def main(): state = State() state.init_state state.screen_size = ScreenSize state.double_buffer = DoubleBuffer state.fullscreen = Fullscreen state.framerate = Framerate alive = True clock = pygame.time.Clock() app = game(screen,clock) while alive: # Events if pygame.event.peek(QUIT): alive = False events = pygame.event.get() # Pump events to game for event in events: app.handle_event(event) # Update state update = app.update() # Draw app.draw() # Are we done? alive = app.alive # Did we update anything? if update: # if so, redraw screen pygame.display.flip() # Regular framerate clock.tick(state.framerate)
def __init__(self):
State.__init__(self)
self.cardtype = 'state'
self.base = 'nocturne'
self.desc = "At the start of your turn, you may discard a card to receive a Boon."
self.name = "Lost in the Woods"
self.unique_state = True
def remove_recursively(self,queue):
if(len(queue) == 0):
return
front = queue.pop(0)
best_state = front[0]
child = front[1]
weight = front[2]
old_state = self.CL[str(child)]
if(old_state.g_score > best_state.g_score + weight):
#print("Reincarnated")
#print(self.OL.print_i_list())
#best_state.print_val()
n_state = State(child,best_state.g_score + weight,best_state.value,self.goal,self.scale)
#self.log.append(n_state)
self.reincarnation_expand_count += 1
self.CL[str(child)] = n_state
new_values = n_state.get_children()
for edge in new_values:
n_child = edge[0]
n_weight = edge[1]
if(self.OL.is_contained(n_child)):
self.OL.update(n_child,n_weight+n_state.g_score,n_state.value)
elif(str(n_child) in self.CL.keys()):
queue.append((n_state,n_child,n_weight))
else:
print("LOGICAL ERROR OCCURED")
self.remove_recursively(queue)
def __init__(self, tankWorld, tracking_name, position=Vec3(0,0,0), name='PadState', size=Vec3(2,2,2)):
'''
TrackingObject is the world object that we are tracking
Position trigger has a representation needs to be added.
'''
State.__init__(self,tankWorld)
#grab the object with this name
for child in tankWorld.render.getChildren():
if child.getName() == tracking_name:
self.tracking_object = child
self.position = position+Vec3(0,0,.01)
self.tracking_name = tracking_name
self.size = size
#print "PositionTrigger.__init__: Trigger created"
assert(self.tracking_object, "No tracking object")
cm=CardMaker('')
cm.setFrame(0,1,0,1)
self.floor = render.attachNewNode(PandaNode("padCollision"))
self.floor.setPos(self.position)
tex = loader.loadTexture('media/'+'trigger.png')
tex.setMagfilter(Texture.FTNearest)
tex.setMinfilter(Texture.FTNearest)
for y in range(int(size.getX())):
for x in range(int(size.getY())):
nn = self.floor.attachNewNode(cm.generate())
nn.setP(-90)
nn.setPos((x), (y), 0)
self.floor.setTexture(tex)
def draw(self, surface):
State.draw(self, surface)
if self.property['type'] == 'numeric':
pygame_utils.txt(surface, (leftside, offsety), self.property['min'])
pygame_utils.txt(surface, (rightside, offsety), self.property['max'])
pygame_utils.txt(surface, (centerx, offsety), self.camera.get_property_value(self.propertykey))
def find_path(maze, bombs_count):
n = maze.n
m = maze.m
shift = [Point(0, 1), Point(1, 0), Point(0, -1), Point(-1, 0)]
start_state = State(maze.start, 0)
was = set({start_state})
prev = dict()
queue = deque([start_state])
win_state = None
while len(queue) != 0:
current_state = queue.popleft()
if current_state.point == maze.finish:
win_state = current_state
break
for direction in range(4):
new_point = current_state.point + shift[direction]
new_bombs = current_state.bombs
if not maze.can_move(current_state.point, new_point):
new_bombs += 1
new_state = State(new_point, new_bombs)
if new_state.valid(n, m, bombs_count) and new_state not in was:
prev[new_state] = current_state
was.add(new_state)
queue.append(new_state)
if win_state is None:
return []
path = [win_state]
current_state = win_state
while current_state in prev:
current_state = prev[current_state]
path.append(current_state)
return path
def __init__(self, screen, background, capture, ref_img, transform_mat):
State.__init__(self, screen, background, capture, ref_img, transform_mat)
self.ready = False
self.should_draw_bounding_box = True
self.player1_rect = pygame.rect.Rect((10, 100, 300, common.RESOLUTION[1] - 100))
self.player2_rect = pygame.rect.Rect((common.RESOLUTION[0] - 310, 100, 390, common.RESOLUTION[1] - 100))
self.special_detection_rects += (self.player1_rect, self.player2_rect)
self.mask = StageMask(self.player1_rect, self.player2_rect)
self.title = common.FloatingWord(common.load_image('geekfighter.png', alpha = True)[0], center = (common.RESOLUTION[0] / 2, 154), sfx = 'opening.wav')
self.title.start_size = (19, 10)
self.title.end_size = (600, 308)
self.title.anim_time = 2000
self.title.wait_forever = True
self.sprites.add(self.title)
self.explanations1 = common.HelpText((common.RESOLUTION[0] / 2, 330), 'Stand facing each other', self.font, (210, 0, 0), pos_is_center = True)
self.explanations2 = common.HelpText((common.RESOLUTION[0] / 2, 370), 'in your FIGHTING STANCE', self.font, (210, 0, 0), pos_is_center = True)
self.explanations3 = common.HelpText((common.RESOLUTION[0] / 2, 410), 'and HOLD STILL for 5 seconds', self.font, (210, 0, 0), pos_is_center = True)
self.player1_counter = 0
self.player1_heights = []
self.player2_counter = 0
self.player2_heights = []
self.readybar1 = ReadyBar((10, 89), self.INIT_TIME)
self.readybar2 = ReadyBar((common.RESOLUTION[0] - 310, 89), self.INIT_TIME)
self.last_time = pygame.time.get_ticks()
## self.text = self.font.render("Players, stand facing each other with your arms at your sides", 1, (10, 10, 10))
## self.pos = (self.screen.get_width() / 2 - self.text.get_width() / 2, self.screen.get_height() / 10)
## self.text2 = self.font.render("Press the SPACEBAR when ready...", 1, (10, 10, 10))
## self.pos2 = (self.screen.get_width() / 2 - self.text2.get_width() / 2, self.screen.get_height() / 10 + self.text.get_height() + 5)
print "TutorialState: Initialized"
def __init__(self):
State.__init__(self)
self.cardtype = 'state'
self.base = 'nocturne'
self.desc = "-2 VP"
self.name = "Miserable"
self.victory = -2
def depth_first(file_name):
tile_set = read_file(file_name) #list of tiles
start_state = State([],tile_set) #State with no placed tiles
root = Node(start_state, 0.0, None) #First Node, no cost, no parent
frontier = [root] #list of nodes
best_solution = State([],[]) #stores best solution
best_cost = float("inf") #set to infinity
nodes_generated = len(frontier)
#runs while frontier is not empty
while frontier:
current_node = frontier.pop() #removes last node in frontier, stores in current_node
#checks if current_node is a solution
#compares current_node to best_solution
#stores new best solution
if current_node.get_state().is_goal() and current_node.get_cost() < best_cost:
best_cost = current_node.get_cost()
best_solution = current_node.get_state()
#creates child_nodes to search
#adds child_nodes to frontier
child_nodes = current_node.expand()
nodes_generated = len(child_nodes) + nodes_generated
for c_n in child_nodes:
frontier.append(c_n)
#prints best solution to console
print "HERE IS THE BEST"
print best_cost
print ""
best_solution.print_state()
print "Nodes Generated: " + str(nodes_generated)
def findNextState(self, currentstate, action):
newconfig = list(currentstate.getConfiguration())
for i in range(0, len(newconfig)):
if i == action.getActionableBlock():
if action.getDestinationBlock() == None:
newconfig[i] = -1
else:
newconfig[i] = action.getDestinationBlock()
flag = False
for state in self.statelist:
for c, nc in zip(state.getConfiguration(), newconfig):
if c != nc:
flag = False
break
flag = True
if flag == True:
action.setNextStateAddr(state.getLabel())
action.setVisited(True)
return state
if flag == False:
newstate = State(len(self.statelist), self.blocks, newconfig)
action.setNextStateAddr(newstate.getLabel())
action.setVisited(True)
self.statelist.append(newstate)
return newstate
"""END"""
class Client: ## __init__(): Connect to the server and initial the players' state through the returning msg from server. ## ## 1. Prompt the player to enter the server ip address; ## 2. Receive the initial msg from the server and initial the client state; ## 3. Launch a new thread to receive message from server for updating state. ## ## SIZE : Message length. ## PORT : Server ip address port number. Must be the same as the Server.py. ## sock : The socket to connect to server. ## ip : Server ip address. Entered by the user. ## state : The state of the player. ## update_flag : Decide whether to update the UI. def __init__(self): self.SIZE = 1024 self.PORT = 11270 self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) print "[Enter Server IP]:" self.ip = raw_input() self.sock.connect((self.ip, self.PORT)) msg = self.sock.recv(self.SIZE) self.state = State(msg) self.Name = self.state.Name self.update_flag = True thread.start_new_thread(self.recv_station, ()) ## get_board(): Get the board state of the game. def get_board(self): return self.state.Board ## send_station(): Send the position of movement to the server. def send_station(self, x, y): if self.Name == self.state.Turn: input = str(x)+","+str(y) pos = Position(input, self.Name) if is_valid(self.state.Board, pos) == False: print "[Position Invalid, Enter Again]" else: self.sock.send(pos.to_str()) ## recv_station(): Receive the update msg from the server. def recv_station(self): while True: self.state = State(self.sock.recv(self.SIZE)) self.state.print_board() self.update_flag = True
def __init__(self, main):
# transition from another state
State.__init__(self,main)
self.loadPlayer()
self.hud = Actor(IMG_HUD,-1)
self.hud2 = Actor(IMG_HUD2)
self.hud.setPos(32,HEIGHT/2)
self.hud2.setPos(WIDTH-32,HEIGHT/2)
GameState.guiGroup.add(self.hud)
GameState.guiGroup.add(self.hud2)
self.health = 7
self.hudHearts = []
self.hudHeartsHalf = Actor(IMG_HEART2,-1)
self.hudSlot = [None]*3
self.wl = WorldLoader('new.world')
self.background = TerrainLayer("0_0.map")
self.currentMap = "0_0.map"
for i in range(0,3):
self.hudSlot[i] = Actor(IMG_SLOT,-1)
self.hudSlot[i].setPos(50,120+i*120)
self.guiGroup.add(self.hudSlot[i])
self.updateHudHealth()
pygame.mixer.init()
filename = "worldAmbient.mp3"
path = os.path.join(util.GAME_SOUNDS, filename)
path = util.filepath(path)
pygame.mixer.music.load(path)
pygame.mixer.music.play()
def __init__(self, stack, updater):
State.__init__(self, stack)
self.title = 'power'
self.modes = 'shutdown reboot restart'.split(' ')
self.updater = updater
self.scroller = Scroller(self.modes)
def __init__(self, screen, background, capture, ref_img, transform_mat, wins, players_height):
self.wins = wins
self.players_height = players_height
State.__init__(self, screen, background, capture, ref_img, transform_mat)
self.times = []
print "GameState: Initialized"
def remove_recursively(self,queue):
if(len(queue) == 0):
return
front = queue.pop(0)
best_state = front[0]
child = front[1]
weight = front[2]
old_state = self.get_from_closed_list(str(child),best_state.direction)
if(old_state.g_score > best_state.g_score + weight):
if(best_state.direction):
n_state = State(child,best_state.g_score + weight,best_state.value,self.goal,best_state.direction,self.scale)
else:
n_state = State(child,best_state.g_score + weight,best_state.value,self.start,best_state.direction,self.scale)
self.put_in_closed_list(n_state)
new_values = n_state.get_children()
for edge in new_values:
n_child = edge[0]
n_weight = edge[1]
if(self.OL.is_contained(n_child)):
self.OL.update(n_child,n_weight+n_state.g_score,n_state.value,n_state.direction)
elif(str(n_child) in self.CL.keys()):
queue.append((n_state,n_child,n_weight))
else:
print("LOGICAL ERROR OCCURED")
self.remove_recursively(queue)
def __init__(self, stack, updater, camera):
State.__init__(self, stack)
self.updater = updater
self.camera = camera
self.title = 'main'
self.modes = 'clean overview setproperty guide player power'.split(' ')
self.scroller = Scroller(self.modes, 0, self.on_mode_change)
self.overview = False
def event(self, event):
State.event(self, event)
self.scroller.event(event)
if event.type == pygame.MOUSEBUTTONDOWN:
if event.button == 2 :
SetProperty(self.stack, self.camera, self.scroller.get_value())
if event.button == 3 :
Confirm(self.stack, 'Sure reset to default?', self.reset_to_default)
def event(self, event):
State.event(self, event)
self.scroller.event(event)
self.title = self.scroller.get_value()
if event.type == pygame.MOUSEBUTTONDOWN:
if event.button == 2:
self.mode = 'playing'
self.image = GIFImage(self.filename)
def __init__(self,dc_ID):
super(Datacenter, self).__init__()
# list=[('0.0.0.0',12346)]
# list=[("127.0.0.1",8001),("127.0.0.1",8002),("127.0.0.1",8003)]
list=[("128.111.84.169",8001),("128.111.84.189",8002),("128.111.84.239",8003),\
("128.111.84.234",8004),("128.111.84.222",8005)]#
dc = [1,2,3]
State.init(int(dc_ID),len(list),3.0,list,"0.0.0.0",list[int(dc_ID)][1],dc)
def draw(self, surface):
if self.image != None:
if self.mode == 'standard':
surface.blit(self.image,(0,0))
else:
if self.mode == 'playing':
gif = pygame.Surface(self.dimensions, 0, 24)
self.image.render(gif, (0,0))
gif = pygame.transform.scale(gif, utils.screen['resolution'])
surface.blit(gif,(0,0))
State.draw(self, surface)
def __init__(self, menu, rememberPosition = False):
State.__init__(self)
self.menu = menu
self.choice = 0
self.rememberPosition = rememberPosition
self.timer = 0.
self.random_color = (randint(0,255), randint(0,255), randint(0,255))
self.random_pos = (randint(0,screen_size[0]-1), randint(0,screen_size[1]-1))
self.random_size = (screen_size[0]-1-randint(self.random_pos[0],screen_size[0]-1),
screen_size[1]-1-randint(self.random_pos[1],screen_size[1]-1))
def __init__(self, value, data, grammar, hole_penalty=None, **kwargs):
"""
Initializer. The hole_penalty is a dictionary from nonterminals to
"""
State.__init__(self, value, **kwargs)
self.data = data
self.grammar = grammar
self.hole_penalty = hole_penalty
assert self.hole_penalty is not None # Need this!
def __init__(self, screen, background, capture, ref_img, transform_mat):
State.__init__(self, screen, background, capture, ref_img, transform_mat)
self.one = FloatingWord(common.load_image("1.png", alpha=True)[0], sfx="one.wav")
self.two = FloatingWord(common.load_image("2.png", alpha=True)[0], sfx="two.wav")
self.three = FloatingWord(common.load_image("3.png", alpha=True)[0], sfx="three.wav")
self.fight = FloatingWord(common.load_image("fight.png", alpha=True)[0], sfx="fight.wav")
self.fight.end_size = (200, 200)
self.fight.anim_time = 1000
self.fight.wait_time = 100
self.sprites.add(self.three)
print "CountdownState: Initialized"
def __init__(self, stack, camera):
State.__init__(self, stack)
self.camera = camera
self.title = 'setproperties'
self.settings_menu = []
for setting in CameraSettings.camera_settings:
menuitem = setting['key']
self.settings_menu.append(menuitem)
self.scroller = Scroller(self.settings_menu)
def draw(self, surface):
if self.scroller.get_value() == 'overview':
pygame.draw.rect(surface, (0,0,255), (10,10,30,30))
if self.scroller.get_value() == 'guide':
pygame.draw.rect(surface, (96,96,96), (
utils.screen['resolution'][0]/3,
utils.screen['resolution'][1]/3,
utils.screen['resolution'][0]/3,
utils.screen['resolution'][1]/3))
else:
State.draw(self, surface)
def __init__(self, stack, camera, propertykey):
State.__init__(self, stack)
self.camera = camera
self.propertykey = propertykey
self.title = propertykey
self.property = camera.get_property( propertykey )
self.actual_camera_settings = utils.load_camera_settings()
self.original_value = camera.get_property_value( propertykey )
if self.property['type'] == 'select':
self.scroller = Scroller(self.property['values'],
self.property['values'].index(camera.get_property_value(propertykey)) )
pygame_utils.change_to_stripe()
def draw(self): #draw background #self.main.screen.blit(self.background, self.background.get_rect()) self.background.drawTerrain(self.main.screen); # draw player GameState.playerGroup.draw(self.main.screen) # draw gui GameState.guiGroup.draw(self.main.screen) # flip screen State.draw(self)
def createStatesManhatan(current_state): children = [] zeroPosition = current_state.zeroIndex() mtrx = current_state.getMatrix() # Up newArray = up(current_state.getMatrix(), zeroPosition) if newArray is not None: newState = State(newArray, depth = current_state.depth +1, parent = current_state) newState.f = manhathanDistance(newArray) children.append(newState) # Down newArray = down(current_state.getMatrix(), zeroPosition) if newArray is not None: newState = State(newArray, depth = current_state.depth +1, parent = current_state) newState.f = manhathanDistance(newArray) children.append(newState) # Left newArray = left(current_state.getMatrix(), zeroPosition) if newArray is not None: newState = State(newArray, depth = current_state.depth +1, parent = current_state) newState.f = manhathanDistance(newArray) children.append(newState) # Right newArray = right(current_state.getMatrix(), zeroPosition) if newArray is not None: newState = State(newArray, depth = current_state.depth +1, parent = current_state) newState.f = manhathanDistance(newArray) children.append(newState) return children
def event(self, event):
State.event(self, event)
self.scroller.event(event)
self.title = self.scroller.get_value()
if event.type == pygame.MOUSEBUTTONDOWN:
if event.button == 2 :
if self.scroller.get_value() == 'shutdown':
self.updater.shutdown()
if self.scroller.get_value() == 'reboot':
self.updater.reboot()
if self.scroller.get_value() == 'restart':
self.updater.restart_employees()
def reproduce(self, other, numChildren=2, percentMutation=5):
"""return numChildren Organisms that are offspring of this organism, and the
'other' organism"""
children = []
for i in range(numChildren):
#do "DNA crossover"
child = self.crossOver(other, percentMutation)
#average values for memory between the two
for j in range(child.memorySize):
child.memory[j] = (self.memory[j] + other.memory[j]) / 2
#do this to adjust for always rounding down
if (self.memory[j] + other.memory[j]) % 2 is not 0 and random.randint(0,1) is 1:
child.memory[j] = (child.memory[j] + 1) % child.numValues
#and introduce some random mutation
pMutation = random.randint(max(percentMutation/2,0),
min(percentMutation*3/2,100))
numMutations = (child.numStates*child.numValues +
child.memorySize)*pMutation/100
for j in range(numMutations):
mutationLocation = random.randint(0,child.numStates*child.numValues + child.memorySize - 1)
if mutationLocation < child.numStates*child.numValues:
state = mutationLocation / child.numValues
value = mutationLocation % child.numValues
child.states[state][value] = \
State.getRandomState((0,child.numValues-1),
(0,child.numStates-1),
(0,child.memorySize-1))
else:
mem = mutationLocation-child.numStates*child.numValues
child.memory[mem] = random.randint(0,child.numValues-1)
children.append(child)
return children
def __init__(self, context):
State.__init__(self, context)
def sendTwoCannibalsToTheRight(self, estado_atual):
m_dir = [estado_atual.right_margin[CANNIBAL] + 2, estado_atual.right_margin[MISSIONARY]]
m_esq = [estado_atual.left_margin[CANNIBAL] - 2, estado_atual.left_margin[MISSIONARY]]
estado_expandido = State(m_dir, m_esq, Canoe.RIGHT, estado_atual)
return estado_expandido
def set_init_cond(self, cols):
self.states.clear()
self.avalanche_size = 0
self.states.append(State(cols))
def distribute_items_restrictive(window, worlds, fill_locations=None):
song_locations = [
world.get_location(location) for world in worlds for location in [
'Song from Composer Grave', 'Impa at Castle', 'Song from Malon',
'Song from Saria', 'Song from Ocarina of Time', 'Song at Windmill',
'Sheik Forest Song', 'Sheik at Temple', 'Sheik in Crater',
'Sheik in Ice Cavern', 'Sheik in Kakariko', 'Sheik at Colossus'
]
]
shop_locations = [
location for world in worlds
for location in world.get_unfilled_locations()
if location.type == 'Shop' and location.price == None
]
# If not passed in, then get a shuffled list of locations to fill in
if not fill_locations:
fill_locations = [location for world in worlds for location in world.get_unfilled_locations() \
if location not in song_locations and \
location not in shop_locations and \
location.type != 'GossipStone']
world_states = [world.state for world in worlds]
window.locationcount = len(fill_locations) + len(song_locations) + len(
shop_locations)
window.fillcount = 0
# Generate the itempools
shopitempool = [
item for world in worlds for item in world.itempool
if item.type == 'Shop'
]
songitempool = [
item for world in worlds for item in world.itempool
if item.type == 'Song'
]
itempool = [
item for world in worlds for item in world.itempool
if item.type != 'Shop' and item.type != 'Song'
]
if worlds[0].shuffle_song_items:
itempool.extend(songitempool)
fill_locations.extend(song_locations)
# add unrestricted dungeon items to main item pool
itempool.extend([
item for world in worlds
for item in world.get_unrestricted_dungeon_items()
])
dungeon_items = [
item for world in worlds
for item in world.get_restricted_dungeon_items()
]
random.shuffle(
itempool
) # randomize item placement order. this ordering can greatly affect the location accessibility bias
progitempool = [item for item in itempool if item.advancement]
prioitempool = [
item for item in itempool if not item.advancement and item.priority
]
restitempool = [
item for item in itempool if not item.advancement and not item.priority
]
# set ice traps to have the appearance of other random items in the item pool
ice_traps = [item for item in itempool if item.name == 'Ice Trap']
fake_items = []
while len(ice_traps) > len(fake_items):
# if there are more ice traps than major items, then double up on major items
fake_items.extend([item for item in itempool if item.majoritem])
for random_item in random.sample(fake_items, len(ice_traps)):
ice_trap = ice_traps.pop(0)
ice_trap.looks_like_item = random_item
# We place all the shop items first. Like songs, they have a more limited
# set of locations that they can be placed in, so placing them first will
# reduce the odds of creating unbeatable seeds. This also avoids needing
# to create item rules for every location for whether they are a shop item
# or not. This shouldn't have much affect on item bias.
if shop_locations:
fill_shops(window, worlds, shop_locations, shopitempool,
itempool + songitempool + dungeon_items)
# Update the shop item access rules
for world in worlds:
set_shop_rules(world)
# If there are dungeon items that are restricted to their original dungeon,
# we must place them first to make sure that there is always a location to
# place them. This could probably be replaced for more intelligent item
# placement, but will leave as is for now
fill_dungeons_restrictive(window, worlds, fill_locations, dungeon_items,
itempool + songitempool)
# places the songs into the world
# Currently places songs only at song locations. if there's an option
# to allow at other locations then they should be in the main pool.
# Placing songs on their own since they have a relatively high chance
# of failing compared to other item type. So this way we only have retry
# the song locations only.
if not worlds[0].shuffle_song_items:
fill_songs(window, worlds, song_locations, songitempool, progitempool)
if worlds[0].start_with_fast_travel:
fill_locations += [
location for location in song_locations
if location.item is None
]
# Put one item in every dungeon, needs to be done before other items are
# placed to ensure there is a spot available for them
if worlds[0].one_item_per_dungeon:
fill_dungeon_unique_item(window, worlds, fill_locations, progitempool)
# Place all progression items. This will include keys in keysanity.
# Items in this group will check for reachability and will be placed
# such that the game is guaranteed beatable.
fill_restrictive(window, worlds, [world.state for world in worlds],
fill_locations, progitempool)
# Place all priority items.
# These items are items that only check if the item is allowed to be
# placed in the location, not checking reachability. This is important
# for things like Ice Traps that can't be found at some locations
fill_restrictive_fast(window, worlds, fill_locations, prioitempool)
# Place the rest of the items.
# No restrictions at all. Places them completely randomly. Since they
# cannot affect the beatability, we don't need to check them
fast_fill(window, fill_locations, restitempool)
# Log unplaced item/location warnings
for item in progitempool + prioitempool + restitempool:
logging.getLogger('').error('Unplaced Items: %s [World %d]' %
(item.name, item.world.id))
for location in fill_locations:
logging.getLogger('').error('Unfilled Locations: %s [World %d]' %
(location.name, location.world.id))
if progitempool + prioitempool + restitempool:
raise FillError('Not all items are placed.')
if fill_locations:
raise FillError('Not all locations have an item.')
if not State.can_beat_game(world_states, True):
raise FillError('Cannot beat game!')
# Get Light Arrow location for later usage.
for world in worlds:
for location in world.get_filled_locations():
if location.item and location.item.name == 'Light Arrows':
location.item.world.light_arrow_location = location
# solution optimale: 16 moves
from MiniMaxSearch import MiniMaxSearch
from Rushour import Rushhour
from State import State
rh = Rushhour(
[True, True, False, False, True, True, False, False],
[2, 2, 3, 2, 3, 2, 3, 3], [2, 0, 0, 0, 5, 4, 5, 3],
["rouge", "vert", "mauve", "orange", "emeraude", "lime", "jaune", "bleu"])
s = State([1, 0, 1, 4, 2, 4, 0, 1])
algo = MiniMaxSearch(rh, s, 3)
algo.rushhour.init_positions(s)
print(algo.rushhour.free_pos)
algo.solve(s, False, True, None)
def sendOneFromEachToTheRight(self, current_state):
m_dir = [current_state.right_margin[CANNIBAL] + 1, current_state.right_margin[MISSIONARY] + 1]
m_esq = [current_state.left_margin[CANNIBAL] - 1, current_state.left_margin[MISSIONARY] - 1]
estado_expandido = State(m_dir, m_esq, Canoe.RIGHT, current_state)
return estado_expandido
def fill_songs(window, worlds, locations, songpool, itempool, attempts=15):
# get the song locations for each world
# look for preplaced items
placed_prizes = [
loc.item.name for loc in locations if loc.item is not None
]
unplaced_prizes = [
song for song in songpool if song.name not in placed_prizes
]
empty_song_locations = [loc for loc in locations if loc.item is None]
prizepool_dict = {
world.id:
[song for song in unplaced_prizes if song.world.id == world.id]
for world in worlds
}
prize_locs_dict = {
world.id:
[loc for loc in empty_song_locations if loc.world.id == world.id]
for world in worlds
}
# Songs being sent in to this method are tied to their own world.
# Therefore, let's do this one world at a time. We do this to help
# increase the chances of successfully placing songs
for world in worlds:
# List of states with all items
unplaced_prizes = [
song for song in unplaced_prizes
if song not in prizepool_dict[world.id]
]
all_state_base_list = State.get_states_with_items(
[world.state for world in worlds], itempool + unplaced_prizes)
world_attempts = attempts
while world_attempts:
world_attempts -= 1
try:
prizepool = list(prizepool_dict[world.id])
prize_locs = list(prize_locs_dict[world.id])
random.shuffle(prizepool)
fill_restrictive(window, worlds, all_state_base_list,
prize_locs, prizepool)
logging.getLogger('').info("Songs placed for world %s",
(world.id + 1))
except FillError as e:
logging.getLogger('').info(
"Failed to place songs for world %s. Will retry %s more times",
(world.id + 1), world_attempts)
for location in prize_locs_dict[world.id]:
location.item = None
if location.disabled == DisableType.DISABLED:
location.disabled = DisableType.PENDING
logging.getLogger('').info('\t%s' % str(e))
continue
break
else:
raise FillError('Unable to place songs in world %d' %
(world.id + 1))
def move_left_or_up(self, car_id: int, state: State):
return state.move(car_id, -1)
def move_rigth_or_down(self, car_id: int, state: State):
return state.move(car_id, 1)
import numpy as np
from State import State
from dfs import start_dfs
from bfs import blind_search_bfs
if __name__ == '__main__':
print("ready")
a = np.array([[5, 8, 3], [4, 0, 2], [7, 6, 1]])
res = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 0]])
state: State = State(a)
y = input("Для пошагового алгоритма введите - 1, иначе 0: ") == "1"
x = input("Для поиска в ширину введите - bfs, а для поиска в длину - dfs: ")
if x == "bfs":
res = blind_search_bfs([State(a)], State(res), y)
print("Result:", res, sep='\n')
elif x == "dfs":
start_dfs(State(a), State(res), y)
else:
print("Нет такого алгоритма")
# print_state(a)
class Driver:
def __init__(self):
self.state = State(0)
self.params = Params()
self.status = Status(self.params)
self.sleep_time = 1
self.pwm_read = PwmRead(self.params.pin_mode_in,
self.params.pin_servo_in,
self.params.pin_thruster_in)
self.pwm_out = PwmOut(self.params.pin_servo_out,
self.params.pin_thruster_out)
self.pid = PositionalPID()
self.logger = Logger()
self.logger.open()
def load(self, filename):
print('loading', filename)
f = open(filename, "r")
line = f.readline()
line = f.readline()
self.state.time_limit = int(line.split()[1]) # Time Limit
line = f.readline()
self.sleep_time = float(line.split()[1]) # Sleep time
line = f.readline()
line = f.readline()
line = f.readline()
self.pwm_read.num_cycles = int(line.split()[1]) # NUM_CYCLE
line = f.readline()
line = f.readline()
line = f.readline()
self.pwm_out.coefficient = float(line.split()[1]) # Coefficient
line = f.readline()
line = f.readline()
line = f.readline()
self.pid.angular_range = int(line.split()[1]) # angular_range
line = f.readline()
p = float(line.split()[1]) # P
line = f.readline()
i = float(line.split()[1]) # I
line = f.readline()
d = float(line.split()[1]) # D
self.pid.setPID(p, i, d)
line = f.readline()
line = f.readline()
line = f.readline()
self.status.waypoint_radius = float(
line.split()[1]) # range of target point
line = f.readline()
num = int(line.split()[1]) # Number of waypoints
line = f.readline()
for i in range(num):
line = f.readline()
self.status.waypoint.addPoint(float(line.split()[0]),
float(line.split()[1]))
f.close()
return
def doOperation(self):
while self.state.inTimeLimit():
self.readPWM()
self.readGps()
mode = self.getMode()
if mode == 'RC':
self.remoteControl()
elif mode == 'AN':
self.autoNavigation()
self.outPWM()
self.printLog()
time.sleep(self.sleep_time)
return
def getMode(self):
return self.status.mode
def updateMode(self):
mode_duty_ratio = self.pwm_read.pulse_width[0]
if mode_duty_ratio < 1500:
self.status.mode = 'RC'
elif mode_duty_ratio >= 1500:
self.status.mode = 'AN'
return
def readGps(self):
self.status.readGps()
self.updateMode()
#if self.status.isGpsError():
#self.status.mode = 'RC'
return
def updateStatus(self):
status = self.status
status.calcTargetDirection()
status.calcTargetDistance()
status.updateTarget()
return
# Read pwm pulsewidth
# Set the readout signals as the output signals
def readPWM(self):
self.pwm_read.measurePulseWidth()
self.pwm_out.servo_pulsewidth = self.pwm_read.pulse_width[1]
self.pwm_out.thruster_pulsewidth = self.pwm_read.pulse_width[2]
return
def outPWM(self):
self.pwm_out.updatePulsewidth()
return
def autoNavigation(self):
self.updateStatus()
if self.status.mode != 'AN_END':
boat_direction = self.status.boat_direction
target_direction = self.status.target_direction
servo_pulsewidth = self.pid.getStepSignal(target_direction,
boat_direction)
self.pwm_out.servo_pulsewidth = servo_pulsewidth
self.pwm_out.thruster_pulsewidth = 1880 #if thruster do not run, change this to a relatively small value(max=1900)
return
else:
# If the boat has passed the last waypoint,
# the navigation system get RC mode.
return
def remoteControl(self):
# Do nothing
return
def printLog(self):
timestamp_string = self.status.timestamp_string
mode = self.getMode()
latitude = self.status.latitude
longitude = self.status.longitude
speed = self.status.speed
direction = self.status.boat_direction
servo_pw = self.pwm_out.servo_pulsewidth
thruster_pw = self.pwm_out.thruster_pulsewidth
t_index = self.status.waypoint.getIndex()
t_direction = self.status.target_direction
t_distance = self.status.target_distance
target = self.status.waypoint.getPoint()
t_latitude = target[0]
t_longitude = target[1]
err = self.pid.ErrBack
# To print logdata
print(timestamp_string)
print(
'[%s MODE] LAT=%.7f, LON=%.7f, SPEED=%.2f [km/h], DIRECTION=%lf' %
(mode, latitude, longitude, speed, direction))
print('DUTY (SERVO, THRUSTER): (%6.1f, %6.1f) [us]' %
(servo_pw, thruster_pw))
print('TARGET No.%2d' % (t_index))
print('TARGET (LATITUDE, LONGITUDE): (%.7f, %.7f)' %
(t_latitude, t_longitude))
print('TARGET (DIRECTION, DISTANCE): (%5.2f, %5.2f [m])' %
(t_direction, t_distance))
print('')
# To write logdata (csv file)
log_list = [
timestamp_string, mode, latitude, longitude, direction, speed,
t_index, t_latitude, t_longitude, t_direction, err
]
self.logger.write(log_list)
return
def finalize(self):
self.logger.close()
self.pwm_out.finalize()
return
def create_playthrough(spoiler):
worlds = spoiler.worlds
if worlds[0].check_beatable_only and not State.can_beat_game(
[world.state for world in worlds]):
raise RuntimeError('Uncopied is broken too.')
# create a copy as we will modify it
old_worlds = worlds
worlds = copy_worlds(worlds)
# if we only check for beatable, we can do this sanity check first before writing down spheres
if worlds[0].check_beatable_only and not State.can_beat_game(
[world.state for world in worlds]):
raise RuntimeError(
'Cannot beat game. Something went terribly wrong here!')
playthrough = RewindablePlaythrough([world.state for world in worlds])
# Get all item locations in the worlds
item_locations = [
location for state in playthrough.state_list
for location in state.world.get_filled_locations()
if location.item.advancement
]
# Omit certain items from the playthrough
internal_locations = {
location
for location in item_locations if location.internal
}
# Generate a list of spheres by iterating over reachable locations without collecting as we go.
# Collecting every item in one sphere means that every item
# in the next sphere is collectable. Will contain every reachable item this way.
logger = logging.getLogger('')
logger.debug('Building up collection spheres.')
collection_spheres = []
entrance_spheres = []
remaining_entrances = set(entrance for world in worlds
for entrance in world.get_shuffled_entrances())
while True:
playthrough.checkpoint()
# Not collecting while the generator runs means we only get one sphere at a time
# Otherwise, an item we collect could influence later item collection in the same sphere
collected = list(playthrough.iter_reachable_locations(item_locations))
if not collected: break
# Gather the new entrances before collecting items.
collection_spheres.append(collected)
accessed_entrances = set(
filter(playthrough.spot_access, remaining_entrances))
entrance_spheres.append(accessed_entrances)
remaining_entrances -= accessed_entrances
for location in collected:
# Collect the item for the state world it is for
playthrough.state_list[location.item.world.id].collect(
location.item)
logger.info('Collected %d spheres', len(collection_spheres))
# Reduce each sphere in reverse order, by checking if the game is beatable
# when we remove the item. We do this to make sure that progressive items
# like bow and slingshot appear as early as possible rather than as late as possible.
required_locations = []
for sphere in reversed(collection_spheres):
for location in sphere:
# we remove the item at location and check if the game is still beatable in case the item could be required
old_item = location.item
# Uncollect the item and location.
playthrough.state_list[old_item.world.id].remove(old_item)
playthrough.unvisit(location)
# Generic events might show up or not, as usual, but since we don't
# show them in the final output, might as well skip over them. We'll
# still need them in the final pass, so make sure to include them.
if location.internal:
required_locations.append(location)
continue
location.item = None
# An item can only be required if it isn't already obtained or if it's progressive
if playthrough.state_list[old_item.world.id].item_count(
old_item.name) < old_item.special.get('progressive', 1):
# Test whether the game is still beatable from here.
logger.debug('Checking if %s is required to beat the game.',
old_item.name)
if not playthrough.can_beat_game():
# still required, so reset the item
location.item = old_item
required_locations.append(location)
# Reduce each entrance sphere in reverse order, by checking if the game is beatable when we disconnect the entrance.
required_entrances = []
for sphere in reversed(entrance_spheres):
for entrance in sphere:
# we disconnect the entrance and check if the game is still beatable
old_connected_region = entrance.disconnect()
# we use a new playthrough to ensure the disconnected entrance is no longer used
sub_playthrough = Playthrough([world.state for world in worlds])
# Test whether the game is still beatable from here.
logger.debug(
'Checking if reaching %s, through %s, is required to beat the game.',
old_connected_region.name, entrance.name)
if not sub_playthrough.can_beat_game():
# still required, so reconnect the entrance
entrance.connect(old_connected_region)
required_entrances.append(entrance)
# Regenerate the spheres as we might not reach places the same way anymore.
playthrough.reset(
) # playthrough state has no items, okay to reuse sphere 0 cache
collection_spheres = []
entrance_spheres = []
remaining_entrances = set(required_entrances)
collected = set()
while True:
# Not collecting while the generator runs means we only get one sphere at a time
# Otherwise, an item we collect could influence later item collection in the same sphere
collected.update(
playthrough.iter_reachable_locations(required_locations))
if not collected: break
internal = collected & internal_locations
if internal:
# collect only the internal events but don't record them in a sphere
for location in internal:
playthrough.state_list[location.item.world.id].collect(
location.item)
# Remaining locations need to be saved to be collected later
collected -= internal
continue
# Gather the new entrances before collecting items.
collection_spheres.append(list(collected))
accessed_entrances = set(
filter(playthrough.spot_access, remaining_entrances))
entrance_spheres.append(accessed_entrances)
remaining_entrances -= accessed_entrances
for location in collected:
# Collect the item for the state world it is for
playthrough.state_list[location.item.world.id].collect(
location.item)
collected.clear()
logger.info('Collected %d final spheres', len(collection_spheres))
# Then we can finally output our playthrough
spoiler.playthrough = OrderedDict(
(str(i + 1), {location: location.item
for location in sphere})
for i, sphere in enumerate(collection_spheres))
if worlds[0].entrance_shuffle != 'off':
spoiler.entrance_playthrough = OrderedDict(
(str(i + 1), list(sphere))
for i, sphere in enumerate(entrance_spheres))
def generate(settings, window):
logger = logging.getLogger('')
worlds = []
for i in range(0, settings.world_count):
worlds.append(World(i, settings))
window.update_status('Creating the Worlds')
for id, world in enumerate(worlds):
logger.info('Generating World %d.' % (id + 1))
window.update_progress(0 + 1 * (id + 1) / settings.world_count)
logger.info('Creating Overworld')
if settings.logic_rules == 'glitched':
overworld_data = os.path.join(data_path('Glitched World'),
'Overworld.json')
else:
overworld_data = os.path.join(data_path('World'), 'Overworld.json')
world.load_regions_from_json(overworld_data)
create_dungeons(world)
world.create_internal_locations()
if settings.shopsanity != 'off':
world.random_shop_prices()
world.set_scrub_prices()
window.update_progress(0 + 4 * (id + 1) / settings.world_count)
logger.info('Calculating Access Rules.')
set_rules(world)
window.update_progress(0 + 5 * (id + 1) / settings.world_count)
logger.info('Generating Item Pool.')
generate_itempool(world)
set_shop_rules(world)
set_drop_location_names(world)
world.fill_bosses()
logger.info('Setting Entrances.')
set_entrances(worlds)
window.update_status('Placing the Items')
logger.info('Fill the world.')
distribute_items_restrictive(window, worlds)
window.update_progress(35)
spoiler = Spoiler(worlds)
if settings.create_spoiler:
window.update_status('Calculating Spoiler Data')
logger.info('Calculating playthrough.')
create_playthrough(spoiler)
window.update_progress(50)
if settings.create_spoiler or settings.hints != 'none':
window.update_status('Calculating Hint Data')
logger.info('Calculating hint data.')
State.update_required_items(spoiler)
for world in worlds:
world.update_useless_areas(spoiler)
buildGossipHints(spoiler, world)
window.update_progress(55)
spoiler.build_file_hash()
return spoiler
while dyaw <= -math.pi / 2.0:
yaw[i + 1] += math.pi * 2.0
dyaw = yaw[i + 1] - yaw[i]
return yaw
if __name__ == '__main__':
print(__file__ + " start!!")
dl = 1.0 # course tick
cx, cy, cyaw, ck = get_straight_course3(dl)
sp = calc_speed_profile(cx, cy, cyaw, TARGET_SPEED)
initial_state = State(x=cx[0], y=cy[0], yaw=0.0, v=0.0)
t, x, y, yaw, v, d, a = do_simulation(cx, cy, cyaw, ck, sp, dl,
initial_state)
if show_animation:
plt.close("all")
plt.subplots()
plt.plot(cx, cy, "-r", label="spline")
plt.plot(x, y, "-g", label="tracking")
plt.grid(True)
plt.axis("equal")
plt.xlabel("x[m]")
plt.ylabel("y[m]")
plt.legend()
def combine_state(states):
name = ','.join(sorted([e.name for e in states]))
return State(name)
def sendTwoMissionariesToTheLeft(self, current_state):
m_dir = [current_state.right_margin[CANNIBAL], current_state.right_margin[MISSIONARY] - 2]
m_esq = [current_state.left_margin[CANNIBAL], current_state.left_margin[MISSIONARY] + 2]
estado_expandido = State(m_dir, m_esq, Canoe.LEFT, current_state)
return estado_expandido
class Automa(Object):
"""Automa derived from Object. """
# TEST: OK
def __init__(
self,
name='Automa',
dimension=[1, 1, 1],
mass=100,
maxLoad=500,
resilience=100,
power=100,
emissivity={
"radio": 50,
"thermal": 50,
"optical": 100,
"nuclear": 0,
"electric": 50,
"acoustics": 100,
"chemist": 0
},
coord=None,
sensors=None,
actuators=None):
Object.__init__(self,
name=name,
dimension=dimension,
mass=mass,
resilience=resilience,
emissivity=emissivity,
coord=coord)
self._ai = AI() #AI Engine
self._power = power # nota l'energia è gestita nello stato in quanto è variabile
self._state = State(run=True) #Class State
self._sensors = sensors # list of Sensor objects
self._actuators = actuators # list of Actuator objects. NO DEVE ESSERE UNA CLASSE CHE CONTIENE LA LISTA DEGLI ATTUATORI. QUESTA CLASSE DEVE IMPLEMENTARE IL METODO PER VALUTARE QUALI ATTUATORI ATTIVARE IN BASE AL COMANDO RICEVUTO
self.action_executed = None
self._eventsQueue = {} # {key: event id, value = event}
self._actionsQueue = {} # {key: event id, value = action}
self._objectCatched = []
self._maxLoad = maxLoad
if not self.checkParamAutoma(power, sensors, actuators, maxLoad):
raise Exception("Invalid properties! Automata not istantiate.")
logger.logger.info("Automa {0} created".format(self._id))
# Methods
# La sequenza è update --> percept --> evalutate --> action.
# update: aggiorna lo stato dell'automa in base agli eventi contenuti nella coda degli eventi
# percept: utilizza i sensori per conoscere l'enviroment locale e aggiorna lo stato dell'automa
# evalutate: valuta le informazioni ottenute e determina l'azione da eseguite
# action: utilizza l'azione da eseguire per attivare gli attuatori necessari per lo svolgimento della stessa
# Bisogna decidere se queste tre azioni devono
# essere svolte in una unità temporale ovvero ognuna in una unità temporale (più complicato)
# in quest'ultimo caso è necessaria una Queue per le azioni da eseguire e deve essere valutato come gestire i cambiamenti
# dell'enviroments che avvengono tra una azione e la successiva.
# Per semplificare è meglio eseguire le tre azioni come unico task
# La AI è deputata esclusivamente alla valutazione delle informazioni ricevute dai sensori per
# l'aggiornamento dello stato dell'automa per definire l'azione da compiere in base a queste informazioni.
# la proprietà 'env_state che rappresenta l'enviromets conosciuto dall'automa è interna e gestita nella AI
def runTask(self, posManager):
self.update() #check the eventsQueue and update state
list_obj = self.percept(posManager)
self.evalutate(
list_obj
) # create the action info to execute and inserts in the action Queue
logger.logger.info(
"Automa: {0} running task: update internal state, execute perception and detected {1} object, evalutate and executed action()"
.format(self._id, len(list_obj)))
return self.action(
posManager
) # return the Queue of the action info executed in a single task
def update(self):
"""Update state, Sensor, Actuator states for check of eventsQueue"""
events = self.getEventActive()
# l'evento riguarda una posizione indipendentemente dall'eventuale target impostato, quindi in base
# alle caratteristiche dell'evento che bisogna valutare quali elementi sono coinvolti e come sono
# coinvolti
for _, ev in events: # scorre gli eventi da eseguire della lista eventi attivi
logger.logger.debug("Automa: {0} active event {1}".format(
self._id, ev._type))
if ev._duration <= 0: # effetti dell'evento applicati durante la action dell'oggetto che ha generato l'evento
logger.logger.debug(
"Automa: {0} event._duration <= 0, maybe damage already evalutated in action execution"
.format(self._id))
if ev.isHit(
): # solo per l'evento SHOT viene valutato l'eventuale danno
# NOTA: tu lo fai risolvere direttamente nell'azione (valuta il danno e se l'obj è distrutto lo rimuove), qui invece è previsto
# che l'azione registra un evento nella lista eventi dell'automa (ma se non è un automa quindi non ha event queue anzi ogni oggetto in questo caaso dovrebbe avere una queue event e un methodo di update) e successivamente gli effetti dell'evento vengono valutati
# posso lasciare che alcune azioni vengano immediatamente valutati gli effetti e effettuati gli aggiornamenti mentre per altre vengano create eventi da gestire tramite coda queue
self.evalutateHit(ev._power, random_hit=True)
# è necessario implementare l'utilizzo dei metodi in Position_manager per la gestione dell'eventuale eliminazione dell'oggetto
if ev.isPop(
): # viene valutato se l'automa può essere "spinto" (spostato). Valutare la nuova posizione dell'automa
self.evalutatePop(ev._power, ev._mass)
# è necessario implementare l'utilizzo dei metodi in Position_manager per la gestione dell'eventuale spostamento dell'oggetto
if ev.isPush(
): # viene valutato se l'automa può essere "spinto" (spostato). Valutare la nuova posizione dell'automa
self.evalutatePush(ev)
# è necessario implementare l'utilizzo dei metodi in Position_manager per la gestione dell'eventuale spostamento dell'oggetto
if ev.isAssimilate(
): # viene valutato se l'automa può essere mangiato. Eliminare l'automa aggiornando lo stato
self.evalutateEat(ev)
# è necessario implementare l'utilizzo dei metodi in Position_manager per la gestione dell'eventuale eliminazione dell'oggetto
logger.logger.debug(
"Automa: {0} executed update internal state".format(self._id))
return True
def evalutatePop(self, power, mass):
ratio = self._power * self._mass / (mass * power)
logger.logger.debug(
"Automa: {0} Evalutate POP with power: {1}. ratio: {2}".format(
self._id, power, ratio))
if ratio <= 1:
logger.logger.debug(
"Automa: {0} Confirmed POP effect: {1}. ratio: {2}".format(
self._id, power, ratio))
return True
logger.logger.debug(
"Automa: {0} Ininfluence POP effect: {1}. ratio: {2}".format(
self._id, power, ratio))
return False
# TEST: OK
def percept(self, posMng):
"""Percepts the enviroments with sensors, update the state and return percept informations."""
#percept_info: le informazioni dopo l'attivazione dei sensori: (energy_consumption, list_obj_detected)
#request_percept: le informazioni riguardo tipo di sensori e modalità di attivazione
list_obj = list()
operative_sensors = [
sensor for sensor in self._sensors if sensor.isOperative()
] # Lista dei sensori attivi
percept_infos = [
sensor.perception(posMng, self.getPosition())
for sensor in operative_sensors
] # lista delle perception info ottenuta interrogando tutti i sensori operativi. La percept_info: percept_info: (energy_sensor, detected_objs) detected. detected_objs = { ( x, y, z): obj }
list_item = [
percept_info[1].values() for percept_info in percept_infos
] # lista degli object
for item in list_item:
for obj in item:
if obj._id != self._id:
list_obj.append(obj) # lista degli object
energy_consume = [percept_info[0] for percept_info in percept_infos]
self.updateStateForEnergyConsume(
energy_consume) # aggiorna lo stato dell'automa
logger.logger.debug(
"Automa: {0} execute perception: activated {1} sensor, detected {2} object, energy consumed: {3}"
.format(self._id, len(operative_sensors), len(list_obj),
energy_consume))
return list_obj
def evalutate(self, percept_info):
"""Evalutate the info of the enviroments knows (percept info) and return the action to execute"""
# determina quali sono le azioni che può svolgere in questo singolo task e le inserisce nella queue action
self._actionsQueue = self.ai.evalutate(
percept_info,
self._state) # noota: la queue si resetta ad ogni task
logger.logger.debug(
"Automa: {0} execute evalutate percept_info: created actionQueue with {1} items"
.format(self._id, len(self._actionsQueue)))
return True
# TEST: OK
def action(self, posManager):
"""Activates Actuators for execution of Action. Return action informations."""
#action_info: le informazioni dopo l'attivazione degli attuatori e lo stato degli stessi( classe)
actions_info = [] # (action_type, energy_consume, position, object)
active_actions = self.getActionActive()
for action in active_actions:
# actuators_activation: [ actuator, [ position or obj, ..other params ] ]
actuator_activation = self.select_actuators(
action.getActionParam()
) # questa funzione deve anche valutare gli attuatori attivi e se questi sono sufficienti per compiere l'atto altrimenti deve restituire false o un atto ridotto
action_info = actuator_activation[0].exec_command(
self, posManager, actuator_activation[1])
actions_info.append(action_info)
self.updateStateForAction(action, actuator_activation[0],
action_info)
logger.logger.debug(
"Automa: {0} executed action: created action_info with {1} items".
format(self._id, len(actions_info)))
return actions_info
# vedi il libro
def checkParamAutoma(self, power, sensors, actuators, maxLoad):
"""Return True if conformity of the parameters is verified"""
if not maxLoad or not isinstance(
maxLoad, int
) or maxLoad < 0 or not power or not isinstance(power, int) or not (
power <= 100 and power >= 0) or not sensors or not isinstance(
sensors[0], Sensor) or not Sensor.checkSensorList(
sensors[0],
sensors) or not actuators or not isinstance(
actuators[0],
Actuator) or not Actuator.checkActuatorList(
actuators[0], actuators):
return False
return True
# TEST: OK (indirect from percept method)
def updateStateForEnergyConsume(self, energy_consume):
"""Update state, Sensor, Actuator states for Percept info"""
total_sensor_consume = sum(energy_consume)
self._state.decrementEnergy(total_sensor_consume)
logger.logger.debug(
"Automa: {0} update state for energy consume: total_sensor_consume: {1}, self._state._energy: {2}"
.format(self._id, total_sensor_consume, self._state._energy))
return True
# TEST: OK (indirect from action method)
def updateStateForAction(self, action, actuator, action_info):
"""Update state, Sensor, Actuator states for Action info"""
if not action_info[
2]: # l'azione è non stata completata nell'iterazione
# action.setDuration(2)# ripristina la durata della action. L'ho eliminato in quanto, a differenza della move, ci potrebbero essere action utilizzano la duration per la loro esecuzione in più task
logger.logger.debug(
"Automa: {0}. Actuator: {1}, execute action: {2}, action not complete"
.format(self._id, actuator.getId(), action_info[2]))
else: # l'azione è stata completata nell'iterazione
action.setDuration(
0
) # imposta ad 0 la durata della action affinchè venga eliminata nella successiva scansione della queue
logger.logger.debug(
"Automa: {0}. Actuator: {1}, execute action: {2}, action complete: removed from queue"
.format(self._id, actuator.getId(), action_info[2]))
return True
# TEST: OK (indirect from action method)
def insertAction(self, action):
if not action or not isinstance(action, Action):
return False
self._actionsQueue[action._id] = action
logger.logger.debug(
"Automa: {0} inserted new action in queue, action id: {1}, actions in queue: {2}"
.format(self._id, action._id, len(self._actionsQueue)))
return True
# TEST: OK (indirect from action method)
def removeAction(self, action):
"""remove action in eventsQueue"""
if not isinstance(action._id, int):
return False
self._actionsQueue.pop(action._id)
logger.logger.debug(
"Automa: {0} removed action in queue, action id: {1}, actions in queue: {2}"
.format(self._id, action._id, len(self._actionsQueue)))
return True
# TEST: OK (indirect from action method)
def resetActionQueue(self):
"""Reset the Action Queue"""
self._actionsQueue.clear()
# TEST: OK (indirect from action method)
def getActionActive(self):
"""Return a list with activable actions for a single task. Update the event Queue"""
active = [] # list of active actions
for act in list(self._actionsQueue.values()):
if act.isAwaiting(): # event not activable in this task
act.decrTime2Go() # decrement time to go
self._actionsQueue[act.getId()] = act # update actions queue
elif act.isActivable(): # action activable
act.decrDuration() # decrement duration
self._actionsQueue[act.getId()] = act # update actions queue
active.append(act) # insert the action in action events list
else: # expired action
self._actionsQueue.pop(
act.getId()) #remove element from events queue
return active
def insertEvent(self, event):
"""insert event in eventsQueue"""
if not event or not isinstance(event, Event):
return False
self._eventsQueue[event._id] = event
logger.logger.debug(
"Automa: {0} inserted new event in queue, event id: {1}, events in queue: {2}"
.format(self._id, event._id, len(self._eventsQueue)))
return True
def removeEvent(self, event):
"""remove event in eventsQueue"""
if not isinstance(event._id, int):
return False
self._eventsQueue.pop(event._id)
logger.logger.debug(
"Automa: {0} removed event in queue, event id: {1}, events in queue: {2}"
.format(self._id, event._id, len(self._eventsQueue)))
return True
def getEventActive(self):
"""Return a list with activable events for a single task. Update the event Queue"""
active = [] # list of active events
for ev in list(self._eventsQueue.values()):
if ev.isAwaiting(): # event not activable in this task
ev.decrTime2Go() # decrement time to go
self._eventsQueue[ev.getId()] = ev # update events queue
elif ev.isActivable(): # event activable
ev.decrDuration() # decrement duration
self._eventsQueue[ev.getId()] = ev # update events queue
active.append(ev) # insert the event in active events list
else: # expired event
self._eventsQueue.pop(
ev.getId()) #remove element from events queue
return active
def evalutateHit(self, power, random_hit=True):
"""" evalutate event hit effect """
if random_hit:
automa_energy_hit_power = int(power * random.uniform(0, 1))
sensor_energy_hit_power = int(
(power - automa_energy_hit_power) * random.uniform(0, 1))
actuator_energy_hit_power = int(
(power - sensor_energy_hit_power) * random.uniform(0, 1))
else:
automa_energy_hit_power = power
sensor_energy_hit_power = int(power * 0.3)
actuator_energy_hit_power = int(power * 0.7)
logger.logger.debug(
"Automa: {0} - automa_energy_hit_power: {1}, sensor_energy_hit_power: {2}, actuator_energy_hit_power: {3}"
.format(self._id, automa_energy_hit_power, sensor_energy_hit_power,
actuator_energy_hit_power))
for sensor in self._sensors:
health = sensor.evalutateSelfDamage(sensor_energy_hit_power)
if health == 0: # valutazione del danno per il sensore. Se restituisce 0 il sensore è dsitrutto
self._sensors.pop(
sensor
) # elimina il sensore dalla lista sensori dell'automa
logger.logger.debug(
"Automa: {0} deleted sensor: {1} for damage".format(
self._id, sensor._name))
resilience = sensor._resilience
active = sensor._state.isActive()
critical = sensor._state.isCritical()
anomaly = sensor._state.isAnomaly()
destroyed = sensor._state.isDestroyed()
remove = sensor._state.isRemoved()
logger.logger.debug(
"Automa: {0} Evalutate Sensor ( name: {1} ) Hit damage with power: {2}. resilience: {3}, health: {4}, active: {5}, critical: {6}, anomaly: {7}, destroyed: {8}, removed: {9}"
.format(self._id, sensor._name, power, resilience, health,
active, critical, anomaly, destroyed, remove))
for actuator in self._actuators:
health = actuator.evalutateSelfDamage(actuator_energy_hit_power)
if health == 0: # valutazione del danno per l'attuatore. Se restituisce 0 l'attuatore è dsitrutto
self._actuators.pop(
actuator
) # elimina il attuatore dalla lista attuatori dell'automa
logger.logger.debug(
"Automa: {0} deleted actuator: {1} for damage".format(
self._id, actuator._name))
resilience = actuator._resilience
active = actuator._state.isActive()
critical = actuator._state.isCritical()
anomaly = actuator._state.isAnomaly()
destroyed = actuator._state.isDestroyed()
remove = actuator._state.isRemoved()
logger.logger.debug(
"Automa: {0} Evalutate Actuator ( name: {1} ) Hit damage with power: {2}. resilience: {3}, health: {4}, active: {5}, critical: {6}, anomaly: {7}, destroyed: {8}, removed: {9}"
.format(self._id, actuator._name, power, resilience, health,
active, critical, anomaly, destroyed, remove))
health = self.evalutateDamage(automa_energy_hit_power)
if health == 0: # valutazione del danno per l'automa. Se restituisce 0 l'automa è dsitrutto
self._state.destroy()
logger.logger.debug("Automa: {0} destroyed for damage".format(
self._id))
resilience = self._resilience
active = self._state.isActive()
critical = self._state.isCritical()
anomaly = self._state.isAnomaly()
destroyed = self._state.isDestroyed()
remove = self._state.isRemoved()
logger.logger.debug(
"Automa: {0} Evalutate Hit damage with power: {1}. resilience: {2}, health: {3}, active: {4}, critical: {5}, anomaly: {6}, destroyed: {7}, removed: {8}"
.format(self._id, power, resilience, health, active, critical,
anomaly, destroyed, remove))
return True
# TEST: OK parziale
def select_actuators(self, act):
"""Choice the actuators for activation in relation with act and define parameter for execute action"""
# act: (action_type, position or object)
# return: # actuators_activation: [ actuators, [ position or obj, ..other params, self ] ]
if not act or not isinstance(act, list) or not General.checkActionType(
act[0]) or not (isinstance(act[1], Object)
or General.checkPosition(act[1])):
raise Exception("action not found!")
action_type = act[0]
# actuators: { key: actuator_type, value: actuator }
if action_type == 'move' or action_type == 'run': # OK
actuator = self.getActuator(actuator_class='mover')
if action_type == 'move': # OK
speed_perc = act[
2] #0.7 # % della speed max. Il consumo di energia è calcolato applicando questa % al dt*power
else:
speed_perc = 1 # % della speed max. Il consumo di energia è calcolato applicando questa % al dt*power
target_position = act[1]
logger.logger.debug(
"Automa: {0}, created actuators_activation, action_type: {1}, target_position: {2} and speed_perc: {3}"
.format(self._id, action_type, target_position, speed_perc))
# NOTA!!!: L'esecuzione dell'azione move da parte di un attuatore, comporta lo spostamento effettivo dell'automa, quindi n attutori effettueranno complessivamente n move -> SBAGLIATO
# Ciò significa che per l'esecuzione della action_type move deve essere azionato un solo attuatore che rappresenta l'insieme dei dispositivi dedicati a questo tipo di azione
# nella actuators lista sarà quindi composta da un solo attuatore
return [actuator, [target_position, speed_perc]]
elif action_type == 'translate': # OK
actuator = self.getActuator(actuator_class='object_manipulator')
obj = act[1]
destination = act[2]
logger.logger.debug(
"Automa: {0}, created actuators_activation with included: action_type: {1}, object: {2}"
.format(self._id, action_type, obj._id))
return [actuator, [obj, destination]]
elif action_type == 'catch': # OK
actuator = self.getActuator(actuator_class='object_catcher')
obj = act[1]
logger.logger.debug(
"Automa: {0}, created actuators_activation with included: action_type: {1}, object: {2}"
.format(self._id, action_type, obj._id))
return [actuator, [obj]]
elif action_type == 'eat':
actuator = self.getActuator(actuator_class='object_assimilator')
obj = act[1]
logger.logger.debug(
"Automa: {0}, created actuators_activation with included: action_type: {1}, object: {2}"
.format(self._id, action_type, obj._id))
return [actuator, [obj]]
elif action_type == 'shot':
actuators = []
plasma_actuators = self.getActuator(
actuator_class='plasma_launcher')
projectile_actuators = self.getActuator(
actuator_class='projectile_launcher')
if plasma_actuators:
actuators.append(plasma_actuators)
if projectile_actuators:
actuators.append(projectile_actuators)
actuator = actuators[
0] #self.eval_best_actuators( actuators ) # Qui logica per decidere quale attuatore è meglio utilizzare
obj = act[1]
logger.logger.debug(
"Automa: {0}, created actuators_activation with included: action_type: {1}, object: {2}"
.format(self._id, action_type, obj._id))
return [actuator, [obj]]
elif action_type == 'hit':
actuator = self.getActuator(actuator_class='object_hitter')
obj = act[1]
logger.logger.debug(
"Automa: {0}, created actuators_activation with included: action_type: {1}, object: {2}"
.format(self._id, action_type, obj._id))
return [actuator, [obj]]
elif action_type == 'attack':
actuators = []
catcher_actuators = self.getActuator(
actuator_class='object_catcher')
projectile_actuators = self.getActuator(
actuator_class='projectile_launcher')
plasma_actuators = self.getActuator(
actuator_class='plasma_launcher')
hitter_actuators = self.getActuator(actuator_class='object_hitter')
if plasma_actuators:
actuators.append(plasma_actuators)
if projectile_actuators:
actuators.append(projectile_actuators)
if catcher_actuators:
actuators.append(catcher_actuators)
if hitter_actuators:
actuators.append(hitter_actuators)
actuator = actuators[
0] #self.eval_best_actuators( actuators ) # Qui logica per decidere quale attuatore è meglio utilizzare
obj = act[1]
logger.logger.debug(
"Automa: {0}, created actuators_activation with included: list of {1} acutators, action_type: {2}, object: {3}"
.format(self._id, len(actuators), action_type, obj._id))
return [actuator, [obj]]
else:
logger.logger.error(
"Automa: {0}, raised exception: 'action_type not found!!' ".
format(self._id, len(actuators), action_type, obj._id))
raise Exception("action_type not found!!")
return
def getActuator(self, actuator_class):
"""Return actuator with actuator_class propriety. If actuator doesn't exists or is not operative return False """
for actuator in self._actuators:
if actuator.isClass(actuator_class) and actuator.isOperative():
return actuator
return False
def setActuator(self, actuator):
"""Insert an Actuator in actuators list"""
if not actuator or not isinstance(actuator, Actuator):
return False
self._actuators.append(actuator)
return True
def checkLoadObject(self, obj):
""" Check if obj can load in object catched list. Return True if possible, otherwise False"""
loaded = 0
for obj_ in self._objectCatched:
loaded = loaded + obj_.getMass()
return (self._maxLoad - loaded) >= obj.getMass()
def catchObject(self, obj):
"""Inserted obj in object catched list and set id automa in object take_from property"""
if not obj or not self.checkLoadObject(obj):
return False
obj.setCaught_from(self._id)
self._objectCatched.append(obj)
return True
def checkCaught(self, obj):
"""Return True if obj exist in object catched list, otherwise False"""
for obj_ in self._objectCatched:
if obj == obj_:
return True
return False
def checkClass(self, automa):
if automa and isinstance(automa, Automa):
return True
return False
def sendOneCannibalToTheLeft(self, current_state):
m_dir = [current_state.right_margin[CANNIBAL] - 1, current_state.right_margin[MISSIONARY]]
m_esq = [current_state.left_margin[CANNIBAL] + 1, current_state.left_margin[MISSIONARY]]
estado_expandido = State(m_dir, m_esq, Canoe.LEFT, current_state)
return estado_expandido
def fill_restrictive(window,
worlds,
base_state_list,
locations,
itempool,
count=-1):
unplaced_items = []
# loop until there are no items or locations
while itempool and locations:
# if remaining count is 0, return. Negative means unbounded.
if count == 0:
break
# get and item and remove it from the itempool
item_to_place = itempool.pop()
random.shuffle(locations)
# generate the max states that include every remaining item
# this will allow us to place this item in a reachable location
maximum_exploration_state_list = State.get_states_with_items(
base_state_list, itempool + unplaced_items)
# perform_access_check checks location reachability
perform_access_check = True
if worlds[0].check_beatable_only:
# if any world can not longer be beatable with the remaining items
# then we must check for reachability no matter what.
# This way the reachability test is monotonic. If we were to later
# stop checking, then we could place an item needed in one world
# in an unreachable place in another world
perform_access_check = not State.can_beat_game(
maximum_exploration_state_list)
# find a location that the item can be places. It must be a valid location
# in the world we are placing it (possibly checking for reachability)
spot_to_fill = None
for location in locations:
if location.can_fill(
maximum_exploration_state_list[location.world.id],
item_to_place, perform_access_check):
# for multiworld, make it so that the location is also reachable
# in the world the item is for. This is to prevent early restrictions
# in one world being placed late in another world. If this is not
# done then one player may be waiting a long time for other players.
if location.world.id != item_to_place.world.id:
try:
source_location = item_to_place.world.get_location(
location.name)
if not source_location.can_fill(
maximum_exploration_state_list[
item_to_place.world.id], item_to_place,
perform_access_check):
# location wasn't reachable in item's world, so skip it
continue
except KeyError:
# This location doesn't exist in the other world, let's look elsewhere.
# Check access to whatever parent region exists in the other world.
can_reach = True
parent_region = location.parent_region
while parent_region:
try:
source_region = item_to_place.world.get_region(
parent_region.name)
can_reach = source_region.can_reach(
maximum_exploration_state_list[
item_to_place.world.id])
break
except KeyError:
parent_region = parent_region.entrances[
0].parent_region
if not can_reach:
continue
if location.disabled == DisableType.PENDING:
if not State.can_beat_game(maximum_exploration_state_list):
continue
location.disabled = DisableType.DISABLED
# location is reachable (and reachable in item's world), so place item here
spot_to_fill = location
break
# if we failed to find a suitable location
if spot_to_fill is None:
# if we specify a count, then we only want to place a subset, so a miss might be ok
if count > 0:
# don't decrement count, we didn't place anything
unplaced_items.append(item_to_place)
continue
else:
# we expect all items to be placed
raise FillError(
'Game unbeatable: No more spots to place %s [World %d]' %
(item_to_place, item_to_place.world.id))
# Place the item in the world and continue
spot_to_fill.world.push_item(spot_to_fill, item_to_place)
locations.remove(spot_to_fill)
window.fillcount += 1
window.update_progress(5 + (
(window.fillcount / window.locationcount) * 30))
# decrement count
count -= 1
# assert that the specified number of items were placed
if count > 0:
raise FillError(
'Could not place the specified number of item. %d remaining to be placed.'
% count)
# re-add unplaced items that were skipped
itempool.extend(unplaced_items)
def is_move_in_map(self, state, movement):
move_state = State.copy(state)
move_state.move(movement)
return self.is_valid_state(move_state)
def sendOneMissionaryToTheRight(self, estado_atual):
m_dir = [estado_atual.right_margin[CANNIBAL], estado_atual.right_margin[MISSIONARY] + 1]
m_esq = [estado_atual.left_margin[CANNIBAL], estado_atual.left_margin[MISSIONARY] - 1]
estado_expandido = State(m_dir, m_esq, Canoe.RIGHT, estado_atual)
return estado_expandido
class Game():
def __init__(self,
puzzle,
size,
cost,
heuristic=heuristics.manhattan,
max_size=8):
self._size = size
self._max_size = max_size if max_size > 8 else 0
self._start = State(puzzle, size)
goal = Game.make_goal(size)
self._goal = State(utils._convert_list_to_dict(goal, size), size)
self._heuristic = heuristic
self.cost = cost
self._start.calculate_heuristics(self._goal, self._heuristic,
self.cost)
self.is_solvable = self._is_solvable()
self._start_time = time()
self._max_states = 0
self._total_states = 0
self._n_loop = 0
self.results = None
self._open_heap = []
def __str__(self):
return "Puzzle: \n%s" % self._start
def _is_solvable(self):
'''
Source:
- http://www.cs.bham.ac.uk/~mdr/teaching/modules04/java2/TilesSolvability.html
- https://math.stackexchange.com/questions/293527/how-to-check-if-a-8-puzzle-is-solvable
'''
def get_n_inversions(puzzle, size):
ret = 0
for i in range(size):
if puzzle[i] == 0:
continue
for j in range(i + 1, size):
if puzzle[j] != 0 and puzzle[i] > puzzle[j]:
ret += 1
return ret
puzzle = utils._convert_to_array(self._start.state,
self._size).flatten()
sorted_puzzle = utils._convert_to_array(self._goal.state,
self._size).flatten()
size = len(puzzle)
i1 = get_n_inversions(puzzle, size) + (list(puzzle).index(0)
if self._size % 2 == 0 else 0)
i2 = get_n_inversions(sorted_puzzle, size) + (
list(sorted_puzzle).index(0) if self._size % 2 == 0 else 0)
return i1 % 2 == i2 % 2
def _generate_results(self):
self.results = []
elem = next(
(node for node in list(self._closed_list) if node == self._goal),
None)
while elem != None:
if elem.parent:
self.results.append(elem.parent)
elem = elem.parent
self.results.reverse()
size = len(self.results)
[result.set_direction(self._goal)\
if index + 1 == size\
else result.set_direction(self.results[index + 1])\
for index, result in enumerate(self.results)]
if self.is_solvable:
print("time n-puzzle {:.2f}s".format(time() - self._start_time))
def _pop_max(self, size):
n = size - self._max_size
if self._max_size < 0 or n < 1:
return
to_delete = nlargest(n, self._open_heap)
self._open_heap = [x for x in self._open_heap if x not in to_delete]
heapify(self._open_heap)
def solve(self):
current = None
heappush(self._open_heap, self._start)
self._closed_list = set()
n_states = 1
while n_states > 0:
current = heappop(self._open_heap)
self._closed_list.add(current)
if current == self._goal:
break
neighbours = current.expand()
self._total_states += len(neighbours)
for neighbour in neighbours:
if neighbour in self._closed_list:
continue
neighbour.calculate_heuristics(self._goal, self._heuristic,
self.cost)
heappush(self._open_heap, neighbour)
self._n_loop += 1
n_states = len(self._open_heap)
self._pop_max(n_states)
self._max_states = max(
self._max_size if self._max_size else n_states,
self._max_states)
self._generate_results()
def _print_states_in_file(self, filename="results.txt"):
try:
with open(filename, 'w') as f:
for result in self.results:
f.write("%s\n" % result)
f.write("%s\n" % self._goal)
except PermissionError:
print("Error: Could not write in file: %s" % filename)
def print_results(self):
to_print = {
"Number of moves: ": len(self.results),
"Number of loops: ": self._n_loop,
"Time complexity: ": self._total_states,
"Size complexity: ": self._max_states
}
print("\n".join("%s%s" % (key, value)
for (key, value) in to_print.items()))
self._print_states_in_file()
def get_winning_path(self):
def moving_number(result):
for direction, (y, x) in directions.items():
if result.direction == direction:
return result.state[(result.blank['x'] + x,
result.blank['y'] + y)]
if self.results == None:
return None
return [(result.direction, moving_number(result))
for result in self.results]
@staticmethod
def make_goal(s):
ts = s * s
puzzle = [-1 for i in range(ts)]
cur = 1
x = 0
ix = 1
y = 0
iy = 0
while True:
puzzle[x + y * s] = cur
if cur == 0:
break
cur += 1
if x + ix == s or x + ix < 0 or (ix != 0
and puzzle[x + ix + y * s] != -1):
iy = ix
ix = 0
elif y + iy == s or y + iy < 0 or (iy != 0
and puzzle[x +
(y + iy) * s] != -1):
ix = -iy
iy = 0
x += ix
y += iy
if cur == s * s:
cur = 0
return puzzle
class Environment:
def __init__(self, portnumber, scene, trajectory_file, order,
action_values):
self._portnumber = portnumber
self._scene = scene
self._order = order
self._handles_dict = {}
self._rad = lambda x: x * (pi / 180)
self._action_values = action_values
self._actions = list(
itertools.product([
self._action_values[0], self._action_values[1],
self._action_values[2]
],
repeat=3))
self._num_actions = len(self._actions)
#print(self._actions.index((0.0, 0.0, 0.0)))
self._state = State()
self._num_states = 28
self._refZMP = ReferenceZMP()
self._reward = 0
self._done = False
self._quit = False
self._sphere_height = 0.0
self._firstSim = True
self._range = 5
self._floor = 'ResizableFloor_5_25'
self._rightSen = ['Right_br', 'Right_bl', 'Right_fr', 'Right_fl']
self._leftSen = ['Left_br', 'Left_bl', 'Left_fr', 'Left_fl']
self._JointsSca1 = ['rAnkleP6', 'lAnkleP6', 'lHipPit2', 'rHipPit2']
self._JointsSca2 = ['rKneeee4', 'lKneeee4']
self._JointsSca3 = ['lAnkleR5', 'rAnkleR5', 'lHipRol3', 'rHipRol3']
# self._offset = [0, -9, -15, 10, 0, -20,
# 0, -9, -15, 10, 0, -20]
self._offset = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self._walking_data = _DataFromCSV(trajectory_file, order, self._offset)
self._walking_data = _AddInitialPos(self._walking_data, self._offset,
self._order)
self.clientID = -1
def _connect(self):
vrep.simxFinish(-1)
self.clientID = vrep.simxStart('127.0.0.1', self._portnumber, True,
True, 5000, 5)
if self.clientID != -1:
print("Connected to remote API server!")
vrep.simxSetIntegerSignal(self.clientID, 'asdf', 1,
vrep.simx_opmode_oneshot)
else:
sys.exit('Could not connect!')
def _reset(self):
if self._firstSim:
self._connect()
vrep.simxLoadScene(self.clientID, self._scene, 0,
vrep.simx_opmode_blocking)
else:
vrep.simxStopSimulation(self.clientID, vrep.simx_opmode_oneshot)
number_of_iteration_not_stopped = 0
while True:
vrep.simxGetIntegerSignal(self.clientID, 'asdf',
vrep.simx_opmode_blocking)
e = vrep.simxGetInMessageInfo(
self.clientID, vrep.simx_headeroffset_server_state)
not_stopped = e[1] & 1
if not not_stopped:
print("STOPPED")
break
else:
if number_of_iteration_not_stopped % 10 == 0:
print(number_of_iteration_not_stopped, ': not stopped')
number_of_iteration_not_stopped += 1
if number_of_iteration_not_stopped > 100:
self._firstSim = True
self._connect()
vrep.simxLoadScene(self.clientID, self._scene, 0,
vrep.simx_opmode_blocking)
errorCode, handles, intData, floatData, stringData = vrep.simxGetObjectGroupData(
self.clientID, vrep.sim_appobj_object_type, 0,
vrep.simx_opmode_blocking)
self._handles_dict = dict(zip(stringData, handles))
tmp = []
self.new_trajectory = {key: list(tmp) for key in self._order}
for el in self._order:
vrep.simxSetJointTargetPosition(self.clientID,
self._handles_dict[el], 0,
vrep.simx_opmode_oneshot)
vrep.simxGetJointPosition(self.clientID, self._handles_dict[el],
vrep.simx_opmode_streaming)
#
vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot)
for i in range(self._range):
if self._firstSim:
print("FirStSim iteration: ", i)
for el in self._order:
vrep.simxSynchronousTrigger(self.clientID)
vrep.simxSetJointTargetPosition(
self.clientID, self._handles_dict[el],
self._rad(self._walking_data[el][i]),
vrep.simx_opmode_streaming)
else:
print("Reset iteration: ", i)
for el in self._order:
vrep.simxSynchronousTrigger(self.clientID)
vrep.simxSetJointTargetPosition(
self.clientID, self._handles_dict[el],
self._rad(self._walking_data[el][i]),
vrep.simx_opmode_streaming)
if i == (self._range - 2):
lastposlist = []
for jo in self._order:
errorCode, lastpostmp = vrep.simxGetJointPosition(
self.clientID, self._handles_dict[jo],
vrep.simx_opmode_streaming)
lastposlist.append(lastpostmp)
rightSenValues, leftSenValues = _GetSensorValues(
self.clientID, self._rightSen, self._leftSen, self._handles_dict)
# print("RightSensors: ", rightSenValues)
# print("LeftSensors: ", leftSenValues)
rightSenSum = np.sum(np.asarray(rightSenValues))
leftSenSum = np.sum(np.asarray(leftSenValues))
zmpX, zmpY = _GetZmp(self.clientID, self._handles_dict, self._floor,
rightSenValues, leftSenValues, rightSenSum,
leftSenSum)
# print("ZMPX: ", zmpX)
# print("ZMPy: ", zmpY)
errorCode, sphere = vrep.simxGetObjectPosition(
self.clientID, self._handles_dict['Sphere'],
self._handles_dict[self._floor], vrep.simx_opmode_streaming)
self._sphere_height = sphere[2]
# print("Sphere height: ", self._sphere_height)
CurrentPos, CurrentVel = _GetJointValues(self.clientID,
self._handles_dict,
self._order, lastposlist)
# print("Position: ", CurrentPos)
# print("Velocity: ", CurrentVel)
self._state.Reset()
self._state.SetPosVel(CurrentPos, CurrentVel)
if self._firstSim:
self._firstSim = False
self._range = 15
self._reset()
self._done = False
self._quit = False
return self._state.GetState()
def _step(self, action, index, totreward):
next_state = State()
self._reward = 0
current_action = list(self._actions[action])
# print("Current action", current_action)
# print("Current state:", len(self._state.GetState()))
for el in [
'rHipRol3', 'lHipRol3', 'rHipPit2', 'lHipPit2', 'rHipYaw1',
'lHipYaw1', 'rKneeee4', 'lKneeee4', 'rAnkleP6', 'lAnkleP6',
'rAnkleR5', 'lAnkleR5'
]: #self._order:
if el in self._JointsSca1:
vrep.simxSynchronousTrigger(self.clientID)
vrep.simxSetJointTargetPosition(
self.clientID, self._handles_dict[el],
self._rad(
(self._walking_data[el][index]) *
(self._state.GetState()[-3] + current_action[0])),
vrep.simx_opmode_streaming)
#print("error: ", e,"ToJoint: ", self._rad((self._walking_data[el][index]) * (self._state.GetState()[-3] + current_action[0])))
# print("Joint - sca1: ", el)
# print("Offset: ", self._offset[self._order.index(el)])
# print("Scale: ", self._state.GetState()[-3])
elif el in self._JointsSca2:
vrep.simxSynchronousTrigger(self.clientID)
vrep.simxSetJointTargetPosition(
self.clientID, self._handles_dict[el],
self._rad(
(self._walking_data[el][index]) *
(self._state.GetState()[-2] + current_action[1])),
vrep.simx_opmode_streaming)
#print("error: ", e, "ToJoint: ", self._rad((self._walking_data[el][index]) * (self._state.GetState()[-2]+current_action[1])))
# print("Joint - sca2: ", el)
# print("Offset: ", self._offset[self._order.index(el)])
# print("Scale: ", self._state.GetState()[-3])
elif el in self._JointsSca3:
vrep.simxSynchronousTrigger(self.clientID)
vrep.simxSetJointTargetPosition(
self.clientID, self._handles_dict[el],
self._rad(
(self._walking_data[el][index]) *
(self._state.GetState()[-1] + current_action[2])),
vrep.simx_opmode_streaming)
#print("error: ", e,"ToJoint: ", self._rad((self._walking_data[el][index]) * (self._state.GetState()[-1] + current_action[2])))
# print("Joint - sca3: ", el)
# print("Offset: ", self._offset[self._order.index(el)])
# print("Scale: ", self._state.GetState()[-3])
else:
vrep.simxSynchronousTrigger(self.clientID)
vrep.simxSetJointTargetPosition(
self.clientID, self._handles_dict[el],
self._rad(self._walking_data[el][index]),
vrep.simx_opmode_streaming)
#print("error: ", e,"ToJoint: ", self._rad(self._walking_data[el][index]))
# print("Joint - no sca: ", el)
# print("Offset: ", self._offset[self._order.index(el)])
# print("Scale: no scale")
CurrentPos, CurrentVel = _GetJointValues(self.clientID,
self._handles_dict,
self._order,
self._state.GetState()[0:12])
# print(self._state.GetState()[-4:])
next_state.SetState(CurrentPos, CurrentVel, index,
self._state.GetState()[-3:] + current_action)
# print("next state:", len(next_state.GetState()))
# print(next_state.GetState()[-4:])
for key, val in next_state.__dict__.items():
self._state.__dict__.__setitem__(key, val)
rightSenValues, leftSenValues = _GetSensorValues(
self.clientID, self._rightSen, self._leftSen, self._handles_dict)
rightSenSum = np.sum(np.asarray(rightSenValues))
leftSenSum = np.sum(np.asarray(leftSenValues))
CurrentZmpX, CurrentZmpY = _GetZmp(self.clientID, self._handles_dict,
self._floor, rightSenValues,
leftSenValues, rightSenSum,
leftSenSum)
errorCode, sphere = vrep.simxGetObjectPosition(
self.clientID, self._handles_dict['Sphere'],
self._handles_dict[self._floor], vrep.simx_opmode_streaming)
self._sphere_height = sphere[2]
self._reward, self._quit, self._done = self._refZMP.GetReward(
self._sphere_height, CurrentZmpX, CurrentZmpY, index, totreward)
return next_state.GetState(), self._reward, self._done, self._quit
class Driver:
def __init__(self):
self.state = State(0)
self.params = Params()
self.status = Status(self.params)
self.sleep_time = 1
self.pwm_read = PwmRead(self.params.pin_mode_in,
self.params.pin_servo_in,
self.params.pin_thruster_in)
self.pwm_out = PwmOut(self.params.pin_servo_out,
self.params.pin_thruster_out)
self.pid = PositionalPID()
self.logger = Logger()
self.logger.open()
def load(self, filename):
print('loading', filename)
f = open(filename, "r")
line = f.readline()
line = f.readline()
self.state.time_limit = int(line.split()[1]) # Time Limit
line = f.readline()
self.sleep_time = float(line.split()[1]) # Sleep time
line = f.readline()
line = f.readline()
line = f.readline()
p = float(line.split()[1]) # P
line = f.readline()
i = float(line.split()[1]) # I
line = f.readline()
d = float(line.split()[1]) # D
self.pid.setPID(p, i, d)
line = f.readline()
line = f.readline()
line = f.readline()
num = int(line.split()[1]) # Number of waypoints
line = f.readline()
for i in range(num):
line = f.readline()
self.status.waypoint.addPoint(float(line.split()[0]),
float(line.split()[1]))
f.close()
return
def doOperation(self):
while self.state.inTimeLimit():
self.readPWM()
self.readGps()
mode = self.getMode()
if mode == 'RC':
self.remoteControl()
elif mode == 'AN':
self.autoNavigation()
self.outPWM()
self.printLog()
time.sleep(self.sleep_time)
return
def getMode(self):
return self.status.mode
def updateMode(self):
mode_duty_ratio = self.pwm_read.pulse_width[0]
if mode_duty_ratio < 1500:
self.status.mode = 'RC'
elif mode_duty_ratio >= 1500:
self.status.mode = 'AN'
return
def readGps(self):
self.status.readGps()
self.updateMode()
#if self.status.isGpsError():
#self.status.mode = 'RC'
return
def updateStatus(self):
status = self.status
status.calcTargetDirection()
status.calcTargetDistance()
status.updateTarget()
return
def readPWM(self):
self.pwm_read.measurePulseWidth()
self.pwm_out.servo_pulsewidth = self.pwm_read.pulse_width[1]
self.pwm_out.thruster_pulsewidth = self.pwm_read.pulse_width[2]
return
def outPWM(self):
self.pwm_out.updatePulsewidth()
return
def autoNavigation(self):
self.updateStatus()
boat_direction = self.status.boat_direction
target_direction = self.status.target_direction
servo_pulsewidth = self.pid.getStepSignal(target_direction,
boat_direction)
self.pwm_out.servo_pulsewidth = servo_pulsewidth
self.pwm_out.thruster_pulsewidth = 1700
return
def remoteControl(self):
# Do nothing
return
def printLog(self):
timestamp_string = self.status.timestamp_string
mode = self.getMode()
latitude = self.status.latitude
longitude = self.status.longitude
speed = self.status.speed
direction = self.status.boat_direction
servo_pw = self.pwm_out.servo_pulsewidth
thruster_pw = self.pwm_out.thruster_pulsewidth
t_direction = self.status.target_direction
t_distance = self.status.target_distance
target = self.status.waypoint.getPoint()
t_latitude = target[0]
t_longitude = target[1]
print(timestamp_string)
print(
'[%s MODE] LAT=%.7f, LON=%.7f, SPEED=%.2f [km/h], DIRECTION=%lf' %
(mode, latitude, longitude, speed, direction))
print('DUTY (SERVO, THRUSTER): (%lf, %lf) [us]' %
(servo_pw, thruster_pw))
print('TARGET (LATITUDE, LONGITUDE): (%lf, %lf)' %
(t_latitude, t_longitude))
print('TARGET (DIRECTION, DISTANCE): (%lf, %lf [m])' %
(t_direction, t_distance))
print('')
log_list = [
timestamp_string, mode, latitude, longitude, direction, t_latitude,
t_longitude, servo_pw, thruster_pw, t_direction, t_distance
]
self.logger.write(log_list)
return
def finalize(self):
self.logger.close()
self.pwm_out.finalize()
return
sub_sub = sheet.cell_value(4,i).replace("\n","")
# remove number
sub_sub = sub_sub[5:]
sub_sub_categories.append(sub_sub)
# eq for all categories
print(main_categories.__len__(), sub_categories.__len__(), sub_sub_categories.__len__())
save_size = 100
states = []
# read rows for states
for row in range(5,sheet.nrows):
state_id = sheet.cell_value(row, 1)
state_name = sheet.cell_value(row, 2).replace("OBČINA","").replace("MESTNA","")
stateClass = State(state_id, state_name, year)
previous_main = ""
previous_sub = ""
previous_sub_sub = ""
for col in range(3, sheet.ncols):
search_index = col - 3
main_cat = main_categories[search_index]
sub_cat = sub_categories[search_index]
sub_sub_cat = sub_sub_categories[search_index]
value = sheet.cell_value(row,col)
if value == 0.0:
continue
if main_cat == 'SKUPAJ VSE DEJAVNOSTI(OD 01 DO 10)':
class environment:
_grid = [[]]
_powerX, _powerY = 4, 7
_power = State(_powerX, _powerY)
_startX, _startY = 0, 0
_start = State(_startX, _startY)
#init varibale only, will update in generateGrid function
_goal = State(_startX, _startY)
_rows = _cols = 8
def __init__(self):
self._grid = self.generateGrid()
def generateGrid(self):
grid = [[CellState.Open for i in range(self._rows)]
for j in range(self._cols)]
#set "Got to Power Position" blocks
grid[0][7] = grid[5][1] = grid[6][3] = CellState.GOTOPower
#set "Restart" blocks
grid[3][0] = grid[3][6] = CellState.Restart
#set "Wall" blocks
grid[2][1] = grid[2][2] = CellState.Wall
grid[1][6] = grid[1][7] = CellState.Wall
grid[1][4] = grid[2][4] = grid[3][4] = grid[4][4] = CellState.Wall
grid[4][5] = grid[4][6] = CellState.Wall
grid[4][2] = grid[5][2] = grid[6][2] = grid[7][2] = CellState.Wall
grid[6][4] = grid[6][5] = CellState.Wall
#set "Power position" blocks
grid[self._powerX][self._powerY] = CellState.Power
#set "Start Position" blocks
grid[self._startX][self._startY] = CellState.Start
#set "Goal" blocks (x>5 and x>6 but not 5,6 as wall)
x, y = 0, 0
while True:
x, y = randint(5, len(grid[0]) - 1), randint(5, len(grid[1]) - 1)
if (not (x == 6 and y == 5)):
break
self._goal = State(x, y)
grid[x][y] = CellState.Goal
return grid
def nextState(self, currentState, action):
returnState = State(currentState.x, currentState.y)
if (action == Action.UP and currentState.x < self._rows - 1):
returnState.x = currentState.x + 1
elif (action == Action.Down and currentState.x > 0):
returnState.x = currentState.x - 1
elif (action == Action.Left and currentState.y > 0):
returnState.y = currentState.y - 1
elif (action == Action.Right and currentState.y < self._cols - 1):
returnState.y = currentState.y + 1
return returnState
def cellState(self, state):
return self._grid[state.x][state.y]
def distance(self, currentState, nextState):
return math.sqrt(((currentState.x - nextState.x)**2) +
((currentState.y - nextState.y)**2))
def reached(self, state):
return (self._goal == state)
def action(self, currentState, action):
'''
If next state is open then
cost will be euclidean distance from
start state to current state + current state to goal state
and return next state
If next state is wall then
Its very high cost 100 and return current state only
If next state is restart then
cost will be euclidean distance from
start state to current state + start state to goal state
and return start state
If next state is Go to Power then
cost will be euclidean distance from
start state to current state + power state to goal state
and return power state
'''
nxtState = self.nextState(currentState, action)
nxtStateValue = self.cellState(nxtState)
#default Costs init for max(wall state)
cost = 1000
aheadCost = 0
currCost = self.distance(self._start, currentState)
if ((nxtStateValue == CellState.Wall) or (nxtState == currentState)):
nxtState = currentState
aheadCost = cost
elif (nxtStateValue == CellState.Open
or nxtStateValue == CellState.Start
or nxtStateValue == CellState.Power):
aheadCost = self.distance(currentState, self._goal)
elif (nxtStateValue == CellState.Restart):
aheadCost = self.distance(self._start, self._goal)
nxtState = self._start
elif (nxtStateValue == CellState.GOTOPower):
aheadCost = self.distance(self._power, self._goal)
nxtState = self._power
cost = currCost + aheadCost
return (nxtState, cost)
def __init__(self, initialPattern):
# An 8 puzzle has a State object currentState representing the
# state puzzle is currently in.
self.currentState = State(initialPattern)
class EightPuzzle:
# This class simulates the 8 puzzle.
# Variables: currentState
# Methods: findPath
# solvable
# shufflePuzzle
# AStar
def __init__(self, initialPattern):
# An 8 puzzle has a State object currentState representing the
# state puzzle is currently in.
self.currentState = State(initialPattern)
def solvable(self):
'''Returns true if the goal is reachable from currentState'''
# Some states of the 8 Puzzle can't get to the goal state, for
# detecting them we compute the inversion count of the current
# state's pattern. This value has to be even for a state to be
# solvable.
state = self.currentState
counter = 0
for i in range(9):
for j in range(i, 9):
if state[i] != 9 and state[j] != 9 and state[i] > state[j]:
counter += 1
return counter % 2 == 0
def shufflePuzzle(self):
'''Shuffles the currentState's Pattern'''
# Instead of creating a new EightPuzzle object for a new game,
# we can simply shuffle the pattern of the current state, but
# when shuffling we should avoid creating an unreachable state.
shuffle(self.currentState.pattern)
while not self.solvable():
shuffle(self.currentState.pattern)
def AStar(self):
'''Returns the minimum costing result from currenState and the
time spent for computing it.'''
# This part uses the A* algorithm to find the best solution for
# the puzzle. The algorithm is accompanied by a priority queue
# implemented by a fibonacci heap with inserting complexity of
# O(1) and popping the minimum with O(logn). The fibonacci heap
# mod by a third party is used here
# (https://pypi.python.org/pypi/fibonacci-heap-mod).
startTime = time.time()
visited = list(False for i in range(363000))
queue = fh.Fibonacci_heap()
queue.enqueue(self.currentState, self.currentState.F())
visited[self.currentState.hash()] = True
while True:
current = queue.min().get_value()
queue.dequeue_min()
if current.goalTest():
finTime = time.time()
return current, finTime - startTime
suc = current.getSuccessors()
for s in suc:
if not visited[s.hash()]:
visited[s.hash()] = True
queue.enqueue(s, s.cost + s.heuristic)
def findPath(self, state):
'''Returns a list containing the states for getting from
currentState to state.'''
# When the goal state is reached by AStar the path to getting
# to it from current node is computed using the father variale
# in each states.
path = []
while (state.father != None):
path.insert(0, state)
state = state.father
path.insert(0, state)
return path
def sendOneFromEachToTheLeft(self, estado_atual):
m_dir = [estado_atual.right_margin[CANNIBAL] - 1, estado_atual.right_margin[MISSIONARY] - 1]
m_esq = [estado_atual.left_margin[CANNIBAL] + 1, estado_atual.left_margin[MISSIONARY] + 1]
estado_expandido = State(m_dir, m_esq, Canoe.LEFT, estado_atual)
return estado_expandido
def _stateFactory(self, name):
from State import State
return State(self._defaultState)
