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
def action(self, time):
size = len(Simulation.__self._Arena._Robots_sort_Random)
for t in range(0, time):
Air._messages = []
self._time += 1
Log.addLine("\n\n#### Simulation: Time = " + str(self._time) +
" ####")
print("\n\n#### Simulation: Time = " + str(self._time) +
" ####")
Simulation.__self._Arena.sortRandomRobotsArray()
for i in range(0, size):
#robot = self._Arena._Robots_sort_Random[i]
robot = self._Arena._Robots[self._Arena._Robots_sort_Random[i]]
robot._time = self._time
robot._current_zone = self._Arena.getCurrentZone(robot._id)
robot.doAction()
self.Messages_mone += len(Air._messages)
Air._messages = []
for i in range(0, size):
Log.addLine(self._Arena._Robots[i].toString())
#plt.close()
self.showGUI()
def getRandomDirection(self):
env = self.getEnv()
direction = randint(WHITE(), BLACK()) #white,black,gray
count = 0 #Case: Robot cant move in any direction.
while(env[direction] == False and count < 5):
direction = randint(WHITE(), BLACK())
count+= 1
if count == 11:
Log.addLine("robot "+str(self._id)+" Cant move in any direction. (surrounded by other robots)")
else: return direction
def __init__(self):
Log.addLine("create Simulation")
self._Air = Air()
self._Arena = Arena()
Air.static_mat_zone = self._Arena._mat_zone
Simulation.__self = self
self._time = 0
self.Messages_mone = 0
Robot.static_arena = self._Arena # Must give the static_arena a value!!!
Robot.static_air = self._Air # Must give the static_air a value!!!
def __init__(self):
Log.addLine("create Simulation")
self._Air = Air()
self._Arena = Arena()
Air.static_mat_zone = self._Arena._mat_zone
Simulation.__self = self
self._time = 0
self.Messages_mone = 0
Robot.static_arena = self._Arena # Must give the static_arena a value!!!
Robot.static_air = self._Air # Must give the static_air a value!!!
def sendNewMessage(self):
#Want to set my zone:
self._estimated_location._zone = self._current_zone # send the true color of zone
# creating new message:
msg = Message(self._id,self.creatMessageId(),self._time,self._estimated_location)
self._currently_sending = msg
self._action_time = self.msgRandomWaitTime()
if(self._time < self._action_time):
Log.addLine("Robot " + str(self._id) + " create a new message and send it soon")
# Case: 'action time' is now:
if self._time == self._action_time: self._action_time += 1
return
# checking with 'Air' that robot can send now:
if Robot.static_air.canSend(self) == False:
# robot must send another time:
Log.addLine("Robot " + str(self._id) + " was trying to send a message now ---> Because of congestion notifications will try next time")
# Case: 'action time' is now but 'Air' wont let robot send:
if self._time == self._action_time: self._action_time += 1
return
else: #Sending now!
Log.addLine("Robot " + str(self._id) + " sent a new message: " + str(self._currently_sending.toString()))
print("Robot " + str(self._id) + " sent a new message: " + str(self._currently_sending.toString()))
self._battery_status -= BATTARY_COST_SEND_MSG()
self._message_log.append(msg._id_message)
Robot.static_air.sendMessage(msg, self)
self._action_time = INFINITY()
self._currently_sending = NO_MSG()
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
def action(self, time):
size = len (Simulation.__self._Arena._Robots_sort_Random)
for t in range(0, time):
Air._messages = []
self._time += 1
Log.addLine("\n\n#### Simulation: Time = " + str(self._time) +" ####")
print("\n\n#### Simulation: Time = " + str(self._time) +" ####")
Simulation.__self._Arena.sortRandomRobotsArray()
for i in range(0, size):
#robot = self._Arena._Robots_sort_Random[i]
robot = self._Arena._Robots[self._Arena._Robots_sort_Random[i]]
robot._time = self._time
robot._current_zone = self._Arena.getCurrentZone(robot._id)
robot.doAction()
self.Messages_mone += len(Air._messages)
Air._messages = []
for i in range(0, size):
Log.addLine(self._Arena._Robots[i].toString())
self.showGUI()
def getMessage(self):
msg = Robot.static_air.getMessage(self)
self._battery_status -= BATTARY_COST_GET_MSG()
if(msg == NO_MSG()):
Log.addLine("Robot " + str(self._id) + ": Receiving Messages. ---> Not received!")
return
else:
if msg._version >= MAX_NUM_OF_VERSIONS(): return
msg._version+= 1
Log.addLine("Robot " + str(self._id) + ": Receiving Messages. ---> Received a new message! " + msg.toString())
print("Robot " + str(self._id) + ": Receiving Messages. ---> Received a new message! " + msg.toString())
#Updating 'neighbors_loc' with info from recieved message:(location of the last message sender)
point1 = Point(msg._sender_estimated_location._x, msg._sender_estimated_location._y)
point1._deviation = Point.signalToDistance(msg._snn)
point1._zone = msg._sender_estimated_location._zone
if(len(msg._sender_history)>0): self._neighbors_loc[msg._sender_history[len(msg._sender_history)-1]] =point1
else: self._neighbors_loc[msg._id_source] = point1
# Updating 'estimated_location' with info from recieved message:
#toLog = "Robot " + str(self._id) +": Estimated_location before the message - "+ self._estimated_location.toString()
#Log.addLine(toLog)
self._estimated_location._x -=self._private_location._x
self._estimated_location._y -= self._private_location._y
new_point = Point(msg._sender_estimated_location._x, msg._sender_estimated_location._y)
new_point._deviation = Point.signalToDistance(msg._snn)
self._estimated_location.joint(new_point)
self._estimated_location._x += self._private_location._x
self._estimated_location._y += self._private_location._y
#toLog = "Robot " + str(self._id) +": Estimated_location after the message - "+ self._estimated_location.toString()
#Log.addLine(toLog)
self._currently_get_message = msg
self._action_time = self.msgRandomWaitTime()
self._message_log.append(msg._id_message)
def forwardMessage(self):
if(self._currently_sending == NO_MSG()): # hould not happen .. Debugger
self._action_time = INFINITY()
return
self._currently_sending._sender_history.append(self._id) # Adds the robots id to message's 'sender_history'.
was_sent = Robot.static_air.sendMessage(self._currently_sending, self)
if was_sent == False:
self._action_time += 1
if(self._action_time > MSG_LIFE_TIME()):
self._action_time = INFINITY()
self._currently_sending = NO_MSG()
Log.addLine("Robot " + str(self._id) + ": Is Waiting to forward Message (" + str(self._action_time) + ") ---> Went too long ---> throw the message!")
else:
Log.addLine("Robot " + str(self._id) + ": Is Waiting to forward Message (" + str(self._action_time) + ")")
return
else:
self._battery_status -= BATTARY_COST_SEND_MSG()
Log.addLine("Robot " + str(self._id) + " sent message " + str(self._currently_sending.toString()))
print("Robot " + str(self._id) + " sent message " + str(self._currently_sending.toString()))
return
from MyProject.Log import Log from MyProject.Simulation import Simulation from MyProject.Global_Parameters import * readParameters() # reading file Parameters from Parameters txt Mylog = Log() s = Simulation() # runnung the simulation s.showGUI() Mylog.close()
def doAction(self):
# charge battery:
if(self._current_zone == WHITE()):
self._battery_status +=BATTARY_CHARGE_LITHT_SPEED()
if(self._battery_status >BATTARY_CAPACITY()): self._battery_status = BATTARY_CAPACITY()
# forward Message IF Exist:
if self._action_time != INFINITY():
if self._action_time == self._time:
self.forwardMessage()
return
# for static robot:
if(self._can_move == False):
if (BATTERY_ABOUT_TO_END() * BATTARY_CAPACITY() > self._battery_status): # The battery is about to run out
Log.addLine("Robot " + str(self._id) + " The battery is about to run out (" + str(
self._battery_status) + ") ---> The robot should rest")
return
self._battery_status = BATTARY_CAPACITY()
x = randint(0, 10)
if(x < ROBOT_STATIC_CHANCE_SEND_MSG()*10): # send new Message.
self.sendNewMessage()
else: # get message.
self.getMessage()
return
# The battery is about to run out
if(BATTERY_ABOUT_TO_END()*BATTARY_CAPACITY() > self._battery_status):
if (self._current_zone == WHITE()):
Log.addLine("Robot " + str(self._id) + " The battery is about to run out (" + str(self._battery_status) + ") ---> The robot should rest")
return
Env = self.getEnv()
for i in range(0,len(self._private_location_log)):
i1 = len(self._private_location_log) - i-1
if(self._private_location_log[i1]._zone == WHITE()):
direction = self._private_location.which_direction(self._private_location_log[i1])
if(direction == INFINITY()): continue
if(direction !=INFINITY() and self.try_move_to_constant_direction(direction)== True):
Log.addLine("Robot " + str(self._id) + " The battery is about to run out ---> The robot go to light on " + str(direction) + "direction - The robot knows the point")
return
if(self._estimated_location._deviation<BATTARY_CAPACITY()):
for i in range(0,len(self._neighbors_loc)):
if(self._neighbors_loc[i] == INFINITY()): continue
if(self._neighbors_loc[i]._deviation >BATTARY_CAPACITY()): continue # Only if the robot can go there
if(Point.airDistancePoints(self._estimated_location, self._neighbors_loc[i])>BATTARY_CAPACITY()): continue # Only if the robot can go there
if(self._neighbors_loc[i]._zone == WHITE()):
direction = self._estimated_location.which_direction(self._neighbors_loc[i])
if (direction == INFINITY()): continue
if(direction !=INFINITY() and self.try_move_to_constant_direction(direction)== True):
Log.addLine("Robot " + str(self._id) + " The battery is about to run out ---> the robot goes towards the robot_" + i + " (to the " + str(direction) + ") is there light!")
return
x = randint(1, int(BATTERY_ABOUT_TO_END() *10))
if(x!=1):
Log.addLine("Robot " + str(self._id) + " The battery is about to run out (" + str(self._battery_status) + ") ---> The robot rest")
else:
Log.addLine("Robot " + str(self._id) + " The battery is about to run out (" + str(self._battery_status) + ") ---> The robot has decided to continue as usual")
x = randint(0, 100)
if (x < ROBOT_CANMOVE_CHANCE_SEND_MSG() * 100 and self._battery_status > BATTARY_COST_SEND_MSG()): # send new Message.
self.sendNewMessage()
return
elif x < ROBOT_CANMOVE_CHANCE_GET_MSG()+ROBOT_CANMOVE_CHANCE_SEND_MSG() and self._battery_status > BATTARY_COST_GET_MSG(): # get message.
self.getMessage()
return
elif self._battery_status > BATTARY_COST_WALK():
direction = self.getRandomDirection()
self.move(direction)
return
def __init__(self):
self._mat_robot_id = []
self._Robots = []
self._Robots_sort_Random = []
self._mat_zone = [] # (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 dinamic 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 static 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)
if (bool3):
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()
from MyProject.Log import Log from MyProject.Simulation import Simulation from MyProject.Global_Parameters import * readParameters() # reading file Parameters from Parameters txt Mylog = Log() s = Simulation() # runnung the simulation s.showGUI() Mylog.close()
def __init__(self):
self._mat_robot_id = []
self._Robots = []
self._Robots_sort_Random = []
self._mat_zone = [] # (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 dinamic 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 static 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)
if(bool3):
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()