def determine_order(self):
pos, com, success = self.perception
pos.append(array([0,0]))
pos = list(map(self.transform2, pos))
leaveorder = list(reversed(buildorder(pos)))
for i in range(0,len(leaveorder)):
if array_equal(array([0,0]),leaveorder[i][1]):
return i
i += 1
print("HOLYSHITWTFBBQ! (This should not happen)")
def behave(self, perception):
self.time += 1
self.perception = perception
pos, com, success = self.perception
if self.selected:
import code
code.interact(local=locals())
if self.cluster_radius is None:
self.cluster_radius = calculate_cluster_radius(len(pos) + 1)
if self.lastmove is not None and self.position is not None and success:
if self.phase == 2:
self.position += self.lastmove
elif self.phase > 2:
self.position += self.transform2(self.lastmove)
self.lastmove = None
if not self.awake:
if self.sleepCounter <= 0:
self.awake = True
self.sleepCounter = 0
else:
self.sleepCounter -= 1
if self.awake:
if self.phase == 1:
"""Move towards the center of mass"""
if self.internal_flag:
self.update_flags()
if not self.internal_flag:
if self.arrived() and self.all_bees_in_cluster(self.destination) and self.position is None:
self.update_flags(self.destination)
self.position = array([0,0]) - self.destination
else:
self.set_destination(self.center_of_bees())
else:
self.set_destination(None)
if self.consensus_reached() and self.internal_flag and self.way_out():
self.phase = 2
self.set_destination(None)
self.internal_flag = False
self.lower_flags()
elif self.phase == 2:
"""Move towards most popular [1,0]"""
d = floor(self.cluster_radius*3) + 1
direction = [array([0,d]), array([d,0]), array([0,-d]), array([-d,0])]
if self.destination is None and not self.internal_flag:
self.set_destination(array([d,0]))
self.debugInformation = "Moving to 3*cluster_radius,0"
if self.internal_flag:
self.update_flags()
if self.arrived() and (self.count_cluster_size_at(array([0,0])) == 0 or self.internal_flag) and not (self.consensus_reached() and len(com) > 0):
self.debugInformation = "Arrived and 0,0 is empty"
most_popular = max(direction, key = self.count_cluster_size_at)
if not self.internal_flag:
self.set_destination(most_popular)
else:
self.set_destination(None)
if self.arrived() and self.all_bees_in_cluster(self.destination) and not self.internal_flag:
self.update_flags(self.destination)
self.debugInformation = "Arrived at most popular and everyone is here"
if self.consensus_reached() and self.internal_flag and self.way_out():
self.phase = 3
self.set_destination(None)
self.debugInformation = "Everyone has raised flag"
self.internal_flag = False
self.lower_flags()
most_popular = min(direction, key=self.distance)
if array_equal(most_popular, array([0,d])):
self.swapxy = True
self.position = array([self.position[1],self.position[0]])
elif array_equal(most_popular, array([0,-d])):
self.swapxy = True
self.flipx = True
self.position = array([-self.position[1],self.position[0]])
elif array_equal(most_popular, array([-d,0])):
self.flipx = True
self.position = array([-self.position[0],self.position[1]])
elif self.phase == 3:
"""Move towards most popular [0,1]"""
d = floor(self.cluster_radius*3) + 1
direction = [array([0,d]), array([0,-d])]
if self.destination is None and not self.internal_flag:
self.set_destination(array([0,d]))
self.debugInformation = "Moving to 0,1"
if self.internal_flag:
self.update_flags()
if self.arrived() and (self.count_cluster_size_at(array([0,0])) == 0 or self.internal_flag) and not (self.consensus_reached() and len(com) > 0):
self.debugInformation = "Arrived and 0,0 is empty"
most_popular = max(direction, key = self.count_cluster_size_at)
if not self.internal_flag:
self.set_destination(most_popular)
else:
self.set_destination(None)
if self.arrived() and self.all_bees_in_cluster(self.destination) and not self.internal_flag:
self.update_flags(self.destination)
self.debugInformation = "Arrived at most popular and everyone is here"
if most_popular[1] < 0:
self.flipy = True
self.position = array([self.position[0],-self.position[1]])
self.order = self.determine_order()
if most_popular[1] < 0:
self.flipy = False
self.position = array([self.position[0],-self.position[1]])
if self.consensus_reached() and self.internal_flag and self.way_out():
self.phase = 4
self.set_destination(None)
self.debugInformation = "Everyone has raised flag"
self.internal_flag = False
most_popular = min(direction, key=self.distance)
if most_popular[1] < 0:
self.flipy = True
self.position = array([self.position[0],-self.position[1]])
elif self.phase == 4:
""" Move to formation """
d = floor(self.cluster_radius*3) + 1
self.debugInformation = "Phase 4"
if self.proper_formation is None:
""" Setting up formation build order """
self.proper_formation = [ (x[0], x[1] + array([0,-d])) for x in normalize(buildorder(self.formation))]
if all(map(lambda x: self.bee_at(x[1]), self.proper_formation)):
self.phase = 5
if self.destination is None and self.lower_orders_in_formation():
self.set_destination(self.proper_formation[self.order][1])
self.lastposition = self.position.copy()
self.stagnant = 0
if self.destination is None and all(map(lambda x: self.bee_at(x[1]), self.proper_formation[0:self.order])):
self.set_destination(self.proper_formation[self.order][1])
self.lastposition = self.position.copy()
self.stagnant = 0
else:
if array_equal(self.destination,self.position):
self.phase = 5
if array_equal(self.lastposition,self.position) and self.destination is not None:
self.stagnant += 1
if self.stagnant > 5:
self.set_destination(array([0,0]))
self.makingway = True
self.stagnant = 0
self.moving = 0
else:
self.stagnant = 0
if self.stagnant > -1:
self.lastposition = self.position.copy()
if self.makingway:
self.moving += 1
if self.moving > 3:
self.set_destination(self.proper_formation[self.order][1])
self.makingway = False
if self.selected:
import code
code.interact(local=locals())
else:
self.lastmove = None
if self.phase == 5:
return (None, {"flag":self.flag,"consensus":self.consensus,"phase":self.phase,"order":self.order})
else:
return (array([0,0]), {"flag":self.flag,"consensus":self.consensus,"phase":self.phase,"order":self.order})
if self.phase == 5:
self.lastmove = None
return (None, {"flag":self.flag,"consensus":self.consensus,"phase":self.phase,"order":self.order})
m = self.move().copy()
self.lastmove = m.copy()
return (m, {"flag":self.flag,"consensus":self.consensus,"phase":self.phase,"order":self.order})
