def __init__(self, name, model):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
# self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.shared_content['Sites'] = [model.target]
# Defining the composite behavior
movetowards = MoveTowards('MoveTowards')
# Setup for the behavior
movetowards.setup(0, self, 'Sites')
# This behavior is just defined to check if the composite tree
# can be combined with other primite behaviors
is_carrying = IsCarrying('IsCarrying')
is_carrying.setup(0, self, 'Food')
seq = py_trees.composites.Sequence('Seq')
seq.add_children([movetowards, is_carrying])
# Since its root is a sequence, we can use it directly
self.behaviour_tree = py_trees.trees.BehaviourTree(seq)
def setup(self, timeout, agent, item):
"""Have defined the setup method.
This method defines the other objects required for the
behavior. Agent is the actor in the environment,
item is the name of the item we are trying to find in the
environment and timeout defines the execution time for the
behavior.
"""
self.agent = agent
self.item = item
dropseq = Sequence('CD_Sequence')
iscarrying = IsCarrying('CD_IsCarrying')
iscarrying.setup(0, self.agent, self.item)
drop = Drop('CD_Drop')
drop.setup(0, self.agent, self.item)
dropseq.add_children([iscarrying, drop])
self.behaviour_tree = BehaviourTree(dropseq)
def __init__(self, name, model, xmlstring=None):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.carryable = False
# Define a BTContruct object
self.bt = BTConstruct(None, self)
class DummyIndividual:
def __init__(self):
self.phenotype = None
dummyind = DummyIndividual()
self.individual = [dummyind]
self.individual[0].phenotype = xmlstring
# self.bt.xmlstring = xmlstring
# self.bt.construct()
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsCarrying('IsCarrying_Food')
iscarrying.setup(0, self, 'Food')
neighhub = NeighbourObjects('NeighbourObjects_Hub')
neighhub.setup(0, self, 'Hub')
notneighhub = py_trees.meta.inverter(NeighbourObjects)(
'NeighbourObjects_Hub')
notneighhub.setup(0, self, 'Hub')
drop = CompositeDrop('CompositeDrop_Food')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
neighsite = NeighbourObjects('NeighbourObjects_Sites')
neighsite.setup(0, self, 'Sites')
neighfood = NeighbourObjects('NeighbourObjects_Food')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsCarrying)('IsCarrying_Food')
invcarrying.setup(0, self, 'Food')
carry = CompositeSingleCarry('CompositeSingleCarry_Food')
carry.setup(0, self, 'Food')
cseq.add_children([neighsite, neighfood, invcarrying, carry])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
sitefound = IsVisitedBefore('IsVisitedBefore_Sites')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('MoveTowards_Sites')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# siteseq.add_children([invcarrying])
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
gotohub = MoveTowards('MoveTowards_Hub')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
sitenotfound = py_trees.meta.inverter(IsVisitedBefore)(
'IsVisitedBefore_Sites')
sitenotfound.setup(0, self, 'Sites')
explore = Explore('Explore')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([sitenotfound, explore])
locoselect = py_trees.composites.Selector('Move')
# locoselect.add_children([siteseq, hubseq, explore])
locoselect.add_children([hubseq, randwalk])
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
py_trees.display.render_dot_tree(self.behaviour_tree.root,
name=model.pname + '/forgehc')
def __init__(self, name, model):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
# self.shared_content['Hub'] = model.hub
# self.shared_content['Sites'] = model.site
self.shared_content['Hub'] = {model.hub}
# root = py_trees.composites.Sequence("Sequence")
# root = py_trees.composites.Selector('Selector')
mseq = py_trees.composites.Sequence('MSequence')
nseq = py_trees.composites.Sequence('NSequence')
select = py_trees.composites.Selector('RSelector')
carryseq = py_trees.composites.Sequence('CSequence')
dropseq = py_trees.composites.Sequence('DSequence')
lowest1 = py_trees.meta.inverter(NeighbourObjects)('00')
lowest1.setup(0, self, 'Hub')
lowest11 = NeighbourObjects('0')
lowest11.setup(0, self, 'Sites')
lowest = NeighbourObjects('0')
lowest.setup(0, self, 'Food')
low = IsCarryable('1')
low.setup(0, self, 'Food')
medium = IsSingleCarry('2')
medium.setup(0, self, 'Food')
high = SingleCarry('3')
high.setup(0, self, 'Food')
carryseq.add_children([lowest1, lowest11, lowest, low, medium, high])
repeathub = RepeatUntilFalse("RepeatSeqHub")
repeatsite = RepeatUntilFalse("RepeatSeqSite")
high1 = py_trees.meta.inverter(NeighbourObjects)('4')
# high1 = NeighbourObjects('4')
high1.setup(0, self, 'Hub')
med1 = GoTo('5')
med1.setup(0, self, 'Hub')
# low1 = py_trees.meta.inverter(Move)('6')
low1 = Move('6')
low1.setup(0, self, None)
high2 = py_trees.meta.inverter(NeighbourObjects)('12')
# high2 = NeighbourObjects('12')
high2.setup(0, self, 'Sites')
# med2 = py_trees.meta.inverter(GoTo)('13')
med2 = GoTo('13')
med2.setup(0, self, 'Sites')
# low1 = py_trees.meta.inverter(Move)('6')
low2 = Move('14')
low2.setup(0, self, None)
# Drop
dropseq = py_trees.composites.Sequence('DSequence')
c1 = IsCarrying('7')
c1.setup(0, self, 'Food')
d1 = IsDropable('8')
d1.setup(0, self, 'Hub')
d2 = Drop('9')
d2.setup(0, self, 'Food')
dropseq.add_children([c1, d1, d2])
repeathub.add_children([high1, med1, low1])
repeatsite.add_children([high2, med2, low2])
mseq.add_children([carryseq, repeathub])
nseq.add_children([dropseq, repeatsite])
# For randomwalk to work the agents shouldn't know the location of Site
v1 = py_trees.meta.inverter(IsVisitedBefore)('15')
v1.setup(0, self, 'Sites')
r1 = RandomWalk('16')
r1.setup(0, self, None)
m1 = Move('17')
m1.setup(0, self, None)
randseq = py_trees.composites.Sequence('RSequence')
randseq.add_children([v1, r1, m1])
select.add_children([nseq, mseq, randseq])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
def __init__(self, name, model):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.shared_content['Hub'] = {model.hub}
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsCarrying('1')
iscarrying.setup(0, self, 'Food')
neighhub = NeighbourObjects('2')
neighhub.setup(0, self, 'Hub')
drop = CompositeDrop('4')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
neighsite = NeighbourObjects('5')
neighsite.setup(0, self, 'Sites')
neighfood = NeighbourObjects('50')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsCarrying)('8')
invcarrying.setup(0, self, 'Food')
carry = CompositeSingleCarry('6')
carry.setup(0, self, 'Food')
cseq.add_children([neighsite, neighfood, invcarrying, carry])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
sitefound = IsVisitedBefore('7')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('9')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
gotohub = MoveTowards('10')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
sitenotfound = py_trees.meta.inverter(IsVisitedBefore)('11')
sitenotfound.setup(0, self, 'Sites')
explore = Explore('12')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([siteseq, hubseq, explore])
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
def construct_bt(self):
"""Construct BT."""
# Get the phenotype of the genome and store as xmlstring
# self.bt.xmlstring = self.xmlstring
# Drop branch
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsCarrying('IsCarrying_Debris')
iscarrying.setup(0, self, 'Debris')
neighhub = NeighbourObjects('NeighbourObjects')
neighhub.setup(0, self, 'Obstacles')
drop = CompositeDrop('CompositeDrop_Debris')
drop.setup(0, self, 'Debris')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
neighsite = py_trees.meta.inverter(NeighbourObjects)(
'NeighbourObjects')
neighsite.setup(0, self, 'Obstacles')
neighfood = NeighbourObjects('NeighbourObjects_Debris')
neighfood.setup(0, self, 'Debris')
invcarrying = py_trees.meta.inverter(IsCarrying)('IsCarrying_Debris')
invcarrying.setup(0, self, 'Debris')
carry = CompositeSingleCarry('CompositeSingleCarry_Debris')
carry.setup(0, self, 'Debris')
cseq.add_children([neighsite, neighfood, invcarrying, carry])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
sitefound = IsVisitedBefore('IsVisitedBefore')
sitefound.setup(0, self, 'Obstacles')
gotosite = MoveTowards('MoveTowards')
gotosite.setup(0, self, 'Obstacles')
siteseq.add_children([sitefound, iscarrying, gotosite])
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
gotohub = MoveTowards('MoveTowards_Hub')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
sitenotfound = py_trees.meta.inverter(IsVisitedBefore)(
'IsVisitedBefore')
sitenotfound.setup(0, self, 'Obstacles')
explore = Explore('Explore')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([siteseq, explore])
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)