def initAgent(self):
# initialise agent - may throw BadAgentException
try:
dirname_agent = os.path.dirname(self.cfg.get("AGENT_FILE"))
basename_agent = os.path.basename(self.cfg.get("AGENT_FILE"))
if not dirname_agent:
# if no directory is specified, assume ../maps/
dirname_agent = 'agents/'
else:
dirname_agent = dirname_agent + '/'
agentfile = dirname_agent + basename_agent
logging.info("Agent to be used: {}".format(agentfile))
self.loadAgent(agentfile)
except:
raise p4.BadAgentException()
def stepGenerator(self, current, target):
"""
Generator referenced by self.gen
Passes mapref, currentpos, goal, timeremaining to Agent
Retrieves and yields next step on search path.
Note: gen maintains state for supplied coordinates but updates pathCost,
pathSteps, pathTime and timeremaining.
p4 uses this same generator for command line and GUI search.
:param current: Current position.
:type current: (int, int)
:param target: Target position.
:type target: (int,int)
:rtype : (int,int)
"""
while True:
target = self.cfg["GOAL"]
if self.gotscript:
if self.pathsteps in self.tc:
terrain, topleft, botright = self.tc.get(self.pathsteps)
pointlist = p4.getBlock(topleft, botright)
# change logical map
self.lmap.setPoints(terrain, pointlist)
# change in gui, if running
try:
self.gui.clearPoints(pointlist)
except:
pass
if self.pathsteps in self.gc:
target = self.lmap.nearestPassable(
self.gc.get(self.pathsteps))
self.setGoal(target)
if self.pathsteps in self.ac:
newpos = p4.addVectors(current,
self.ac.get(self.pathsteps))
current = self.lmap.nearestPassable(newpos)
yield newpos # scripted move is not costed or counted
try:
clockstart = timer() # start timer
nextreturn = self.agent.getNext(self.lmap, current, target,
self.timeremaining)
logging.debug(nextreturn)
clockend = timer()
except:
raise p4.BadAgentException()
# Only time first step unless operating in 'realtime' mode. If this is realtime, and the step involved no reasoning (took less than FREE_TIME) do not count its time
if ((not self.cfg.get("REALTIME") and self.pathtime)
or ((clockend - clockstart) < self.cfg.get("FREE_TIME"))):
steptime = 0
else:
steptime = (clockend - clockstart)
previous = current
# Agent may have returned single step or step plus sets of coords and colors.
# Try/except distinguishes between them
try:
x = nextreturn[1][0] # fails if nextreturn is coord only
current, configsets = nextreturn
except TypeError:
current = nextreturn
finally:
self.pathsteps += 1
self.pathtime += steptime
self.timeremaining -= steptime
# We now consider every door open. In fact, we are just computing the final path cost, we are not
# searching for it. So is reasonable to assume that I have all the keys along the path.
allkeys = [k for k in self.lmap.key_and_doors.keys()]
cost = self.lmap.getCost(current, previous, allkeys)
# self.pathcost += self.lmap.getCost(current, previous, allkeys)
if not self.lmap.isAdjacent(current, previous):
cost = float('inf')
# agent has made illegal move:
if cost == float('inf'):
self.updateStatus(
"Illegal move at " + str(current) + ":" +
str(self.lmap.getCost(current)), False)
if self.cfg["STRICT"]:
current = previous
nextreturn = previous
self.pathsteps -= 1
cost = 0
self.pathcost += cost
yield nextreturn