def __init__(self):
print "Initialized new supervisor"
self.time_limit = 3
self.state_machine = msm.motion_state_machine()
self.bumper = bump.Bumper((0.161, 0, 0))
self.start_time = time.time()
self.vac=vacuum()
self.hand = HandHandler()
self.handler=jsonHandler()
(self.origMap,self.workOrder)=self.handler.readInFile("RandomTestB.json")
self.items_to_stow = len(self.workOrder[0])
##Load bin Selector
self.binSelect=binSelector()
##Initialize bin Selector
self.binSelect.initialize("RandomTestB.json")
import numpy as np
import pylab as pl
import glob
import vacuum
for f in sorted(glob.glob("2d/vacuum2d*.hdf5")):
print "processing", f[:-5]
file = h5py.File(f, "r")
coords = np.array(file["/PartType0/Coordinates"])
rho = np.array(file["/PartType0/Density"])
vs = np.array(file["/PartType0/Velocities"])
P = np.array(file["/PartType0/InternalEnergy"])
P = 2. * rho * P / 3.
t = file["/Header"].attrs["Time"]
xsol, rhosol, usol, Psol = vacuum.vacuum([1., 0., 1.], [0., 0., 0.], t)
fig, ax = pl.subplots(2, 2)
ax[0][0].plot(xsol, rhosol, "r-")
ax[0][0].plot(coords[:, 0], rho, "k.")
ax[0][1].plot(xsol, usol, "r-")
ax[0][1].plot(coords[:, 0], vs[:, 0], "k.")
ax[1][0].plot(xsol, Psol, "r-")
ax[1][0].plot(coords[:, 0], P, "k.")
pl.savefig("{name}.png".format(name=f[:-5]))
pl.close()
for f in sorted(glob.glob("3d/vacuum3d*.hdf5")):
print "processing", f[:-5]
file = h5py.File(f, "r")
coords = np.array(file["/PartType0/Coordinates"])
def main():
zmin = -40000.
zmax = -10100.
xmin = -1300.
xmax = 800.
c1 = TCanvas("c1", "c1", 1000, 700)
frame = gPad.DrawFrame(zmin, xmin, zmax,
xmax) # xmin, ymin, xmax, ymax in ROOT
frame.SetTitle(";Length #it{z} (mm);Horizontal #it{x} (mm)")
siz = 0.035
frame.SetTitleSize(siz)
frame.SetLabelSize(siz)
frame.SetTitleSize(siz, "Y")
frame.SetLabelSize(siz, "Y")
frame.GetYaxis().SetTitleOffset(1.3)
frame.GetXaxis().SetTitleOffset(1.2)
frame.GetYaxis().CenterTitle()
frame.GetXaxis().CenterTitle()
gPad.SetLeftMargin(0.09)
gPad.SetRightMargin(0.01)
gPad.SetTopMargin(0.02)
gPad.SetBottomMargin(0.09)
#geometry
geo = rt.GeoParser("../../config/pro1/geom_all.in")
#spectrometer magnet
mag = magnet("lumi_dipole", geo)
mag.label = "Spectr. dipole"
mag.draw()
#B2BeR magnet
b2b = magnet("B2BeR", geo)
b2b.label = "B2BeR"
b2b.draw()
#Q3eR magnet
q3 = magnet("Q3eR", geo)
q3.label = "Q3eR"
q3.draw()
#beam vacuum
bvac = vacuum(geo)
bvac.add_point("vac_b2b_drift", "zQB", "xQB")
bvac.add_point("vac_b2b_drift", "zQT", "xQT")
bvac.add_point("vac_b2b_drift", "zW", "xW")
bvac.add_point("vac_b2b_window", "win_z", "win_xmax")
bvac.add_point_2("vac_b2b_window.b2b_end_z", "B2BeR.r2")
bvac.add_point("vac_tag1_win", "zB", "xB")
bvac.draw()
#vacuum in front of Tagger 1
vac_t1 = vacuum(geo)
vac_t1.add_point("vac_tag1_win", "zTB", "xTB")
vac_t1.add_point("vac_tag1_win", "zT", "xT")
vac_t1.add_point("vac_tag1_win", "zB", "xB")
vac_t1.draw()
#vacuum in front of Tagger 2
vac_t2 = vacuum(geo)
vac_t2.add_point("vac_tag2_win", "zTB", "xTB")
vac_t2.add_point("vac_tag2_win", "zT", "xT")
vac_t2.add_point("vac_tag2_win", "zB", "xB")
vac_t2.draw()
#vacuum from exit window to spectrometer magnet
vac_win = vacuum(geo)
vac_win.add_point("vac_lumi_win_mag", "z1", "dX1", -1.)
vac_win.add_point("vac_lumi_win_mag", "z1", "dX1")
vac_win.add_point("vac_lumi_win_mag", "z0", "dX0")
vac_win.add_point("vac_lumi_win_mag", "z0", "dX0", -1.)
#vac_win.add_point("", "", "")
#vac_win.draw()
#vacuum from spectrometer magnet to spectrometer detectors
vac_mag = vacuum(geo)
vac_mag.add_point("vac_lumi_mag_spec", "z1", "dX1", -1.)
vac_mag.add_point("vac_lumi_mag_spec", "z1", "dX1")
vac_mag.add_point("vac_lumi_mag_spec", "z0", "dX0")
vac_mag.add_point("vac_lumi_mag_spec", "z0", "dX0", -1.)
#vac_mag.draw()
#vacuum section from spectrometers to direct photon detector
vac_phot = vacuum(geo)
vac_phot.add_point("vac_lumi_spec_phot", "z1", "dX1", -1.)
vac_phot.add_point("vac_lumi_spec_phot", "z1", "dX1")
vac_phot.add_point("vac_lumi_spec_phot", "z0", "dX0")
vac_phot.add_point("vac_lumi_spec_phot", "z0", "dX0", -1.)
#vac_phot.draw()
#Tagger1
tag1 = segment("Tagger1box", geo)
tag1.label = "Tagger 1"
tag1.draw()
#Tagger2
tag2 = segment("Tagger2box", geo)
tag2.label = "Tagger 2"
tag2.draw()
#Luminosity exit window
ew = segment("ExitWinBox", geo)
ew.label = "Exit window"
ew.fill_col = rt.kGreen + 1
ew.draw()
#up spectrometer for both spectrometers
up = segment("LumiSUbox", geo)
up.theta = 0
up.label = "Spectrometers"
up.draw()
#Luminosity direct photon detector
phot = segment("LumiDbox", geo)
phot.label = "Photon detector"
phot.draw()
leg = ut.prepare_leg(0.8, 0.21, 0.25, 0.15,
0.03) #, 0.027) # x, y, dx, dy, tsiz
leg.AddEntry(tag1.gbox, "Detector", "f")
leg.AddEntry(b2b.gbox, "Magnet", "f")
leg.AddEntry(bvac.gbox, "Vacuum", "f")
leg.Draw("same")
gPad.SetGrid()
ut.invert_col(gPad)
c1.SaveAs("01fig.pdf")
def main():
game_over = False
game__over=False
rows, cols = 15, 15
borders = 0
dirty_tiles=0
while(rows >= 15 or cols >= 15 or rows==0 or cols==0 or borders==0 or dirty_tiles==0):
try:
layout = [ [sg.Text('Necessary Inputs')],
[sg.Text('Please enter number of rows as an integer:'), sg.InputText()],
[sg.Text('Please enter number of cols as an integer:'), sg.InputText()],
[sg.Text('Please enter number of dirty tiles:'), sg.InputText()],
[sg.Text('Please enter number of borders:'), sg.InputText()],
[sg.Text('Speed:'),sg.Slider(range=(1000,30),default_value=1000,size=(20,15),orientation='horizontal', disable_number_display=True)],
[sg.Text('Window dirt Period'),sg.Slider(range=(2,10),default_value=5,size=(20,15),orientation='horizontal', disable_number_display=True)],
[sg.Text('Agent Period'),sg.Slider(range=(2,10),default_value=5,size=(20,15),orientation='horizontal', disable_number_display=True)],
[sg.Spin([i for i in range(1,5)], initial_value=1), sg.Text('Cleaning Agents')],
[sg.Spin([i for i in range(0,5)], initial_value=0), sg.Text('Dirt Agents')],
[sg.Frame(layout=[
[sg.Radio('Case1 (Fully observable map and once generated dirt):', "Case1", default=False)],
[sg.Radio('Case2 (Fully observable map and continuously added dirt):', "Case1", default=False)],
[sg.Radio('Case3 (Fully observable borders and unknown dirt positions):', "Case1", default=False)],
[sg.Radio('Case4 (Unknown borders and dirt positions):', "Case1", default=False)],
[sg.Checkbox('Alternate Dirt Algorithm', default=False)],
[sg.Checkbox('Box In', default=False)]],
title='Choose Any of these Cases',title_color='red', relief=sg.RELIEF_SUNKEN, tooltip='Use these to set flags')],
[sg.Submit()]]
window = sg.Window('Vacuum Cleaner Agent', layout)
event, values = window.Read()
case1=values[9]
case2=values[10]
case3=values[11]
case4=values[12]
intelligenceDirtFirst=values[13]
boxIn = values[14]
rows=int(values[0])
cols=int(values[1])
dirty_tiles= int(values[2])
borders=int(values[3])
globals.globals.speed=int(values[4])
globals.globals.frequency=int(values[5])
globals.globals.period=int(values[6])
globals.globals.cleaning_agents=int(values[7])
globals.globals.dirt_agents=int(values[8])
if event in ('Submit'):
print('Borders are placed randomly')
window.Close()
except ValueError:
print("No valid integer! Please try again ...")
CELL_SIZE = 40
window_size = [cols * CELL_SIZE, rows * CELL_SIZE]
pygame.init()
window = pygame.display.set_mode(window_size)
pygame.display.set_caption("Vacuum Cleaner Agent")
run = True
clock = pygame.time.Clock()
r = room(CELL_SIZE, rows, cols, window)
r.draw_grid()
r.draw_borders(borders)
vacuums = []
dirt_machines = []
for x in range(globals.globals.cleaning_agents):
vacuums.append(vacuum(r, window, x))
print("creating vacuum with ID: ", x)
if(globals.globals.dirt_agents > 0):
for x in range(globals.globals.dirt_agents):
dirt_machines.append(dirt_machine(r, window, x))
print("creating dirt machine with ID: ", x)
else:
pass
# print(dirt_machines)
d = dirt(r, window, dirty_tiles)
pos = None
mySolver = solver(r.get_array())
tempLastLoc = None
pos2 = None
globals.globals.start_duration = datetime.now().timestamp()
# depending on the Specific case
if(case1): # fully observable with set amount of dirt
while run:
pygame.time.delay(globals.globals.speed)
clock.tick(10)
for event in pygame.event.get():
#gameover
if (event.type == pygame.QUIT or ((event.type == pygame.KEYDOWN or event.type == pygame.KEYUP) and (event.key == pygame.K_ESCAPE))):
globals.globals.end_duration= datetime.now().timestamp()
layout2 = [[sg.Text('Duration: ' + str(round(globals.globals.end_duration-globals.globals.start_duration,3)))],
[sg.Text('Number of cleaned tiles: '+ str(globals.globals.nb_clean_tiles))],
[sg.Text('Number of steps: '+ str(globals.globals.nb_steps))],
[sg.Text('Number of added dirt: '+ str(globals.globals.nb_added_dirt))],
[sg.Text('Average number of steps per dirt: '+ str(round(globals.globals.nb_steps/globals.globals.nb_clean_tiles)))],
[sg.Text('Average time to clean a dirt: ' + str(round(round(globals.globals.end_duration-globals.globals.start_duration,3)/globals.globals.nb_clean_tiles, 2)))],
[sg.Button('Exit')]]
window1 = sg.Window('Measures', layout2)
window1.Read()
game_over = True
r.clear_room()
window.fill((0,0,0))
font = pygame.font.Font('freesansbold.ttf', 20)
text_surface = font.render("Game Over", True, (150,150,150))
text_rect = text_surface.get_rect()
text_rect.center = (window.get_width()//2, window.get_height()//2)
window.blit(text_surface, text_rect)
pygame.display.update()
vacuums[0].set_position((rows//2)+1,(cols//2)-1)
pygame.mixer.music.load('game-over.wav')
pygame.mixer.music.play(2)
vacuums[0].move_left()
pygame.time.delay(500)
vacuums[0].move_right()
pygame.time.delay(500)
vacuums[0].move_right()
pygame.time.delay(500)
vacuums[0].move_right()
run = False
#arrows as input
if event.type == pygame.KEYDOWN or event.type == pygame.KEYUP:
if event.key == pygame.K_LEFT:
v.move_left()
if event.key == pygame.K_RIGHT:
v.move_right()
if event.key == pygame.K_UP:
v.move_up()
if event.key == pygame.K_DOWN:
v.move_down()
if event.key == pygame.K_SPACE:
pygame.time.delay(5000)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
if(not game_over):
if(not intelligenceDirtFirst):
for x in vacuums:
x.move_to_closest_dirt()
if(globals.globals.dirt_agents != 0):
if(intelligenceDirtFirst):
#Alternate Algrthm
paths = mySolver.getFirstPathForDirt(r,dirt_machines,vacuums, boxIn)
index = -1
if(not paths is None):
m = len(paths[0])
for p in paths:
if(len(p) < m):
m = len(p)
for idx in range(0,m):
for pathX in paths:
index += 1
if( pathX is None or pathX == [] or len(pathX) == 0 or pathX[0] == None):
continue
if(idx >= len(pathX)):
continue
try:
didMove = False
if(pathX[idx] == 'L'):
dirt_machines[index].move_left()
didMove = True
if(pathX[idx] == 'U'):
dirt_machines[index].move_up()
didMove = True
if(pathX[idx] == 'D'):
dirt_machines[index].move_down()
didMove = True
if(pathX[idx] == 'R'):
dirt_machines[index].move_right()
didMove = True
# if(idx >= 1):
for x in vacuums:
x.move_to_closest_dirt()
if( intelligenceDirtFirst):
pygame.time.delay(globals.globals.speed)
except Exception:
pass
else:
for x in dirt_machines:
x.move_from_closest_dirt()
elif(case2): # fully observable and dirt keeps getting added
count = 0
while run:
if(count == globals.globals.frequency):
d.probabilistic_dirt(1)
count = 0
if(not intelligenceDirtFirst):
pygame.time.delay(globals.globals.speed)
clock.tick(10)
for event in pygame.event.get():
#gameover
if (event.type == pygame.QUIT or ((event.type == pygame.KEYDOWN or event.type == pygame.KEYUP) and (event.key == pygame.K_ESCAPE))):
globals.globals.end_duration= datetime.now().timestamp()
layout2 = [[sg.Text('Duration: ' + str(round(globals.globals.end_duration-globals.globals.start_duration,3)))],
[sg.Text('Number of cleaned tiles: '+ str(globals.globals.nb_clean_tiles))],
[sg.Text('Number of steps: '+ str(globals.globals.nb_steps))],
[sg.Text('Number of added dirt: '+ str(globals.globals.nb_added_dirt))],
[sg.Text('Average number of steps per dirt: '+ str(round(globals.globals.nb_steps/globals.globals.nb_clean_tiles)))],
[sg.Text('Average time to clean a dirt: ' + str(round(round(globals.globals.end_duration-globals.globals.start_duration,3)/globals.globals.nb_clean_tiles, 2)))],
[sg.Button('Exit')]]
window1 = sg.Window('Measures', layout2)
window1.Read()
game_over = True
r.clear_room()
window.fill((0,0,0))
font = pygame.font.Font('freesansbold.ttf', 20)
text_surface = font.render("Game Over", True, (150,150,150))
text_rect = text_surface.get_rect()
text_rect.center = (window.get_width()//2, window.get_height()//2)
window.blit(text_surface, text_rect)
pygame.display.update()
vacuums[0].set_position((rows//2)+1,(cols//2)-1)
pygame.mixer.music.load('game-over.wav')
pygame.mixer.music.play(2)
vacuums[0].move_left()
pygame.time.delay(500)
vacuums[0].move_right()
pygame.time.delay(500)
vacuums[0].move_right()
pygame.time.delay(500)
vacuums[0].move_right()
run = False
#arrows as input
if event.type == pygame.KEYDOWN or event.type == pygame.KEYUP:
if event.key == pygame.K_SPACE:
pygame.time.delay(5000)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
if(not game_over):
if(not intelligenceDirtFirst):
for x in vacuums:
x.move_to_closest_dirt()
if(globals.globals.dirt_agents != 0):
if(intelligenceDirtFirst):
#Alternate Algrthm
paths = mySolver.getFirstPathForDirt(r,dirt_machines,vacuums, boxIn)
index = -1
if(not paths is None):
m = len(paths[0])
for p in paths:
if(len(p) < m):
m = len(p)
for idx in range(0,m):
for pathX in paths:
index += 1
if( pathX is None or pathX == [] or len(pathX) == 0 or pathX[0] == None):
continue
if(idx >= len(pathX)):
continue
try:
didMove = False
if(pathX[idx] == 'L'):
dirt_machines[index].move_left()
didMove = True
if(pathX[idx] == 'U'):
dirt_machines[index].move_up()
didMove = True
if(pathX[idx] == 'D'):
dirt_machines[index].move_down()
didMove = True
if(pathX[idx] == 'R'):
dirt_machines[index].move_right()
didMove = True
# if(idx >= 1):
for x in vacuums:
x.move_to_closest_dirt()
if( intelligenceDirtFirst):
pygame.time.delay(globals.globals.speed)
except Exception:
pass
else:
for x in dirt_machines:
x.move_from_closest_dirt()
count += 1
#Partially visible in HERE
elif(case3):
dirtMachineIntelligence = 0
if(intelligenceDirtFirst):
dirtMachineIntelligence = 1
path = []
pathDirt = []
count = 0
mySolver.expoloreAllBorders()
cyclesStuckCount = [1]
cycleStuckPos = [ [0,0] ]
cyclesStuckCountDirt = [1]
cycleStuckPosDirt = [ [0,0] ]
while run:
if(count >= globals.globals.frequency):
d.probabilistic_dirt(1)
count = 0
#FOR DEBUGGING
#NOTE TO SELF => REMOVE LATER ON
#d.rnd_dirt_DEBUG(1)
count += 1
#////////////////////////////////////
pygame.time.delay(globals.globals.speed)
clock.tick(10)
for event in pygame.event.get():
#gameover
if (event.type == pygame.QUIT or ((event.type == pygame.KEYDOWN or event.type == pygame.KEYUP) and (event.key == pygame.K_ESCAPE))):
game__over=True
globals.globals.end_duration= datetime.now().timestamp()
layout2 = [[sg.Text('Duration: ' + str(round(globals.globals.end_duration-globals.globals.start_duration,3)))],
[sg.Text('Number of cleaned tiles: '+ str(globals.globals.nb_clean_tiles))],
[sg.Text('Number of steps: '+ str(globals.globals.nb_steps))],
[sg.Text('Number of added dirt: '+ str(globals.globals.nb_added_dirt))],
[sg.Text('Average number of steps per dirt: '+ str(round(globals.globals.nb_steps/globals.globals.nb_clean_tiles)))],
[sg.Text('Average time to clean a dirt: ' + str(round(round(globals.globals.end_duration-globals.globals.start_duration,3)/globals.globals.nb_clean_tiles, 2)))],
[sg.Button('Exit')]]
window1 = sg.Window('Measures', layout2)
window1.Read()
r.clear_room()
path=["R","R","R","R"]
window.fill((0,0,0))
font = pygame.font.Font('freesansbold.ttf', 20)
text_surface = font.render("Game Over", True, (150,150,150))
text_rect = text_surface.get_rect()
text_rect.center = (window.get_width()//2, window.get_height()//2)
window.blit(text_surface, text_rect)
pygame.display.update()
vacuums[0].set_position((rows//2)+1,(cols//2)-1)
pygame.mixer.music.load('game-over.wav')
pygame.mixer.music.play(2)
run = False
#arrows as input
if event.type == pygame.KEYDOWN or event.type == pygame.KEYUP:
if event.key == pygame.K_SPACE:
pygame.time.delay(5000)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
index = -1
for v in vacuums:
index += 1
if(len(path) < index + 1):
path.append([])
if(len(cyclesStuckCount) < index + 1):
cyclesStuckCount.append(1)
cycleStuckPos.append( [0,0] )
if(pos2 is None):
pos2 = r.vacuum_position(index)
pos2 = copy.deepcopy ( r.vacuum_position(index) )
#pos2 = r.vacuum_position()
pos2 = mySolver.dirtPathIterator( copy.deepcopy( pos2 ) )
#print("pos 2")
#print(pos2)
if(not game__over):
path[index] = mySolver.getLastActualUsedPath()
#machine.move_from_closest_dirt()
# Take care of dynmaic collision
#if stuck by other agent abort mission
if(cyclesStuckCount[index] > 1):
#print(cycleStuckPos[index])
cyclesStuckCount[index] = 1
mySolver.escapeFromAgent(r.vacuum_position(index), cycleStuckPos[index] )
path[index] = mySolver.getLastActualUsedPath();
if(dirtMachineIntelligence == 0):
index = -1
for _ in dirt_machines:
index += 1
if(len(pathDirt) < index + 1):
pathDirt.append([])
if(len(cyclesStuckCountDirt) < index + 1):
cyclesStuckCountDirt.append(1)
cycleStuckPosDirt.append( [0,0] )
if(pos2 is None):
pos2 = r.dirt_machine_position(index)
pos2 = copy.deepcopy ( r.dirt_machine_position(index) )
#pos2 = r.vacuum_position()
pos2 = mySolver.addDirtPathIterator( copy.deepcopy( pos2 ) )
#print("pos 2")
#print(pos2)
if(not game__over):
pathDirt[index] = mySolver.getLastActualUsedPath()
#machine.move_from_closest_dirt()
# Take care of dynmaic collision
#if stuck by other agent abort mission
if(cyclesStuckCountDirt[index] > 1):
#print(cycleStuckPos[index])
cyclesStuckCountDirt[index] = 1
mySolver.escapeFromAgent(r.dirt_machine_position(index), cycleStuckPosDirt[index] )
pathDirt[index] = mySolver.getLastActualUsedPath();
m = len(path[0])
for p in path:
if(len(p) < m):
m = len(p)
if(dirtMachineIntelligence == 0):
for p in pathDirt:
if(len(p) < m):
m = len(p)
for idx in range(0,m):
index = -1
for pathX in path:
index += 1
#print(index)
#print(idx)
p = pathX[idx]
# Take care of dynmaic collision
if( not p in vacuums[index].get_valid_moves() ):
#print("Vacuum Was Gonna Hit")
#exit(0)
cyclesStuckCount[index] += 1
deltX = 0
deltaY = 0
if(p == "L"):
deltX = -1
elif(p == "R"):
deltX = 1
elif(p == "U"):
deltaY = -1
elif(p == "D"):
deltaY = 1
cycleStuckPos[index] = [r.vacuum_position(index)[0] + deltaY, r.vacuum_position(index)[1] + deltX, ]
continue;
if(p == "L"):
vacuums[index].move_left()
elif(p == "R"):
vacuums[index].move_right()
elif(p == "U"):
vacuums[index].move_up()
elif(p == "D"):
vacuums[index].move_down()
mySolver.addExploredToGrid(r.get_array(), r.vacuum_position(index)[0], r.vacuum_position(index)[1] )
# if(globals.globals.dirt_agents != 0):
# for x in dirt_machines:
# x.move_from_closest_dirt()
# else:
# pass
#if(not game__over and globals.globals.dirt_agents > 0):
# dirt_machines[0].move_from_closest_dirt()
if(dirtMachineIntelligence == 0):
index = -1
for pathX in pathDirt:
index += 1
if(isVacuumNeghbr(r,vacuums, r.dirt_machine_position(index), boxIn )):
continue
p = pathX[idx]
# Take care of dynmaic collision
if( not p in dirt_machines[index].get_valid_moves() ):
#print("Vacuum Was Gonna Hit")
#exit(0)
cyclesStuckCountDirt[index] += 1
deltX = 0
deltaY = 0
if(p == "L"):
deltX = -1
elif(p == "R"):
deltX = 1
elif(p == "U"):
deltaY = -1
elif(p == "D"):
deltaY = 1
cycleStuckPosDirt[index] = [r.dirt_machine_position(index)[0] + deltaY, r.dirt_machine_position(index)[1] + deltX, ]
continue;
if(p == "L"):
dirt_machines[index].move_left()
elif(p == "R"):
dirt_machines[index].move_right()
elif(p == "U"):
dirt_machines[index].move_up()
elif(p == "D"):
dirt_machines[index].move_down()
dirt_machines[index].incrementCountForDirt(8)
if(dirtMachineIntelligence == 1):
for mac in dirt_machines:
mac.move_from_closest_dirt()
pygame.time.delay(globals.globals.speed)
#pos2 = r.vacuum_position();
pygame.display.update()
elif(case4):
path = []
count = 0
dirtMachineIntelligence = 0
if(intelligenceDirtFirst):
dirtMachineIntelligence = 1
cyclesStuckCount = [1]
cycleStuckPos = [ [0,0] ]
tempLastLoc = []
pathDirt = []
cyclesStuckCountDirt = [1]
cycleStuckPosDirt = [ [0,0] ]
while run:
if(count >= globals.globals.frequency):
d.probabilistic_dirt(1)
count = 0
#FOR DEBUGGING
#NOTE TO SELF => REMOVE LATER ON
#d.rnd_dirt_DEBUG(1)
count += 1
#////////////////////////////////////
pygame.time.delay(globals.globals.speed)
clock.tick(10)
for event in pygame.event.get():
#gameover
if (event.type == pygame.QUIT or ((event.type == pygame.KEYDOWN or event.type == pygame.KEYUP) and (event.key == pygame.K_ESCAPE))):
game__over=True
globals.globals.end_duration= datetime.now().timestamp()
layout2 = [[sg.Text('Duration: ' + str(round(globals.globals.end_duration-globals.globals.start_duration,3)))],
[sg.Text('Number of cleaned tiles: '+ str(globals.globals.nb_clean_tiles))],
[sg.Text('Number of steps: '+ str(globals.globals.nb_steps))],
[sg.Text('Number of added dirt: '+ str(globals.globals.nb_added_dirt))],
[sg.Text('Average number of steps per dirt: '+ str(round(globals.globals.nb_steps/globals.globals.nb_clean_tiles)))],
[sg.Text('Average time to clean a dirt: ' + str(round(round(globals.globals.end_duration-globals.globals.start_duration,3)/globals.globals.nb_clean_tiles, 2)))],
[sg.Button('Exit')]]
window1 = sg.Window('Measures', layout2)
window1.Read()
r.clear_room()
path=["R","R","R","R"]
window.fill((0,0,0))
font = pygame.font.Font('freesansbold.ttf', 20)
text_surface = font.render("Game Over", True, (150,150,150))
text_rect = text_surface.get_rect()
text_rect.center = (window.get_width()//2, window.get_height()//2)
window.blit(text_surface, text_rect)
pygame.display.update()
v.set_position((rows//2)+1,(cols//2)-3)
pygame.mixer.music.load('game-over.wav')
pygame.mixer.music.play(2)
run = False
#arrows as input
if event.type == pygame.KEYDOWN or event.type == pygame.KEYUP:
if event.key == pygame.K_SPACE:
pygame.time.delay(5000)
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
#EXPLORE MAP CODE
index = -1
for v in vacuums:
index += 1
if(len(path) < index + 1):
path.append([])
if(len(cyclesStuckCount) < index + 1):
cyclesStuckCount.append(1)
cycleStuckPos.append( [0,0] )
if(len(tempLastLoc) < index + 1):
tempLastLoc.append( [] )
#if(index > 1):
# print("Impossible Indx")
# exit(0)
if (pos is None or not pos[0] == -1):
if(not pos is None):
tempLastLoc[index] = copy.deepcopy( pos )
pos = mySolver.discoverMapIter( copy.deepcopy(r.vacuum_position(index)) )
#print('target pos: ' + str(pos) )
if(not game__over):
path[index] = mySolver.getLastActualUsedPath()
#print('path: ' + str(path) )
#print(r.vacuum_position() )
else:
#print("Dirt Phase")
if(pos2 is None):
pos2 = tempLastLoc[index]
pos2 = mySolver.dirtPathIterator( copy.deepcopy( r.vacuum_position(index) ) )
#pos2 = mySolver.dirtPathIterator( copy.deepcopy( pos2 ) )
#print("pos 2")
#print(pos2)
if(not game__over):
path[index] = mySolver.getLastActualUsedPath()
pst = [-1,-1]
#if stuck by other agent abort mission
if(cyclesStuckCount[index] > 1):
#print("getting out")
cyclesStuckCount[index] = 1
pst = mySolver.escapeFromAgent(r.vacuum_position(index), cycleStuckPos[index] )
path[index] = mySolver.getLastActualUsedPath();
#print("agent")
#print(index)
#print(pst)
#print(index)
#print("My pos")
#print(r.vacuum_position(index))
#print("dest")
#if(pst[0] == -1):
# print(pos2)
#else:
# print(pst)
#print("path")
#print(path[index])
if(dirtMachineIntelligence == 0):
index = -1
for _ in dirt_machines:
index += 1
if(len(pathDirt) < index + 1):
pathDirt.append([])
if(len(cyclesStuckCountDirt) < index + 1):
cyclesStuckCountDirt.append(1)
cycleStuckPosDirt.append( [0,0] )
if(pos2 is None):
pos2 = r.dirt_machine_position(index)
pos2 = copy.deepcopy ( r.dirt_machine_position(index) )
#pos2 = r.vacuum_position()
pos2 = mySolver.addDirtPathIterator( copy.deepcopy( pos2 ) )
#print("pos 2")
#print(pos2)
if(not game__over):
pathDirt[index] = mySolver.getLastActualUsedPath()
#machine.move_from_closest_dirt()
# Take care of dynmaic collision
#if stuck by other agent abort mission
if(cyclesStuckCountDirt[index] > 1):
#print(cycleStuckPos[index])
cyclesStuckCountDirt[index] = 1
mySolver.escapeFromAgent(r.dirt_machine_position(index), cycleStuckPosDirt[index] )
pathDirt[index] = mySolver.getLastActualUsedPath();
#END OF EXPLORATION
#print("paths")
#print(path[0])
#print(path[1])
m = len(path[0])
for p in path:
if(len(p) < m):
m = len(p)
if(dirtMachineIntelligence == 0):
for p in pathDirt:
if(len(p) < m):
m = len(p)
if(m < 2):
m = 3
#print("M value")
#print(m)
for idx in range(0,m):
index = -1
for pathX in path:
index += 1
#print(index)
#print(idx)
if(idx >= len(pathX)):
continue
p = pathX[idx]
#mySolver.addExploredToGrid(r.get_array(), r.vacuum_position(index)[0], r.vacuum_position(index)[1] )
#print("in pathX loop")
if( not p in vacuums[index].get_valid_moves() ):
# print(p + " Vacuum Was Gonna Hit")
#exit(0)
cyclesStuckCount[index] += 1
deltX = 0
deltaY = 0
if(p == "L"):
deltX = -1
elif(p == "R"):
deltX = 1
elif(p == "U"):
deltaY = -1
elif(p == "D"):
deltaY = 1
cycleStuckPos[index] = [r.vacuum_position(index)[0] + deltaY, r.vacuum_position(index)[1] + deltX ]
#print(cycleStuckPos[index])
#print(cyclesStuckCount[index])
continue;
if(p == "L"):
vacuums[index].move_left()
elif(p == "R"):
vacuums[index].move_right()
elif(p == "U"):
vacuums[index].move_up()
elif(p == "D"):
vacuums[index].move_down()
#print("moved vacuum " + str(index) )
mySolver.addExploredToGrid(r.get_array(), r.vacuum_position(index)[0], r.vacuum_position(index)[1] )
#if(not game__over):
# machine.move_from_closest_dirt()
if(dirtMachineIntelligence == 0):
index = -1
for pathX in pathDirt:
index += 1
if(isVacuumNeghbr(r,vacuums, r.dirt_machine_position(index) , boxIn)):
continue
if(idx >= len(pathX)):
continue
p = pathX[idx]
# Take care of dynmaic collision
if( not p in dirt_machines[index].get_valid_moves() ):
#print("Vacuum Was Gonna Hit")
#exit(0)
cyclesStuckCountDirt[index] += 1
deltX = 0
deltaY = 0
if(p == "L"):
deltX = -1
elif(p == "R"):
deltX = 1
elif(p == "U"):
deltaY = -1
elif(p == "D"):
deltaY = 1
cycleStuckPosDirt[index] = [r.dirt_machine_position(index)[0] + deltaY, r.dirt_machine_position(index)[1] + deltX, ]
continue;
if(p == "L"):
dirt_machines[index].move_left()
elif(p == "R"):
dirt_machines[index].move_right()
elif(p == "U"):
dirt_machines[index].move_up()
elif(p == "D"):
dirt_machines[index].move_down()
dirt_machines[index].incrementCountForDirt(8)
#print("moved machine " + str(index) )
if(dirtMachineIntelligence == 1):
for mac in dirt_machines:
mac.move_from_closest_dirt()
pygame.time.delay(globals.globals.speed)
path[index] = []
if(dirtMachineIntelligence == 0):
pathDirt[index] = []
#print("idx loop")
pygame.display.update()
pygame.quit()
def main():
zmin = -40000.
zmax = -4000.
xmin = -1300.
xmax = 800.
c1 = TCanvas("c1","c1",1000,700)
frame = gPad.DrawFrame(zmin, xmin, zmax, xmax) # xmin, ymin, xmax, ymax in ROOT
frame.SetTitle(";Length #it{z} (mm);Horizontal #it{x} (mm)")
siz = 0.035
frame.SetTitleSize(siz)
frame.SetLabelSize(siz)
frame.SetTitleSize(siz, "Y")
frame.SetLabelSize(siz, "Y")
frame.GetYaxis().SetTitleOffset(1.3)
frame.GetXaxis().SetTitleOffset(1.2)
frame.GetYaxis().CenterTitle()
frame.GetXaxis().CenterTitle()
gPad.SetLeftMargin(0.09)
gPad.SetRightMargin(0.01)
gPad.SetTopMargin(0.02)
gPad.SetBottomMargin(0.09)
#geometry
geo = rt.GeoParser("../../config/pro2/geom_pro2.in")
#Q1eR magnet
q1 = magnet("Q1eR", geo)
q1.label = "Q1eR"
q1.draw()
#Q2eR magnet
q2 = magnet("Q2eR", geo)
q2.label = "Q2eR"
q2.draw()
#B2eR magnet
b2 = magnet("B2eR", geo)
b2.label = "B2eR"
b2.draw()
#Q3eR magnet
q3 = magnet("Q3eR", geo)
q3.label = "Q3eR"
q3.draw()
#vacuum from Q1eR to Q2eR
q1q2 = vacuum(geo)
q1q2.add_point_const("Q1eR_End_Z", "Q1eR_InnerRadius", -1)
q1q2.add_point_const("Q2eR_Start_Z", "Q1eR_InnerRadius", -1)
q1q2.add_point_const("Q2eR_Start_Z", "Q1eR_InnerRadius")
q1q2.add_point_const("Q1eR_End_Z", "Q1eR_InnerRadius")
q1q2.draw()
#vacuum from Q2eR to B2eR
q2b2 = vacuum(geo)
q2b2.add_point_const("Q2eR_End_Z", "Q2eR_InnerRadius", -1)
q2b2.add_point_const("B2eR_Start_Z", "Q2eR_InnerRadius", -1)
q2b2.add_point_const("B2eR_Start_Z", "Q2eR_InnerRadius")
q2b2.add_point_const("Q2eR_End_Z", "Q2eR_InnerRadius")
q2b2.draw()
#beam vacuum
bvac = vacuum(geo)
bvac.add_point("vac_B2", "z1BI", "x1BI")
bvac.add_point("vac_win_tag1", "z0BI", "x0BI")
bvac.add_point("vac_win_tag1", "z0TO", "x0TO")
bvac.add_point("vac_win_tag2", "z0BI", "x0BI")
bvac.add_point("vac_win_tag2", "z0TO", "x0TO")
bvac.add_point("vac_Q3", "z0BI", "x0BI")
bvac.add_point("vac_Q3", "z0TI", "x0TI")
bvac.add_point_2("vac_B2.z0TO", "ExitWinBox.dx", -0.5)
bvac.add_point("vac_B2", "z0TO", "x0TI")
bvac.add_point("vac_B2", "z1TI", "x1TI")
bvac.draw()
#geometry from pro1 for luminosity
geo2 = rt.GeoParser("../../config/pro1/geom_all.in")
#spectrometer magnet
spec_mag = magnet("lumi_dipole", geo2)
spec_mag.label = "Spectr. dipole"
spec_mag.draw()
#vacuum from exit window to spectrometer magnet
vac_win = vacuum(geo2)
vac_win.add_point("vac_lumi_win_mag", "z1", "dX1", -1.)
vac_win.add_point("vac_lumi_win_mag", "z1", "dX1")
vac_win.add_point("vac_lumi_win_mag", "z0", "dX0")
vac_win.add_point("vac_lumi_win_mag", "z0", "dX0", -1.)
vac_win.draw()
#vacuum from spectrometer magnet to spectrometer detectors
vac_mag = vacuum(geo2)
vac_mag.add_point("vac_lumi_mag_spec", "z1", "dX1", -1.)
vac_mag.add_point("vac_lumi_mag_spec", "z1", "dX1")
vac_mag.add_point("vac_lumi_mag_spec", "z0", "dX0")
vac_mag.add_point("vac_lumi_mag_spec", "z0", "dX0", -1.)
vac_mag.draw()
#vacuum section from spectrometers to direct photon detector
vac_phot = vacuum(geo2)
vac_phot.add_point("vac_lumi_spec_phot", "z1", "dX1", -1.)
vac_phot.add_point("vac_lumi_spec_phot", "z1", "dX1")
vac_phot.add_point("vac_lumi_spec_phot", "z0", "dX0")
vac_phot.add_point("vac_lumi_spec_phot", "z0", "dX0", -1.)
vac_phot.draw()
#up spectrometer for both spectrometers
up = segment("LumiSUbox", geo2)
up.theta = 0
up.label = "Spectrometers"
up.draw()
#Luminosity direct photon detector
phot = segment("LumiDbox", geo2)
phot.label = "Photon detector"
phot.draw()
#Luminosity exit window
ew = segment("ExitWinBox", geo)
ew.label = "Exit window"
ew.fill_col = rt.kGreen+1
ew.draw()
#Tagger1
tag1 = segment("Tagger1box", geo)
tag1.label = "Tagger 1"
tag1.draw()
#Tagger2
tag2 = segment("Tagger2box", geo)
tag2.label = "Tagger 2"
tag2.draw()
leg = ut.prepare_leg(0.8, 0.21, 0.25, 0.15, 0.03)#, 0.027) # x, y, dx, dy, tsiz
leg.AddEntry(tag1.gbox, "Detector", "f")
leg.AddEntry(b2.gbox, "Magnet", "f")
leg.AddEntry(bvac.gbox, "Vacuum", "f")
leg.Draw("same")
gPad.SetGrid()
#ut.invert_col(gPad)
c1.SaveAs("01fig.pdf")
import numpy as np
import pylab as pl
import glob
import vacuum
for f in sorted(glob.glob("2d/vacuum2d*.hdf5")):
print "processing", f[:-5]
file = h5py.File(f, "r")
coords = np.array(file["/PartType0/Coordinates"])
rho = np.array(file["/PartType0/Density"])
vs = np.array(file["/PartType0/Velocities"])
P = np.array(file["/PartType0/InternalEnergy"])
P = 2.*rho*P/3.
t = file["/Header"].attrs["Time"]
xsol, rhosol, usol, Psol = vacuum.vacuum([1., 0., 1.], [0., 0., 0.], t)
fig, ax = pl.subplots(2, 2)
ax[0][0].plot(xsol, rhosol, "r-")
ax[0][0].plot(coords[:,0], rho, "k.")
ax[0][1].plot(xsol, usol, "r-")
ax[0][1].plot(coords[:,0], vs[:,0], "k.")
ax[1][0].plot(xsol, Psol, "r-")
ax[1][0].plot(coords[:,0], P, "k.")
pl.savefig("{name}.png".format(name=f[:-5]))
pl.close()
for f in sorted(glob.glob("3d/vacuum3d*.hdf5")):
print "processing", f[:-5]
file = h5py.File(f, "r")
coords = np.array(file["/PartType0/Coordinates"])
def main():
zmin = -40000.
zmax = -10100.
ymin = -800
ymax = 800.
c1 = TCanvas("c1", "c1", 1000, 700)
frame = gPad.DrawFrame(zmin, ymin, zmax,
ymax) # xmin, ymin, xmax, ymax in ROOT
frame.SetTitle(";Length #it{z} (mm);Vertical #it{y} (mm)")
siz = 0.035
frame.SetTitleSize(siz)
frame.SetLabelSize(siz)
frame.SetTitleSize(siz, "Y")
frame.SetLabelSize(siz, "Y")
frame.GetYaxis().SetTitleOffset(1.3)
frame.GetXaxis().SetTitleOffset(1.2)
frame.GetYaxis().CenterTitle()
frame.GetXaxis().CenterTitle()
gPad.SetLeftMargin(0.09)
gPad.SetRightMargin(0.01)
gPad.SetTopMargin(0.02)
gPad.SetBottomMargin(0.09)
#geometry
geo = rt.GeoParser("../../config/geom_all.in")
#B2BeR magnet
b2b = magnet("B2BeR", geo)
b2b.label = "B2BeR"
b2b.draw()
#beam vacuum from B2BeR to exit window
bvac = vacuum(geo)
bvac.add_point("vac_b2b_window", "b2b_end_z", "b2b_end_xy", -0.5)
bvac.add_point("vac_b2b_window", "win_z", "win_xmax", -1)
bvac.add_point("vac_b2b_window", "win_z", "win_xmax")
bvac.add_point("vac_b2b_window", "b2b_end_z", "b2b_end_xy", 0.5)
bvac.draw()
#vacuum from exit window to spectometer magnet
vac_win_spec = vacuum(geo)
vac_win_spec.add_point("vac_lumi_win_mag", "z0", "dY0", -1)
vac_win_spec.add_point("vac_lumi_win_mag", "z1", "dY1", -1)
vac_win_spec.add_point("vac_lumi_win_mag", "z1", "dY1")
vac_win_spec.add_point("vac_lumi_win_mag", "z0", "dY0")
vac_win_spec.draw()
#vacuum from specrometer magnet to detectors
vac_det = vacuum(geo)
vac_det.add_point("vac_lumi_mag_spec", "z0", "dY0", -1)
vac_det.add_point("vac_lumi_mag_spec", "z1", "dY1", -1)
vac_det.add_point("vac_lumi_spec_mid", "z0", "dY0", -1)
vac_det.add_point("vac_lumi_spec_phot", "z0", "dY0", -1)
vac_det.add_point("vac_lumi_spec_phot", "z1", "dY1", -1)
vac_det.add_point("vac_lumi_spec_phot", "z1", "dY1")
vac_det.add_point("vac_lumi_spec_phot", "z0", "dY0")
vac_det.add_point("vac_lumi_spec_mid", "z0", "dY0")
vac_det.add_point("vac_lumi_mag_spec", "z1", "dY1")
vac_det.add_point("vac_lumi_mag_spec", "z0", "dY0")
vac_det.draw()
#spectrometer magnet
mag = magnet("lumi_dipole", geo)
mag.label = "Spectr. dipole"
mag.draw()
#luminosity exit window
ew = segment("ExitWinBox", geo)
ew.y_project = True
ew.label = "Exit window"
ew.fill_col = rt.kGreen + 1
ew.draw()
#up spectrometer
up = segment("LumiSUbox", geo)
up.y_project = True
up.theta = -1. * up.theta
up.label = "Up"
up.draw()
#down spectrometer
down = segment("LumiSDbox", geo)
down.y_project = True
down.theta = -1. * down.theta
down.label = "Down"
down.draw()
#photon detector
phot = segment("LumiDbox", geo)
phot.y_project = True
phot.label = "Photon detector"
phot.draw()
leg = ut.prepare_leg(0.8, 0.21, 0.25, 0.15,
0.03) #, 0.027) # x, y, dx, dy, tsiz
leg.AddEntry(phot.gbox, "Detector", "f")
leg.AddEntry(b2b.gbox, "Magnet", "f")
leg.AddEntry(bvac.gbox, "Vacuum", "f")
leg.Draw("same")
l2 = ut.prepare_leg(0.64, 0.75, 0.25, 0.12, 0.027)
l2.AddEntry("", "Space for exit window:", "")
l2.AddEntry("", "Center #it{z}: " + str(ew.zpos), "")
l2.AddEntry("", "Size in #it{xy}: " + str(ew.dy), "")
l2.AddEntry("", "Lenght in #it{z}: " + str(ew.dz), "")
l2.Draw("same")
l3 = ut.prepare_leg(0.45, 0.75, 0.25, 0.12, 0.027)
l3.AddEntry("", "Specrometer dipole:", "")
l3.AddEntry("", "Center #it{z}: " + str(mag.zpos), "")
l3.AddEntry("", "Radius: " + str(mag.r1), "")
l3.AddEntry("", "Lenght in #it{z}: " + str(mag.dz), "")
l3.Draw("same")
l4 = ut.prepare_leg(0.15, 0.75, 0.25, 0.15, 0.027)
l4.AddEntry("", "Up detector:", "")
l4.AddEntry("", "Center #it{z}: " + "{0:.1f}".format(up.zpos), "")
l4.AddEntry("", "Center #it{y}: " + "{0:.1f}".format(up.ypos), "")
l4.AddEntry("", "Size in #it{xy}: " + str(up.dy), "")
l4.AddEntry("", "Lenght in #it{z}: " + str(up.dz), "")
l4.Draw("same")
l5 = ut.prepare_leg(0.1, 0.12, 0.25, 0.15, 0.027)
l5.AddEntry("", "Down detector:", "")
l5.AddEntry("", "Center #it{z}: " + "{0:.1f}".format(down.zpos), "")
l5.AddEntry("", "Center #it{y}: " + "{0:.1f}".format(down.ypos), "")
l5.AddEntry("", "Size in #it{xy}: " + str(down.dy), "")
l5.AddEntry("", "Lenght in #it{z}: " + str(down.dz), "")
l5.Draw("same")
l6 = ut.prepare_leg(0.3, 0.11, 0.25, 0.12, 0.027)
l6.AddEntry("", "Photon detector:", "")
l6.AddEntry("", "Center #it{z}: " + "{0:.1f}".format(phot.zpos), "")
l6.AddEntry("", "Size in #it{xy}: " + str(phot.dy), "")
l6.AddEntry("", "Lenght in #it{z}: " + str(phot.dz), "")
l6.Draw("same")
l7 = ut.prepare_leg(0.5, 0.11, 0.25, 0.12, 0.027)
l7.AddEntry("", "B2BeR magnet:", "")
l7.AddEntry("", "Center #it{z}: " + str(b2b.zpos), "")
l7.AddEntry("", "Radius: " + str(b2b.r1), "")
l7.AddEntry("", "Lenght in #it{z}: " + str(b2b.dz), "")
l7.Draw("same")
l8 = ut.prepare_leg(0.3, 0.92, 0.25, 0.01, 0.03)
l8.AddEntry("", "Luminosity layout, side view. All dimensions in mm.", "")
l8.Draw("same")
#gPad.SetGrid()
ut.invert_col(gPad)
c1.SaveAs("01fig.pdf")