class SimController(object):
"""
Controls the simulator. Handles all the business logic, inc search.
Maintains interface between Agent and GUI.
"""
def __init__(self, cfgfile, args):
"""
Constructor. Sets defaults, then reads config file - which creates logical map,
then either performs search and reports result to command line or imports view
module, initialises GUI, and waits.
:type cfgfile: string
:type args: dict[string,object]
"""
logging.info("Initialising SimController")
# set defaults
self.lmap = None # Ref to LogicalMap object
self.gui = None # Ref to Gui object
self.agent = None # Ref to Agent object
self.gen = None # Ref to step generator
self.current = None # current search coordinates
self.pathcost, self.pathsteps, self.pathtime = 0, 0, 0
self.timeremaining = float('inf')
self.timeout = float('inf')
self.path = set() # set of all coordinates displayed as part of path
self.keptpath = None
self.fullsearchflag = False # set to True if map is populated with extra coords
self.coordsets = None # sets of coordinates that will need to be reset
self.cfg = args # Default params as modified via CLI
self.gotscript = False
self.script = {} # Allows for dynamic changes
# we distinguish 3 modes - config file, CLI or batch
if cfgfile is not None:
self.readConfig()
self.gen = self.stepGenerator(self.cfg["START"], self.cfg["GOAL"])
elif self.cfg["BATCH"] is not None:
try:
self.runBatch(*self.cfg["BATCH"])
logging.info("\nBatch process completed. Results written to " +
self.cfg["BATCH"][1] + ".\n")
except Exception as e:
logging.warning(
"\nAn error has occurred. Batch results may be incomplete. l"
" the exception: \n {}".format(e))
finally:
raise SystemExit()
else:
try:
self.setStart(ast.literal_eval(self.cfg.get("START")))
self.setGoal(ast.literal_eval(self.cfg.get("GOAL")))
self.initAgent()
self.processMap(
) # imports map to model may return BadMap exception
self.processPrefs(
) # passes heuristic and deadline preferences to model
self.resetVars()
except p4.BadAgentException:
logging.error("Bad Agent. Irrecoverable error. Terminating...")
raise SystemExit()
except p4.BadMapException:
logging.error("Bad Map. Irrecoverable error. Terminating...")
raise SystemExit()
except:
logging.error("Irrecoverable error. Terminating...")
logging.error("Trace-back: \n {}".format(
traceback.format_exc()))
raise SystemExit()
if self.cfg.get("GUI"):
self.initGui()
else:
self.search()
def processMap(self):
# may throw BadMapException
try:
mappath = os.path.join("..", "maps", self.cfg["MAP_FILE"])
if not os.path.exists(mappath):
mappath = None
logging.info("Map file not found: loading default.")
self.cfg["MAP_FILE"] = None
# if cost file exists, get file
costpath = None
if self.cfg["COST_FILE"] and os.path.exists(self.cfg["COST_FILE"]):
costpath = os.path.join(self.cfg["COST_FILE"])
# create logical map object
self.lmap = LogicalMap(mappath, costpath)
except:
raise p4.BadMapException()
def processPrefs(self):
self.cfg["DEADLINE"] = float(self.cfg.get("DEADLINE"))
self.cfg["FREE_TIME"] = float(self.cfg.get("FREE_TIME"))
# pass preferences to lmap
self.lmap.setCostModel(self.cfg.get("COST_MODEL"))
self.lmap.setDiagonal(self.cfg.get("DIAGONAL"))
self.lmap.setHeuristic(self.cfg.get("HEURISTIC"))
if self.cfg["PREPROCESS"]:
try:
self.agent.preprocess(self.lmap)
except AttributeError:
logging.warning("Agent doesn't support pre-processing.")
except:
# some other problem
logging.error("Pre-processing failed.")
logging.error("Trace-back: \n {}".format(
traceback.format_exc()))
def initAgent(self):
# initialise agent - may throw BadAgentException
try:
dirname_agent = os.path.dirname(self.cfg.get("AGENT_FILE"))
basename_agent = os.path.basename(self.cfg.get("AGENT_FILE"))
if not dirname_agent:
# if no directory is specified, assume ../maps/
dirname_agent = 'agents/'
else:
dirname_agent = dirname_agent + '/'
agentfile = dirname_agent + basename_agent
logging.info("Agent to be used: {}".format(agentfile))
self.loadAgent(agentfile)
except:
raise p4.BadAgentException()
def readConfig(self):
"""
Reads config file into self.cfg dictionary. Initialises
lmap, agent, and gen. May be called from p4_view (menu option).
:type filename: string
"""
filename = self.cfg.get("CFG_FILE")
logging.info("Reading configuration file **{}**".format(filename))
try:
# track previous MAP_FILE setting - map only needs to be redrawn if it's changed
oldmap = self.cfg.get("MAP_FILE") # may be None
execfile(filename, self.cfg)
# display setings
out = '\n'
for a, b in self.cfg.iteritems():
# exclude unprintables
if a is not "__builtins__" and a is not "MAPREF":
out = "{} \t {}: {}\n".format(out, a, b)
# logging.info
logging.info(
"Options read from configuration file: {}".format(out))
self.initAgent()
self.processMap()
logging.info("Starting agent pre-processing...")
self.processPrefs()
self.setStart(self.cfg.get("START"))
self.setGoal(self.cfg.get("GOAL"))
if self.gui is not None: # reset has been called from the gui
self.gui.setLmap(self.lmap)
if not oldmap == self.cfg.get("MAP_FILE"):
self.gui.vmap.drawMap(self.lmap)
self.hdlReset() # includes resetVars
else:
self.resetVars() # no attempt to update GUI
except p4.BadMapException:
self.updateStatus("Unable to load map: " +
self.cfg.get("MAP_FILE"))
except p4.BadAgentException:
self.updateStatus("Unable to load agent: " +
self.cfg.get("AGENT_FILE"))
except:
# unexpected error
logging.error("Trace-back: \n {}".format(traceback.format_exc()))
self.updateStatus("Problem reading config file!")
def resetVars(self):
"""Resets tracked variables based on current self.cfg settings"""
self.pathcost, self.pathsteps, self.pathtime = 0, 0, 0
self.path.clear()
self.timeremaining = self.cfg.get("DEADLINE")
# if a DEADLINE has been set, timeout will occur at 2* that DEADLINE if Agent
# fails to return result (Unix only)
if not self.timeremaining:
self.timeremaining = float("inf")
self.timeout = float("inf")
else:
self.timeout = self.timeremaining * 2
self.current = self.cfg["START"]
# check for script file and load if it exists
if self.cfg["DYNAMIC"] is True:
self.loadScript() # sets self.gotscript
elif self.gotscript is True:
self.gotscript = False
# reconfigure generator based on current config
self.gen = self.stepGenerator(self.cfg["START"], self.cfg["GOAL"])
def initGui(self):
"""Imports view module, initialises Gui, and waits """
from p4_view import Gui
self.updateStatus("Launching GUI...")
self.gui = Gui(self, self.lmap)
self.gui.setStart(self.cfg["START"])
self.gui.setGoal(self.cfg["GOAL"])
self.gui.setPossGoals(self.cfg["POSS_GOALS"])
self.updateStatus("OK")
self.gui.mainloop()
def search(self):
"""Performs command line search by calls to generator """
self.updateStatus("Executing simulation...")
nextstep = self.cfg["START"]
# keep generating next steps as long as goal not in goal & enough time
while not self.cfg["GOAL"] == nextstep and self.timeremaining:
try:
# Don't set signal for infinite time
if self.timeout < float('inf'):
with Timeout(self.timeout): # call under SIGNAL
nextstep = self._get_coordinate(self.gen.next())
else:
nextstep = self._get_coordinate(
self.gen.next()) # call with no SIGNAL
except Timeout.Timeout:
self.timeremaining = 0
self.updateStatus("Timed Out!")
except:
self.updateStatus("Agent returned " + str(nextstep))
logging.error("Trace-back: \n {}".format(
traceback.format_exc()))
raise SystemExit()
break
return self.hdlStop(
) # (totalcost, pathsteps, timeremaining, pathtime)
# just keep the first argument of a nextstep, and drop any possible argument for drawing lists
def _get_coordinate(self, nextstep):
# nexstep = (x,y) or nextstep = ((x,y), (list1,list2,list3))
if isinstance(nextstep[1], (list, tuple)):
return nextstep[0]
else:
return nextstep
# just keep the second argument of a nextstep (the list for drawings), and drop the coordinate
def _get_drawing_lists(self, nextstep):
# nexstep = (x,y) or nextstep = ((x,y), (list1,list2,list3))
# is the second part of nextstep (list1,list2,list3)? If so, just keep the coordinate argument
if isinstance(nextstep[1], (list, tuple)):
return nextstep[1]
else:
return None
def keepPath(self):
# Pins current path to map
self.keptpath = copy.deepcopy(self.path)
self.gui.vmap.drawSet(self.keptpath, "orange")
def losePath(self):
self.gui.vmap.clear(self.keptpath, self.lmap)
self.gui.vmap.drawSet(self.path, "blue")
self.keptpath = None
def showWorkings(self):
# Used by gets drawing lists, if getWorkings() is supported by agent
try:
coordsets = self.agent.getWorkings()
except:
self.updateStatus("No working sets available.", False)
else:
for coordset in coordsets:
if coordset[1] == 'reset':
self.gui.vmap.clear(coordset[0], self.lmap)
else:
self.gui.vmap.drawSet(coordset[0], coordset[1])
# redraw start and goal on top
self.gui.setStart(self.cfg["START"])
self.gui.setGoal(self.cfg["GOAL"])
self.coordsets = coordsets
self.fullsearchflag = True
def hideWorkings(self):
if self.fullsearchflag:
for (a, b) in self.coordsets:
took_action = True
self.gui.vmap.clear(a, self.lmap)
if self.keptpath:
self.gui.vmap.drawSet(self.keptpath, "orange")
self.gui.vmap.drawSet(self.path, "blue")
self.gui.setStart(self.cfg["START"])
self.gui.setGoal(self.cfg["GOAL"])
self.gui.cancelWorkings()
self.fullsearchflag = False
def stepGenerator(self, current, target):
"""
Generator referenced by self.gen
Passes mapref, currentpos, goal, timeremaining to Agent
Retrieves and yields next step on search path.
Note: gen maintains state for supplied coordinates but updates pathCost,
pathSteps, pathTime and timeremaining.
p4 uses this same generator for command line and GUI search.
:param current: Current position.
:type current: (int, int)
:param target: Target position.
:type target: (int,int)
:rtype : (int,int)
"""
while True:
target = self.cfg["GOAL"]
if self.gotscript:
if self.pathsteps in self.tc:
terrain, topleft, botright = self.tc.get(self.pathsteps)
pointlist = p4.getBlock(topleft, botright)
# change logical map
self.lmap.setPoints(terrain, pointlist)
# change in gui, if running
try:
self.gui.clearPoints(pointlist)
except:
pass
if self.pathsteps in self.gc:
target = self.lmap.nearestPassable(
self.gc.get(self.pathsteps))
self.setGoal(target)
if self.pathsteps in self.ac:
newpos = p4.addVectors(current,
self.ac.get(self.pathsteps))
current = self.lmap.nearestPassable(newpos)
yield newpos # scripted move is not costed or counted
try:
clockstart = timer() # start timer
nextreturn = self.agent.getNext(self.lmap, current, target,
self.timeremaining)
logging.debug(nextreturn)
clockend = timer()
except:
raise p4.BadAgentException()
# Only time first step unless operating in 'realtime' mode. If this is realtime, and the step involved no reasoning (took less than FREE_TIME) do not count its time
if ((not self.cfg.get("REALTIME") and self.pathtime)
or ((clockend - clockstart) < self.cfg.get("FREE_TIME"))):
steptime = 0
else:
steptime = (clockend - clockstart)
previous = current
# Agent may have returned single step or step plus sets of coords and colors.
# Try/except distinguishes between them
try:
x = nextreturn[1][0] # fails if nextreturn is coord only
current, configsets = nextreturn
except TypeError:
current = nextreturn
finally:
self.pathsteps += 1
self.pathtime += steptime
self.timeremaining -= steptime
# We now consider every door open. In fact, we are just computing the final path cost, we are not
# searching for it. So is reasonable to assume that I have all the keys along the path.
allkeys = [k for k in self.lmap.key_and_doors.keys()]
cost = self.lmap.getCost(current, previous, allkeys)
# self.pathcost += self.lmap.getCost(current, previous, allkeys)
if not self.lmap.isAdjacent(current, previous):
cost = float('inf')
# agent has made illegal move:
if cost == float('inf'):
self.updateStatus(
"Illegal move at " + str(current) + ":" +
str(self.lmap.getCost(current)), False)
if self.cfg["STRICT"]:
current = previous
nextreturn = previous
self.pathsteps -= 1
cost = 0
self.pathcost += cost
yield nextreturn
# BUTTON HANDLERS
def hdlReset(self, msg="OK"):
"""Button handler. Clears map, resets gui and calls setVars"""
if self.gotscript:
self.lmap = LogicalMap("../maps/" + self.cfg["MAP_FILE"])
self.gui.setLmap(self.lmap)
self.gui.vmap.drawMap(self.lmap)
self.cfg["GOAL"] = self.gc["ORIGIN"]
else:
# clear map
self.gui.vmap.clear(self.path, self.lmap)
if self.fullsearchflag:
self.updateStatus("Redrawing map")
self.updateStatus("Please wait...", False)
for (a, b) in self.coordsets:
self.gui.vmap.clear(a, self.lmap)
self.fullsearchflag = False
self.updateStatus("", False)
# resize and reposition
self.gui.resetPos()
self.gui.resetZoom()
# reset vars
self.resetVars()
self.agent.reset()
self.gui.setStart(self.cfg["START"])
self.gui.setGoal(self.cfg["GOAL"])
self.gui.setPossGoals(self.cfg["POSS_GOALS"])
if self.keptpath:
self.gui.vmap.drawSet(self.keptpath, "orange")
self.gui.cancelWorkings()
self.updateStatus(msg)
self.updateStatus("", False) # clears statusbar R
def hdlStop(self):
"""Button handler. Displays totals."""
if isinstance((self.pathcost), int):
totalcost = str(self.pathcost)
else:
totalcost = '{0:.4f}'.format(self.pathcost)
message = "Total Cost : " + totalcost + \
" | Total Steps : " + str(self.pathsteps) + \
" | Time Remaining : " + str(self.timeremaining) + \
" | Total Time : " + str(self.pathtime)
self.updateStatus(message)
return (totalcost, self.pathsteps, self.timeremaining, self.pathtime)
def hdlStep(self):
"""Button handler. Performs one step for GUI Step or Search.
Checks for goal, calls gen to get next step from agent, displays step on map,
and updates status bar. If "SPEED" set, inserts delay.
Note: delay occurs whether called as single step or within
continuous search; with step, the delay is unnoticeable because of the time
taken to click the button again."""
if not self.current == self.cfg["GOAL"] and self.timeremaining:
try:
if self.timeout < float('inf'):
with Timeout(self.timeout): # call under SIGNAL
nextreturn = self.gen.next()
else:
nextreturn = self.gen.next() # call with no SIGNAL
except Timeout.Timeout:
if self.timeremaining < 0:
self.timeremaining = 0
self.updateStatus("Timeout!", False)
else:
self.updateStatus("No path found", False)
self.hdlStop()
except:
self.updateStatus("Agent returned " + str(nextreturn), False)
self.hdlStop()
else: # try/except/else...
# does nextreturn include a list of coordinates to draw?
if isinstance(nextreturn[1], (list, tuple)):
nextstep, coordsets = nextreturn
for coordset in coordsets:
if coordset[1] == 'reset':
self.gui.vmap.clear(coordset[0], self.lmap)
else:
self.gui.vmap.drawSet(coordset[0], coordset[1])
self.gui.setStart(self.cfg["START"])
self.gui.setGoal(self.cfg["GOAL"])
self.fullsearchflag = True
self.coordsets = coordsets
self.updateStatus("Plotting path...", False)
else:
# nextreturn just includes the next coordinate, no drawing data
nextstep = nextreturn
# Paint path
self.gui.vmap.drawSet(self.path, "blue")
self.gui.vmap.drawPoint(nextstep, "white")
self.current = nextstep
self.path.add(nextstep)
if isinstance((self.pathcost), int):
currcost = str(self.pathcost)
else:
currcost = '{0:.2f}'.format(self.pathcost)
message = str(nextstep) + " | Cost : " + currcost + \
" | Steps : " + str(self.pathsteps)
if self.cfg.get("DEADLINE"):
message += " | Time remaining: " + \
str(self.timeremaining)
self.updateStatus(message)
sleep(self.cfg.get("SPEED")) # delay, if any
# MENU HANDLERS
def loadMap(self, mapfile):
"""
Menu handler: File - Open Map. Loads map based on openfiledialog in
view. Creates new LogicalMap object and resets based on config
:type mapfile: string
"""
try:
self.updateStatus("Loading map...")
self.lmap = LogicalMap(mapfile)
# pass new LogicalMap references to Gui and MapCanvas (vmap)
self.gui.setLmap(self.lmap)
self.gui.vmap.drawMap(self.lmap)
except:
self.updateStatus("Unable to load map: " + mapfile)
else:
self.processPrefs()
#clear poss goals, if any
self.gui.clearPossGoals()
self.cfg["POSS_GOALS"] = None
# generate random start and goal coordinates
x = y = None
while x == y: # make sure start != goal
x = self.lmap.generateCoord()
y = self.lmap.generateCoord()
self.cfg["START"] = x
self.cfg["GOAL"] = y
self.cfg["MAP_FILE"] = os.path.basename(mapfile)
msg = "Loaded " + self.cfg["MAP_FILE"]
self.hdlReset(msg)
def setStart(self, start=None):
"""Menu handler: Search - Reset Start"""
if start:
self.cfg["START"] = start
else:
self.cfg["START"] = self.lmap.generateCoord()
if self.gui is not None:
self.gui.clearStart()
self.gui.setStart(self.cfg["START"])
self.updateStatus("Start moved to " + str(self.cfg["START"]))
# TODO check search not in progress before resetting generator.
self.gen = self.stepGenerator(self.cfg["START"], self.cfg["GOAL"])
def setGoal(self, goal=None):
"""Menu handler: Search - Reset Goal"""
if goal:
self.cfg["GOAL"] = goal
else:
self.cfg["GOAL"] = self.lmap.generateCoord()
if self.gui is not None:
self.gui.clearGoal()
self.gui.setGoal(self.cfg["GOAL"])
self.updateStatus("Goal moved to " + str(self.cfg["GOAL"]))
def setPossGoals(self, goals):
if self.gui is not None:
self.gui.clearPossGoals()
self.gui.setPossGoals(goals)
def loadAgent(self, agentpath):
"""Menu handler: Search - Load Agent. Loads agent based on openfiledialog in
view. Also called from readConfig()"""
try:
agentfile = os.path.basename(agentpath)
if agentfile[
-3:] == ".py": # strip extension from agentfile, if present
agentfile = agentfile[:-3]
else:
agentpath = agentpath + ".py" # add extension to agentpath, if absent
# load or reload module
agentmod = imp.load_source(agentfile, agentpath)
# create Agent and pass in current config settings
self.agent = agentmod.Agent()
self.agent.reset()
#TODO: replace this by passing as kwargs
try:
self.agent.setGoals(self.cfg["POSS_GOALS"])
except:
pass
self.updateStatus("Initialised " + agentfile)
except:
self.updateStatus("Unable to load " + agentfile)
logging.error("Trace-back: \n {}".format(traceback.format_exc()))
raise
else:
self.cfg["AGENT_FILE"] = agentfile
def areWeThereYet(self):
"""Returns True/False."""
return self.current == self.cfg["GOAL"]
def outOfTime(self):
"""Returns True/False."""
return (self.timeremaining <= 0)
def getSettings(self):
"""Getter. Returns current config dictionary"""
return self.cfg
def updateStatus(self, msg, left=True):
"""Updates GUI status bar with supplied message.
If left = False, outputs to right. Outputs to left by default."""
if self.gui is not None:
if left:
self.gui.setStatusL(msg) # fails if no gui
else:
self.gui.setStatusR(msg)
else:
# no gui - print to terminal
# print(msg)
logging.info("STATUS (no GUI): {}".format(msg))
def loadScript(self):
try:
execfile('script.py', self.script)
self.gc = self.script.get("GOAL_CHANGE")
self.gc["ORIGIN"] = self.cfg["GOAL"] # save in case of reset
self.tc = self.script.get("TERRAIN_CHANGE")
self.ac = self.script.get("AGENT_CHANGE")
self.gotscript = True
self.updateStatus("Loaded script")
except: # we don't care why it failed
self.updateStatus("Failed to load script.py")
def runBatch(self, infile, outfile, reps=1):
# assumes MAP_FILE, AGENT_FILE set in self.cfg
# initialise map and agent
logging.info("\nRunning batch...")
times_taken = []
reps = int(reps)
self.processMap()
self.initAgent()
self.processPrefs()
# open scenario file and read into problems list
scenario = open(infile)
problems = [
line.strip().split() for line in scenario if len(line) > 20
]
scenario.close
# If csv file doesn't exist, create and write header, then close
if not os.path.isfile(outfile):
with open(outfile, 'wb') as csvfile:
fcsv = csv.writer(csvfile,
delimiter=',',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
fcsv.writerow([
'agent', 'no', 'map', 'startx', 'starty', 'goalx', 'goaly',
'optimum', 'actual', 'steps', 'time_taken', 'quality'
])
# Open existing csv file, process each problem and append results
with open(outfile, 'ab') as csvfile:
fcsv = csv.writer(csvfile,
delimiter=',',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
count = 0
# for each problem
for problem in problems:
count += 1
skip, mappath, size1, size2, scol, srow, gcol, grow, optimum = problem
logging.info(
"========> Running problem {}: from ({},{}) to ({},{}) - Optimal: {}"
.format(count, scol, srow, gcol, grow, optimum))
pathname, map = os.path.split(mappath)
self.cfg["START"] = (int(scol), int(srow))
self.cfg["GOAL"] = (int(gcol), int(grow))
times_taken = []
steps_taken = []
costs_taken = []
# run the number of repetitions specified (on the same problem)
for i in xrange(reps):
try:
self.agent.reset()
self.resetVars()
total_cost, total_steps, time_left, time_taken = self.search(
)
times_taken.append(float(time_taken))
steps_taken.append(total_steps)
costs_taken.append(float(total_cost))
except:
pass
time_taken = round(sum(times_taken) / reps,
5) # calculate average
total_steps = sum(steps_taken) / reps # calculate average
total_cost = sum(
costs_taken
) / reps # calculate average - precision to compare with movingai costs
try:
quality = round(float(optimum) / float(total_cost), 2)
except ZeroDivisionError:
quality = 0
fcsv.writerow([
self.cfg["AGENT_FILE"], count, map,
str(scol), srow, gcol, grow, optimum, total_cost,
total_steps, time_taken, quality
])
totalprobs = float(len(problems))
someprobs = [prob for prob in problems if random() <= args.numprobs/totalprobs]
print len(someprobs)
#get mapname from scen name
mapname = args.infile.name[:-5]
pathname, map = os.path.split(mapname)
#create model
model = LogicalMap(mapname)
#for each problem
for problem in someprobs:
#read problem from .scen
_, _, _, _, scol, srow, gcol, grow, optcost = problem
if float(optcost) < args.buffer:
continue
numgoals = randint(2, args.maxgoals)
#build writelist for new problem
writelist = [map, optcost, numgoals, scol, srow, gcol, grow]
#generate extra goals
for i in range(numgoals):
goal = model.generateCoord()
writelist.extend([goal[0],goal[1]])
csvout.writerow(writelist)
#if that's the required number of problems, quit
args.numprobs = args.numprobs - 1
if not args.numprobs:
break
args.outfile.close()