DECLARE_METHODS_FUNC = methods_nbeacons.declare_methods
DECLARE_OPERATORS_FUNC = operators_nbeacons.declare_operators
GOAL_GRAPH_CMP_FUNC = None
DIMENSION = 16 # width and height of grid
BEACON_FAIL_RATE = 20 # percent chance each beacon will fail each tick
WIND_ENABLED = True
WIND_DIR = 'east' # direction to push the agent if it moves in this direction
WIND_STRENGTH = 0 # number of extra tiles for the agent to move
NUM_QUICKSAND = 10
# Load domain
world = domainread.load_domain(DOMAIN_FILE)
# Create Starting state
state1 = nbeacons_util.NBeaconGrid()
state1.generate(width=DIMENSION,
height=DIMENSION,
num_beacons=10,
num_quicksand_spots=NUM_QUICKSAND)
state1_str = state1.get_STRIPS_str()
# Load state
stateread.apply_state_str(world, state1_str)
# Creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display=DISPLAY_FUNC, verbose=2)
# Add phases by name
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"
def runexperiment():
# reset in case we run multiple experiments
DATADIR = "experiments/nbeacons-experiment-1-data/"
NOW_STR = datetime.datetime.strftime(datetime.datetime.now(),
'%Y-%m-%d--%H-%M-%S')
DATA_FILENAME = DATADIR + "NBeaconsExperiment1" + NOW_STR + ".csv"
DATA_FILE_HEADER_STR = "runID,numCycles,agentType,windDir,windStrength,goalsActionsAchieved\n"
SCENARIO_FILENAME = DATADIR + "NBeaconsScenario" + NOW_STR + ".txt"
runs = []
# generate goals randomly, such that no goal is repeated twice
num_goals = 1000
goal_list = []
i = 0
possible_goals = range(10)
last_chosen_goal = -1
while i < num_goals:
if last_chosen_goal == -1:
curr_goal = random.choice(possible_goals)
goal_list.append(curr_goal)
last_chosen_goal = curr_goal
else:
tmp_possible_goals = set(possible_goals) - set([last_chosen_goal])
curr_goal = random.sample(tmp_possible_goals, 1)[0]
goal_list.append(curr_goal)
last_chosen_goal = curr_goal
i += 1
goal_list = map(lambda x: goals.Goal('B' + str(x), predicate="activated"),
goal_list)
#print("goal list is ")
#for g in goal_list:
# print(" "+str(g))
state1 = nbeacons_util.NBeaconGrid()
#state1.generate_good_test()
state1.generate(width=DIMENSION,
height=DIMENSION,
num_beacons=NUM_BEACONS,
num_quicksand_spots=NUM_QUICKSAND)
state1_str = state1.get_STRIPS_str()
# args are [runID, agentType, windDir, windStrength, startingState, goalList]
individual_runs = [
# no wind, same starting state, same starting goals
[0, 'v', 'east', 0, state1_str, goal_list],
[1, 'g', 'east', 0, state1_str, goal_list],
[2, 'm', 'east', 0, state1_str, goal_list],
]
runs = individual_runs
# Uses multiprocessing to give each run its own python process
print("-- Starting experiment using " + str(NUM_PROCESSES) +
" processes...")
t0 = time.time()
# **** NOTE: it is very important chunksize is 1 and maxtasksperchild is 1
# **** (each MIDCA must use its own python process)
pool = Pool(processes=NUM_PROCESSES, maxtasksperchild=1)
results = pool.map(singlerun, runs, chunksize=1)
t1 = time.time()
timestr = '%.2f' % (t1 - t0)
print("-- Experiment finished! Took " + timestr + "s, generated " +
str(len(results)) + " data points")
print("-- Writing data to file...")
f = open(DATA_FILENAME, 'w')
f.write(DATA_FILE_HEADER_STR)
for r in results:
f.write(r)
print("-- Data written to file " + str(DATA_FILENAME))
print("-- Experiment complete!")
# if you have pyttsx installed, a voice will tell you your experiments are finished
try:
import pyttsx
engine = pyttsx.init()
engine.setProperty('rate', 70)
engine.say('Your experiments are have finished running')
engine.runAndWait()
except:
pass # do nothing