def LookForObject(self, memoryPhantom):
memObject = memoryPhantom.object
map = Global.Map
visibleObjects = map.GetVisibleObjects(self.agent)
foundObj = None
for obj in visibleObjects:
if obj == memObject.object:
foundObj = obj
if foundObj == None:
self.spaceMap.ObjectNotFound(memoryPhantom.object)
self.memoryArea.RemovePhantom(memoryPhantom)
memoryPhantom.MemoryObjectNotFound()
return None
#else: found:
phantom = self.GetPhantomForObj(foundObj)
if phantom != None:
phantom.Update(foundObj)
phantom.memoryPhantom = memoryPhantom
self.spaceMap.ObjectNoticedAgain(foundObj)
Global.Log("PF: RE-adding phantom(lookFor) for object " +
foundObj.ToString())
else:
phantom = Phantom(foundObj, memoryPhantom)
self.environmentPhantoms.append(phantom)
self.processArea.PhantomAddedForMemoryPhantom(
phantom, memoryPhantom)
self.spaceMap.ObjectFound(foundObj)
Global.Log("PF: Adding phantom(lookFor) for object " +
foundObj.ToString())
return foundObj
def runOneSimulation(self, savePath, configName, randomSeed):
savePath = savePath + str(randomSeed) + "-" + configName + "/"
os.makedirs(savePath)
Global.LogStart(savePath)
Global.Log("Starting new simulation and world for Config: " + configName)
try:
seed(randomSeed)
config = Config.Get(configName)
world = World(config)
Global.World = world
self.agent = Agent(config)
world.SetAgent(self.agent)
self.mapRenderer = MapRenderer(self.wxCanvas, Global.Map, self.agent, self, False)
self.currentTestIndex = self.currentTestIndex + 1
self.mapRenderer.RenderProgress(self, configName)
self.mapRenderer.RenderProgressInTest(world.step, Global.MaxTestSteps)
time.sleep(0.1)
elayer = world.agent.intelligence.spaceMap.Layer
while world.step < Global.MaxTestSteps:
world.Step()
self.mapRenderer.RenderToFile(world, savePath + "PIL" + str(world.step).zfill(6) + ".png")
self.mapRenderer.RenderProgressInTest(world.step, Global.MaxTestSteps)
world.SendAgentOut()
while world.step < Global.MaxTestSteps + Global.MaxTestStepAfter:
world.Step()
self.mapRenderer.RenderToFile(world, savePath + "PIL" + str(world.step).zfill(6) + ".png")
self.mapRenderer.RenderProgressInTest(world.step, Global.MaxTestSteps)
if Global.CalculateVisibilityHistory:
self.mapRenderer.RenderToFile(world, savePath + "visibilityheatmap.png", ["vh"])
self.mapRenderer.RenderToFile(world, savePath + "visibilityobjectheatmap.png", ["ovh"])
map = Global.Map
map.SaveHeatMap()
self.agent.intelligence.spaceMap.Layer.SaveHeatMap()
except:
Global.Log("FATAL ERROR occured: ")
ss = traceback.format_exc()
Global.Log(ss)
time.sleep(1)
raise
finally:
Global.Log("Stoping simulation...")
Global.LogEnd()
Global.Reset()
self.agent = None
self.mapRenderer.Clear()
self.mapRenderer = None
def NoticeObjects(self, visibleObjects, actProcess):
self.perceptionFilter.ProcessObjects(visibleObjects, actProcess)
phantomsToSpaceMap = {}
for rObj in visibleObjects:
if rObj.curAttractivity == 0: continue
phantom = self.GetPhantomForObj(rObj)
if phantom != None:
phantom.Update(rObj)
phantomsToSpaceMap[phantom] = "ObjectNoticedAgain"
else:
memPhantom = self.memoryArea.GetPhantomForObject(rObj)
if memPhantom != None and self.processArea.LookingForPhantom(
memPhantom):
phantom = Phantom(rObj, memPhantom)
self.environmentPhantoms.append(phantom)
#self.processArea.PhantomAddedForMemoryPhantom(phantom, memPhantom) - later
phantomsToSpaceMap[phantom] = "ObjectFound"
Global.Log("PF: Adding phantom for object " +
rObj.ToString() + " instead of " +
memPhantom.ToString())
else:
phantom = Phantom(rObj)
self.environmentPhantoms.append(phantom)
#self.processArea.PhantomAdded(phantom) - later
phantomsToSpaceMap[phantom] = "ObjectNoticed"
Global.Log("PF: Adding phantom for object " +
rObj.ToString())
#phantoms updated, truncate to PF.Size
phantoms = self.environmentPhantoms
phantoms.sort(lambda b, a: cmp(a.habituation, b.habituation))
phantomsToDelete = phantoms[Global.PFSize:]
for phantomToDelete in phantomsToDelete:
self.environmentPhantoms.remove(phantomToDelete)
phantomToDelete.DeletedOrLost()
Global.Log("PF: removing(over PF.size) phantom for object " +
phantomToDelete.object.ToString())
for phantom in self.environmentPhantoms:
if phantom not in phantomsToSpaceMap:
#happens when agent changes viewCones and object is not in normal VCs (was added by explore VCs) - ignore
continue
if phantomsToSpaceMap[phantom] == "ObjectNoticedAgain":
self.spaceMap.ObjectNoticedAgain(phantom.object)
elif phantomsToSpaceMap[phantom] == "ObjectFound":
self.processArea.PhantomAddedForMemoryPhantom(
phantom, phantom.memoryPhantom)
self.spaceMap.ObjectFound(phantom.object)
elif phantomsToSpaceMap[phantom] == "ObjectNoticed":
self.processArea.PhantomAdded(phantom)
self.spaceMap.ObjectNoticed(phantom.object)
def SetOwnerProcess(self, process):
if self.ownerProcess != None:
Global.Log(
"Programmer.Error: Phantom with owner process set again: " +
self.object.ToString())
self.ownerProcess = process
process.resources.append(self)
def updateMemoryObjectLocation(self, memObject):
links = memObject.linkToNodes
x = 0
y = 0
if 0 == len(links):
return memObject
sumIntensity = 0
for link in links:
x += (link.node.x * link.intensity)
y += (link.node.y * link.intensity)
sumIntensity += link.intensity
x = x / sumIntensity
y = y / sumIntensity
p = Point(x, y)
if not self.map.IsInside(
p): #this should not happen, quick hack - go closer to memObj
hit = self.map.CanMoveEx(memObject, p.x, p.y)
if hit.hit:
p = hit
else:
Global.Log(
"Programmer.Error: SpaceMap: not inside but canMove-not-hit"
)
memObject.x = p.x
memObject.y = p.y
step = Global.GetStep()
error = self.map.DistanceObjs(p, memObject.object)
errorStr = '%.2f' % error
trained = memObject.object.trainHistory
line = str(step) + ";" + str(
trained) + ";" + errorStr + ";" + memObject.object.IdStr()
Global.LogData("rememberinfo", line)
return memObject
def RemovePhantom(self, memoryPhantom):
if memoryPhantom == None: return
if memoryPhantom not in self.memoryPhantoms:
Global.Log(
"Programmer.Error: MemoryArea.RemovePhantom not in MA: " +
memoryPhantom.object.ToString())
return
self.memoryPhantoms.remove(memoryPhantom)
def stopSimulation(self):
Global.Log("Stoping simulation...")
self.exitLocks()
Global.Reset()
self.agent = None
self.mapRenderer.Clear()
self.mapRenderer = None
self.lock = None
def PhantomAddedForMemoryPhantom(self, phantom, memoryPhantom):
phantom.affordance = memoryPhantom.affordance
realProcess = self.actualBasicProcess
if realProcess != memoryPhantom.ownerProcess:
Global.Log("Programmer.Error: PA.PhantomAddedForMemoryPhantom relinking memPhantom for in-active process")
phantom.ownerProcess = realProcess
realProcess.resources.append(phantom)
realProcess.resources.remove(memoryPhantom)
def UpdatePhantomsBecauseOfMove(self, agent):
map = Global.Map
lostPhantoms = []
for phantom in self.environmentPhantoms:
if not map.IsObjectVisible(agent, phantom.object):
lostPhantoms.append(phantom)
for phantom in lostPhantoms:
self.environmentPhantoms.remove(phantom)
phantom.DeletedOrLost()
Global.Log("PF: removing(lost) phantom for object " +
phantom.object.ToString())
def UseObjectPhantoms(self, excProcess):
for phantom in excProcess.resources:
if phantom.GetType() != "e":
Global.Log(
"Programmer.Error: using memory phantom and memory object: "
+ phantom.ToString())
continue
self.spaceMap.ObjectUsed(phantom.object)
map = Global.Map
usedSources = [
] #excProcess.process.usedSources Future: object.amount TBD.
for usedSource in usedSources:
for phantom in excProcess.resources:
if usedSource == phantom.affordance:
if map.UseObject(
excProcess,
phantom.object): #true means object is used Up
self.spaceMap.ObjectUsedUp(phantom.object)
self.environmentPhantoms.remove(phantom)
Global.Log("PF: removing(used) phantom for object " +
phantom.object.ToString())
def Update(self, action):
habituatedPhantoms = []
for phantom in self.environmentPhantoms:
#if self.processArea.IsPhantomUsedNow(phantom): continue - not enough
if phantom.ownerProcess == None or (
not phantom.ownerProcess.IsInProgress()):
if phantom.Habituate(action.duration):
habituatedPhantoms.append(phantom)
for habituatedPhantom in habituatedPhantoms:
self.environmentPhantoms.remove(habituatedPhantom)
habituatedPhantom.DeletedOrLost()
Global.Log("PF: removing(habituated) phantom for object " +
habituatedPhantom.object.ToString())
def ProcessObjects(self, rObjs, action):
name = action.process.name
if name == "Remember":
self.SetAllTo(rObjs, 0)
elif name == "LookForObject":
self.SetAllTo(rObjs, 0)
elif name == "MoveToPartial":
self.SetAllTo(rObjs, 1)
elif name == "Explore":
self.SetAllToRegardingAffs(rObjs, action, 1)
elif name == "ExecuteReal":
self.SetAllToRegardingAffs(rObjs, action, 0.5)
else:
Global.Log(
"Programmer.Error: PerceptionFilter process name unknown: " +
name)
def startSimulation(self, configName):
if not os.path.exists("../../exs/"): os.makedirs("../../exs/")
dirList = os.listdir("../../exs/")
for fname in dirList:
os.remove("../../exs/" + fname)
Global.LogStart("../../exs/")
Global.Log("Starting new simulation and world for Config: " + configName)
seed(Global.RandomSeeds[0])
config = Config.Get(configName)
world = World( config )
Global.World = world
self.agent = Agent(config)
world.SetAgent(self.agent)
self.mapRenderer = MapRenderer(self.wxCanvas, Global.Map, self.agent, self)
self.lock = Lock()
self.lock.acquire()
self.playbackLock = Lock()
th = Thread(None, self.simulationThread, name="simulationThread")
th.start()
def Step(self):
action = self.intelligence.GetAction()
map = Global.Map
self.x = self.newX
self.y = self.newY
self.viewCones = self.viewConesNormal #fake else-than-Explore/LookForObject-action branch
self.viewConeMaxDist = self.viewConeNormalMaxDist
#execute action - world/agent-impacting part of atomic process
if action.process.name == "ExecuteReal":
action.sources = action.parent.parent.process.sources
Global.Log("AGENT is doing " + action.data['process'].name +
" for " + str(action.duration) + " seconds")
self.intelligence.UseObjects(action.parent.parent)
#map.UseObjects(self, action.parent) done in PF.UseObjects
elif action.process.name == "Execute":
pass #never happen - done as ExecuteReal or MoveTo(Partial)
elif action.process.name == "SearchRandom":
pass #never happens - done as MoveTo or Explore child process
elif action.process.name == "LookUpInMemory":
pass #never happens - done as Remember, MoveTo or LookForObject child process
elif action.process.name == "Remember":
action.duration = Global.Randint(1, 10)
action.data["phantom"] = self.intelligence.RememberObjectsFor(
action.data["affordance"])
if action.data["phantom"] != None:
Global.Log("AGENT is remembering for " +
action.data["affordance"].name +
"(there should be " +
action.data["phantom"].object.type.name + " at " +
str(action.data["phantom"].object.x) + "," +
str(action.data["phantom"].object.y) + ") for " +
str(action.duration) + " seconds")
else:
Global.Log("AGENT is remembering for " +
action.data["affordance"].name +
"(nothing in SM/MA) for " + str(action.duration) +
" seconds")
elif action.process.name == "LookForObject":
self.viewCones = self.viewConesForExplore
self.viewConeMaxDist = self.viewConeForExploreMaxDist
action.duration = Global.Randint(1, 5)
action.data["object"] = self.intelligence.LookForObject(
action.data["phantom"])
if action.data["object"] != None:
Global.Log("AGENT is looking for " +
action.data["phantom"].object.type.name +
"(Found) for " + str(action.duration) + " seconds")
else:
Global.Log("AGENT is looking for " +
action.data["phantom"].object.type.name +
"(NotFound) for " + str(action.duration) +
" seconds")
elif action.process.name == "MoveTo":
pass #never happens - done as MoveToPartial
elif action.process.name == "MoveToPartial":
dx = action.data['newx'] - self.newX
dy = action.data['newy'] - self.newY
angle = atan2(dx, dy)
self.dirAngle = angle
action.duration = map.MoveAgent(self, action.data['newx'],
action.data['newy'])
self.intelligence.UpdatePhantomsBecauseOfMove()
Global.Log("AGENT is moving to " + str(action.data['newx']) + "," +
str(action.data['newy']) + " for " +
str(action.duration) + " seconds")
elif action.process.name == "Explore":
self.viewCones = self.viewConesForExplore
self.viewConeMaxDist = self.viewConeForExploreMaxDist
action.duration = Global.Randint(5, 20)
action.sources = [action.data['affordance']]
Global.Log("AGENT is exploring for " +
action.data['affordance'].name + " for " +
str(action.duration) + " seconds")
else:
Global.Log("AGENT is a bit CONFUSED doing " + action.process.name)
#sees object around
visibleObjects = map.GetVisibleObjects(self)
self.intelligence.NoticeObjects(visibleObjects, action)
self.intelligence.perceptionField.Update(action)
self.intelligence.memoryArea.Update(action)
self.paText = self.intelligence.processArea.GetText()
Global.Time.AddSeconds(action.duration)
self.intelligence.ActionDone()
self.intelligence.spaceMap.StepUpdate(action)
def ObjectNotFound(self, rObject):
Global.Log("SM.ObjectNotFound: object not found: " +
rObject.ToString())
def ChooseIntention(self):
mostActiveIntention = self.scenario.GetActiveIntention()
if mostActiveIntention == None:
Global.Log("Programmer.Error: no HL intention form pre-generated fixed scenario")
mostActiveIntention = self.intentions.GetRandomHighLevelIntention()
self.processArea.ActivateIntention(mostActiveIntention, None)
