def StartSimulation():
testMap = Map(
100, 100, 1, 1, 50,
np.loadtxt("saved data maps/notrand" + str(5) + ".txt")[:100])
generator = PathGeneratorSmooth(0.2, (2, 5), (8, 12), 50)
generator2 = PathGeneratorStraight(50)
testPlanner = PrimitivePathPlanner(10, 1, [generator, generator2], testMap)
testEntityManager = EntityManager()
# clock = pygame.time.Clock()
testSimulation = SimulationData(testMap, testPlanner, testEntityManager)
dk = []
for ll in range(10):
dk.append(testMap.getRandomPoint())
for jj in range(10): # putting targets into entitymanager
e = testEntityManager.spawnEntity(EntityTarget, dk[jj], 0)
e.moveSpeed = 0
for i in range(4):
agent = testEntityManager.spawnEntity(Agent, (10, 10), 0)
agent.splitMapIndex = 1
testPlanner.registerNewAgent(agent)
for i in range(4):
agent = testEntityManager.spawnEntity(Agent, (10, 10), 0)
agent.generatorIndex = 1
agent.splitMapIndex = 2
testPlanner.registerNewAgent(agent)
print(RunSimulation(testSimulation))
def run_threads(start_map, stop_map, num_threads):
for i in range(start_map, stop_map): #33 maps
taskList = []
print('Adding map {} to the queue...'.format(i), end='')
t = np.loadtxt("terrainmaps/0.txt")[:100]
if i < 13:
m = Map(100, 100, 1, 1, 50, np.loadtxt("saved data maps/notrand" + str(i + 1)+".txt")[:100], True, t)
else:
m = Map(100, 100, 1, 1, 50, np.loadtxt("saved data maps/rand" + str(i - 12)+".txt")[:100], True, t)
for j in range(1): #10 sets of targets
dk = []
for ll in range(10): #10 agents
dk.append(m.getRandomPoint())
for k in range(1): # 3 sets of agent setup
for l in range(1): # 20 trials per setup
for o in range(2): # split map or not
path_time, no_samples, replan_ratio = 50, 15, 0.5
generator = PathGeneratorSmooth(0.2, (1, 5), (8, 12), path_time) # straightChance, pathLengthRange, radiusRange, pathTime
#generator = PathGeneratorSmooth(0.2, (1, 10), (15, 25), path_time) # WIDE # straightChance, pathLengthRange, radiusRange, pathTime
#generator = PathGeneratorTerrainSmooth(0.0, (1,5), (8,12), path_time)
#generator = PathGeneratorTerrain(path_time)
generator2 = PathGeneratorStraight(path_time)
testPlanner = PrimitivePathPlanner(replan_ratio * path_time, no_samples, [generator, generator2], m) # replanTime, tries, generators, initialMap
testEntityManager = EntityManager()
for ii in range(10): # setting each agent (10 of them)
agent = testEntityManager.spawnEntity(Agent, (50, 50), 0) #setting terrain code in Agent __init__
testPlanner.registerNewAgent(agent)
if ii < 5 : # <7 for primitive-spot_omni-details, <3
agent.mapSplitIndex = 2 #1, 2
else :
agent.mapSplitIndex = 1 #2, 1
if k == 0 :
if ii < 2 :
agent.generatorIndex = 0
else :
agent.generatorIndex = 1
elif k == 1 :
if ii < 5 :
agent.generatorIndex = 0
else :
agent.generatorIndex = 1
elif k == 2 :
if ii < 8 :
agent.generatorIndex = 0
else :
agent.generatorIndex = 1
if o == 0 :
agent.mapSplitIndex = 0
for jj in range(10): # putting targets into entitymanager (10 of them)
e = testEntityManager.spawnEntity(EntityTarget, dk[jj], 0)
taskList.append((SimulationData(m, testPlanner, testEntityManager),i,j,k,l,o))
random.shuffle(taskList)
print('OK')
p = Pool(num_threads)
p.map(run_simulations, taskList)
