def randomizePositions(self, seed=None):
# seed = 0 (reinit), seed = None (random), seed = num (seed it)
if seed == 0: # Reinitialize to something random:
seed = random.random() * 100000 + time.time()
if seed != None: # use a specific seed:
random.seed(seed)
# Make the robots far from these positions:
positions = [(2, 2), (7, 7)] # position of lights
for n in range(len(engines)):
engine = engines[n]
# Put each robot in a random location:
x, y, t = (1 + random.random() * 7,
1 + random.random() * 7,
random.random() * math.pi * 2)
minDistance = min([distance(x, y, x2, y2) for (x2,y2) in positions])
# make sure they are far enough apart:
while minDistance < 2: # in meters
x, y, t = (1 + random.random() * 7,
1 + random.random() * 7,
random.random() * math.pi * 2)
minDistance = min([distance(x, y, x2, y2)
for (x2,y2) in positions])
positions.append( (x,y) )
engine.robot.simulation[0].setPose(n, x, y, t)
sim.redraw()
def randomizePositions(self):
positions = [(100, 100)]
for n in range(len(engines)):
engine = engines[n]
# Put each robot in a random location:
x, y, t = 1 + random.random() * 7, 1 + random.random() * 7, random.random() * math.pi * 2
minDistance = min([distance(x, y, x2, y2) for (x2,y2) in positions])
while minDistance < 1:
x, y, t = 1 + random.random() * 7, 1 + random.random() * 7, random.random() * math.pi * 2
minDistance = min([distance(x, y, x2, y2) for (x2,y2) in positions])
positions.append( (x,y) )
engine.robot.simulation[0].setPose(n, x, y, t)
def quadSound(myLoc, lastS, location):
"""
Computes the sound heard for all quads.
myLoc: (x, y, t) of current robot; t where 0 is up
lastS: last sound made by robots
location: (x, y, t) of robots; t where 0 is up
"""
if not canHear:
return [0.5 for x in range(robotCount)]
# dist, freq for each robot; 0.5 is what is silence
closest = [(10000, 0.5), (10000, 0.5), (10000, 0.5), (10000, 0.5)]
for n in range(len(location)):
loc = location[n]
if loc != myLoc:
# distance between robots:
dist = distance(myLoc[0], myLoc[1], loc[0], loc[1])
# global angle from one robot to another:
# 0 to right, neg down (geometry-style)
angle = Polar(loc[0] - myLoc[0], loc[1] - myLoc[1], bIsPolar=0)
angle = angle.t # get theta
if angle < 0:
angle = math.pi + (math.pi + angle) # 0 to 2pi
angle = (angle - math.pi / 2) % (math.pi * 2)
q = quadNum(myLoc[2], angle)
#print n, myLoc[2], angle, q
# if shorter than previous, and less than N meters
if dist < closest[q][0] and dist < 1.0 / 2.7 * 7.0:
closest[q] = dist, lastS[n] # new closest
return [v[1] for v in closest] # return the sounds
def quadSound(myLoc, lastS, location):
"""
Computes the sound heard for all quads.
myLoc: (x, y, t) of current robot; t where 0 is up
lastS: last sound made by robots
location: (x, y, t) of robots; t where 0 is up
"""
if not canHear:
return [0.5 for x in range(robotCount)]
# dist, freq for each robot; 0.5 is what is silence
closest = [(10000,0.5), (10000,0.5), (10000,0.5), (10000,0.5)]
for n in range(len(location)):
loc = location[n]
if loc != myLoc:
# distance between robots:
dist = distance(myLoc[0], myLoc[1], loc[0], loc[1])
# global angle from one robot to another:
# 0 to right, neg down (geometry-style)
angle = Polar(loc[0] - myLoc[0], loc[1] - myLoc[1], bIsPolar=0)
angle = angle.t # get theta
if angle < 0:
angle = math.pi + (math.pi + angle) # 0 to 2pi
angle = (angle - math.pi/2) % (math.pi * 2)
q = quadNum(myLoc[2], angle)
#print n, myLoc[2], angle, q
# if shorter than previous, and less than N meters
if dist < closest[q][0] and dist < 1.0/2.7 * 7.0:
closest[q] = dist, lastS[n] # new closest
return [v[1] for v in closest] # return the sounds
def randomizePositions(self):
positions = [(2, 2), (7, 7)] # position of lights
for n in range(len(engines)):
engine = engines[n]
# Put each robot in a random location:
x, y, t = (1 + random.random() * 7, 1 + random.random() * 7,
random.random() * math.pi * 2)
minDistance = min(
[distance(x, y, x2, y2) for (x2, y2) in positions])
# make sure they are far enough apart:
while minDistance < 1:
x, y, t = (1 + random.random() * 7, 1 + random.random() * 7,
random.random() * math.pi * 2)
minDistance = min(
[distance(x, y, x2, y2) for (x2, y2) in positions])
positions.append((x, y))
engine.robot.simulation[0].setPose(n, x, y, t)
sim.redraw()
def randomizePositions(self, seed=None):
# seed = 0 (reinit), seed = None (random), seed = num (seed it)
if seed == 0: # Reinitialize to something random:
seed = random.random() * 100000 + time.time()
if seed != None: # use a specific seed:
random.seed(seed)
# Make the robots far from these positions:
positions = [(2, 2), (7, 7)] # position of lights
for n in range(len(engines)):
engine = engines[n]
# Put each robot in a random location:
x, y, t = (1 + random.random() * 7, 1 + random.random() * 7,
random.random() * math.pi * 2)
minDistance = min(
[distance(x, y, x2, y2) for (x2, y2) in positions])
# make sure they are far enough apart:
while minDistance < 2: # in meters
x, y, t = (1 + random.random() * 7, 1 + random.random() * 7,
random.random() * math.pi * 2)
minDistance = min(
[distance(x, y, x2, y2) for (x2, y2) in positions])
positions.append((x, y))
engine.robot.simulation[0].setPose(n, x, y, t)
sim.redraw()
def fitnessFunction(self, genePos, randomizeSeed=None):
# seed = -1 (cont), seed = 0 (reinit), seed = None (random),
# seed = num (seed it)
if self.pre_init: # initial generation fitness
return 1.0
fitness = 0.01
print "-------------------------------"
for count in range(numTrials):
subfitness = 0.01
if genePos >= 0: # -1 is test of last one
self.loadWeights(genePos)
if randomizeSeed == -1:
pass # continue
else:
# seed = 0 (reinit), seed = None (random), seed = num (seed it)
self.randomizePositions(randomizeSeed)
sim.resetPaths()
sim.redraw()
s = [0] * robotCount # each robot's sound
lastS = [0] * robotCount # previous sound
location = [(0, 0, 0) for v in range(robotCount)]
# Set the context values to zero:
for n in range(robotCount): # number of robots
engine = engines[n]
engine.brain.net.setContext(0.5)
engine.brain.net["output"].setActivations(0.5)
engine.brain.net["output"].resetActivationFlag()
for i in range(self.seconds *
(1000 / sim.timeslice)): # (10 per sec)
# ------------------------------------------------
# First, get the locations:
# ------------------------------------------------
for n in range(robotCount): # number of robots
location[n] = engines[0].robot.simulation[0].getPose(n)
# ------------------------------------------------
# Next, compute the move for each robot
# ------------------------------------------------
for n in range(robotCount): # number of robots
engine = engines[n]
engine.robot.update()
# compute quad for this robot
myLoc = location[n]
quad = quadSound(myLoc, lastS, location)
# print n, quad
# compute output for each robot
oTrans, oRotate, s[n] = engine.brain.propagate(quad)
# then set the move velocities:
engine.brain.step(oTrans, oRotate)
sim.robots[n].say(
"%.2f Heard: [%s]" %
(s[n], ",".join(map(lambda v: "%.2f" % v, quad))))
# ------------------------------------------------
# Save the sounds
# ------------------------------------------------
for n in range(robotCount): # number of robots
lastS = [v for v in s]
# ------------------------------------------------
# Make the move:
# ------------------------------------------------
sim.step(run=0)
# update tasks in GUI:
if isinstance(sim, TkSimulator):
while sim.tk.dooneevent(2):
pass
# Stop the robots from moving on other steps:
for n in range(robotCount): # number of robots
engine = engines[n]
engine.robot.stop()
# play a sound, need to have a sound thread running
for n in range(robotCount): # number of robots
st = "%s robot audio" % colors[n]
if sim.display[st] and sd != None:
sd.playTone(
int(
round(
engines[n].brain.net["output"].
activation[-1], 1) * 2000) + 500,
.1) # 500 - 2500
# ------------------------------------------------
# Compute fitness
# ------------------------------------------------
closeTo = [0, 0] # number of lights
# how many robots are close to which lights?
for n in range(len(engines)):
engine = engines[n]
# get global coords
x, y, t = engine.robot.simulation[0].getPose(n)
# which light?
dists = [
distance(light.x, light.y, x, y)
for light in sim.lights
]
if min(dists) <= 1.0:
if dists[0] < dists[1]:
closeTo[0] += 1
else:
closeTo[1] += 1
# ------------------------------------------------
# Finally, compute the fitness
# ------------------------------------------------
for total in closeTo:
subfitness += .25 * total
# only allow N per feeding area
if total > 2:
subfitness -= 1.0 * (total - 2)
subfitness = max(0.01, subfitness)
#print " ", closeTo, subfitness,
#raw_input(" press [ENTER]")
print " subfitness: %d: %.5f" % (genePos, subfitness)
fitness += subfitness
print "Total Fitness %d: %.5f" % (genePos, fitness)
return fitness
def fitnessFunction(self, genePos):
self.seconds = self.generation
if genePos >= 0:
self.loadWeights(genePos)
self.randomizePositions()
sim.resetPaths()
sim.redraw()
fitness = [0.0] * 4
s = [0] * 4 # each robot's sound
lastS = [0] * 4 # previous sound
location = [(0, 0, 0) for v in range(4)] # each robot's location
stallCount = 0
for i in range(self.seconds * (1000/sim.timeslice)): # simulated seconds (10/sec)
# get the locations
for n in range(4): # number of robots
location[n] = engines[0].robot.simulation[0].getPose(n)
# compute the move for each robot
for n in range(4): # number of robots
engine = engines[n]
engine.robot.update()
# compute quad for this robot
myLoc = location[n]
quad = quadSound(myLoc, lastS, location)
# compute output for each robot
oTrans, oRotate, s[n] = engine.brain.propagate(quad)
# then set the move velocities:
engine.brain.step(oTrans, oRotate)
# save the sounds
for n in range(4): # number of robots
lastS = [v for v in s]
# make the move:
sim.step(run=0)
sim.update_idletasks()
# play a sound, need to have a thread running
if self.playSound:
sd.playTone(int(round(engines[0].brain.net["output"].activation[-1], 1) * 2000) + 500, .1) # 500 - 2500
# real time?
time.sleep(.1)
# compute fitness
closeTo = [0, 0] # how many robots are close to which lights?
for n in range(len(engines)):
engine = engines[n]
# only allow two per feeding area
reading = max(engine.robot.light[0].values())
if reading >= 1.0:
# get global coords
x, y, t = engine.robot.simulation[0].getPose(n)
# which light?
dists = [distance(light.x, light.y, x, y) for light in sim.lights]
if dists[0] < dists[1]:
closeTo[0] += 1
else:
closeTo[1] += 1
for n in range(len(engines)):
if engines[n].robot.stall: continue
for total in closeTo:
if total <= 2:
fitness[n] += .25 * total
else:
fitness[n] -= 1.0
# ==================================================
# Check for all stalled:
stalled = 0
for n in range(4): # number of robots
engine = engines[n]
if engine.robot.stall: stalled += 1
if stalled == 4:
stallCount += 1
else:
stallCount = 0
if stallCount == 10:
break
fit = reduce(operator.add, fitness)
fit = max(0.01, fit)
print "Fitness %d: %.5f" % (genePos, fit)
return fit
def fitnessFunction(self, genePos, randomizeSeed=None):
# seed = -1 (cont), seed = 0 (reinit), seed = None (random),
# seed = num (seed it)
if self.pre_init: # initial generation fitness
return 1.0
fitness = 0.01
print "-------------------------------"
for count in range(numTrials):
subfitness = 0.01
if genePos >= 0: # -1 is test of last one
self.loadWeights(genePos)
if randomizeSeed == -1:
pass # continue
else:
# seed = 0 (reinit), seed = None (random), seed = num (seed it)
self.randomizePositions(randomizeSeed)
sim.resetPaths()
sim.redraw()
s = [0] * robotCount # each robot's sound
lastS = [0] * robotCount # previous sound
location = [(0, 0, 0) for v in range(robotCount)]
# Set the context values to zero:
for n in range(robotCount): # number of robots
engine = engines[n]
engine.brain.net.setContext(0.5)
engine.brain.net["output"].setActivations(0.5)
engine.brain.net["output"].resetActivationFlag()
for i in range(self.seconds * (1000/sim.timeslice)): # (10 per sec)
# ------------------------------------------------
# First, get the locations:
# ------------------------------------------------
for n in range(robotCount): # number of robots
location[n] = engines[0].robot.simulation[0].getPose(n)
# ------------------------------------------------
# Next, compute the move for each robot
# ------------------------------------------------
for n in range(robotCount): # number of robots
engine = engines[n]
engine.robot.update()
# compute quad for this robot
myLoc = location[n]
quad = quadSound(myLoc, lastS, location)
# print n, quad
# compute output for each robot
oTrans, oRotate, s[n] = engine.brain.propagate(quad)
# then set the move velocities:
engine.brain.step(oTrans, oRotate)
sim.robots[n].say("%.2f Heard: [%s]" %
(s[n],
",".join(map(lambda v: "%.2f" % v, quad))))
# ------------------------------------------------
# Save the sounds
# ------------------------------------------------
for n in range(robotCount): # number of robots
lastS = [v for v in s]
# ------------------------------------------------
# Make the move:
# ------------------------------------------------
sim.step(run=0)
# update tasks in GUI:
if isinstance(sim, TkSimulator):
while sim.tk.dooneevent(2): pass
# Stop the robots from moving on other steps:
for n in range(robotCount): # number of robots
engine = engines[n]
engine.robot.stop()
# play a sound, need to have a sound thread running
for n in range(robotCount): # number of robots
st = "%s robot audio" % colors[n]
if sim.display[st] and sd != None:
sd.playTone(int(round(engines[n].brain.net["output"].activation[-1], 1) * 2000) + 500, .1) # 500 - 2500
# ------------------------------------------------
# Compute fitness
# ------------------------------------------------
closeTo = [0, 0] # number of lights
# how many robots are close to which lights?
for n in range(len(engines)):
engine = engines[n]
# get global coords
x, y, t = engine.robot.simulation[0].getPose(n)
# which light?
dists = [distance(light.x, light.y, x, y)
for light in sim.lights]
if min(dists) <= 1.0:
if dists[0] < dists[1]:
closeTo[0] += 1
else:
closeTo[1] += 1
# ------------------------------------------------
# Finally, compute the fitness
# ------------------------------------------------
for total in closeTo:
subfitness += .25 * total
# only allow N per feeding area
if total > 2:
subfitness -= 1.0 * (total - 2)
subfitness = max(0.01, subfitness)
#print " ", closeTo, subfitness,
#raw_input(" press [ENTER]")
print " subfitness: %d: %.5f" % (genePos,subfitness)
fitness += subfitness
print "Total Fitness %d: %.5f" % (genePos, fitness)
return fitness
def update(self):
x = self.robot.x
y = self.robot.y
dist = distance( self.startX, self.startY, x, y)
if dist > 8.0:
self.goto('A1')
