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braitenberg_hateBot.py
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# UE IA & JEUX - L3, SU
# TP "comportement réactif"
#
# Nicolas Bredeche
# 2021-03-31
from pyroborobo import Pyroborobo, Controller, AgentObserver, WorldObserver, CircleObject, SquareObject, MovableObject
# from custom.controllers import SimpleController, HungryController
import numpy as np
import random
import paintwars_arena
# =-=-=-=-=-=-=-=-=-= NE RIEN MODIFIER *AVANT* CETTE LIGNE =-=-=-=-=-=-=-=-=-=
def get_extended_sensors(sensors):
for key in sensors:
sensors[key]["distance_to_robot"] = 1.0
sensors[key]["distance_to_wall"] = 1.0
if sensors[key]["isRobot"] == True:
sensors[key]["distance_to_robot"] = sensors[key]["distance"]
else:
sensors[key]["distance_to_wall"] = sensors[key]["distance"]
return sensors
def step(robotId, sensors): # <<<<<<<<<------- fonction à modifier pour le TP1
# sensors: dictionnaire contenant toutes les informations senseurs
# Chaque senseur renvoie:
# la distance à l'obstacle (entre 0 et 1, distance max)
# s'il s'agit d'un robot ou non
# la distance au robot (= 1.0 s'il n'y a pas de robot)
# la distance au mur (= 1.0 s'il n'y a pas de robot)
# cf. exemple ci-dessous
# récupération des senseurs
sensors = get_extended_sensors(sensors)
print (
"[robot #",robotId,"] senseur frontal: (distance à l'obstacle =",sensors["sensor_front"]["distance"],")",
"(robot =",sensors["sensor_front"]["isRobot"],")",
"(distance_to_wall =", sensors["sensor_front"]["distance_to_wall"],")", # renvoie 1.0 si ce n'est pas un mur
"(distance_to_robot =", sensors["sensor_front"]["distance_to_robot"],")" # renvoie 1.0 si ce n'est pas un robot
)
# contrôle moteur. Ecrivez votre comportement de Braitenberg ci-dessous.
# il est possible de répondre à toutes les questions en utilisant seulement:
# sensors["sensor_front"]["distance_to_wall"]
# sensors["sensor_front"]["distance_to_robot"]
# sensors["sensor_front_left"]["distance_to_wall"]
# sensors["sensor_front_left"]["distance_to_robot"]
# sensors["sensor_front_right"]["distance_to_wall"]
# sensors["sensor_front_right"]["distance_to_robot"]
translation = 1 * sensors["sensor_front"]["distance_to_robot"]
rotation = (1) * sensors["sensor_front_right"]["distance_to_robot"] + (-1) * sensors["sensor_front_left"]["distance_to_robot"]
# limite les valeurs de sortie entre -1 et +1
translation = max(-1,min(translation,1))
rotation = max(-1, min(rotation, 1))
return translation, rotation
# =-=-=-=-=-=-=-=-=-= NE RIEN MODIFIER *APRES* CETTE LIGNE =-=-=-=-=-=-=-=-=-=
number_of_robots = 8 # 8 robots identiques placés dans l'arène
arena = [
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1],
[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
]
rob = 0
offset_x = 36
offset_y = 36
edge_width = 28
edge_height = 28
class MyController(Controller):
def __init__(self, wm):
super().__init__(wm)
def reset(self):
return
def step(self):
sensors = {}
self.get_robot_id_at(0) != -1
sensors["sensor_left"] = {"distance": self.get_distance_at(0), "isRobot": self.get_robot_id_at(0) != -1}
sensors["sensor_front_left"] = {"distance": self.get_distance_at(1), "isRobot": self.get_robot_id_at(1) != -1}
sensors["sensor_front"] = {"distance": self.get_distance_at(2), "isRobot": self.get_robot_id_at(2) != -1}
sensors["sensor_front_right"] = {"distance": self.get_distance_at(3), "isRobot": self.get_robot_id_at(3) != -1}
sensors["sensor_right"] = {"distance": self.get_distance_at(4), "isRobot": self.get_robot_id_at(4) != -1}
sensors["sensor_back_right"] = {"distance": self.get_distance_at(5), "isRobot": self.get_robot_id_at(5) != -1}
sensors["sensor_back"] = {"distance": self.get_distance_at(6), "isRobot": self.get_robot_id_at(6) != -1}
sensors["sensor_back_left"] = {"distance": self.get_distance_at(7), "isRobot": self.get_robot_id_at(7) != -1}
translation, rotation = step(self.id, sensors)
self.set_translation(translation)
self.set_rotation(rotation)
def check(self):
# print (self.id)
return True
# =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
class MyAgentObserver(AgentObserver):
def __init__(self, wm):
super().__init__(wm)
self.arena_size = Pyroborobo.get().arena_size
def reset(self):
super().reset()
return
def step_pre(self):
super().step_pre()
return
def step_post(self):
super().step_post()
return
# =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
class MyWorldObserver(WorldObserver):
def __init__(self, world):
super().__init__(world)
rob = Pyroborobo.get()
def init_pre(self):
super().init_pre()
def init_post(self):
global offset_x, offset_y, edge_width, edge_height, rob
super().init_post()
for i in range(len(arena)):
for j in range(len(arena[0])):
if arena[i][j] == 1:
block = BlockObject()
block = rob.add_object(block)
block.soft_width = 0
block.soft_height = 0
block.solid_width = edge_width
block.solid_height = edge_height
block.set_color(164, 128, 0)
block.set_coordinates(offset_x + j * edge_width, offset_y + i * edge_height)
retValue = block.can_register()
# print("Register block (",block.get_id(),") :", retValue)
block.register()
block.show()
counter = 0
for robot in rob.controllers:
x = 260 + counter*40
y = 400
robot.set_position(x, y)
counter += 1
def step_pre(self):
super().step_pre()
def step_post(self):
super().step_post()
# =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
class Tile(SquareObject): # CircleObject):
def __init__(self, id=-1, data={}):
super().__init__(id, data)
self.owner = "nobody"
def step(self):
return
def is_walked(self, id_):
return
# =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
class BlockObject(SquareObject):
def __init__(self, id=-1, data={}):
super().__init__(id, data)
def step(self):
return
def is_walked(self, id_):
return
# =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
def main():
global rob
rob = Pyroborobo.create(
"config/paintwars.properties",
controller_class=MyController,
world_observer_class=MyWorldObserver,
# world_model_class=PyWorldModel,
agent_observer_class=MyAgentObserver,
object_class_dict={}
,override_conf_dict={"gInitialNumberOfRobots": number_of_robots} # defined in paintwars_config
)
rob.start()
rob.update(1000000)
rob.close()
if __name__ == "__main__":
main()