def set_target_position(self, coords=None):
if coords:
self.dest = coords
else:
self.dest = random_position()
logger.debug("Passenger {} target position is {}".format(
self.agent_id, self.dest))
def add_agents(self, agent_dict):
for agent in agent_dict:
dx, dy = float(agent['dx']), float(agent['dy'])
x, y = float(agent['x']), float(agent['y'])
num = int(agent['n'])
a_type = int(agent['type'])
# spawn an agent in a random direction and position(within dx, dy)
direction = (randint(-1, 1), randint(-1, 1))
position = random_position(x, y, dx, dy)
waypoints = [awp['id'] for awp in agent['addwaypoint']]
rd = 0.3
for _ in xrange(num):
self.agents.add(
Agent(agent_id=self._agent_count,
atype=a_type,
screen=self.screen,
game=self,
agent_image=self.agent_image,
field=self.field_rect,
init_position=position,
init_direction=direction,
max_speed=normalvariate(1.34, 0.26),
radius=rd,
waypoints=[self.waypoints[wp] for wp in waypoints]))
self._agent_count += 1
def send_request(self, content=None):
"""
Sends an :class:`ACLMessage` to the coordinator to request a taxi.
It uses the REQUEST_PROTOCOL and the REQUEST_PERFORMATIVE.
If no content is set a default content with the passenger_id,
origin and target coordinates is used.
:param content: Optional content dictionary
:type content: :class:`dict`
"""
if content is None or len(content) == 0:
content = {
"passenger_id": self.myAgent.agent_id,
"origin": self.myAgent.current_pos,
"dest": self.myAgent.dest
}
if not self.myAgent.dest:
self.myAgent.dest = random_position()
msg = ACLMessage()
msg.addReceiver(coordinator_aid)
msg.setProtocol(REQUEST_PROTOCOL)
msg.setPerformative(REQUEST_PERFORMATIVE)
msg.setContent(json.dumps(content))
self.myAgent.send(msg)
self.logger.debug("Passenger {} asked for a taxi to {}.".format(
self.myAgent.agent_id, self.myAgent.dest))
def set_position(self, coords=None):
if coords:
self.current_pos = coords
else:
self.current_pos = random_position()
logger.debug("Passenger {} position is {}".format(
self.agent_id, self.current_pos))
def add_agents(self, agent_dict):
for agent in agent_dict:
dx, dy = float(agent['dx']), float(agent['dy'])
x, y = float(agent['x']), float(agent['y'])
num = int(agent['n'])
a_type = int(agent['type'])
# spawn an agent in a random direction and position(within dx, dy)
direction = (randint(-1, 1), randint(-1, 1))
position = random_position(x, y, dx, dy)
waypoints = [awp['id'] for awp in agent['addwaypoint']]
rd = 0.3
for _ in xrange(num):
self.agents.add(Agent(
agent_id = self._agent_count,
atype = a_type,
screen = self.screen,
game = self,
agent_image = self.agent_image,
field = self.field_rect,
init_position = position,
init_direction = direction,
max_speed = normalvariate(1.34, 0.26),
radius = rd,
waypoints = [self.waypoints[wp] for wp in waypoints]
))
self._agent_count += 1
def _process(self):
msg = self._receive(block=True)
content = json.loads(msg.content)
type_ = content["type"]
number = content["number"]
if type_ == "taxi":
cls = TaxiAgent
store = self.myAgent.taxi_agents
strategy = self.myAgent.taxi_strategy
else: # type_ == "passenger":
cls = PassengerAgent
store = self.myAgent.passenger_agents
strategy = self.myAgent.passenger_strategy
for _ in range(number):
with self.myAgent.lock:
if self.myAgent.kill_simulator.isSet():
break
position = random_position()
name = self.myAgent.faker.user_name()
password = self.myAgent.faker.password()
jid = name + "@127.0.0.1"
agent = cls(jid, password, debug=self.myAgent.debug_level)
agent.set_id(name)
agent.set_position(position)
store[name] = agent
agent.start()
if self.myAgent.simulation_running:
agent.add_strategy(strategy)
logger.debug("Created {} {} at position {}".format(
type_, name, position))
def set_position(self, coords=None):
if coords:
self.current_pos = coords
else:
self.current_pos = random_position()
logger.debug("Taxi {} position is {}".format(self.agent_id,
self.current_pos))
if self.status == TAXI_MOVING_TO_DESTINY:
self.inform_passenger(PASSENGER_LOCATION,
{"location": self.current_pos})
def create_agents_batch(type_, number, coordinator):
if type_ == "taxi":
cls = TaxiAgent
store = coordinator.taxi_agents
strategy = coordinator.taxi_strategy
else: # type_ == "passenger":
cls = PassengerAgent
store = coordinator.passenger_agents
strategy = coordinator.passenger_strategy
for _ in range(number):
with coordinator.lock:
if coordinator.kill_simulator.isSet():
break
position = random_position()
name = coordinator.faker.user_name()
password = coordinator.faker.password()
agent = create_agent(cls, name, password, position, None,
coordinator.debug_level)
store[name] = agent
agent.start()
if coordinator.simulation_running:
agent.add_strategy(strategy)
logger.debug("Created {} {} at position {}".format(
type_, name, position))
def __init__(self):
# random init
self.x, self.y = utils.random_position()
self.type = random.choice(powerup_types)
self.sx = self.sy = 50
from objects import Container, Avatar, Minion
from hex import Hex
from actions import Action
pygame.init()
surface = pygame.display.set_mode((
int((constants.MAP_WIDTH - 2/3) * Hex.pixel_width() * 3/4),
int((constants.MAP_HEIGHT - 0.5) * Hex.pixel_height())
))
objects = []
minions = []
rocks = Container(float("inf"), True, False)
rocks._set_pos(*random_position())
objects.append(rocks)
bucket = Container(0, False, True)
bucket._set_pos(*random_position())
objects.append(bucket)
avatar = Avatar(minions, objects)
avatar._set_pos(*random_position())
objects.append(avatar)
for _ in range(3):
minion = Minion(objects)
minion._set_pos(*random_position())
minions.append(minion)
objects.append(minion)
def put_rock(self):
rock_position = utils.random_position(WIDTH, HEIGHT)
rock = MovingSprite (self.rock_img, rock_position[0], rock_position[1],
sound=self.explosion_snd, diff=self.difficulty,
radius=40, batch=self.rocks)
self.rock_group.add(rock)
def rrt_star(ros_node, start, goal, world_dim, display=True):
rospy.loginfo('Computing RRT* algorithm...')
nodes = []
nodes.append(Node(start, None))
i = 0
goal_node = None
while i < MAX_ITERATIONS and (goal_node is None or i < MIN_ITERATIONS):
i = i + 1
if i % 20 == 0 and goal_node is not None:
x_rand = goal
else:
x_rand = random_position(world_dim)
# Search nearest node to the rand point
try:
nearest = min(nodes,
key=lambda node: dist(node, x_rand)
if node is not goal_node else 1e1000)
except ValueError:
continue
# Obtain the new node by casting the nearest node. The new node can be against a wall
_, new = ros_node.cast_ray(nearest.pos,
x_rand,
radius=UAV_THICKNESS,
max_dist=INCREMENT_DISTANCE)
# Search the neighbors of the nearest node
radius = min(
NEIGHBOR_RADIUS * (math.log(len(nodes)) / len(nodes))**(1 / 3.),
INCREMENT_DISTANCE)
neighbors = filter(
lambda node: dist(node, nearest) <= NEIGHBOR_RADIUS and
not ros_node.cast_ray(node.pos, new, radius=UAV_THICKNESS)[
0] and node is not goal_node, nodes)
# Select best possible neighbor
try:
nearest = min(neighbors,
key=lambda node: node.cost + dist(node, new))
except ValueError:
pass
new = Node(new, nearest)
nodes.append(new)
# Rewiring of the tree
for node in neighbors:
if new.cost + dist(new, node) < node.cost:
node.parent = new
node.cost = new.cost + dist(new, node)
if goal_node is None and not ros_node.cast_ray(
new.pos, goal, radius=UAV_THICKNESS)[0]:
# Goal discovered
goal_node = Node(goal, new)
nodes.append(goal_node)
elif goal_node is not None and not ros_node.cast_ray(
new.pos, goal, radius=UAV_THICKNESS)[0] and new.cost + dist(
new.pos, goal) < goal_node.cost:
# Goal node rewiring
goal_node.parent = new
goal_node.cost = new.cost + dist(new, node)
if display and i % 50 == 0:
ros_node.visualize_path(
nodes=nodes,
start=start,
goal=goal,
path=build_path(goal_node)[0] if goal_node is not None else [])
ros_node.rate.sleep()
if goal_node is None:
raise ValueError('No Path Found')
path = build_path(goal_node)
return path, nodes, i
def add_alien(self):
self.aliens.add(
Alien(position=random_position(0, self.size[0])))
