def test_part_two(self):
"Test part two example of Swarm object"
# 1. Create Spinlock object from text
myobj = swarm.Swarm(part2=True, text=aoc_20.from_text(PART_TWO_TEXT))
# 2. Check the part two
self.assertEqual(myobj.part_two(verbose=True), PART_TWO_RESULT)
def test_part_one(self):
"Test part one example of Swarm object"
# 1. Create Spinlock object from text
myobj = swarm.Swarm(text=aoc_20.from_text(PART_ONE_TEXT))
# 2. Check the part one result
self.assertEqual(myobj.part_one(verbose=True), PART_ONE_RESULT)
def main():
parser = argparse.ArgumentParser(description='Run PSO on a benchmark')
parser.add_argument('--pop',
default=120,
type=int,
help='swarm population size')
# parser.add_argument('--d', default=2, type=int,
# help='solution dimension size')
parser.add_argument('--c',
default=2.0,
type=float,
help='particle acceration constant')
parser.add_argument('--err_crit',
default=0.0000000001,
type=float,
help='error criteria for stopping PSO')
parser.add_argument('--iter_max',
default=10000,
type=float,
help='maximum iterations for stopping PSO')
parser.add_argument('--data',
required=True,
type=str,
help='required data csv')
args = parser.parse_args()
data = []
with open(args.data, 'rb') as csvfile:
reader = csv.reader(csvfile)
for index, row in enumerate(reader):
if index == 0:
continue
row = [float(i) for i in row]
data.append(row)
input_nodes = 2
# func = nn.NodeMap().evaluate
# func = benchmark.Benchmark().f6
n1 = nn.NodeMap(input_node_population=input_nodes,
latent_node_population=10)
n1.construct_map()
d = n1.calculate_dimensions()
func = n1.train
sw = swarm.Swarm(population_size=args.pop, \
dimensions=d, c1=args.c, c2=args.c)
pso = swarm.PSO(iter_max=args.iter_max, err_crit=args.err_crit)
pso.optimize(func, sw, data)
def initializeKernelBias5Fold(st):
#Swarm intelligence to get initial weights and biases
print("Weights and biases initialization in progress...")
initializer = sm.Swarm([x_size, hidden, y_size], sm.Activation.relu)
initializer.cso(100, x_batches[st][:, 0].reshape(x_size, 1),
y_batches[st][:, 0].reshape(y_size, 1),
initializer.multiObjectiveFunction, -0.6, 0.6,
initializer.dim, 100)
initializer.set_weight_bias(np.array(initializer.get_Gbest()))
fname = "kernelBias5Fold" + st + ".npy"
np.save(fname, [initializer.weights, initializer.biases])
def part_two(args, input_lines):
"Process part two of the puzzle"
# 1. Create the puzzle solver
solver = swarm.Swarm(part2=True, text=input_lines)
# 2. Determine the solution for part two
solution = solver.part_two(verbose=args.verbose)
if solution is None:
print("There is no solution")
else:
print("The solution for part two is %s" % (solution))
# 3. Return result
return solution is not None
def test_empty_init(self):
"Test the default Swarm creation"
# 1. Create default Swarm object
myobj = swarm.Swarm()
# 2. Make sure it has the default values
self.assertEqual(myobj.part2, False)
self.assertEqual(myobj.text, None)
self.assertEqual(len(myobj.particles), 0)
self.assertEqual(myobj.clock, 0)
# 3. Test methods
myobj.tick()
self.assertEqual(myobj.clock, 1)
self.assertEqual(myobj.closest(), None)
def test_text_init(self):
"Test the Swarm object creation from text"
# 1. Create Swarm object from text
myobj = swarm.Swarm(text=aoc_20.from_text(EXAMPLE_TEXT))
# 2. Make sure it has the expected values
self.assertEqual(myobj.part2, False)
self.assertEqual(len(myobj.text), 2)
self.assertEqual(len(myobj.particles), 2)
self.assertEqual(myobj.clock, 0)
self.assertEqual(myobj.particles[0].position, (3, 0, 0))
self.assertEqual(myobj.particles[0].velocity, (2, 0, 0))
self.assertEqual(myobj.particles[0].acceleration, (-1, 0, 0))
self.assertEqual(myobj.particles[1].position, (4, 0, 0))
self.assertEqual(myobj.particles[1].velocity, (0, 0, 0))
self.assertEqual(myobj.particles[1].acceleration, (-2, 0, 0))
# 3. Test methods
self.assertEqual(myobj.closest(), 0)
myobj.tick()
self.assertEqual(myobj.clock, 1)
self.assertEqual(myobj.particles[0].position, (4, 0, 0))
self.assertEqual(myobj.particles[0].velocity, (1, 0, 0))
self.assertEqual(myobj.particles[0].acceleration, (-1, 0, 0))
self.assertEqual(myobj.particles[1].position, (2, 0, 0))
self.assertEqual(myobj.particles[1].velocity, (-2, 0, 0))
self.assertEqual(myobj.particles[1].acceleration, (-2, 0, 0))
self.assertEqual(myobj.closest(), 1)
myobj.tick()
self.assertEqual(myobj.clock, 2)
self.assertEqual(myobj.particles[0].position, (4, 0, 0))
self.assertEqual(myobj.particles[0].velocity, (0, 0, 0))
self.assertEqual(myobj.particles[0].acceleration, (-1, 0, 0))
self.assertEqual(myobj.particles[1].position, (-2, 0, 0))
self.assertEqual(myobj.particles[1].velocity, (-4, 0, 0))
self.assertEqual(myobj.particles[1].acceleration, (-2, 0, 0))
self.assertEqual(myobj.closest(), 1)
myobj.tick()
self.assertEqual(myobj.clock, 3)
self.assertEqual(myobj.particles[0].position, (3, 0, 0))
self.assertEqual(myobj.particles[0].velocity, (-1, 0, 0))
self.assertEqual(myobj.particles[0].acceleration, (-1, 0, 0))
self.assertEqual(myobj.particles[1].position, (-8, 0, 0))
self.assertEqual(myobj.particles[1].velocity, (-6, 0, 0))
self.assertEqual(myobj.particles[1].acceleration, (-2, 0, 0))
self.assertEqual(myobj.closest(), 0)
def __init__(self, size):
self.size = size
self.elapsed = 0
self.swarm = swarm.Swarm(swarm.Swarm.Params())
self.last_update_time = time.monotonic()
self.poses = np.zeros((1, self.swarm.params.size, 3), dtype=np.float32)
self.ages = np.zeros((1, self.swarm.params.size), dtype=np.float32)
self.pprogram = particles.PProgram(
gfx.perspectiveM(math.tau / 8, self.size[0] / self.size[1],
0.1, 100),
gfx.lookatM([5, 2, 5], [0, 0, 0], [0, 1, 0]))
self.fbo = gllib.framebuffer.Framebuffer(size)
self.fsquad = gllib.fsquad.FSQuad()
# GL.glPointSize(1)
GL.glClearColor(0., 0., 0., 1.)
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
def Swarm_Formations():
# Set goals to go to
FORMATIONS = json.load(open('quad_sim/formations.json'))
# Define the quadcopters
QUADCOPTERS = json.load(open('quad_sim/quadcopters.json'))
# Controller parameters
CONTROLLER_PARAMETERS = {
'Motor_limits': [4000, 9000],
'Tilt_limits': [-10, 10],
'Yaw_Control_Limits': [-900, 900],
'Z_XY_offset': 500,
'Linear_PID': {
'P': [300, 300, 7000],
'I': [0.04, 0.04, 4.5],
'D': [450, 450, 5000]
},
'Linear_To_Angular_Scaler': [1, 1, 0],
'Yaw_Rate_Scaler': 0.18,
'Angular_PID': {
'P': [22000, 22000, 1500],
'I': [0, 0, 1.2],
'D': [12000, 12000, 0]
},
}
# Create controller parameters for each quadcopter
ctrl_params = [CONTROLLER_PARAMETERS.copy() for q in QUADCOPTERS]
# Catch Ctrl+C to stop threads
signal.signal(signal.SIGINT, signal_handler)
# Make objects for quadcopter, gui and controllers
s = swarm.Swarm(drones=QUADCOPTERS)
gui_object = swarm_gui.GUI(drones=QUADCOPTERS, swarm=s)
controllers = [
controller.Controller_PID_Point2Point( \
s.get_state, \
s.get_time, \
s.set_motor_speeds, \
params=param, \
quad_identifier=q) \
for q,param in zip(QUADCOPTERS, ctrl_params)
]
# ctrl1 = controller.Controller_PID_Point2Point(s.get_state,s.get_time,s.set_motor_speeds,params=CONTROLLER_1_PARAMETERS,quad_identifier='q1')
# ctrl2 = controller.Controller_PID_Point2Point(s.get_state,s.get_time,s.set_motor_speeds,params=CONTROLLER_2_PARAMETERS,quad_identifier='q2')
# Start the threads
s.start_threads(dt=QUAD_DYNAMICS_UPDATE, time_scaling=TIME_SCALING)
for ctrl in controllers:
ctrl.start_thread(update_rate=CONTROLLER_DYNAMICS_UPDATE,
time_scaling=TIME_SCALING)
# Update the GUI while switching between destination poitions
while (run == True):
key = input(
"Which formation would you like to make?\noptions: {}\n:".format(
[str(key) for key in FORMATIONS.keys()]))
while key not in FORMATIONS.keys():
key = input(
"Did not recognize input. Please select an option below...\noptions: {}\n:"
.format([str(key) for key in FORMATIONS.keys()]))
# TODO: Write a smart algorithm to set targets of nearest drones
for q, ctrl in zip(QUADCOPTERS, controllers):
ctrl.update_target(tuple(FORMATIONS[key][q]))
# TODO: Rewrite gui updates to make them more smooth
gui_object.animate()
# for i in range(300):
# for key in QUADCOPTERS:
# gui_object.drones[key]['position'] = s.get_position(key)
# gui_object.drones[key]['orientation'] = s.get_orientation(key)
# gui_object.update()
s.stop_threads()
for ctrl in controllers:
ctrl.stop_thread()
def setUp(self):
super(TestSwarm, self).setUp()
self.swarm = swarm.Swarm()
self.swarm.setConnectionPool(self.getConnectionPool())
def get_malko_architecture(projectDB, expDB, nPosts, df, fetched, angles):
# establish a connecttion to the project database
conn = sqlite3.connect(projectDB)
# connect a cursor that goes through the project database
cursorProject = conn.cursor()
# establish a second connecttion to the experiment database
conn2 = sqlite3.connect(expDB)
# connect a cursor that goes through the experiment database
cursorExperiment = conn2.cursor()
x = df[['rotated_x', 'rotated_y']].values
x = np.c_[x, x[:, 0] * 0]
x_Post0 = df[['rotated_post0_x', 'rotated_post0_y']].values
x_Post0 = np.c_[x_Post0, x_Post0[:, 0] * 0]
x_Post1 = df[['rotated_post1_x', 'rotated_post1_y']].values
x_Post1 = np.c_[x_Post1, x_Post1[:, 0] * 0]
if nPosts == 3:
x_Post2 = df[['rotated_post2_x', 'rotated_post2_y']].values
x_Post2 = np.c_[x_Post2, x_Post2[:, 0] * 0]
t = df['t'].values
uuids = df['uuid'].values
nStimuli = df['nStimuli'].values
events = df['event'].values
print(x.shape)
massive_experiment = swarm.Swarm()
for i in range(0, len(angles) + 2):
massive_experiment.addFish(swarm.Swarm())
for uuid in range(0, len(fetched)):
cursorExperiment.execute("Select exp from experiments where expID = ?",
(fetched[uuid][0], ))
exp = cursorExperiment.fetchall()
nStim = len(np.unique(df.loc[df['uuid'] == uuid, 'nStimuli']))
for n in range(0, nStim):
stimuli = swarm.Swarm()
nEvents = len(
np.unique(df.loc[(df['uuid'] == uuid) & (df['nStimuli'] == n),
'event']))
for e in range(0, nEvents):
event = swarm.Swarm()
idx = np.where((uuids == uuid) & (nStimuli == n)
& (events == e))[0]
if len(idx) > 30:
event.addFish(
swarm.Fish(x,
t,
idx=idx,
burst=False,
fishId=0,
virtual=False))
event.addFish(
swarm.Fish(x_Post0,
t,
idx=idx,
burst=False,
fishId=1,
virtual=True))
if n != 0 and n != np.max(nStimuli):
event.addFish(
swarm.Fish(x_Post1,
t,
idx=idx,
burst=False,
fishId=2,
virtual=True))
if nPosts > 2:
event.addFish(
swarm.Fish(x_Post2,
t,
idx=idx,
burst=False,
fishId=3,
virtual=True))
event.fishReferential()
stimuli.addFish(event)
if n == 0:
massive_experiment.swarm[n].addFish(stimuli)
elif n == np.max(nStimuli):
massive_experiment.swarm[len(angles) + 1].addFish(stimuli)
else:
cursorExperiment.execute(
"Select replicate from experiments where expID = ?",
(fetched[uuid][0], ))
rep = cursorExperiment.fetchall()
cursorProject.execute(
"Select post1 from projects where project = ? and exp = ? and replicate = ? and nStimuli = ?",
('DecisionGeometry', exp[0][0], rep[0][0], n))
post = cursorProject.fetchall()
s_number = np.where(angles == eval(post[0][0])['angle'])[0][0]
massive_experiment.swarm[s_number + 1].addFish(stimuli)
for i in range(0, len(angles) + 2):
massive_experiment.swarm[i].fillMetaFish()
return massive_experiment
import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
import swarm
s1 = swarm.Swarm(3)
fig, ax = plt.subplots()
for fly in s1.fireflies:
print(fly.id_num)
duration = 100
for time in range(duration):
s1.chargeIteration()
s1.flashPropogationLoop()
s1.plotFlashData(ax, 0)
s1.plotFlashData(ax, 1)
s1.plotFlashData(ax, 2)
plt.show()
authmgr = Auth(conf['salt'])
authmgr.setConnectionPool(connPool)
torrents = TorrentStore(conf['trackerUrl'])
torrents.setConnectionPool(connPool)
httpListenIp = conf['webapi'].get('ip',DEFAULT_LISTEN_IP)
httpListenPort = conf['webapi'].get('port',DEFAULT_LISTEN_PORT)
httpPathDepth = conf.get('pathDepth',DEFAULT_PATH_DEPTH)
users = Users(conf['salt'])
users.setConnectionPool(connPool)
redisConnPool = vanilla.buildRedisConnectionPool(**conf['redis'])
#Pass in zero and do not spawn the thread associated with the Peers
#object. It is not needed in this process as it runs in the tracker
#process.
peerList = peers.Peers(redisConnPool,0)
swarmConnPool = vanilla.buildConnectionPool(psycopg2,**conf['webapi']['postgresql'])
swarm = swarm.Swarm()
swarm.setConnectionPool(swarmConnPool)
webapi = Webapi(swarm,peerList,users,authmgr,torrents,httpPathDepth,conf['webapi']['secure'])
users.createRoles(webapi.getRoles())
wsgi.server(eventlet.listen((httpListenIp, httpListenPort)), webapi)