void MedeaSpAgentObserver::checkGenomeList()
{
if (_wm->_agentId == gAgentIndexFocus && gVerbose) // debug
{
std::cout << "agent #" << gAgentIndexFocus << " is renewed" << std::endl;
std::cout << "agent #" << gAgentIndexFocus << " imported " << _wm->_genomesList.size() << " genomes. Energy is " << _wm->getEnergyLevel() << ". Status is " << _wm->getActiveStatus() << "." <<std::endl;
}
// note: at this point, agent got energy, wether because it was revived or because of remaining energy.
if (_wm->_genomesList.size() > 0)
{
// case: 1+ genome(s) imported, random pick.
_wm->setDateOfBirth(gWorld->getIterations());
//
// if((int)MedeaSpSharedData::gTournamentSize < 0) selectFitnessProp();
// else elitSelection();
// _wm->setRobotLED_status(true);
//Print the new genome on the logFile
//gLogFile << gWorld->getIterations() <<" : "<< _wm->_agentId << " use "<<_wm->getAbilityToForage();
//gLogFile << " at "<<_wm->getXReal()<< std::endl;
switch ( MedeaSpSharedData::gSelectionMethod )
{
case 0:
pickRandomGenome();
break;
case 1:
elitSelection(); //elite
break;
case 2:
selectFitnessProp();
break;
case 3:
selectRankProp();
break;
default:
std::cerr << "[ERROR] unknown selection method (gSelectionMethod = " << MedeaSpSharedData::gSelectionMethod << ")\n";
exit(-1);
}
_wm->setWaitForGenome(false); // !N.20100407 : revive takes imported genome if any
_wm->setActiveStatus(true);
}
else
{
// case: no imported genome - wait for new genome.
_wm->resetActiveGenome(); // optional -- could be set to zeroes.
_wm->setWaitForGenome(true); // inactive robot *must* import a genome from others (ie. no restart).
_wm->setActiveStatus(false);//The robot is waiting for genome but not active yet
}
}
void BasicProjectMedeaAgentObserver::step()
{
// debug verbose
if ( gVerbose && gInspectAgent && gAgentIndexFocus == _wm->_agentId )
{
std::cout << "target: " << _wm->getEnergyPointDirectionAngleValue() << std::endl;
}
// * genome spreading (current agent broadcasts its genome to all neighbors - ie. write its own genome in genomeList on neighboring agents)
// note: could be move in WorldObserver to go from N^2 to Summation(N) complexity
if ( _wm->getActiveStatus() == true ) // broadcast only if agent is active (ie. not just revived) and deltaE>0.
{
for (int i = 0 ; i < gAgentCounter ; i++)
{
if ( ( i != _wm->_agentId ) && ( gRadioNetworkArray[_wm->_agentId][i] ) ) //&& (_wm->getEnergyLevel() > 0.0) ) --> always true as status is active
{
BasicProjectMedeaAgentObserver* targetAgentObserver = dynamic_cast<BasicProjectMedeaAgentObserver*>(gWorld->getAgent(i)->getObserver());
if ( ! targetAgentObserver )
{
std::cerr << "Error from robot " << _wm->_agentId << " : the observer of robot " << i << " isn't a SwarmOnlineObserver" << std::endl;
exit(1);
}
if ( BasicProjectMedeaSharedData::gDynamicSigma == true )
{
float dice = float(rand() %100) / 100.0;
float sigmaSendValue = 0.0;
if ( ( dice >= 0.0 ) && ( dice < BasicProjectMedeaSharedData::gProbAdd) )
{
sigmaSendValue = _wm->_currentSigma * ( 1 + BasicProjectMedeaSharedData::gDynaStep );
if (sigmaSendValue > BasicProjectMedeaSharedData::gSigmaMax)
{
sigmaSendValue = BasicProjectMedeaSharedData::gSigmaMax;
}
}
else if ( ( dice >= BasicProjectMedeaSharedData::gProbAdd ) && ( dice < BasicProjectMedeaSharedData::gProbAdd+BasicProjectMedeaSharedData::gProbSub) )
{
sigmaSendValue = _wm->_currentSigma * ( 1 - BasicProjectMedeaSharedData::gDynaStep );
if (sigmaSendValue < BasicProjectMedeaSharedData::gSigmaMin)
{
sigmaSendValue = BasicProjectMedeaSharedData::gSigmaMin;
}
}
else
{
std::cerr << "Error : In SwarmOnlineObserver, the rand value is out of bound. The sum of BasicProjectMedeaSharedData::gProbRef and BasicProjectMedeaSharedData::gProbMax is probably not equal to one" << std::endl;
exit(1);
}
targetAgentObserver->writeGenome(_wm->_currentGenome, _wm->_agentId, sigmaSendValue);
}
else
{
targetAgentObserver->writeGenome(_wm->_currentGenome, _wm->_agentId, _wm->_currentSigma);
}
}
}
}
// * Genome selection/replacement
if( dynamic_cast<BasicProjectMedeaWorldObserver*>(gWorld->getWorldObserver())->getLifeIterationCount() >= BasicProjectMedeaSharedData::gEvaluationTime-1 ) // at the end of a generation
{
if (_wm->_agentId == gAgentIndexFocus && gVerbose) // debug
{
std::cout << "agent #" << gAgentIndexFocus << " is renewed" << std::endl;
std::cout << "agent #" << gAgentIndexFocus << " imported " << _wm->_genomesList.size() << " genomes. Energy is " << _wm->getEnergyLevel() << ". Status is " << _wm->getActiveStatus() << "." <<std::endl;
}
// Display the current state of the controller
gLogFile << "#GIteration: " << gWorld->getIterations() << " #Robot: " << _wm->_agentId
<< " #Energy: " << _wm->getEnergyLevel()
<< " #DeltaEnergy: " << _wm->getDeltaEnergy()
<< " #GenomeListSize: " << _wm->_genomesList.size() <<std::endl;
// note: at this point, agent got energy, whether because it was revived or because of remaining energy.
if (_wm->_genomesList.size() > 0)
{
// case: 1+ genome(s) imported, random pick.
pickRandomGenome();
_wm->setActiveStatus(true); // !N.20100407 : revive takes imported genome if any
}
else
{
// case: no imported genome - wait for new genome.
gLogFile << "Info(" << gWorld->getIterations() << ") : robot nb." << _wm->_agentId
// << " is trying a whole new genome" << std::endl;
<< " is waiting for a new genome" << std::endl;
_wm->resetActiveGenome(); // optional -- could be set to zeroes.
_wm->setActiveStatus(false); // inactive robot *must* import a genome from others (ie. no restart).
}
//log the genome
if ( _wm->getActiveStatus() == true )
{
gLogFile << "Info("<< gWorld->getIterations() <<") : robot nb."<< _wm->_agentId << " use genome :";
for(unsigned int i=0; i<_wm->_genome.size(); i++)
{
gLogFile << std::fixed << std::showpoint << _wm->_genome[i] << " ";
}
gLogFile << std::endl;
}
//Re-initialize the main parameters
if ( BasicProjectMedeaSharedData::gExperimentNumber == 1 || BasicProjectMedeaSharedData::gExperimentNumber == 2 )
{
_wm->setDeltaEnergy(0.0); // !n : used to be 10.0
}
}
}
void MedeaAltUtilityBattleAgentObserver::step()
{
_iterationCount++;
if ( _wm->_agentId == 0 )
{
if ( MedeaAltUtilitySharedData::gExperimentNumber == 2 )
{
if (_wm->_agentId == gAgentIndexFocus ) // && gVerbose ) // debug
{
std::cout << std::endl << "#### Experiment no.2 starts now. ####" << std::endl;
}
// * remove energy points.
for(std::vector<EnergyPoint>::iterator it = gEnergyPoints.begin(); it != gEnergyPoints.end(); it++)
{
it->hide();
}
gEnergyPoints.clear();
// * setup new energy zone
Uint32 colorShown = 0xeab71fff;
Uint32 colorZone = 0xAAAAAAFF; // for floor sensor.
for (Sint16 xColor = MedeaAltUtilitySharedData::g_xStart_EnergyZone ; xColor < MedeaAltUtilitySharedData::g_xEnd_EnergyZone ; xColor++)
{
for (Sint16 yColor = Sint16 (MedeaAltUtilitySharedData::g_yStart_EnergyZone) ; yColor < Sint16 (MedeaAltUtilitySharedData::g_yEnd_EnergyZone) ; yColor ++)
{
pixelColor(gBackgroundImage, xColor, yColor, colorShown);
pixelColor(gZoneImage, xColor, yColor, colorZone);
}
}
}
}
// std::cout << "robot #" << _wm->_agentId << "\n" ;
MedeaAltUtilityPerceptronControlArchitecture* currentBehavior = dynamic_cast<MedeaAltUtilityPerceptronControlArchitecture*>(gWorld->getAgent(_wm->_agentId)->getBehavior());
if ( ! currentBehavior )
{
std::cerr << "Error from robot " << _wm->_agentId << " : the behavior architecture of this robot isn't a MedeaAltUtilityPerceptronControlArchitecture" << std::endl;
exit(1);
}
/*if (_wm->_agentId == 1)
{
std::cout << _key <<std::endl;
}*/
if ( gVerbose && gInspectAgent && gAgentIndexFocus == _wm->_agentId )
{
//std::cout << "target: " << _wm->getEnergyPointDirectionAngleValue() << std::endl;// " (" << _wm->_agentAbsoluteOrientation << "," << angleToClosestEnergyPoint << ")" << std::endl;
}
if ( MedeaAltUtilitySharedData::gExperimentNumber == 1 )
{
// * update the energy of the robot (if needed)
Point2d posRobot(_wm->_xReal,_wm->_yReal);
if ( gEnergyMode )
{
for(std::vector<EnergyPoint>::iterator it = gEnergyPoints.begin(); it != gEnergyPoints.end(); it++)
{
if( (getEuclidianDistance (posRobot,it->getPosition()) < gEnergyPointRadius) && (it->getActiveStatus()))
{
float loadingEnergy = gEnergyPointValue; // test?
//float loadingEnergy = 5*(1.0/(2.0*sqrt(2.0*M_PI)))*gEnergyPointValue; // test?
//float loadingEnergy = 5*(1.0/(2.0*sqrt(2.0*M_PI)))*exp(-(pow((_key - it->getKey()),2.0)/(pow(2.0,2.0))))*gEnergyPointValue;
// update energy level
_wm->setEnergyLevel(_wm->getEnergyLevel() + loadingEnergy);
_wm->setDeltaEnergy(_wm->getDeltaEnergy() + loadingEnergy);
//saturate
if ( _wm->getEnergyLevel() > MedeaAltUtilitySharedData::gEnergyMax ) // should be at least one lifetime
_wm->setEnergyLevel(MedeaAltUtilitySharedData::gEnergyMax);
if ( _wm->getDeltaEnergy() > MedeaAltUtilitySharedData::gEnergyMax )
_wm->setDeltaEnergy(MedeaAltUtilitySharedData::gEnergyMax);
gLogFile << "Info(" << gWorld->getIterations() << ") : " << _wm->_agentId
<< "(" << posRobot.x << "," << posRobot.y << ")"
<< " get an energy point at " << it->getPosition().x << "," << it->getPosition().y << " :: Value : " << loadingEnergy << std::endl;
it->setActiveStatus(false);
}
}
}
}
else
{
if ( MedeaAltUtilitySharedData::gExperimentNumber == 2 )
{
// * once per world update (TODO: move to worldobserver)
if (_wm->_agentId == 0 ) // debug
{
int agentsOnZone = 0;
for ( int i = 0 ; i != gAgentCounter ; i++ )
{
int x = (int)(gWorld->getAgent(i)->getWorldModel()->getXReal());
int y = (int)(gWorld->getAgent(i)->getWorldModel()->getYReal());
// std::cout << "x =" << x << " , y = " << y << std::endl;
if ( x >= MedeaAltUtilitySharedData::g_xStart_EnergyZone && y >= MedeaAltUtilitySharedData::g_yStart_EnergyZone && x <= MedeaAltUtilitySharedData::g_xEnd_EnergyZone && y <= MedeaAltUtilitySharedData::g_yEnd_EnergyZone )
agentsOnZone++;
}
// update MedeaAltUtilitySharedData::gZoneEnergy_harvestValue
//MedeaAltUtilitySharedData::gZoneEnergy_harvestValue = 10; // TODO :: TEMPORARY !!!!!!!!!!TEMPORARY !!!!!!!!!!TEMPORARY !!!!!!!!!!TEMPORARY !!!!!!!!!!TEMPORARY !!!!!!!!!!
if ( gVerbose )
std::cout << "There are " << agentsOnZone << " agents on the energy zone" << std::endl;
/**/
if ( agentsOnZone <= MedeaAltUtilitySharedData::gZoneEnergy_maxFullCapacity )
{
// best case
MedeaAltUtilitySharedData::gZoneEnergy_harvestValue = MedeaAltUtilitySharedData::gZoneEnergy_maxHarvestValue;
}
else
{
if ( agentsOnZone <= MedeaAltUtilitySharedData::gZoneEnergy_saturateCapacityLevel )
{
double energyValueSpan = MedeaAltUtilitySharedData::gZoneEnergy_maxHarvestValue - MedeaAltUtilitySharedData::gZoneEnergy_minHarvestValue;
int agentsOverheadCount = MedeaAltUtilitySharedData::gZoneEnergy_saturateCapacityLevel - MedeaAltUtilitySharedData::gZoneEnergy_maxFullCapacity;
double costPerAgents = energyValueSpan / (double)agentsOverheadCount;
MedeaAltUtilitySharedData::gZoneEnergy_harvestValue = MedeaAltUtilitySharedData::gZoneEnergy_maxHarvestValue - costPerAgents * ( agentsOnZone- MedeaAltUtilitySharedData::gZoneEnergy_maxFullCapacity ) ;
}
else
{
// worst case
MedeaAltUtilitySharedData::gZoneEnergy_harvestValue = MedeaAltUtilitySharedData::gZoneEnergy_minHarvestValue;
}
}
/**/
// debug : MedeaAltUtilitySharedData::gZoneEnergy_harvestValue = MedeaAltUtilitySharedData::gZoneEnergy_maxHarvestValue;
}
// * for each agent -- TODO: could be optimized by merging with previous block in the worldobserve
if ( _wm->_xReal >= MedeaAltUtilitySharedData::g_xStart_EnergyZone && _wm->_xReal <= MedeaAltUtilitySharedData::g_xEnd_EnergyZone && _wm->_yReal >= MedeaAltUtilitySharedData::g_yStart_EnergyZone && _wm->_yReal <= MedeaAltUtilitySharedData::g_yEnd_EnergyZone )
{
float loadingEnergy = MedeaAltUtilitySharedData::gZoneEnergy_harvestValue;
// update energy level
_wm->setEnergyLevel(_wm->getEnergyLevel() + loadingEnergy);
_wm->setDeltaEnergy(_wm->getDeltaEnergy() + loadingEnergy);
// saturate
if ( _wm->getEnergyLevel() > MedeaAltUtilitySharedData::gEnergyMax ) // assume: need MedeaAltUtilitySharedData::gEvaluationTime to live full life
_wm->setEnergyLevel(MedeaAltUtilitySharedData::gEnergyMax);
if ( _wm->getDeltaEnergy() > MedeaAltUtilitySharedData::gEnergyMax ) // assume: need MedeaAltUtilitySharedData::gEvaluationTime to live full life
_wm->setDeltaEnergy(MedeaAltUtilitySharedData::gEnergyMax);
Point2d posRobot(_wm->_xReal,_wm->_yReal);
gLogFile << "Info(" << gWorld->getIterations() << ") : " << _wm->_agentId
<< "(" << posRobot.x << "," << posRobot.y << ")"
<< " get an energy point at 0,0 :: Value : " << loadingEnergy << std::endl; // hack to comply with python log analyser
}
}
}
// * check energy level
if ( MedeaAltUtilitySharedData::gExperimentNumber == 1 || MedeaAltUtilitySharedData::gExperimentNumber == 2 )
{
if ( _wm->getEnergyLevel() <= 0 )
{
_wm->setDeltaEnergy(0); // must be set to zero to avoid broadcasting.
_wm->setActiveStatus(false);
}
}
// * broadcast the genome (current agent writes its genome to all neighbors
// broadcast only if agent is active (ie. not just revived) and deltaE>0.
if (
/*( _wm->getDeltaEnergy()>0.0 && _wm->getActiveStatus() == true )
||
( MedeaAltUtilitySharedData::gExperimentNumber == 0 && _wm->getActiveStatus() == true )*/
_wm->getActiveStatus() == true
)
{
for (int i = 0 ; i < gAgentCounter ; i++)
{
if ( ( i != _wm->_agentId ) && ( gRadioNetworkArray[_wm->_agentId][i] ) ) //&& (_wm->getEnergyLevel() > 0.0) ) --> always true as status is active
{
MedeaAltUtilityBattleAgentObserver* agentObserver = dynamic_cast<MedeaAltUtilityBattleAgentObserver*>(gWorld->getAgent(i)->getObserver());
if ( ! agentObserver )
{
std::cerr << "Error from robot " << _wm->_agentId << " : the observer of robot " << i << " isn't a MedeaAltUtilityBattleAgentObserver" << std::endl;
exit(1);
}
agentObserver->writeGenome(_currentGenome, _wm->_agentId);
}
}
}
// * handle genome renewal
//"restart" the robot in case it runs out of energy -- case: no synchronisation
/*
if ( ( _wm->getEnergyLevel() <= 0.0 ) && ( MedeaAltUtilitySharedData::gSynchronization == false ) ){
logStatus();
//resetActiveGenome();
_wm->setEnergyLevel( currentBehavior->getInitialEnergy());
_wm->setDeltaEnergy(0.0);
gLogFile << "Info(" << gWorld->getIterations() << ") : Human intervention on robot " << _wm->_agentId << " (Energy)" << std::endl;
_iterationCount = 0;
_wm->setActiveStatus(false); // !N.20100407 : inactive robot should get a new genome and move until it imports one from neighbors.
}
*/
// case: default for Medea, synchronised
if( _iterationCount >= MedeaAltUtilitySharedData::gEvaluationTime )
{
/**/
if (_wm->_agentId == gAgentIndexFocus && gVerbose) // debug
{
std::cout << "agent #" << gAgentIndexFocus << " is renewed" << std::endl;
std::cout << "agent #" << gAgentIndexFocus << " imported " << _genomesList.size() << " genomes. Energy is " << _wm->getEnergyLevel() << ". Status is " << _wm->getActiveStatus() << "." <<std::endl;
}
/**/
logStatus();
//"revive" the robot in case it runs out of energy
if ( MedeaAltUtilitySharedData::gExperimentNumber == 1 || MedeaAltUtilitySharedData::gExperimentNumber == 2 )
{
if ( _wm->getEnergyLevel() <= 0.0 )
{
gLogFile << "Info(" << gWorld->getIterations() << ") : Human intervention on robot " << _wm->_agentId << " (Energy)" << std::endl;
// reformulate (check python script compatibility before): gLogFile << "Info(" << gWorld->getIterations() << ") : robot " << _wm->_agentId << " was revived (human intervention)" << std::endl;
if (_wm->_agentId == gAgentIndexFocus && gVerbose) // debug
{
std::cout << "agent #" << gAgentIndexFocus << " is revived (energy was 0)." << std::endl;
}
logStatus();
//resetActiveGenome();
_wm->setEnergyLevel(MedeaAltUtilitySharedData::gEnergyRevive); // !n : too few?
_wm->setActiveStatus(false); // true: restart, false: no-restart
_genomesList.empty();
}
}
//else // uncomment if restart
// note: at this point, agent got energy, wether because it was revived or because of remaining energy.
// case: genome(s) imported, random pick.
if (_genomesList.size() > 0)
{
pickRandomGenome();
_wm->setActiveStatus(true); // !N.20100407 : revive takes imported genome if any
}
// case: no imported genome - wait for new genome.
else
{
gLogFile << "Info(" << gWorld->getIterations() << ") : robot nb." << _wm->_agentId
// << " is trying a whole new genome" << std::endl;
<< " is waiting for a new genome" << std::endl;
//resetActiveGenome(); // optional -- could be set to zeroes.
_wm->setActiveStatus(false); // !N.20100407 : inactive robot must import a genome from others.
}
//log the genome
gLogFile << "get active status" << std::endl ;
if ( _wm->getActiveStatus() == true )
{
gLogFile << "Info("<< gWorld->getIterations() <<") : robot nb."<< _wm->_agentId << " use genome :";
for(unsigned int i=0; i<_wm->_genome.size(); i++)
{
gLogFile << std::fixed << std::showpoint<< _wm->_genome[i] << " ";
}
gLogFile << std::endl;
}
//Re-initialize the main parameters
if ( MedeaAltUtilitySharedData::gExperimentNumber == 1 || MedeaAltUtilitySharedData::gExperimentNumber == 2 )
{
_wm->setDeltaEnergy(0.0); // !n : avant: 10.0
}
_iterationCount = 0;
_generationCount ++;
if ( _wm->_agentId == 0 )
{
if ( !gVerbose )
{
//std::cout << ".";
int activeCount = 0;
for ( int i = 0 ; i != gAgentCounter ; i++ )
{
if ( _wm->getActiveStatus() == true )
activeCount++;
}
std::cout << "[" << activeCount << "]";
}
}
}
}
