/** 以最快的方式跑到目标点
* Run to the destination point with the fastest method.
* \param agent the agent itself.
* \param pos the destination point.
* \param buffer point buffer, means the real destinantion is a cycle with the certer
* of pos and radius of buffer.
* \param power the intend power to use.
* \param can_inverse true means can run in the inverse direction of the agent's body.
* \param turn_first true means that the agent should turn first to adjust the direction.
* \return true if the action excuted successfully.
*/
bool Dasher::GoToPoint(Agent & agent, Vector pos, double buffer, double power, bool can_inverse, bool turn_first)
{
AtomicAction act;
GoToPoint(agent, act, agent.GetStrategy().AdjustTargetForSetplay(pos), buffer, power, can_inverse, turn_first);
return act.Execute(agent);
}
static void readConfig(Agent& agent, string configFile) {
pt::ptree properties;
LOG(INFO) << "Reading configuration from " << configFile;
pt::read_json(configFile, properties);
agent.setProperties(properties);
}
int
main(int argc, char ** argv)
{
int myid, numprocs;
int n1, n2;
n1 = atoi(argv[1]);
n2 = atoi(argv[2]);
if (n1 > 0){ ALL_N_AGENTS=n1; }
if (n2 > 0){ N_TRIAL=n2; }
Agent * agents = init(&argc, argv, &myid, &numprocs);
if(myid == 0){
printf("%d %d %d\n", ALL_N_AGENTS, N_AGENTS, N_TRIAL);
}
double new_price = 0;
int t;
for(t = 0; t < N_TRIAL; ++t) {
int i;
Agent * agent;
for(agent = agents, i = N_AGENTS; i--; ++agent)
agent->refresh(agent);
double g_min_ask, g_max_bid;
get_extreme_value(&g_min_ask, &g_max_bid, agents);
if(myid == 0)
if(g_max_bid > g_min_ask)
{
new_price = (g_min_ask + g_max_bid) / 2;
printf("%d %lf\n", t, new_price);
// fflush(stdout);
}
MPI_Bcast(&new_price, 1, MPI_DOUBLE, 0, MPI_COMM_WORLD);
for(;new_price; new_price = 0)
for(agent = agents, i = N_AGENTS; i--; ++agent)
agent->set(agent, new_price);
}
MPI_Finalize();
return 0;
}
void EnvironmentCA2DMulti::update()
{
Environment::update();
if (settings.payoff_depletion_rate_arg)
{
for (agent_iterator it = mAgents.begin(); it != mAgents.end(); ++it)
{
Agent *agent = *it;
int index = agent->get_index();
Point2Di position = this->mPositions[index];
this->mLandscape->deplete_at(position.x, position.y);
}
}
this->mLandscape->regenerate();
}
void LocationModel::removeSource(AgentId aid)
{
if(mSources.erase(aid) > 0)
{
Agent *agent = mLocationModelMan->level()->agentMan()->getAgent(aid);
if(nullptr == agent)
return;
LocationModel *model = agent->locationModel();
if(nullptr == model)
return;
model->removeDestination(attachedAgent());
}
}
//##ModelId=424BB6470067
void ACDX::logout(CString agent)
{
std::list<Agent>::iterator aliasElement;
Agent ag;
for(aliasElement = aliasList.begin(); aliasElement != aliasList.end(); ++aliasElement )
{
ag = *aliasElement;
if (agent==(H323Utils::extractAliasName(ag.getAlias())))
{
if (g_lock.lock()) {
aliasElement->setBlocked(TRUE);
Logger::log("Logout agent " + agent);
g_lock.unlock();
}// lock
}// ==
}// for
}
void CGameAIRecorder::RecordLuaComment(const Agent &agent, const char* szComment, ...) const
{
assert(agent.IsValid());
if (m_bIsRecording && agent.IsValid())
{
char szBuffer[1024] = {0};
va_list args;
va_start(args, szComment);
vsnprintf(szBuffer, 1024, szComment, args);
va_end(args);
IAIRecordable::RecorderEventData data(szBuffer);
agent.GetAIObject()->RecordEvent(IAIRecordable::E_LUACOMMENT, &data);
}
}
void ConfigTest::testIgnoreTimestampsOverride()
{
istringstream str("Devices = ../samples/test_config.xml\n"
"IgnoreTimestamps = true\n"
"Adapters { LinuxCNC { \n"
"IgnoreTimestamps = false\n"
"} }\n");
mConfig->loadConfig(str);
Agent *agent = mConfig->getAgent();
CPPUNIT_ASSERT(agent);
Device *device = agent->getDevices()[0];
Adapter *adapter = device->mAdapters[0];
CPPUNIT_ASSERT(!adapter->isIgnoringTimestamps());
}
Agent* AgentManager::createAgent(AgentType type, Creature* character)
{
SteeringVehicle* vehicle = NULL;
if(type == AGENT_PLAYER)
{
vehicle = new PlayerVehicle(character->getActor());
}
Agent* agent = new Agent(character, vehicle);
agent->setType(type);
if(type == AGENT_PLAYER)
{
mPlayer = agent;
}
addAgent(agent);
return agent;
}
Agent* AgentList::addOrUpdateAgent(sockaddr* publicSocket, sockaddr* localSocket, char agentType, uint16_t agentId) {
AgentList::iterator agent = end();
if (publicSocket) {
for (agent = begin(); agent != end(); agent++) {
if (agent->matches(publicSocket, localSocket, agentType)) {
// we already have this agent, stop checking
break;
}
}
}
if (agent == end()) {
// we didn't have this agent, so add them
Agent* newAgent = new Agent(publicSocket, localSocket, agentType, agentId);
if (socketMatch(publicSocket, localSocket)) {
// likely debugging scenario with two agents on local network
// set the agent active right away
newAgent->activatePublicSocket();
}
if (newAgent->getType() == AGENT_TYPE_VOXEL_SERVER ||
newAgent->getType() == AGENT_TYPE_AVATAR_MIXER ||
newAgent->getType() == AGENT_TYPE_AUDIO_MIXER) {
// this is currently the cheat we use to talk directly to our test servers on EC2
// to be removed when we have a proper identification strategy
newAgent->activatePublicSocket();
}
addAgentToList(newAgent);
return newAgent;
} else {
if (agent->getType() == AGENT_TYPE_AUDIO_MIXER ||
agent->getType() == AGENT_TYPE_VOXEL_SERVER) {
// until the Audio class also uses our agentList, we need to update
// the lastRecvTimeUsecs for the audio mixer so it doesn't get killed and re-added continously
agent->setLastHeardMicrostamp(usecTimestampNow());
}
// we had this agent already, do nothing for now
return &*agent;
}
}
int main(int argc, char *argv[]) {
try {
Agent agent {};
try {
agent.start();
} catch (agent_error& e) {
std::cout << "Failed to start the agent: " << e.what() << std::endl;
return 2;
}
} catch (agent_error& e) {
std::cout << "Failed to initialize the agent: " << e.what() << std::endl;
return 1;
}
return 0;
}
int Goal_Attack_Region::Get_Totally_Complete(AiMain *ai)
{
int i;
int completely_there_count = 0;
Agent *agent = NULL;
ArmyAgent *aa=NULL;
MapPointData army_pos;
if (attacking_squad == NULL) return false;
for (i=0; i < attacking_squad->my_agents.count; i++)
{
agent = (Agent *) attacking_squad->my_agents.Return_Data_By_Number(i);
if (agent->GetType() == AGENT_TYPE_ARMY)
{
aa = (ArmyAgent *) agent;
if (aa->GetState() == AGENT_STATE_MARKED_DEAD) {
continue;
}
aa->GetPos(ai, army_pos);
if ((m_pos->x == army_pos.x) &&
(m_pos->y == army_pos.y) &&
(m_pos->z == army_pos.z) )
{
completely_there_count++;
}
}
}
Set_Totally_Complete(completely_there_count == attacking_squad->my_agents.count);
return m_is_completed;
}
void EnvironmentGraph::reproduce()
{
/*--------------------------------------------------------------------*
* birth-death reproduction
*--------------------------------------------------------------------*/
int parent_index = this->select_parent();
Agent *parent = mAgents[parent_index];
Agent *child = parent->replicate();
vector <Agent *> neighbours = this->get_neighbours(parent);
Agent *neighbour = neighbours[rng_randint(0, neighbours.size())];
int child_index = neighbour->get_index();
delete mAgents[child_index];
mAgents[child_index] = child;
mGraph->mNodes[child_index]->mData = child;
}
// simulate a sequence of random actions, returning the accumulated reward.
static reward_t playout(Agent &agent, unsigned int playout_len) {
reward_t r = 0;
for (unsigned int i = 0; i < playout_len; ++i) {
// Pick a random action
action_t a = agent.genRandomAction();
agent.modelUpdate(a);
// Generate a random percept distributed according to the agent's
// internal model of the environment.
percept_t rew;
percept_t obs;
agent.genPerceptAndUpdate(obs, rew);
r = r + rew;
}
return r;
}
void VCardFormatImpl::addAgentValue( VCARD::VCard *vcard, const Agent &agent )
{
if ( agent.isIntern() && !agent.addressee() )
return;
if ( !agent.isIntern() && agent.url().isEmpty() )
return;
ContentLine cl;
cl.setName( EntityTypeToParamName( EntityAgent ) );
ParamList params;
if ( agent.isIntern() ) {
QString vstr;
Addressee *addr = agent.addressee();
if ( addr ) {
writeToString( (*addr), vstr );
vstr.replace( ":", "\\:" );
vstr.replace( ",", "\\," );
vstr.replace( ";", "\\;" );
vstr.replace( "\r\n", "\\n" );
cl.setValue( new TextValue( vstr.utf8() ) );
} else
return;
} else {
cl.setValue( new TextValue( agent.url().utf8() ) );
params.append( new Param( "VALUE", "uri" ) );
}
cl.setParamList( params );
vcard->add( cl );
}
std::vector<double> beatTrack(const AgentParameters ¶ms,
const EventList &events,
const EventList &beats)
{
AgentList agents;
int count = 0;
double beatTime = -1;
if (!beats.empty()) {
count = beats.size() - 1;
EventList::const_iterator itr = beats.end();
--itr;
beatTime = itr->time;
}
if (count > 0) { // tempo given by mean of initial beats
double ioi = (beatTime - beats.begin()->time) / count;
agents.push_back(new Agent(params, ioi));
}
else // tempo not given; use tempo induction
agents = Induction::beatInduction(params, events);
if (!beats.empty()) {
for (AgentList::iterator itr = agents.begin(); itr != agents.end(); ++itr) {
(*itr)->beatTime = beatTime;
(*itr)->beatCount = count;
(*itr)->events = beats;
}
}
agents.beatTrack(events, params, -1);
Agent *best = agents.bestAgent();
std::vector<double> resultBeatTimes;
if (best) {
best->fillBeats(beatTime);
for (EventList::const_iterator itr = best->events.begin();
itr != best->events.end(); ++itr) {
resultBeatTimes.push_back(itr->time);
}
}
for (AgentList::iterator ai = agents.begin(); ai != agents.end(); ++ai) {
delete *ai;
}
return resultBeatTimes;
}
bool Env::sendMsg(long idSrc, long idDest, char *msg) {
logMsg("SEND MSG : " + std::to_string(idSrc) + " -> " + std::to_string(idDest));
// if (this->phy->getNeighbours(idSrc).count(idDest)) {
this->agents.at(idDest)->addMsg(msg);
// Display the sending message with dataAgents
Agent * agentSrc = this->agents.at(idSrc);
Agent * agentDest = this->agents.at(idDest);
Vect posSrc = PosToCell(agentSrc->getPos().x, agentSrc->getPos().y);
Vect posDest = PosToCell(agentDest->getPos().x, agentDest->getPos().y);
if (posSrc != posDest) {
float dist = ((724-Vect(posSrc - posDest).Length()) / 724.0) / 6.0;
for (float n = 0; n < 1; n += dist) {
Vect base = posDest + n * (posSrc - posDest);
Vect dirSommet = Vect(posSrc - posDest);
dirSommet.Normalize();
Vect vectBase = Vect(dirSommet.y, -dirSommet.x);
for (int j = 0; j < 20; j++) {
for (int i = -j*0.5; i <= j*0.5; i++) {
Vect point = base + j / 2.0 * dirSommet + i / 2.0 * vectBase;
if (point.x >= 0 && point.x < 512 && point.y >= 0 && point.y < 512) {
agentSrc->getVision(point.x, point.y)->dataAgent = 10 * (1 - n);
}
}
}
}
}
return true;
//}
//return false;
}
bool AdaptiveLayer::handleGesture()
{
bool gotSignal = false;
string humanName = "partner";
Agent* partner = dynamic_cast<Agent*>(iCub->opc->getEntity(humanName));
if (partner->m_present)
{
//Check if the human did a particular gesture
list<Relation> gestures = iCub->opc->getRelations();
if (gestures.size() > 0)
{
iCub->look(partner->name());
//take the first gesture that has been recognized on the current partner
for(list<Relation>::iterator it = gestures.begin(); it != gestures.end() ; it++)
{
string subject = it->subject();
string verb = it->verb();
//cout<<"GESTURE : "<<it->toString()<<endl;
if (subject == humanName && verb == "perform")
{
gotSignal = true;
string gestureName = it->object();
cout<<"GESTURE : "<<gestureName<<endl;
//trigger the dance corresponding to this gesture
//If we have a stored reaction pattern to this tactile stimulus
if (gestureEffects.find(gestureName) != gestureEffects.end() )
{
iCub->say(gestureEffects[gestureName].getRandomSentence(), false);
//Apply each emotional effect
for(map<string, double>::iterator itEffects = gestureEffects[gestureName].m_emotionalEffect.begin() ; itEffects != gestureEffects[gestureName].m_emotionalEffect.end(); itEffects++)
{
iCub->icubAgent->m_emotions_intrinsic[itEffects->first] += itEffects->second;
}
}
iCub->commitAgent();
iCub->opc->removeRelation(*it);
}
}
}
}
return gotSignal;
}
bool Brain::priorize(Agent& agent) {
bool there_is_something_there = false;
map<pair<int, int>, Memory>::iterator it = objectives.begin();
if (!this->objectives.empty()) {
int x, y, orientation;
pair<bool, bool> solved;
getGoal(agent);
deque<pair<int, int> > path;
agent.GetCoord(y, x, orientation);
pair<int, int> coords = pair<int, int>(x, y);
map<pair<int, int>, Memory>::iterator it = this->objectives.begin();
this->current_goal = (*it).first;
bool iHaveItTouchingMaNose = (current_path.empty() && !this->objectives.empty()
&& (agent.whatISeeThere(1).first == (*it).second.getItem() || agent.whatISeeThere(1).second == (*it).second.getItem()));
bool iAmOnIt = (current_path.empty() && current_goal.first == x && current_goal.second == y);
if (iAmOnIt) {
//cout << "I AM ON IT" << endl;
iAmOnSomething((*it).second.getItem(), agent);
} else if (iHaveItTouchingMaNose) {
//cout << "I HAVE IT IN NOSE" << endl;
iHaveSomethingAhead((*it).second.getItem(), agent);
} else {
//yellWhatImDoing(agent.getCoord());
Astar astar_alg = Astar(agent.mapa_entorno_, agent.mapa_objetos_, coords, current_goal, true); //Cuidado, movimiento forzado
solved = astar_alg.solve();
if (solved.second) {
this->current_goal = astar_alg.getGoal();
}
if (!solved.first) {
cout << "ERROR: no se me ocurre una forma de encontrar lo que buscas, ni puedo encontrar más mapa!" << endl;
cout << "PASOS: " << steps << endl;
//exit(0);
}
while (!current_path.empty()) {
current_path.pop();
}
path = deque<pair<int, int> >(astar_alg.getSolution());
translateToMoves(coords, orientation, path);
}
there_is_something_there = true;
}
return there_is_something_there;
}
Agent* OutputAgentFactory::createAgent() {
// create new output agent
Agent *shakespeare = new Agent();
Database *db = shakespeare->getDatabase();
// add number of bugs and length of output interval to shakespeare's database
IntegerData *nb = new IntegerData("number_bugs",number_bugs);
db->addData(nb);
DoubleData *oi = new DoubleData("output_interval", output_interval);
db->addData(oi);
// we just need to add the actions to the agents.
// the output-agent does not possess any message generators or simulators.
this->addActionsToAgentsActionSet(shakespeare);
return shakespeare;
}
void MicroscopicDataDB::insert(Agent& data) {
agentInsertWorker_->insertBuffer(data.sqlInsertValue());
if ((!agentInsertWorker_->isRunning() && agentInsertWorker_->bufferSize() > MAX_BUFFER_SIZE)
||
(agentInsertWorker_->isRunning() && agentInsertWorker_->bufferSize() > 4*MAX_BUFFER_SIZE)){
insertAgentsToDB();
}
}
void
QmfObject::run_pending_calls(void)
{
Agent a = _qmf_data.getAgent();
for (list<QmfAsyncRequest*>::iterator it = _pending_jobs.begin();
it != _pending_jobs.end(); ++it) {
QmfAsyncRequest* ar = *it;
qb_loop_timer_handle th;
uint32_t correlation_id = a.callMethodAsync(ar->method, ar->args, _qmf_data.getAddr());
_outstanding_calls[correlation_id] = ar;
g_timer_stop(ar->time_queued);
g_timer_start(ar->time_execed);
ar->state = QmfAsyncRequest::JOB_RUNNING;
ar->ref();
mainloop_timer_add(ar->timeout, ar,
method_call_tmo, &th);
}
}
// Process status change
bool AgentManager::childStatusChange()
{
bool gotit = false;
for (Agent *c = first; c != 0; c = c->next)
{
pid_t pid = c->pid();
int status;
if (pid > 0 && waitpid(pid, &status, WNOHANG) == pid)
{
c->callHandlers(_Died, (void *)status);
gotit = true;
}
}
return gotit;
}
/**
* Tackle ball.
* \param agent.
* \param angle_after_tackle direction you want the ball to go.
* \param p_tackle_angle will be set to the angle to tackle at if valid.
* \return true iff it is possible to tackle the ball to the given direction.
*/
bool Tackler::TackleToDir(Agent & agent, const AngleDeg & dir, bool foul)
{
AngleDeg tackle_angle;
if (GetTackleAngleToDir(agent, dir, &tackle_angle)){
agent.Tackle(tackle_angle, foul);
return true;
}
return false;
}
void DebriefMenu::checkNewWeaponFound() {
for (int i=0; i<4; i++) {
if (g_Session.agents().squadMember(i)) {
Agent *pAgent = g_Session.agents().squadMember(i);
for (int wi=0; wi < pAgent->numWeapons(); wi++) {
Weapon *pWeapon = pAgent->weapon(wi)->getWeaponClass();
if (!g_App.weapons().isAvailable(pWeapon)) {
if (g_Session.researchManager().handleWeaponDiscovered(pWeapon)) {
getStatic(txtNewWeap1Id_)->setText("#DEBRIEF_WEAP_FOUND1");
getStatic(txtNewWeap2Id_)->setText("#DEBRIEF_WEAP_FOUND2");
}
}
}
}
}
}
b2Vec2 MapController::steerTowards(Agent &agent, b2Vec2 direction)
{
b2Vec2 desiredVelocity = direction * Agent::maxSpeed;
//The velocity change we want
b2Vec2 velocityChange = desiredVelocity - agent.getVelocity();
//Convert to a force
return velocityChange * (Agent::maxForce / Agent::maxSpeed);
}
/**
* 将身体转向特定方向
* Turn body to a certain direction.
* @param agent the agent itself.
* @param ang the angle to turn to.
* @return an atomic action to turn the body.
*/
AtomicAction Dasher::GetTurnBodyToAngleAction(const Agent & agent, AngleDeg ang)
{
AtomicAction action;
action.mType = CT_Turn;
double angle_turn = GetNormalizeAngleDeg(ang - agent.GetSelf().GetBodyDir());
if (fabs(angle_turn) < agent.GetSelf().GetMaxTurnAngle())
{
action.mSucceed = true;
action.mTurnAngle = angle_turn;
}
else
{
action.mSucceed = false;
action.mTurnAngle = Sign(angle_turn) * agent.GetSelf().GetMaxTurnAngle();
}
return action;
}
void COpcAdapter::SetMTCTagValue(std::string tag, std::string value)
{
#if 1
Agent * agent = _agentconfig->getAgent();
Device *pDev = agent->getDeviceByName(_device);
DataItem *di = pDev->getDeviceDataItem(tag);
if (di != NULL)
{
std::string time = getCurrentTime(GMT_UV_SEC);
agent->addToBuffer(di, value, time);
}
else
{
LOGONCE GLogger.LogMessage(StdStringFormat("(%s) Could not find data item: %s \n", _device.c_str(), tag.c_str()));
}
#endif
}
// TODO FOR DANIEL: USE ICUBCLIENT!!!
std::string getPartnerName()
{
string partnerName = "";
list<Entity*> lEntities = opc.EntitiesCacheCopy();
for (auto& entity : lEntities) {
if (entity->entity_type() == "agent") {
Agent* a = dynamic_cast<Agent*>(entity);
//We assume kinect can only recognize one skeleton at a time
if(a->m_present == 1.0 && a->name()!="icub") {
partnerName = a->name() ;
yInfo() << "Partner found: name = " << partnerName;
return partnerName;
}
}
}
yWarning() << "No partner present was found!";
return partnerName;
}
void SWGraph::step(){
Agent* a = NULL;
set<Agent*>::iterator i;
//cout << "antes del step. NAgs =" << agents.size() <<"\n";
for (i = agents.begin(); i != agents.end(); ++i) {
a = *i;
//cout << *a;
a->step();
}
//this->print();
reapAgents();
//cout << "despues del step. NAgs =" << agents.size() <<"\n";
}
