void agents_controller( WORLD_TYPE *w )
{ /* Adhoc function to test agents, to be replaced with NN controller. tpc */
AGENT_TYPE *a ;
int collision_flag=0 ;
int i,k ;
int maxvisualreceptor = -1 ;
int nsomareceptors ;
int nacousticfrequencies ;
float delta_energy, old_delta_energy;
float dfb , drl, dth, dh ;
float headth ;
//float forwardspeed ;
float maxvisualreceptordirection ;
float bodyx, bodyy, bodyth ;
float **eyevalues, **ear0values, **ear1values, **skinvalues ;
float ear0mag=0.0, ear1mag=0.0 ;
time_t now ;
struct tm *date ;
char timestamp[30] ;
int is_poisonous = 0;
//temporary file
char eye_data_file_name[20] = "./dat/eye_data_";
char direction_data_file_name[20] = "./dat/direction_data";
char eye_data_file_name_str[50] = "";
int idx = 0;
float stopping_criteria = 0.00000001;
FILE *fp = 0x0;
int ret = 0;
float *input_data = 0x0;
a = w->agents[0] ; /* get agent pointer */
/* test if agent is alive. if so, process sensors and actuators. if not, report death and
reset agent & world */
if(a->instate->metabolic_charge > 0.0)
{
/* get current motor rates and body/head angles */
read_actuators_agent(a, &dfb, &drl, &dth, &dh ) ;
read_agent_body_position( a, &bodyx, &bodyy, &bodyth ) ;
read_agent_head_angle( a, &headth );
/* read somatic(touch) sensor for collision */
collision_flag = read_soma_sensor(w, a) ;
skinvalues = extract_soma_receptor_values_pointer( a ) ;
nsomareceptors = get_number_of_soma_receptors( a ) ;
/* read visual sensor to get R, G, B intensity values to collect x values*/
read_visual_sensor(w, a) ;
eyevalues = extract_visual_receptor_values_pointer( a, 0 ) ;
for(k = 0 ; k < nsomareceptors ; k++)
{
ret = LMScalculate(eyevalues[a->instate->eyes[0]->nreceptors/2], a->instate->eyes[0]->nbands, 0, 0);
if((k == 0) && skinvalues[k][0] > 0.0 && ret == 1)
{
delta_energy = eat_colliding_object(w, a, k) ;
// /*Train the neuron*/
// if(delta_energy != 0)
// {
// object_num++;
// LMScalculate(eyevalues[a->instate->eyes[0]->nreceptors/2], a->instate->eyes[0]->nbands, 1, (delta_energy > 0 ? 1.0 : 0.0));
// }
}
}
/*Move robot*/
ret = set_direction(w, a, 0);
read_agent_body_position(a, &bodyx, &bodyy, &bodyth) ;
if(ret == -1)
{
set_agent_body_angle(a, bodyth + 45);
}
else
{
set_agent_body_angle(a, bodyth + a->instate->eyes[0]->receptor_locations[ret] + a->instate->eyes[0]->receptor_directions[ret]);
}
/* move the agents body */
set_forward_speed_agent(a, forwardspeed) ;
move_body_agent(a) ;
/* decrement metabolic charge by basil metabolism rate. DO NOT REMOVE THIS CALL */
basal_metabolism_agent(a) ;
simtime++ ;
} /* end agent alive condition */
else
{
/* Example of agent is dead condition */
printf("agent_controller- Agent has died, eating %d objects. simtime: %d\n",a->instate->itemp[0], simtime ) ;
now = time(NULL) ;
date = localtime( &now ) ;
sprintf(eye_data_file_name_str, "./dat/timevsspeed.csv");
if((fp = fopen(eye_data_file_name_str, "a+")) != 0x0)
{
fprintf(fp, "%f,%f,%d\n", forwardspeed, init_head_position, simtime);
fclose(fp);
}
/* Example as to how to restore the world and agent after it dies. */
restore_objects_to_world(Flatworld) ; /* restore all of the objects back into the world */
reset_agent_charge( a ) ; /* recharge the agent's battery to full */
a->instate->itemp[0] = 0 ; /* zero the number of object's eaten accumulator */
/* keep starting position the same and change head angle */
init_head_position += 20;
nlifetimes++ ;
if(nlifetimes%18 == 0)
{
init_head_position -= 360;
forwardspeed += 0.01;
}
init_x = (Flatworld->xmax + Flatworld->xmin)/2;
init_y = (Flatworld->ymax + Flatworld->ymin)/2;
printf("\nagent_controller- new coordinates after restoration: x: %f y: %f h: %f f: %f\n", init_x, init_y, init_head_position, forwardspeed) ;
set_agent_body_position(a, init_x, init_y, init_head_position) ;
/* Accumulate lifetime statistices */
simtime = 0 ;
//maxnlifetimes
if(nlifetimes >= 360) //|| (epoch_num > 10 && fabs(rmss[epoch_num - 1] - rmss[epoch_num - 2]) < stopping_criteria)) /*Add stopping condition for the neuron training to stop*/
{
/*plot data and clean up data*/
// sprintf(eye_data_file_name_str, "%sdata.csv", eye_data_file_name);
// printf("store the data and exit with epoch %d\n", epoch_num);
//
// if((fp = fopen(eye_data_file_name_str, "w+")) != 0x0)
// {
// /*Log rms*/
// for(idx = 0; idx < epoch_num; idx++)
// {
// fprintf(fp, "%d,%lg\n", idx+1, rmss[idx]);
// }
//
// fprintf(fp, "\nThe final weights are:\n");
//
// /*Log weights*/
// for(idx = 0; idx <= neuron_brain.input_num; idx++)
// {
// fprintf(fp, "%lg,", neuron_brain.weights[idx]);
// }
//
// fclose(fp);
// }
// epoch_num = 0;
exit(0) ;
}
else
{
// rmss[epoch_num] = pow(accumulated_rms/object_num, 0.5);
// printf("This is the %dth epoch with %f random speed with %f rms\n", epoch_num, forwardspeed, rmss[epoch_num]);
// epoch_num++;
// accumulated_rms = 0;
// object_num = 0;
}
} /* end agent dead condition */
}/*end agents_controller()*/
void agents_controller( WORLD_TYPE *w )
{ /* Adhoc function to test agents, to be replaced with NN controller. tpc */
AGENT_TYPE *a ;
int collision_flag=0 ;
int i,k ;
int maxvisualreceptor = -1 ;
int nsomareceptors ;
int nacousticfrequencies ;
float delta_energy ;
float dfb , drl, dth, dh ;
float headth ;
float forwardspeed ;
float maxvisualreceptordirection ;
float bodyx, bodyy, bodyth ;
float x, y, h ;
float **eyevalues, **ear0values, **ear1values, **skinvalues ;
float ear0mag=0.0, ear1mag=0.0 ;
time_t now ;
struct tm *date ;
char timestamp[30] ;
/* Initialize */
forwardspeed = 3.0 ;
a = w->agents[0] ; /* get agent pointer */
/* test if agent is alive. if so, process sensors and actuators. if not, report death and
reset agent & world */
if( a->instate->metabolic_charge>0.0 )
{
/* get current motor rates and body/head angles */
read_actuators_agent( a, &dfb, &drl, &dth, &dh ) ;
read_agent_body_position( a, &bodyx, &bodyy, &bodyth ) ;
read_agent_head_angle( a, &headth ) ;
/* read somatic(touch) sensor for collision */
collision_flag = read_soma_sensor(w, a) ;
skinvalues = extract_soma_receptor_values_pointer( a ) ;
nsomareceptors = get_number_of_soma_receptors( a ) ;
for( k=0 ; k<nsomareceptors ; k++ )
{
if( (k==0 || k==1 || k==7 ) && skinvalues[k][0]>0.0 )
{
//delta_energy = eat_colliding_object( w, a, k) ;
}
}
/* read hearing sensors and load spectra for each ear, and compute integrated sound magnitudes */
read_acoustic_sensor( w, a) ;
ear0values = extract_sound_receptor_values_pointer( a, 0 ) ;
ear1values = extract_sound_receptor_values_pointer( a, 1 ) ;
nacousticfrequencies = get_number_of_acoustic_receptors( a ) ;
for( i=0 ; i<nacousticfrequencies ; i++ )
{
ear0mag += ear0values[i][0] ;
ear1mag += ear1values[i][0] ;
}
//printf("simtime: %d ear0mag: %f ear1mag: %f\n",simtime,ear0mag,ear1mag) ;
/* read visual sensor to get R, G, B intensity values */
read_visual_sensor( w, a) ;
eyevalues = extract_visual_receptor_values_pointer( a, 0 ) ;
/* find brights object in visual field */
maxvisualreceptor = intensity_winner_takes_all( a ) ;
if( maxvisualreceptor >= 0 )
{
/* use brightest visual receptor to determine how to turn body to center it in the field of view */
maxvisualreceptordirection = visual_receptor_position( a->instate->eyes[0], maxvisualreceptor ) ;
/* rotate body to face brightes object */
set_agent_body_angle( a, bodyth + maxvisualreceptordirection ) ;
}
else
{
printf("agents_controller- No visible object, simtime: %d, changing direction.\n",simtime) ;
read_agent_body_position( a, &bodyx, &bodyy, &bodyth ) ;
set_agent_body_angle( a, bodyth + 45.0 ) ;
}
/* move the agents body */
set_forward_speed_agent( a, forwardspeed ) ;
move_body_agent( a ) ;
/* decrement metabolic charge by basil metabolism rate. DO NOT REMOVE THIS CALL */
basal_metabolism_agent( a ) ;
simtime++ ;
} /* end agent alive condition */
else
{
/* Example of agent is dead condition */
printf("agent_controller- Agent has died, eating %d objects. simtime: %d\n",a->instate->itemp[0], simtime ) ;
now = time(NULL) ;
date = localtime( &now ) ;
strftime(timestamp, 30, "%y/%m/%d H: %H M: %M S: %S",date) ;
printf("Death time: %s\n",timestamp) ;
/* Example as to how to restore the world and agent after it dies. */
restore_objects_to_world( Flatworld ) ; /* restore all of the objects back into the world */
reset_agent_charge( a ) ; /* recharge the agent's battery to full */
a->instate->itemp[0] = 0 ; /* zero the number of object's eaten accumulator */
x = distributions_uniform( Flatworld->xmin, Flatworld->xmax ) ; /* pick random starting position and heading */
y = distributions_uniform( Flatworld->ymin, Flatworld->ymax ) ;
h = distributions_uniform( -179.0, 179.0) ;
printf("\nagent_controller- new coordinates after restoration: x: %f y: %f h: %f\n",x,y,h) ;
set_agent_body_position( a, x, y, h ) ; /* set new position and heading of agent */
/* Accumulate lifetime statistices */
avelifetime += (float)simtime ;
simtime = 0 ;
nlifetimes++ ;
if( nlifetimes >= maxnlifetimes )
{
avelifetime /= (float)maxnlifetimes ;
printf("\nAverage lifetime: %f\n",avelifetime) ;
exit(0) ;
}
} /* end agent dead condition */
}
void arch9( WORLD_TYPE *w )
{ /* Adhoc function to test agents, to be replaced with NN controller. tpc */
AGENT_TYPE *a ;
int collision_flag=0 ;
int i,k ;
int maxvisualreceptor = -1 ;
int nsomareceptors ;
int nacousticfrequencies ;
float delta_energy ;
float dfb , drl, dth, dh ;
float headth ;
float forwardspeed ;
float maxvisualreceptordirection ;
float bodyx, bodyy, bodyth ;
float x, y, h ;
float **eyevalues, **ear0values, **ear1values, **skinvalues ;
float ear0mag=0.0, ear1mag=0.0 ;
time_t now ;
struct tm *date ;
char timestamp[30] ;
/* Initialize */
forwardspeed = 0.05;
a = w->agents[0] ; /* get agent pointer */
/* test if agent is alive. if so, process sensors and actuators. if not, report death and
reset agent & world */
if( a->instate->metabolic_charge>0.0 )
{
read_visual_sensor(w,a);
eyevalues = extract_visual_receptor_values_pointer(a, 0);
int max_green_index = 0;
float max_green = 0;
// Eye Computation
float green_intensities[31];
float intensities[31];
int i;
for (i=0; i<31; i++)
{
// Intensity Neuron
float intensity;
intensity = 1*eyevalues[i][0] + 1*eyevalues[i][1] + 1*eyevalues[i][2];
intensities[i] = intensity;
// Eye Classification Neurons
float inputs[4] = {1, eyevalues[i][0], eyevalues[i][1], eyevalues[i][2]};
int j;
float v_eyeclass = 0;
for (j=0; j<4; j++)
v_eyeclass += w_oclass[j] * inputs[j];
int y_eyeclass = 0;
if (v_eyeclass > 0)
y_eyeclass = 1;
// Gate the intensities
green_intensities[i] = (1*y_eyeclass) * (1*intensity);
// Green Winner Takes All
if (max_green < green_intensities[i])
{
max_green = green_intensities[i];
max_green_index = i+1;
}
}
// Direction Neuron
float angles[32] = {60,-45.,-42.,-39.,-36.,-33.,-30.,-27.,-24.,-21.,-18.,-15.,-12.,-9.,-4.,-3.,0.,3.,4.,9.,12.,15.,18.,21.,24.,27.,30.,33.,36.,39.,42.,45};
read_agent_body_position( a, &bodyx, &bodyy, &bodyth );
set_agent_body_angle(a, bodyth + angles[max_green_index]);
// Collision Neuron
collision_flag = read_soma_sensor(w, a);
skinvalues = extract_soma_receptor_values_pointer( a );
nsomareceptors = get_number_of_soma_receptors( a );
float w_collision[8] = {1, 0, 0, 0, 0, 0, 0, 0};
float v_collision = 0;
int y_collision = 0;
for (i=0; i<8; i++)
v_collision += skinvalues[i][0] * w_collision[i];
if (v_collision > 0.0)
y_collision = 1;
// Classify and Eat the object
if (y_collision > 0)
{
// Read eye values before eating
read_visual_sensor(w,a);
eyevalues = extract_visual_receptor_values_pointer(a,0);
// Intensity Neuron / Winner Takes All
int brightest_value = 0;
int brightest_index = 0;
for (i=0; i<31; i++)
{
if (intensities[i] > brightest_value)
{
brightest_value = intensities[i];
brightest_index = i;
}
}
// Classification Neuron
int j;
float v_classification = 0, y_classification = 0;
float x_classification[4] = {1, eyevalues[brightest_index][0], eyevalues[brightest_index][1], eyevalues[brightest_index][2]};
for (j=0; j<4; j++)
v_classification += w_oclass[j] * x_classification[j];
// Eat if classified as a reward
if (v_classification > 0)
y_classification = 1;
// Eat Neuron
if (y_classification > 0)
{
float delta_energy = eat_colliding_object(w,a,0);
if (delta_energy > 0)
green++;
else if (delta_energy < 0)
red++;
else
blue++;
}
}
// move the agents body
set_forward_speed_agent(a, forwardspeed) ;
move_body_agent(a) ;
// decrement metabolic charge by basil metabolism rate. DO NOT REMOVE THIS CALL
basal_metabolism_agent(a);
simtime++ ;
} // end agent alive condition
else
{
lifetimes[nlifetimes] = simtime;
// Example of agent is dead condition
printf("agent_controller- Agent has died, eating %d objects. simtime: %d\n",a->instate->itemp[0], simtime ) ;
now = time(NULL) ;
date = localtime( &now ) ;
strftime(timestamp, 30, "%y/%m/%d H: %H M: %M S: %S",date);
printf("Death time: %s\n",timestamp) ;
// Example as to how to restore the world and agent after it dies. */
restore_objects_to_world( Flatworld ) ; /* restore all of the objects back into the world */
reset_agent_charge( a ) ; /* recharge the agent's battery to full */
a->instate->itemp[0] = 0 ; /* zero the number of object's eaten accumulator */
x = distributions_uniform( Flatworld->xmin, Flatworld->xmax );
y = distributions_uniform( Flatworld->ymin, Flatworld->ymax );
h = distributions_uniform( -179.0, 179.0);
printf("\nagent_controller- new coordinates after restoration: x: %f y: %f h: %f\n",x,y,h) ;
set_agent_body_position( a, x, y, h ) ; /* set new position and heading of agent */
/* Accumulate lifetime statistices */
avelifetime += (float)simtime ;
nlifetimes++ ;
if( nlifetimes >= maxnlifetimes )
{
avelifetime /= (float)maxnlifetimes;
float std = 0;
int i;
for (i=0; i<maxnlifetimes; i++)
std += (lifetimes[i] - avelifetime) * (lifetimes[i] - avelifetime);
std /= (float)maxnlifetimes;
std = sqrt(std);
printf("\nAverage lifetime: %f\tStandard Deviation: %f\n",avelifetime, std);
printf("Food Eaten:\nRed: %d\tGreen: %d\tBlue: %d\n", red, green, blue);
// Write out data
FILE *fp;
fp = fopen("./Results/Arch9 Lifetimes.csv", "w");
for(i=0; i<maxnlifetimes; i++)
fprintf(fp, "%d, %d\n", i, lifetimes[i]);
fclose(fp);
exit(0) ;
}
simtime = 0;
} /* end agent dead condition */
}
