX_MSG_RANGE()):
continue
else:
if(Air._messages[i]._sender_estimated_location._deviation<100):
Air._messages[i]._snn = (MAX_MSG_RANGE() - r) * (MAX_MSG_RANGE() - r)
return Air._messages[i] ##################################put distance to msg
sum_range = sum_range + r
nearest_mess_loc = nearest_messagesa._real_location
messa_i = Air._messages[i]._real_location
if(flag == False):
flag = True
nearest_messagesa = Air._messages[i]
nearest_messagesa._snn = (MAX_MSG_RANGE() - r) * (MAX_MSG_RANGE() - r)
return nearest_messagesa
elif(Point.distance(Air.static_mat_zone, robot_loc,nearest_mess_loc) > Point.distance(Air.static_mat_zone, robot_loc,messa_i)):
nearest_messagesa = Air._messages[i]
nearest_messagesa._snn = (MAX_MSG_RANGE() - r) * (MAX_MSG_RANGE() - r)
if(flag): return NO_MSG()
if(sum_range==0): return NO_MSG()
if(r==0 or sum_range>= MAX_MSG_RANGE()):
return NO_MSG()
else:
nearest_messagesa._snn = nearest_messagesa._snn - sum_range
#print("\n%%%\nnearest_messagesa._snn:: " + str(nearest_messagesa._snn))
#print("sum_range:: " + str(sum_range))
#print("_snn:: " + str(nearest_messagesa._snn))
##################################put distance to msg
return nearest_messagesa
def getMessage(robot):
sum_range = 0
flag = False
if(len(Air._messages) ==0 ): return NO_MSG()
nearest_messagesa = Air._messages[0]
robot_loc = robot._real_location
r=0
for i in range(0, len(Air._messages)):
r =0
if (bool(ACTIVE_MATDISTANCE())):
r = Air._messages[i]._mat_distance[robot_loc._x][robot_loc._y]
else:
r = Point.airDistancePoints(robot_loc, Air._messages[i]._real_location)
if(r == INFINITY() or r<=0): continue
if(r <=MIN_MSG_RANGE()):
Air._messages[i]._snn = (MAX_MSG_RANGE()-r)*(MAX_MSG_RANGE()-r)
return Air._messages[i] ##################################put distance to msg
elif(r >=MAX_MSG_RANGE()):
continue
else:
if(Air._messages[i]._sender_estimated_location._deviation<100):
Air._messages[i]._snn = (MAX_MSG_RANGE() - r) * (MAX_MSG_RANGE() - r)
return Air._messages[i] ##################################put distance to msg
sum_range = sum_range + r
nearest_mess_loc = nearest_messagesa._real_location
messa_i = Air._messages[i]._real_location
if(flag == False):
flag = True
nearest_messagesa = Air._messages[i]
nearest_messagesa._snn = (MAX_MSG_RANGE() - r) * (MAX_MSG_RANGE() - r)
return nearest_messagesa
elif(Point.distance(Air.static_mat_zone, robot_loc,nearest_mess_loc) > Point.distance(Air.static_mat_zone, robot_loc,messa_i)):
nearest_messagesa = Air._messages[i]
nearest_messagesa._snn = (MAX_MSG_RANGE() - r) * (MAX_MSG_RANGE() - r)
if(flag): return NO_MSG()
if(sum_range==0): return NO_MSG()
if(r==0 or sum_range>= MAX_MSG_RANGE()):
return NO_MSG()
else:
nearest_messagesa._snn = nearest_messagesa._snn - sum_range
#print("\n%%%\nnearest_messagesa._snn:: " + str(nearest_messagesa._snn))
#print("sum_range:: " + str(sum_range))
#print("_snn:: " + str(nearest_messagesa._snn))
##################################put distance to msg
return nearest_messagesa
def canSend(robot):
sum_range = 0
robot_loc = Robot(robot)._real_location
for i in range(0, len(Air._messages)):
r = 0
if (bool(ACTIVE_MATDISTANCE())):
r = Air._messages[i]._mat_distance[robot_loc._x][robot_loc._y]
else:
r = Point.airDistancePoints(robot_loc, Air._messages[i]._real_location)
if (r < MAX_MSG_RANGE()):
sum_range = sum_range + r
if (sum_range < math.sqrt(MAX_MSG_RANGE())):
return True
else:
return False
def canSend(robot):
sum_range = 0
robot_loc = Robot(robot)._real_location
for i in range(0, len(Air._messages)):
r = 0
if (bool(ACTIVE_MATDISTANCE())):
r = Air._messages[i]._mat_distance[robot_loc._x][robot_loc._y]
else:
r = Point.airDistancePoints(robot_loc, Air._messages[i]._real_location)
if (r < MAX_MSG_RANGE()):
sum_range = sum_range + r
if (sum_range < math.sqrt(MAX_MSG_RANGE())):
return True
else:
return False
def __init__(self, Id_Sender, Id_Message, Time, sender_estimated_loc):
self._id_source = Id_Sender # Upond creation: source = sender.
self._id_message = Id_Message # transmit_Message function (on Simulation) updates that value
self._sender_history = [
] # From here you can also find the latest sender.
self._sender_estimated_location = sender_estimated_loc
self._create_time = Time #so that we dont pass 'MSG_LIFE_TIME'.
self._version = 0 #so that we dont pass 'MAX_VERSION'.
self._real_location = Point(0, 0)
self._snn = 0
self._mat_distance = []
#Iputing '_mat_distance' distances:
if (bool(ACTIVE_MATDISTANCE())):
for i in range(int(float(ARENA_Y()))):
self._mat_distance.append(int(ARENA_X()) * [INFINITY()])
def moveRobot(self, id, direction):
array = self.getEnv(id)
if (array[direction] == False):
return False
else:
Arena._mone_move += 1
x = self._Robots[id]._real_location._x
y = self._Robots[id]._real_location._y
self._mat_robot_id[x][y] = -1
tolog = ""
if (direction == UP()):
tolog = ("Robot " + str(id) + ": move UP From [" + str(x) +
"][" + str(y) + "] to [" + str(x) + "][" +
str(y - 1) + "]")
y = y - 1
elif (direction == DOWN()):
tolog = ("Robot " + str(id) + ": move DOWN From [" + str(x) +
"][" + str(y) + "] to [" + str(x) + "][" +
str(y + 1) + "]")
y = y + 1
elif (direction == LEFT()):
tolog = ("Robot " + str(id) + ": move LEFT From [" + str(x) +
"][" + str(y) + "] to [" + str(x - 1) + "][" +
str(y) + "]")
x = x - 1
else:
tolog = ("Robot " + str(id) + ": move RIGHT From [" + str(x) +
"][" + str(y) + "] to [" + str(x + 1) + "][" +
str(y) + "]")
x = x + 1
Log.addLine(tolog)
#print(tolog)
self._mat_robot_id[x][y] = id
self._Robots[id]._real_location = Point(x, y)
return True
from code.Global_Parameters import * from code.Robot import Robot from code.Arena import Arena from code.Message import Message from code.Point import Point from code.Air import Air from code.Log import Log readParameters() Mylog = Log() p1 = Point(100,100) p1._deviation = 100 print(p1.toString()) p2 = Point(30,70) p2._deviation = 100 print(p2.toString()) p1.Joint(p2) print(p1.toString())
def showGUI(data):
X = []
for i in range(int(ARENA_X())):
line = int(ARENA_Y()) * [-1]
X.append(line)
for i in range(int(ARENA_X())):
for j in range(int(ARENA_Y())):
if (X[i][j] != -1): continue
if (data._Arena._mat_robot_id[i][j] != -1):
if (data._Arena._Robots[data._Arena._mat_robot_id[i]
[j]]._can_move):
X[i][j] = ROBOTS_MOVE_COLOR()
for i2 in range(i - ROBOT_LEANGHT(),
i + ROBOT_LEANGHT()):
for j2 in range(j - ROBOT_LEANGHT(),
j + ROBOT_LEANGHT()):
if (Point.existsXY(i2, j2)):
X[i2][j2] = ROBOTS_MOVE_COLOR()
else:
X[i][j] = ROBOTS_NOT_MOVE_COLOR()
for i2 in range(i - ROBOT_LEANGHT(),
i + ROBOT_LEANGHT()):
for j2 in range(j - ROBOT_LEANGHT(),
j + ROBOT_LEANGHT()):
if (Point.existsXY(i2, j2)):
X[i2][j2] = ROBOTS_NOT_MOVE_COLOR()
elif (data._Arena._mat_zone[i][j] == 2):
X[i][j] = 1000
elif (data._Arena._mat_zone[i][j] == 1):
X[i][j] = 500
elif (data._Arena._mat_zone[i][j] == 0):
X[i][j] = 0
fig, ax = plt.subplots()
ax.imshow(X, cmap='RdGy', interpolation='nearest')
callback = data
Msg1_loc = plt.axes([0.05, 0.95, 0.90, 0.045])
Msg1 = Button(
Msg1_loc, "Time= " + str(data._time) + ", Robot moved= " +
str(Arena._mone_move) + ", Messages = " +
str(data.Messages_mone)) #) +" | << Click here for details >>")
#Msg1.on_clicked(callback.actionMsg1)
#button1:
butt1_loc = plt.axes([0.1, 0.001, 0.25, 0.065])
butt1 = Button(butt1_loc, str(BUTTON_NUMBER_1()) + ' step forward')
butt1.on_clicked(callback.actionButton1)
# button2:
butt2_loc = plt.axes([0.4, 0.001, 0.25, 0.065])
butt2 = Button(butt2_loc, str(BUTTON_NUMBER_2()) + ' step forward')
butt2.on_clicked(callback.actionButton2)
##button3:
butt3_loc = plt.axes([0.7, 0.001, 0.25, 0.065])
butt3 = Button(butt3_loc, str(BUTTON_NUMBER_3()) + ' step forward')
butt3.on_clicked(callback.actionButton3)
plt.show()
def __init__(self):
self._mat_robot_id = []
self._Robots = []
self._Robots_sort_Random = []
self._mat_zone = [] #by color (white = 0 gray = 1 black = 2)
for i in range(int(float(ARENA_X()))):
self._mat_robot_id.append(int(ARENA_Y()) * [-1])
self._mat_zone.append(int(ARENA_Y()) * [WHITE()])
# Mark gray areas:
Gray_area_point = GRAY_AREA()
for b in range(len(Gray_area_point)):
Log.addLine("create gray area point between: " +
str(Gray_area_point[b]))
for i in range(Gray_area_point[b][0], Gray_area_point[b][2] + 1):
for j in range(Gray_area_point[b][1],
Gray_area_point[b][3] + 1):
self._mat_zone[i][j] = GRAY()
# Mark black areas:
black_area_point = BLACK_AREA()
for b in range(len(black_area_point)):
Log.addLine("create black area point between: " +
str(black_area_point[b]))
for i in range(black_area_point[b][0], black_area_point[b][2] + 1):
for j in range(black_area_point[b][1],
black_area_point[b][3] + 1):
self._mat_zone[i][j] = BLACK()
# Creates a new robot 'that can move' to variable "Robots"
for s in range(0, int(ROBOTS_MOVE())):
self._Robots.append(Robot(s))
self._Robots_sort_Random.append(s)
Log.addLine("create new Robot- " + self._Robots[s].toString())
# Creates a new robot 'that can't move' to variable "Robots"
for s in range(int(ROBOTS_MOVE()),
int(ROBOTS_MOVE()) + int(ROBOTS_NOT_MOVE())):
self._Robots.append(Robot(s))
self._Robots_sort_Random.append(s)
self._Robots[s]._can_move = False
Log.addLine("create new Robot- " + self._Robots[s].toString())
#put the robots on Arena:
for s in range(0, len(self._Robots)):
x = randint(1, int(ARENA_X()) - 2)
y = randint(1, int(ARENA_Y()) - 2)
bool1 = self._mat_robot_id[x][y] != -1
bool2 = self._mat_zone[x][y] == BLACK()
bool3 = self._Robots[s]._can_move == False
bool4 = self._mat_zone[x][y] != WHITE()
while ((bool1 | bool2) | (bool3 & bool4)):
x = randint(1, ARENA_X() - 2)
y = randint(1, ARENA_Y() - 2)
bool1 = self._mat_robot_id[x][y] != -1
bool2 = self._mat_zone[x][y] == BLACK()
bool3 = self._Robots[s]._can_move == False
bool4 = self._mat_zone[x][y] != WHITE()
self._Robots.append(Robot(s))
self._mat_robot_id[x][y] = self._Robots[s]._id
self._Robots[s]._real_location = Point(x, y)
#self._Robots_sort_Random[s]._real_location = Point(x, y)
if (bool3): #self._Robots[s]._can_move == False
self._Robots[s]._estimated_location = Point(x, y)
self._Robots[s]._estimated_location._deviation = 0
Log.addLine("put Robot_" + str(self._Robots[s]._id) +
self._Robots[s]._real_location.toString())
self.sortRandomRobotsArray()