def __init__(self, app, config):
self.app = app
self.config = config
self.running = False
self.bots = []
self.botmove = None
self.botsel = None
self.botselpos = None
self.orientation = 0
self.links = []
self.linkc = self.config['n'] * [0]
self.conns = []
self.reddots = []
self.gui = KBGUI(self)
self.analyseform = False
self.connectform = False
self.executeform = False
self.clearform = False
for i in range(self.config['n']):
self.bots.append(Kilobot(self))
for b in self.bots: # set semi-random initial position and orientation
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(
self.config['width'] / 2 + random.uniform(0, b.secretID),
(self.config['height'] * 2) / 3 +
random.uniform(0, b.secretID))
def __init__(self, app, config):
self.app = app
self.config = config
self.running = False
self.bots = []
self.botmove = None
self.botsel = None
self.botselpos = None
self.orientation = 0
self.links = []
self.linkc = self.config["n"] * [0]
self.conns = []
self.reddots = []
self.gui = KBGUI(self)
self.analyseform = False
self.connectform = False
self.executeform = False
self.clearform = False
for i in range(self.config["n"]):
self.bots.append(Kilobot(self))
for b in self.bots: # set semi-random initial position and orientation
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(
self.config["width"] / 2 + random.uniform(0, b.secretID),
(self.config["height"] * 2) / 3 + random.uniform(0, b.secretID),
)
def __init__(self, app, config):
## Simulation - Conf
self.app = app
self.config = config
## Simulation - Core
self.round = 0
self.running = False
self.stopped = False
self.clock = pygame.time.Clock() # to track FPS
self.fps = self.config['fps']
## Simulation - Noise
self.anoise = config['anoise']
self.inoise = config['inoise']
self.hearmin = config['hearmin']
## Simulation - View
if (config['randomseed'] != None):
random.seed(config['randomseed'])
self.abstract = False
self.gui = KBGUI(self)
self.designerform = False
self.restartform = False
## Simulation - Bots
thebot = None
thefood= None
thebot = imp.load_source("bot", config['program'])
#thefood = imp.load_source("bot2", config['foodp'])
#print thebot
#print thefood
#if (self.config['form'] == None):
# thebot = imp.load_source("aaa", config['program'])
# thefood = imp.load_source("bot2", config['foodp']) # carrega a comida.
#else:
# thebot = imp.load_source("bot", "./Bots/Renderbot.py")
self.bots = []
#self.foods = []
variavel=config['n']
#print variavel
#self.bots.append(thefood.load(self))
for j in range(config['n']):
self.bots.append(thebot.load(self))
self.setFormation(config['formation'])
def __init__(self, app, config):
## Simulation - Conf
self.app = app
self.config = config
## Simulation - Core
self.round = 0
self.running = False
self.stopped = False
self.clock = pygame.time.Clock() # to track FPS
self.fps = self.config['fps']
## Simulation - Noise
self.anoise = config['anoise']
self.inoise = config['inoise']
self.hearmin = config['hearmin']
## Simulation - View
if (config['randomseed'] != None):
random.seed(config['randomseed'])
self.abstract = False
self.gui = KBGUI(self)
self.designerform = False
self.restartform = False
## Simulation - Bots
thebot = None
if (self.config['form'] == None):
thebot = imp.load_source("bot", config['program'])
else:
thebot = imp.load_source("bot", "./Bots/Renderbot.py")
self.bots = []
for i in range(config['n']):
self.bots.append(thebot.load(self))
self.setFormation(config['formation'])
def __init__(self, app, config):
## Simulation - Conf
self.app = app
self.config = config
## Simulation - Core
self.round = 0
self.running = False
self.stopped = False
self.clock = pygame.time.Clock() # to track FPS
self.fps = self.config['fps']
## Simulation - Noise
self.anoise = config['anoise']
self.inoise = config['inoise']
self.hearmin = config['hearmin']
## Simulation - View
if (config['randomseed'] != None):
random.seed(config['randomseed'])
self.abstract = False
self.gui = KBGUI(self)
self.designerform = False
self.restartform = False
## Simulation - Bots
thebot = None
if (self.config['form'] == None):
thebot = imp.load_source("bot", config['program'])
else:
thebot = imp.load_source("bot", "./Bots/Renderbot.py")
self.bots = []
for i in range(config['n']):
self.bots.append(thebot.load(self))
self.setFormation(config['formation'])
class KBSimulation:
def __init__(self, app, config):
## Simulation - Conf
self.app = app
self.config = config
## Simulation - Core
self.round = 0
self.running = False
self.stopped = False
self.clock = pygame.time.Clock() # to track FPS
self.fps = self.config['fps']
## Simulation - Noise
self.anoise = config['anoise']
self.inoise = config['inoise']
self.hearmin = config['hearmin']
## Simulation - View
if (config['randomseed'] != None):
random.seed(config['randomseed'])
self.abstract = False
self.gui = KBGUI(self)
self.designerform = False
self.restartform = False
## Simulation - Bots
thebot = None
thefood= None
thebot = imp.load_source("bot", config['program'])
#thefood = imp.load_source("bot2", config['foodp'])
#print thebot
#print thefood
#if (self.config['form'] == None):
# thebot = imp.load_source("aaa", config['program'])
# thefood = imp.load_source("bot2", config['foodp']) # carrega a comida.
#else:
# thebot = imp.load_source("bot", "./Bots/Renderbot.py")
self.bots = []
#self.foods = []
variavel=config['n']
#print variavel
#self.bots.append(thefood.load(self))
for j in range(config['n']):
self.bots.append(thebot.load(self))
self.setFormation(config['formation'])
def setFormation(self, formation):
if formation == "PILED":
for b in self.bots:
b.orientation = random.uniform(0,360)
b.pos = Vec2d(self.config['width']/2 + random.uniform(0,b.secretID),
self.config['height']/2 + random.uniform(0,b.secretID))
elif formation == "RANDOM":
xunit = self.config['width'] / 5
yunit = self.config['height'] / 5
for b in self.bots:
b.orientation = random.uniform(0,360)
b.pos = Vec2d(random.uniform(yunit, 4*yunit),
random.uniform(xunit, 4*xunit))
elif formation == "LINE":
for i in range(0,self.config['n']):
self.bots[i].pos = Vec2d(self.config['width']/2 + i*34,
self.config['height']/2)
self.bots[i].orientation = random.uniform(0,360)
self.bots[0].orientation = 180 # make first one point left
elif formation == "CIRCLE":
deg = 360 / (self.config['n'])
pi = 3.141592653589793
radius = (self.bots[0].radius * (self.config['n'] + 5)) / pi
for i,b in enumerate(self.bots):
b.orientation = random.uniform(0,360)
b.pos = Vec2d(self.config['width'] / 2, self.config['height'] / 2)
b.pos += Vec2d(0, radius).rotated(deg*i)
elif formation == "Q":
xunit = self.config['width'] / 5
yunit = self.config['height'] / 5
for b in self.bots:
if(b.secretID==0):
b.orientation = 0
b.pos=Vec2d(150,200)
elif(b.secretID==1):
b.orientation = 0
b.pos=Vec2d(250,200)
else:
b.orientation = random.uniform(0,360)
b.pos = Vec2d(random.uniform(yunit, 4*yunit), random.uniform(xunit, 4*xunit))
else:
print "Unknown formation '%s' - aborting." % (formation)
exit(-42)
def update_bot_collisions(self, botpairs):
for (i,j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = a.pos.get_distance(b.pos)
bound = 2 * a.radius
if dist < 1 + bound:
overlap = bound - dist
direction = b.pos - a.pos
if (direction == Vec2d(0,0)):
direction = Vec2d(1,0)
direction.length = overlap/2
#b.pos = b.pos + direction
a.pos = a.pos - direction
b.pos = b.pos #MUDEI
def update_secretNxs(self, botpairs):
for b in self.bots: b.secretNx = []
for (i,j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = int(a.pos.get_distance(b.pos))
if (dist <= self.config['near']):
a.secretNx.append(j) # secret
b.secretNx.append(i) # neighborhood
def update_messaging(self, botpairs):
for (i,j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = int(a.pos.get_distance(b.pos))
if (a.running and b.running):
if (dist < a.rradius and a.tx_enabled == 1): # sends
inrange = (a.msgtx[0], a.msgtx[1], a.msgtx[2], dist, 0, 1, 0)
b.rxtempbuf.append(inrange)
if (dist < b.rradius and b.tx_enabled == 1):
inrange = (b.msgtx[0], b.msgtx[1], b.msgtx[2], dist, 0, 1, 0)
a.rxtempbuf.append(inrange)
if (self.abstract):
for b in self.bots:
numheard = min(len(b.rxtempbuf), self.config['rxbufsize'])
random.shuffle(b.rxtempbuf) # ordering randomization (RX/TX delays in HW)
for i in range(0,numheard):
if (b.rxbuf[b.rxbufp][self.config['msg_new']] == 0):
b.rxbuf[b.rxbufp] = b.rxtempbuf.pop(0)
b.rxbufp = (b.rxbufp + 1) % self.config['rxbufsize']
b.rxtempbuf = [] #reset
self.noisestat = 1.0
else: # SNIR
noiseOK = 0.0
noiseFAIL = 0.0
for b in self.bots:
k = len(b.rxtempbuf)
if (k == 0):
continue
k -= 1 # autointerference...
heard = []
for m in b.rxtempbuf:
randy = random.uniform(50.0,100.0) # delay as random default
s = randy / (self.anoise + (k * self.inoise))
if s >= self.hearmin:
noiseOK += 1
heard.append(m)
else:
noiseFAIL += 1
numheard = min(len(heard), self.config['rxbufsize'])
random.shuffle(heard) # ordering randomization (RX/TX delays in HW)
for i in range(0,numheard):
if (b.rxbuf[b.rxbufp][self.config['msg_new']] == 0):
b.rxbuf[b.rxbufp] = heard.pop(0)
b.rxbufp = (b.rxbufp + 1) % self.config['rxbufsize']
b.rxtempbuf = [] #reset
if (self.round % 5 == 0): # too hectic otherwise
self.noisestat = 0.0 if noiseOK + noiseFAIL == 0 else (noiseOK / (noiseOK + noiseFAIL))
def stepbots(self):
# run a step of the program on each bot
for a in self.bots:
a.runProgram()
def designer(self):
self.config['designer'] = True
self.running = False
def restarter(self):
self.running = False
def updateUI(self):
if (self.designerform):
self.designer()
self.designerform = False
if (self.restartform):
self.restarter()
self.restartform = False
# dodge, collision detection on world borders
self.gui.update_border_collisions() # note: before bot collisions
def update(self): # called before draw; update variables
# process bots in pairs, shuffled
botn = range(len(self.bots))
botpairs = [(x, y) for x in botn for y in botn if x > y]
random.shuffle(botpairs)
# dodge, collision detection on fellow bots
self.update_bot_collisions(botpairs)
# reset secret (internal) neighborhood information
self.update_secretNxs(botpairs)
# messaging (note: position must be fixed before messaging)
self.update_messaging(botpairs)
def run(self):
self.running = True
# launch ui
form = gui.Form()
ui = gui.App()
ctrl = KBSControl(self)
c = gui.Container(align=-1,valign=-1)
c.add(ctrl,0,0)
ui.init(c)
while self.running:
self.updateUI()
if (not self.stopped):
self.stepbots()
self.update()
self.round += 1
for e in pygame.event.get():
self.gui.event(e)
#ui.event(e)
self.gui.draw()
#ui.paint()
pygame.display.flip()
self.clock.tick(self.fps)
return self.config # running a sim doesn't change the configuration
class KBDesigner:
def __init__(self, app, config):
self.app = app
self.config = config
self.running = False
self.bots = []
self.botmove = None
self.botsel = None
self.botselpos = None
self.orientation = 0
self.links = []
self.linkc = self.config["n"] * [0]
self.conns = []
self.reddots = []
self.gui = KBGUI(self)
self.analyseform = False
self.connectform = False
self.executeform = False
self.clearform = False
for i in range(self.config["n"]):
self.bots.append(Kilobot(self))
for b in self.bots: # set semi-random initial position and orientation
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(
self.config["width"] / 2 + random.uniform(0, b.secretID),
(self.config["height"] * 2) / 3 + random.uniform(0, b.secretID),
)
"""
def parsedatafile(self, targetfile):
N = 3
conns = []
orientation = 0
with open(targetfile, 'r') as f:
try:
for line in f:
tok = line.split()
if (tok[0] == "KBFORM"):
if (tok[1] != str(VERSION)):
print "Unknown data type, expecting 'KBFORM %2g'" % (VERSION)
quit(-42)
print ">> Reading data file"
elif (tok[0] == "N"):
N = int(tok[1])
elif (tok[0] == "o"):
orientation = int(tok[1])
elif (tok[0] == "-"):
break
elif (tok[0] == "#"):
pass
else:
entry = (int(tok[0]), (int(tok[1]), int(tok[2])),
(int(tok[3]), int(tok[4])), int(tok[5]))
print tok, " --> ", entry
conns.append(entry)
except e, msg:
print "File read failed:", msg
return N, orientation, conns
"""
"""
def render(self):
print ">> Rendering"
self.reddots = []
self.links = []
for i in range(2,self.config['n']):
rules = None
for conn in self.conns:
if (conn[0] == i):
rules = conn
break
if (rules == None):
print "File had no rules for %d, breaking." % (i)
break
posA = self.bots[rules[1][0]].pos
posB = self.bots[rules[2][0]].pos
posAt = posA.inttup()
posBt = posB.inttup()
xA = posAt[0]
yA = posAt[1]
xB = posBt[0]
yB = posBt[1]
rA = rules[1][1]
rB = rules[2][1]
ds = posA.get_dist_sqrd(posB)
# print xA, yA, xB, yB, rA, rB, ds
Ka = (pow(rA+rB,2) - ds); Ka = 0.01 if Ka < 0 else Ka
Kb = (ds - pow(rA-rB,2)); Kb = 0.01 if Kb < 0 else Kb # precision...
K = 0.25 * math.sqrt(Ka * Kb)
xt = (0.5 * (xB + xA)) + (0.5 * (xB - xA) * ((rA**2) - (rB**2)) / ds)
yt = (0.5 * (yB + yA)) + (0.5 * (yB - yA) * ((rA**2) - (rB**2)) / ds)
x1 = xt + (2 * (yB - yA) * K / ds)
y1 = yt - (2 * (xB - xA) * K / ds)
x2 = xt - (2 * (yB - yA) * K / ds)
y2 = yt + (2 * (xB - xA) * K / ds)
# print i, rules, "posA/B:", posAt, posBt, Vec2d(x1,y1), Vec2d(x2,y2)
print " %d:"%(i), Vec2d(x1,y1).inttup(), Vec2d(x2,y2).inttup(),
print "choosing", rules[3]
if (rules[3] == LEFT):
self.reddots.append(Vec2d(x2,y2))
self.bots[i].pos = Vec2d(x1,y1)
else:
self.reddots.append(Vec2d(x1,y1))
self.bots[i].pos = Vec2d(x2,y2)
self.links.append((self.bots[i], self.bots[rules[1][0]]))
self.links.append((self.bots[i], self.bots[rules[2][0]]))
"""
def analyser(self):
print "---\n ANALYSER \n---"
n = len(self.bots)
isLinked = filter((lambda x: self.linkc[x] == 1), range(n))
is2Linked = filter((lambda x: self.linkc[x] == 2), range(n))
isXLinked = filter((lambda x: self.linkc[x] > 2), range(n))
print "n = %03d | L0:%03d L1:%03d L2:%03d LX:%03d" % (
n,
n - len(isLinked),
len(isLinked),
len(is2Linked),
len(isXLinked),
)
if len(is2Linked + isXLinked) < n:
print "DEGREE TEST FAILED: some have degree < 2"
else:
print "DEGREE TEST OK: all have degree >= 2"
def connecter(self):
print "---\n CONNECTER \n---"
poss = []
for b in self.bots:
tup = b.pos.inttup()
poss.append(tup)
avg = map((lambda x: x / len(self.bots)), reduce((lambda x, y: [x[0] + y[0], x[1] + y[1]]), poss, [0, 0]))
print "positions:", poss, "\n", "avg:", avg
avg = Vec2d(avg)
# computer kNN and find those closest to the center of the bot mass
# TODO: make less sloppy; proper generative 2-MST etc
order = []
k = self.config["n"]
knns = len(self.bots) * [None]
for i in range(len(self.bots)):
bot = self.bots[i]
dist = avg.get_distance(bot.pos)
order.append((dist, bot))
knns[i] = []
for bat in self.bots:
if bat == bot:
continue
dist = bot.pos.get_distance(bat.pos)
knns[i].append([dist, bat])
knns[i] = sorted(knns[i])[:k] # drop some
order = sorted(order)
# create links
self.links = []
self.linkc = self.config["n"] * [0]
# startup
a = order[0][1]
b = order[1][1]
pair = (a, b) if (a.secretID > b.secretID) else (b, a)
self.links.append(pair)
self.linkc[a.secretID] += 1
self.linkc[b.secretID] += 1
inplace = [a.secretID, b.secretID] # keep track of the existing form
dist = int(round(a.pos.get_distance(b.pos)))
self.conns = [(1, (0, dist), (0, dist))] # start conns
self.orientation = int((b.pos - a.pos).get_angle())
for i in map((lambda x: x[1].secretID), order[2:]):
knn = map((lambda x: x[1].secretID), knns[i])
bot = self.bots[i]
myid = len(inplace)
temp = None
for j in knns[i]: # try to connect every bot to form as directly as possible
dist = int(round(j[0]))
k = j[1].secretID
bat = self.bots[k]
if k in inplace:
# add links by secretID
pair = (bot, bat) if i > k else (bat, bot)
self.links.append(pair)
self.linkc[bot.secretID] += 1
self.linkc[bat.secretID] += 1
# add connection by form index
if temp == None:
inplace.append(i)
temp = [k, inplace.index(k), dist]
else:
but = self.bots[temp.pop(0)]
# trigonometric black magic
# we compute the angle of bot in relation to a vector defined by to others (bat and but)
angle = (bot.pos - bat.pos).rotated(-(but.pos - bat.pos).get_angle()).get_angle()
left = angle < 0
# print bat.secretID, "-->", but.secretID, ":", bot.secretID, "L" if angle < 0 else "R"
if left: # we force RIGHTHANDSIDE positioning
self.conns.append((myid, temp, [inplace.index(k), dist]))
else:
self.conns.append((myid, [inplace.index(k), dist], temp))
break
print "conns:"
for i, conn in enumerate(self.conns):
print conn
def clearer(self):
self.links = []
self.linkc = self.config["n"] * [0]
def executor(self):
if self.conns == []:
print "SANITY CHECK: No conns, won't start execution"
return
print self.orientation
self.config["form"] = {
"version": "KBFORM 0.1",
"n": self.config["n"],
"orientation": self.orientation,
"rules": self.conns,
}
self.config["designer"] = False
self.running = False
def updateUI(self):
# analyse the current form
if self.analyseform:
self.analyser()
self.analyseform = False
if self.connectform:
self.connecter()
self.connectform = False
if self.clearform:
self.clearer()
self.clearform = False
if self.executeform:
self.executor()
self.executeform = False
# dodge, collision detection on world borders
self.gui.update_border_collisions() # note: before bot collisions
def update(self): # called before draw; update variables
# process bots in pairs, shuffled
botn = range(len(self.bots))
botpairs = [(x, y) for x in botn for y in botn if x > y]
random.shuffle(botpairs)
# dodge, collision detection on fellow bots
for (i, j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = a.pos.get_distance(b.pos)
bound = 2 * a.radius
if dist < 1 + bound:
overlap = bound - dist
direction = b.pos - a.pos
if direction == Vec2d(0, 0):
direction = Vec2d(1, 0)
direction.length = overlap / 2
b.pos = b.pos + direction
a.pos = a.pos - direction
def run(self):
self.running = True
# launch ui
form = gui.Form()
ui = gui.App()
ctrl = KBDControl(self)
c = gui.Container(align=-1, valign=-1)
c.add(ctrl, 0, 0)
ui.init(c)
while self.running:
self.updateUI()
self.update()
for e in pygame.event.get():
self.gui.event(e)
ui.event(e)
self.gui.draw()
ui.paint()
pygame.display.flip()
return self.config
class KBSimulation:
def __init__(self, app, config):
## Simulation - Conf
self.app = app
self.config = config
## Simulation - Core
self.round = 0
self.running = False
self.stopped = False
self.clock = pygame.time.Clock() # to track FPS
self.fps = self.config['fps']
## Simulation - Noise
self.anoise = config['anoise']
self.inoise = config['inoise']
self.hearmin = config['hearmin']
## Simulation - View
if (config['randomseed'] != None):
random.seed(config['randomseed'])
self.abstract = False
self.gui = KBGUI(self)
self.designerform = False
self.restartform = False
## Simulation - Bots
thebot = None
if (self.config['form'] == None):
thebot = imp.load_source("bot", config['program'])
else:
thebot = imp.load_source("bot", "./Bots/Renderbot.py")
self.bots = []
for i in range(config['n']):
self.bots.append(thebot.load(self))
self.setFormation(config['formation'])
def setFormation(self, formation):
if formation == "PILED":
for b in self.bots:
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(
self.config['width'] / 2 + random.uniform(0, b.secretID),
self.config['height'] / 2 + random.uniform(0, b.secretID))
elif formation == "RANDOM":
xunit = self.config['width'] / 5
yunit = self.config['height'] / 5
for b in self.bots:
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(random.uniform(yunit, 4 * yunit),
random.uniform(xunit, 4 * xunit))
elif formation == "LINE":
for i in range(0, self.config['n']):
self.bots[i].pos = Vec2d(self.config['width'] / 2 + i * 34,
self.config['height'] / 2)
self.bots[i].orientation = random.uniform(0, 360)
self.bots[0].orientation = 180 # make first one point left
elif formation == "CIRCLE":
deg = 360 / (self.config['n'])
pi = 3.141592653589793
radius = (self.bots[0].radius * (self.config['n'] + 5)) / pi
for i, b in enumerate(self.bots):
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(self.config['width'] / 2,
self.config['height'] / 2)
b.pos += Vec2d(0, radius).rotated(deg * i)
else:
print "Unknown formation '%s' - aborting." % (formation)
exit(-42)
def update_bot_collisions(self, botpairs):
for (i, j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = a.pos.get_distance(b.pos)
bound = 2 * a.radius
if dist < 1 + bound:
overlap = bound - dist
direction = b.pos - a.pos
if (direction == Vec2d(0, 0)):
direction = Vec2d(1, 0)
direction.length = overlap / 2
b.pos = b.pos + direction
a.pos = a.pos - direction
def update_secretNxs(self, botpairs):
for b in self.bots:
b.secretNx = []
for (i, j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = int(a.pos.get_distance(b.pos))
if (dist <= self.config['near']):
a.secretNx.append(j) # secret
b.secretNx.append(i) # neighborhood
def update_messaging(self, botpairs):
for (i, j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = int(a.pos.get_distance(b.pos))
if (a.running and b.running):
if (dist < a.rradius and a.tx_enabled == 1): # sends
inrange = (a.msgtx[0], a.msgtx[1], a.msgtx[2], dist, 0, 1,
0)
b.rxtempbuf.append(inrange)
if (dist < b.rradius and b.tx_enabled == 1):
inrange = (b.msgtx[0], b.msgtx[1], b.msgtx[2], dist, 0, 1,
0)
a.rxtempbuf.append(inrange)
if (self.abstract):
for b in self.bots:
numheard = min(len(b.rxtempbuf), self.config['rxbufsize'])
random.shuffle(
b.rxtempbuf) # ordering randomization (RX/TX delays in HW)
for i in range(0, numheard):
if (b.rxbuf[b.rxbufp][self.config['msg_new']] == 0):
b.rxbuf[b.rxbufp] = b.rxtempbuf.pop(0)
b.rxbufp = (b.rxbufp + 1) % self.config['rxbufsize']
b.rxtempbuf = [] #reset
self.noisestat = 1.0
else: # SNIR
noiseOK = 0.0
noiseFAIL = 0.0
for b in self.bots:
k = len(b.rxtempbuf)
if (k == 0):
continue
k -= 1 # autointerference...
heard = []
for m in b.rxtempbuf:
randy = random.uniform(50.0,
100.0) # delay as random default
s = randy / (self.anoise + (k * self.inoise))
if s >= self.hearmin:
noiseOK += 1
heard.append(m)
else:
noiseFAIL += 1
numheard = min(len(heard), self.config['rxbufsize'])
random.shuffle(
heard) # ordering randomization (RX/TX delays in HW)
for i in range(0, numheard):
if (b.rxbuf[b.rxbufp][self.config['msg_new']] == 0):
b.rxbuf[b.rxbufp] = heard.pop(0)
b.rxbufp = (b.rxbufp + 1) % self.config['rxbufsize']
b.rxtempbuf = [] #reset
if (self.round % 5 == 0): # too hectic otherwise
self.noisestat = 0.0 if noiseOK + noiseFAIL == 0 else (
noiseOK / (noiseOK + noiseFAIL))
def stepbots(self):
# run a step of the program on each bot
for a in self.bots:
a.runProgram()
def designer(self):
self.config['designer'] = True
self.running = False
def restarter(self):
self.running = False
def updateUI(self):
if (self.designerform):
self.designer()
self.designerform = False
if (self.restartform):
self.restarter()
self.restartform = False
# dodge, collision detection on world borders
self.gui.update_border_collisions() # note: before bot collisions
def update(self): # called before draw; update variables
# process bots in pairs, shuffled
botn = range(len(self.bots))
botpairs = [(x, y) for x in botn for y in botn if x > y]
random.shuffle(botpairs)
# dodge, collision detection on fellow bots
self.update_bot_collisions(botpairs)
# reset secret (internal) neighborhood information
self.update_secretNxs(botpairs)
# messaging (note: position must be fixed before messaging)
self.update_messaging(botpairs)
def run(self):
self.running = True
# launch ui
form = gui.Form()
ui = gui.App()
ctrl = KBSControl(self)
c = gui.Container(align=-1, valign=-1)
c.add(ctrl, 0, 0)
ui.init(c)
while self.running:
self.updateUI()
if (not self.stopped):
self.stepbots()
self.update()
self.round += 1
for e in pygame.event.get():
self.gui.event(e)
ui.event(e)
self.gui.draw()
ui.paint()
pygame.display.flip()
self.clock.tick(self.fps)
return self.config # running a sim doesn't change the configuration
class KBDesigner:
def __init__(self, app, config):
self.app = app
self.config = config
self.running = False
self.bots = []
self.botmove = None
self.botsel = None
self.botselpos = None
self.orientation = 0
self.links = []
self.linkc = self.config['n'] * [0]
self.conns = []
self.reddots = []
self.gui = KBGUI(self)
self.analyseform = False
self.connectform = False
self.executeform = False
self.clearform = False
for i in range(self.config['n']):
self.bots.append(Kilobot(self))
for b in self.bots: # set semi-random initial position and orientation
b.orientation = random.uniform(0, 360)
b.pos = Vec2d(
self.config['width'] / 2 + random.uniform(0, b.secretID),
(self.config['height'] * 2) / 3 +
random.uniform(0, b.secretID))
"""
def parsedatafile(self, targetfile):
N = 3
conns = []
orientation = 0
with open(targetfile, 'r') as f:
try:
for line in f:
tok = line.split()
if (tok[0] == "KBFORM"):
if (tok[1] != str(VERSION)):
print "Unknown data type, expecting 'KBFORM %2g'" % (VERSION)
quit(-42)
print ">> Reading data file"
elif (tok[0] == "N"):
N = int(tok[1])
elif (tok[0] == "o"):
orientation = int(tok[1])
elif (tok[0] == "-"):
break
elif (tok[0] == "#"):
pass
else:
entry = (int(tok[0]), (int(tok[1]), int(tok[2])),
(int(tok[3]), int(tok[4])), int(tok[5]))
print tok, " --> ", entry
conns.append(entry)
except e, msg:
print "File read failed:", msg
return N, orientation, conns
"""
"""
def render(self):
print ">> Rendering"
self.reddots = []
self.links = []
for i in range(2,self.config['n']):
rules = None
for conn in self.conns:
if (conn[0] == i):
rules = conn
break
if (rules == None):
print "File had no rules for %d, breaking." % (i)
break
posA = self.bots[rules[1][0]].pos
posB = self.bots[rules[2][0]].pos
posAt = posA.inttup()
posBt = posB.inttup()
xA = posAt[0]
yA = posAt[1]
xB = posBt[0]
yB = posBt[1]
rA = rules[1][1]
rB = rules[2][1]
ds = posA.get_dist_sqrd(posB)
# print xA, yA, xB, yB, rA, rB, ds
Ka = (pow(rA+rB,2) - ds); Ka = 0.01 if Ka < 0 else Ka
Kb = (ds - pow(rA-rB,2)); Kb = 0.01 if Kb < 0 else Kb # precision...
K = 0.25 * math.sqrt(Ka * Kb)
xt = (0.5 * (xB + xA)) + (0.5 * (xB - xA) * ((rA**2) - (rB**2)) / ds)
yt = (0.5 * (yB + yA)) + (0.5 * (yB - yA) * ((rA**2) - (rB**2)) / ds)
x1 = xt + (2 * (yB - yA) * K / ds)
y1 = yt - (2 * (xB - xA) * K / ds)
x2 = xt - (2 * (yB - yA) * K / ds)
y2 = yt + (2 * (xB - xA) * K / ds)
# print i, rules, "posA/B:", posAt, posBt, Vec2d(x1,y1), Vec2d(x2,y2)
print " %d:"%(i), Vec2d(x1,y1).inttup(), Vec2d(x2,y2).inttup(),
print "choosing", rules[3]
if (rules[3] == LEFT):
self.reddots.append(Vec2d(x2,y2))
self.bots[i].pos = Vec2d(x1,y1)
else:
self.reddots.append(Vec2d(x1,y1))
self.bots[i].pos = Vec2d(x2,y2)
self.links.append((self.bots[i], self.bots[rules[1][0]]))
self.links.append((self.bots[i], self.bots[rules[2][0]]))
"""
def analyser(self):
print "---\n ANALYSER \n---"
n = len(self.bots)
isLinked = filter((lambda x: self.linkc[x] == 1), range(n))
is2Linked = filter((lambda x: self.linkc[x] == 2), range(n))
isXLinked = filter((lambda x: self.linkc[x] > 2), range(n))
print "n = %03d | L0:%03d L1:%03d L2:%03d LX:%03d" % (
n, n - len(isLinked), len(isLinked), len(is2Linked),
len(isXLinked))
if (len(is2Linked + isXLinked) < n):
print "DEGREE TEST FAILED: some have degree < 2"
else:
print "DEGREE TEST OK: all have degree >= 2"
def connecter(self):
print "---\n CONNECTER \n---"
poss = []
for b in self.bots:
tup = b.pos.inttup()
poss.append(tup)
avg = map((lambda x: x / len(self.bots)),
reduce((lambda x, y: [x[0] + y[0], x[1] + y[1]]), poss,
[0, 0]))
print "positions:", poss, "\n", "avg:", avg
avg = Vec2d(avg)
# computer kNN and find those closest to the center of the bot mass
# TODO: make less sloppy; proper generative 2-MST etc
order = []
k = self.config['n']
knns = len(self.bots) * [None]
for i in range(len(self.bots)):
bot = self.bots[i]
dist = avg.get_distance(bot.pos)
order.append((dist, bot))
knns[i] = []
for bat in self.bots:
if (bat == bot): continue
dist = bot.pos.get_distance(bat.pos)
knns[i].append([dist, bat])
knns[i] = sorted(knns[i])[:k] # drop some
order = sorted(order)
# create links
self.links = []
self.linkc = self.config['n'] * [0]
# startup
a = order[0][1]
b = order[1][1]
pair = (a, b) if (a.secretID > b.secretID) else (b, a)
self.links.append(pair)
self.linkc[a.secretID] += 1
self.linkc[b.secretID] += 1
inplace = [a.secretID, b.secretID] # keep track of the existing form
dist = int(round(a.pos.get_distance(b.pos)))
self.conns = [(1, (0, dist), (0, dist))] # start conns
self.orientation = int((b.pos - a.pos).get_angle())
for i in map((lambda x: x[1].secretID), order[2:]):
knn = map((lambda x: x[1].secretID), knns[i])
bot = self.bots[i]
myid = len(inplace)
temp = None
for j in knns[
i]: # try to connect every bot to form as directly as possible
dist = int(round(j[0]))
k = j[1].secretID
bat = self.bots[k]
if (k in inplace):
# add links by secretID
pair = (bot, bat) if i > k else (bat, bot)
self.links.append(pair)
self.linkc[bot.secretID] += 1
self.linkc[bat.secretID] += 1
# add connection by form index
if (temp == None):
inplace.append(i)
temp = [k, inplace.index(k), dist]
else:
but = self.bots[temp.pop(0)]
# trigonometric black magic
# we compute the angle of bot in relation to a vector defined by to others (bat and but)
angle = (bot.pos - bat.pos).rotated(
-(but.pos - bat.pos).get_angle()).get_angle()
left = angle < 0
# print bat.secretID, "-->", but.secretID, ":", bot.secretID, "L" if angle < 0 else "R"
if (left): # we force RIGHTHANDSIDE positioning
self.conns.append(
(myid, temp, [inplace.index(k), dist]))
else:
self.conns.append((myid, [inplace.index(k),
dist], temp))
break
print "conns:"
for i, conn in enumerate(self.conns):
print conn
def clearer(self):
self.links = []
self.linkc = self.config['n'] * [0]
def executor(self):
if (self.conns == []):
print "SANITY CHECK: No conns, won't start execution"
return
print self.orientation
self.config['form'] = {
'version': "KBFORM 0.1",
'n': self.config['n'],
'orientation': self.orientation,
'rules': self.conns
}
self.config['designer'] = False
self.running = False
def updateUI(self):
# analyse the current form
if (self.analyseform):
self.analyser()
self.analyseform = False
if (self.connectform):
self.connecter()
self.connectform = False
if (self.clearform):
self.clearer()
self.clearform = False
if (self.executeform):
self.executor()
self.executeform = False
# dodge, collision detection on world borders
self.gui.update_border_collisions() # note: before bot collisions
def update(self): # called before draw; update variables
# process bots in pairs, shuffled
botn = range(len(self.bots))
botpairs = [(x, y) for x in botn for y in botn if x > y]
random.shuffle(botpairs)
# dodge, collision detection on fellow bots
for (i, j) in botpairs:
a = self.bots[i]
b = self.bots[j]
dist = a.pos.get_distance(b.pos)
bound = 2 * a.radius
if dist < 1 + bound:
overlap = bound - dist
direction = b.pos - a.pos
if (direction == Vec2d(0, 0)):
direction = Vec2d(1, 0)
direction.length = overlap / 2
b.pos = b.pos + direction
a.pos = a.pos - direction
def run(self):
self.running = True
# launch ui
form = gui.Form()
ui = gui.App()
ctrl = KBDControl(self)
c = gui.Container(align=-1, valign=-1)
c.add(ctrl, 0, 0)
ui.init(c)
while self.running:
self.updateUI()
self.update()
for e in pygame.event.get():
self.gui.event(e)
ui.event(e)
self.gui.draw()
ui.paint()
pygame.display.flip()
return self.config