def points_from_comp(agent_1, agent_2, source_num, order_1, order_2):
results = run_sim(agent_1, agent_2)
if results[order_1] - results[order_2] > 1:
scores[source_num] += 1 / (n * 2)
elif 0 < results[order_2] - results[order_2] < 1:
scores[source_num] += 0.333 / (n * 2)
def points_from_comp(i, j):
results = run_sim(agents[i], agents[j])
if results[0] - results[1] > 1:
scores[i] += 1 / ((n - 1) * 2)
if i >= n - tested_group_size > j:
wins_against_baseline[i] += 1
elif results[1] - results[0] > 1:
scores[j] += 1 / ((n - 1) * 2)
if j >= n - tested_group_size > i:
wins_against_baseline[j] += 1
else:
scores[j] += 0.333 / ((n - 1) * 2)
scores[i] += 0.333 / ((n - 1) * 2)
dic = eval(open('parameters.py').read())
# Fit true flat-field only once
dic['best_fit_params'] = analysis.best_fit_ff(
dic['FoV'],
dic['ff_samples'],
dic['flat_field_order'],
dic['stop_condition'],
dic['max_iterations'],
verbose=dic['verbose'])
# Create parameter list
parameter_dictionaries = []
for srvy in survey_files:
dic['survey_file'] = srvy + '.txt'
dic['data_dir'] = srvy
parameter_dictionaries.append(dic.copy())
# Perform simulations
if multi_proc:
os.nice(19)
from multiprocessing import Pool
p = Pool(processes=multi_proc)
results = p.map(simulation.run_sim, parameter_dictionaries)
else:
results = []
for params in parameter_dictionaries:
results.append(simulation.run_sim(params))
print('Simulation Complete!')
parameter_dictionaries = []
dirs = []
for density in density_of_sources:
dic['density_of_stars'] = density
dic['data_dir'] = '{0:.3f}'.format(density)
dirs.append('{0:.3f}'.format(density))
parameter_dictionaries.append(dic.copy())
if multi_proc:
os.nice(19)
from multiprocessing import Pool
p = Pool(processes=multi_proc)
p.map(simulation.run_sim, parameter_dictionaries)
else:
for params in parameter_dictionaries:
simulation.run_sim(params)
# Read timings from individual directories
density = np.zeros(len(dirs))
time_measurement = np.zeros(len(dirs))
time_self_cal = np.zeros(len(dirs))
for indx in range(len(dirs)):
f = open(dirs[indx] + '/timings.txt', 'r')
density[indx] = float(dirs[indx])
time_measurement[indx] = float(f.readline()
.strip('Measurement Catalog (s): '))
time_self_cal[indx] = float(f.readline()
.strip('Self-Calibration (s): '))
fig = plt.figure(figsize=(6, 6))
def ch01():
intro = ['\nAfter logging in, you consider your options.',
'\nWhat do you do?']
ddisplay.print_text(intro)
nosebook = False
email = False
again = ['\nNo, no, no, that\'s not a valid choice. Try again!']
while True:
menu = ['1 - See what\'s happening on Nosebook.',
'2 - Check your email.',
'3 - Do the work they\'re paying you to be here for.']
ddisplay.print_text(menu)
choice = raw_input("Pick one:")
try:
if int(choice) == 1:
if nosebook:
print '\nYeah... still a lot of nosebook-picking going on here.'
else:
ddisplay.print_from_file("resources/story/ch01/ch01_nosebook.txt")
nosebook = True
elif int(choice) == 2:
if email:
print '\nNo new email. Alas.'
else:
print '\nEarlobe enlargement? Wow, they\'ll try anything these days.'
email = True
elif int(choice) == 3:
ddisplay.print_from_file("resources/story/ch01/ch01_work.txt")
while True:
menu = ['\nWhat do you do?',
'1 - Review the manual again to stave off the inevitable. [How to Play]',
'2 - Just do it.']
ddisplay.print_text(menu)
choice = raw_input("Pick one:")
try:
if int(choice) == 1:
instructions()
elif int(choice) == 2:
workplacesToBe = []
workplacesToBe.append(workclass.WorkplaceToBe(7, True, workclass.Farm,
"FARM #216", "A216"))
workplacesToBe.append(workclass.WorkplaceToBe(5, True, workclass.Factory,
"FACTORY #139", "C139"))
workplacesToBe.append(workclass.WorkplaceToBe(2, False, workclass.Unassigned,
"UNASSIGNED", "NONE"))
run_sim(workplacesToBe, 2, '#135466')
break
else:
print 'Try again, please. Invalid input.'
except ValueError:
choice = 0
print 'Try again, please. Invalid input.'
break
else:
ddisplay.print_text(again)
except ValueError:
choice = 0
ddisplay.print_text(again)
print '\nWhat do you do next?'
lunch = ['You yawn and stretch. Coffee time is past. It\'s snack time now.',
'\nWhoops!',
'\nApparently you meant lunch time.']
ddisplay.print_text(lunch)
choice = 0
again = ['\nYou... wait, what?! Try that again.']
while (int(choice) != 1) and (int(choice) != 2):
chc1 = ['\nWhere do you want to go?',
'1 - The good old cafeteria. Mediocre free food, decent conversation.',
'2 - Home. Sandwiches and solitude.']
ddisplay.print_text(chc1)
choice = raw_input("Pick one:")
try:
if int(choice) == 1:
ddisplay.print_from_file("resources/story/ch01/ch01_cafeteria.txt")
elif int(choice) == 2:
ddisplay.print_from_file("resources/story/ch01/ch01_home.txt")
else:
ddisplay.print_text(again)
except ValueError:
choice = 0
ddisplay.print_text(again)
raw_input('\n(Press enter key to continue)')
# directory and then used to generate plots.
# Make Python 3 compatible
from __future__ import division, print_function
# Standard Modules
import os
import sys
# Add simulator modules to Python path
sys.path.append('./../..')
# Custom Modules
import simulation
dic = eval(open('parameters.py').read())
results = simulation.run_sim(dic)
if dic['data_dir']:
os.system('./../../plot.py {0}'.format(dic['data_dir']))
print('Final Fitted Solution:')
print('======================')
print('Self-Calibration Iterations to Converge: {0:.5}'.format(results[0]))
print('RMS Source Error: {0:.5} %'.format(results[1]))
print('Instrument Response Badness: {0:.5} %'.format(results[2]))
print('Instrument Response Best-in-Basis Badness: {0:.5} %'.format(results[3]))
print('Chi2 of Fit: {0:.5}'.format(results[4]))
def ch02():
"""
Returns True if Dave is still in player's life at end of module or False
otherwise.
"""
ddisplay.print_from_file("resources/story/ch02/ch02_intro.txt")
choice = 0
while (int(choice) != 1) and (int(choice) != 2):
opts = ['\n1 - Yeah... that\'s so out of character I can only assume aliens',
' are involved.',
'2 - Nah. Dave\'s a great guy but it\'s nice not to have to deal',
' with his peppy peppiness sometimes.']
ddisplay.print_text(opts)
choice = raw_input("Pick one:")
try:
if int(choice) == 1:
dave = True
ddisplay.print_from_file("resources/story/ch02/ch02_look.txt")
elif int(choice) == 2:
dave = False
print '\nYou sip your coffee obtained in quiet and log in.'
else:
print '\nDrink some of your coffee and try that again.'
except ValueError:
choice = 0
print '\nDrink some of your coffee and try that again.'
intro = ['Confronted with the usual options...',
'\nWhat do you do?']
ddisplay.print_text(intro)
#Goof off or work.
nosebook = False
email = False
while True:
opts = ['1 - See what\'s happening on Nosebook.',
'2 - Check your email.']
if dave:
opts.append('3 - Work. Maybe it\'ll take your mind off things.')
else:
opts.append('3 - Do the work they\'re paying you to be here for.')
ddisplay.print_text(opts)
choice = raw_input("Pick one:")
try:
if int(choice) == 1:
if nosebook:
if dave:
noseSeen = ['\nEven scoffing at the nosebook-picking can\'t cheer you up.',
'The term "nosebook-picking" isn\'t even funny right now.']
else:
noseSeen = ['\nMore nosebook-picking. Ah, nosebook-picking.',
'Just the term makes you happy. How do you visualize that?']
ddisplay.print_text(noseSeen)
else:
ddisplay.print_from_file("resources/story/ch02/ch02_nosebook.txt")
if dave:
print('\nThis isn\'t helping.')
else:
print('\nYou should probably work. Probably.')
nosebook = True
elif int(choice) == 2:
if email:
if dave:
print('\nNo new email. Not that you did a good job reading the first two.')
else:
print('\nNo new email. Who\'s surprised?')
else:
newEmail = ['\nSomething from Biggs about a party... don\'t care right now.',
'And... news. Noone cares about that.']
ddisplay.print_text(newEmail)
email = True
elif int(choice) == 3:
#Working.
while True:
opts = ['\nWhat do you do?',
'1 - Review the manual again.']
if dave:
opts.append('2 - Work. Or try to.')
else:
opts.append('2 - Work! It\'s like a crummy party you get paid to attend.')
ddisplay.print_text(opts)
choice = raw_input("Pick one:")
try:
if int(choice) == 1:
instructions()
elif int(choice) == 2:
workplacesToBe = []
workplacesToBe.append(workclass.WorkplaceToBe(7, True, workclass.Farm,
"FARM #512", "A512"))
workplacesToBe.append(workclass.WorkplaceToBe(5, True, workclass.Factory,
"FACTORY #110", "C110"))
workplacesToBe.append(workclass.WorkplaceToBe(6, True, workclass.Factory,
"FACTORY #112", "C112"))
workplacesToBe.append(workclass.WorkplaceToBe(4, False, workclass.Unassigned,
"UNASSIGNED", "NONE"))
run_sim(workplacesToBe, 4, '#187949')
break
else:
print 'Try again, please. Invalid input.'
except ValueError:
choice = 0
print 'Try again, please. Invalid input.'
break
else:
if dave:
print('\nI know you\'re distracted, but please use proper input.')
else:
print('Have a sip of carefree coffee and try again.')
except ValueError:
choice = 0
if dave:
print('\nI know you\'re distracted, but please use proper input.')
else:
print('Have a sip of carefree coffee and try again.')
print '\nWhat do you do next?'
if dave:
print('\nLunch time. You still haven\'t heard from Dave. Time to go check on him.')
else:
ddisplay.print_from_file("resources/story/ch02/ch02_worked.txt")
raw_input('\n(Press enter key to continue)')
return dave
def main():
#initialize pygame module and set window
pygame.init()
#DISPLAY WINDOW SIZE. CHANGE TO SUIT YOUR SCREEN IF NECESSARY
width, height = 1800,900
pygame.display.set_icon(pygame.image.load('res/gameicon.jpg'))
screen = pygame.display.set_mode((width,height), HWSURFACE|OPENGL|DOUBLEBUF)
pygame.display.set_caption("Pylot")
glViewport(0,0,width,height)
glEnable(GL_DEPTH_TEST)
default_view = np.identity(4)
#boolean variables for camera view, lose screen, and pause
FPV = True
LOSE = False
PAUSE = False
KEYBOARD = False
DATA = True
#SIMULATION FRAMERATE
#pygame limits framerate to this value. Increasing framerate improves accuracy of simulation (max limit = 60) but may cause some lag in graphics
target_framerate = 60
#initialize graphics objects
#loading screen is rendered and displayed while the rest of the objects are read and prepared
glClearColor(0.,0.,0.,1.0)
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
loading = graphics.Text(150)
loading.draw(-0.2,-0.05,"Loading...",(0,255,0,1))
pygame.display.flip()
#initialize game over screen
gameover = graphics.Text(150)
#initialize graphics aircraft
graphics_aircraft = graphics.Mesh("res/Cessna.obj","shaders/aircraft.vs","shaders/aircraft.fs","res/cessna_texture.jpg",width,height)
graphics_aircraft.set_orientation([0.,0.,0.,0.])
graphics_aircraft.set_position([0.,0.,-500.])
#initialize HUD
HUD = graphics.HeadsUp(width, height)
#initialize flight data overlay
data = graphics.FlightData()
#initialize field
field = graphics.Mesh("res/field.obj","shaders/field.vs","shaders/field.fs","res/field_texture.jpg",width,height)
field.set_position(np.array([0.,0.,0.]))
#initialize camera object
cam = graphics.Camera()
a_obj = aircraft.Aircraft()
dt = simulation.load_file('11.24_input.json', a_obj)
simulation.initialize(a_obj)
#initialize other pygame elements
if pygame.joystick.get_count()>0.:
joy = pygame.joystick.Joystick(0)
joy.init()
else:
KEYBOARD = True
thr = 0.
UP = False
DOWN = False
RIGHT = False
LEFT = False
WW = False
SS = False
AA = False
DD = False
#DEFLECTION LIMITS FOR CONTROL SURFACES
d_ail = 15.
d_ele = 15.
d_rud = 15.
#clock object for tracking frames and timestep
clock = pygame.time.Clock()
#ticks clock before starting game loop
clock.tick_busy_loop()
#game loop
while True:
#event loop checks for game inputs such as joystick and keyboard commands
for event in pygame.event.get():
if event.type == QUIT:
return
if KEYBOARD == False:
if event.type == pygame.JOYBUTTONDOWN:
if event.button ==2:
FPV = not FPV
cam.pos_storage.clear()
cam.up_storage.clear()
cam.target_storage.clear()
else:
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_UP:
UP = True
if event.key == pygame.K_DOWN:
DOWN = True
if event.key == pygame.K_LEFT:
LEFT = True
if event.key == pygame.K_RIGHT:
RIGHT = True
if event.key == pygame.K_w:
WW = True
if event.key == pygame.K_s:
SS = True
if event.key == pygame.K_a:
AA = True
if event.key == pygame.K_d:
DD = True
if event.key == pygame.K_SPACE:
FPV = not FPV
cam.pos_storage.clear()
cam.up_storage.clear()
cam.target_storage.clear()
if event.type == pygame.KEYUP:
if event.key == pygame.K_UP:
UP = False
if event.key == pygame.K_DOWN:
DOWN = False
if event.key == pygame.K_LEFT:
LEFT = False
if event.key == pygame.K_RIGHT:
RIGHT = False
if event.key == pygame.K_w:
WW = False
if event.key == pygame.K_s:
SS = False
if event.key == pygame.K_a:
AA = False
if event.key == pygame.K_d:
DD = False
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_i:
DATA = not DATA
#pause simulation
if event.key == pygame.K_p:
PAUSE = not PAUSE
#quit game
if event.key == pygame.K_q:
return
#maintains framerate even if sim is paused
if PAUSE == True:
clock.tick(target_framerate)
#if game is not paused, runs sim
if PAUSE == False:
#set default background color for sky
glClearColor(0.65,1.0,1.0,1.0)
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
#timestep for simulation is based on framerate
t= clock.tick(target_framerate)/1000.
# if joystick is being used, gets joystick input and creates control_state dicitonary
if KEYBOARD == False:
control_state = {
"aileron": (joy.get_axis(0)**3)*-d_ail,
"elevator": (joy.get_axis(1)**3)*-d_ele,
"rudder": (joy.get_axis(3)**3)*-d_rud,
"throttle": (-joy.get_axis(2)+1.)*0.5,
"flaps": 0.
}
# if joystick is not being used, gets keyboard input and creates control_state dictionary
else:
if UP == True and DOWN == False:
ele = 1.
elif UP == False and DOWN == True:
ele = -1.
else:
ele = 0.
if LEFT == True and RIGHT == False:
ail = 1.
elif LEFT == False and RIGHT == True:
ail = -1.
else:
ail = 0.
if AA == True and DD == False:
rud = 1.
elif AA == False and DD == True:
rud = -1.
else:
rud = 0.
if WW == True and SS == False and thr<=1.0:
thr += 0.05
elif WW == False and SS == True and thr>=0.0:
thr -= 0.05
control_state = {
"aileron": ail*d_ail,
"elevator": ele*d_ele,
"rudder": rud*d_rud,
"throttle": thr,
"flaps": 0.
}
#SIMULATION CALCULATIONS GO BELOW HERE FOR EACH TIME STEP
#IT IS RECOMMENDED THAT YOU MAKE AN OBJECT FOR THE SIMULATION AIRCRAFT AND CREATE A FUNCTION IN SAID OBJECT TO CALCULATE THE NEXT TIME STEP.
#THIS FUNCTION CAN THEN BE CALLED HERE
simulation.run_sim(a_obj, dt)
#INPUT POSITION, ORIENTATION, AND VELOCITY OF AIRCRAFT INTO THIS DICTIONARY WHICH WILL THEN UPDATE THE GRAPHICS
aircraft_condition = {
"Position":a_obj.state_vars[6:9],#input position of form [x,y,z]
"Orientation":a_obj.state_vars[-4:],#input orientation in quaternion form [e0,ex,ey,ez]
"Velocity":a_obj.state_vars[:4] #input Velocity of form [u,v,w]
}
flight_data = {
"Graphics Time Step": t,#sec
"Physics Time Step": dt,#sec
"Airspeed": a_obj.V_now,#feet/sec
"AoA":a_obj.alpha_now ,#deg
"Sideslip": a_obj.beta_now ,#deg
"Altitude":-a_obj.state_vars[8] ,#feet
"Latitude":a_obj.state_vars[6] ,#deg
"Longitude":a_obj.state_vars[7] ,#deg
"Time":0. ,#sec
"Bank":a_obj.bank ,#deg
"Elevation":a_obj.elevation ,#deg
"Heading":a_obj.heading ,#deg
"Gnd Speed":a_obj.V_now ,#feet/sec
"Gnd Track":0. ,#deg
"Climb":a_obj.climb, #feet/min
# "Throttle":control_state["throttle"]*100 ,#%
# "Elevator":control_state["elevator"] ,#deg
# "Ailerons":control_state["aileron"] ,#deg
# "Rudder":control_state["rudder"] ,#deg
# "Flaps":control_state["flaps"] ,#deg
"Throttle":a_obj.tau_o ,#%
"Elevator":a_obj.de_o ,#deg
"Ailerons":a_obj.da_o ,#deg
"Rudder":a_obj.dr_o ,#deg
"Flaps":0.,#deg
"Axial G-Force":0. ,#g's
"Side G-Force":0. ,#g's
"Normal G-Force":0. ,#g's
"Roll Rate": a_obj.p_o ,#deg/s
"Pitch Rate":a_obj.q_o ,#deg/s
"Yaw Rate":a_obj.r_o #deg/s
}
#apply position and orientation to graphics
graphics_aircraft.set_orientation(graphics.swap_quat(aircraft_condition["Orientation"]))
graphics_aircraft.set_position(aircraft_condition["Position"])
#test game over conditions
if graphics_aircraft.position[2]>0.:
LOSE = True
#if you get a game over, display lose screen
if LOSE == True:
glClearColor(0,0,0,1.0)
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
gameover.draw(-0.2,-0.05,"Game Over",(0,255,0,1))
PAUSE = True
#otherwise, render graphics
#Third person view
elif FPV == False:
#get view matrix and render scene
view = cam.third_view(graphics_aircraft)
graphics_aircraft.set_view(view)
field.set_view(view)
graphics_aircraft.render()
field.render()
if DATA == True:
data.render(flight_data)
#cockpit view
elif FPV == True:
view = cam.cockpit_view(graphics_aircraft)
field.set_view(view)
field.render()
if DATA == True:
data.render(flight_data)
HUD.render(aircraft_condition,view)
#update screen display
pygame.display.flip()
parameter_dictionaries = []
dirs = []
for density in density_of_sources:
dic['density_of_stars'] = density
dic['data_dir'] = '{0:.3f}'.format(density)
dirs.append('{0:.3f}'.format(density))
parameter_dictionaries.append(dic.copy())
if multi_proc:
os.nice(19)
from multiprocessing import Pool
p = Pool(processes=multi_proc)
p.map(simulation.run_sim, parameter_dictionaries)
else:
for params in parameter_dictionaries:
simulation.run_sim(params)
# Read timings from individual directories
density = np.zeros(len(dirs))
time_measurement = np.zeros(len(dirs))
time_self_cal = np.zeros(len(dirs))
for indx in range(len(dirs)):
f = open(dirs[indx] + '/timings.txt', 'r')
density[indx] = float(dirs[indx])
time_measurement[indx] = float(
f.readline().strip('Measurement Catalog (s): '))
time_self_cal[indx] = float(f.readline().strip('Self-Calibration (s): '))
fig = plt.figure(figsize=(6, 6))
ax = fig.add_axes([0.15, 0.15, 0.8, 0.8])
def simulate_fitness(traits, trial, gen, difficulty_level):
candidate = sim.run_sim(traits, trial, gen, difficulty_level)
return candidate[0]
def flight_simulator(filename, t0):
a_obj = aircraft.Aircraft()
dt, t_lim = simulation.load_file(filename, a_obj)
simulation.initialize(a_obj)
simulation.run_sim(a_obj, t0, dt, t_lim)
