/
sensors.erl
1457 lines (1368 loc) · 49.3 KB
/
sensors.erl
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%% This source code and work is provided and developed by DXNN Research Group WWW.DXNNResearch.COM
%%
%Copyright (C) 2009 by Gene Sher, DXNN Research Group, CorticalComputer@gmail.com
%All rights reserved.
%
%This code is licensed under the version 3 of the GNU General Public License. Please see the LICENSE file that accompanies this project for the terms of use.
-module(sensors).
-compile(export_all).
-include("records.hrl").
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Transducers Options %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Input channel: A structure within Konishi citizens which receive data from other software.
%Input navigator: A structure within Konishi citizens which issues requests to the polis operating system for data to be provided to the citizen's input channels from a particular address.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Pole balancing sensor %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Input:
%Output: Depending on input, outputs [CartPosition,Pole1Angle,Pole2Angle]
pole2_balancing(CTVL,SensorId,[Parameter])->
% Input = case get(scape_PId) of
% undefined ->
% Scape_PId = gen_server:call(polis,{get_scape,pole_balancing}),
% put(scape_PId,Scape_PId),
% gen_server:call(Scape_PId,{control,pole2_balancing,{sensor,SensorId,Parameter}});
% Scape_PId ->
% gen_server:call(Scape_PId,{control,pole2_balancing,{sensor,SensorId,Parameter}})
% end,
% Input.
% [{Val,0}|| Val<-simulations:pole2_balancing(SensorId,Parameter)].
simulations:pole2_balancing(SensorId,Parameter).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% vowel_Recognition %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
vowel_recognition(CTVL,TableName,Parameters)->
%read from database
%return list
Index = case get(vowel_recognition) of
undefined ->
put(vowel_recognition,1),
1;
Val ->
Val
end,
ets:lookup_element(vowel_recognition,Index,3).
mines_vs_rocks(CTVL,TableName,Parameters)->
Index = case get(mines_vs_rocks) of
undefined ->
put(mines_vs_rocks,1),
1;
Val ->
Val
end,
ets:lookup_element(mines_vs_rocks,Index,3).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Database Read Sensor %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
xor_input(_CTVL,_TableName,[Feature])->
Index=case get(index) of
undefined ->
Key=ets:first(xor_table),
put(index,{Key,0}),
Key;
{Key,FitnessAcc} ->
Key
end,
ets:lookup_element(xor_table,Index,Feature).
db_read(CTVL,TableName,[Feature])->
case get(TableName) of
undefined ->
MDC = db:metadata_category([TableName]),
IndexStart = db:lookup_element(metadata,MDC,start),
IndexEnd = db:lookup_element(metadata,MDC,stop),
put(TableName,{IndexStart,IndexEnd,IndexStart,0}),
transducers:advanced_read(CTVL,TableName,Feature,IndexStart);
{_IndexStart,_IndexEnd,Index,_Fitness}->
transducers:advanced_read(CTVL,TableName,Feature,Index)
end.
advanced_read(CTVL,TableName,Feature,Index)->%TODO:Create a function s.t. when CTVL is larger than supplied VL from db such that more data is provided
{Max,Min} = get_scalers(TableName,Feature),
QVector = case ((TableName == fx5) or (TableName == fx15) or (TableName == fx60)) and (modular == get(type)) of
false ->
db:lookup_element(TableName,Index,Feature);
true ->
%io:format("CTVL:~p~n",[CTVL]),
db:lookup_longvector(TableName,Index,Feature,CTVL)
end,
%io:format("QVector:~p~n",[QVector]),
case is_list(QVector) of
true ->
[functions:scale(Val,Max,Min) || Val <-QVector];
false ->
ScaledVal = functions:scale(QVector,Max,Min),%TODO:Everything is scaled between 1000/-1000
%ScaledVal = QVector*1000, %TODO: Simple ammplifier by 1000fold. Diff dealing with small numbers.
%io:format("Feature:~p Max:~p Min:~p Val:~p ScaledVal:~p~n",[Feature,Max,Min,QVector,ScaledVal]),
[ScaledVal]
end.
get_scalers(TableName,Feature)->
case get({scale,Feature}) of
{Max,Min} ->
{Max,Min};
undefined->
case db:is_forex(TableName) of
true ->
{CPair,FeatureName} = db:rmap(TableName,Feature),
case db:lookup(forex_metadata,{TableName,CPair,FeatureName}) of
[] ->
io:format("******** Scalers not found:~p~n",[{self(),TableName,CPair,FeatureName}]),
Max = 1,
Min = -1,
put({scale,Feature},{Max,Min}),
{Max,Min};
_ ->
%io:format("Scalers found:~p~n",[{self(),TableName,CPair,FeatureName}]),
Max = db:lookup_element(forex_metadata,{TableName,CPair,FeatureName},max),
Min = db:lookup_element(forex_metadata,{TableName,CPair,FeatureName},min),
%Max = 0.0001,
%Min = -0.0001,
put({scale,Feature},{Max,Min}),
{Max,Min}
end;
false ->
%io:format("Using default scaling for:~p~n",[{self(),TableName,Feature}]),
Max = 1,
Min = -1,
put({scale,Feature},{Max,Min}),
{Max,Min}
end
end.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Shared Functions %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
fanout([Pid|Pids],Msg)->
gen_server:cast(Pid,Msg),
fanout(Pids,Msg);
fanout([],_Msg)->
true.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FLATLANDER SENSORS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
energy_reader(CTVL,SensorId,_Parameters)->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
[Self#avatar.energy/10]
end.
distance_scanner(CTVL,SensorId,[Spread,Density,RadialOffset])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
distance_scaner(silent,{1,0,0},Density,Spread,Loc,Direction,lists:keydelete(self(), 2, Avatars))
end.
color_scanner(CTVL,SensorId,[Spread,Density,RadialOffset])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
color_scaner(silent,{1,0,0},Density,Spread,Loc,Direction,lists:keydelete(self(), 2, Avatars))
end.
energy_scanner(CTVL,SensorId,[Spread,Density,RadialOffset])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
energy_scaner(silent,{1,0,0},Density,Spread,Loc,Direction,lists:keydelete(self(), 2, Avatars))
end.
speak_scanner()->
done.
gestalt_scanner()->
start.
order(CTVL,SensorId,_Parameters)->
%case gen_server:call(get(scape),{get_all,avatars}) of
% destroyed->
% ok;
% Avatars ->
% Self = lists:keyfind(self(),2,Avatars),
% % io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
% Loc = Self#avatar.loc,
% Direction = Self#avatar.direction,
% energy_scaner(silent,{1,0,0},Density,Spread,Loc,Direction,lists:keydelete(self(), 2, Avatars))
%end,
%calculate obedience based on trajectory and agent's original loc.
case get(order) of
undefined ->
Cooloff = 200,
Command = [random:uniform()*2-1,random:uniform()*2-1],
put(order,{Cooloff,CommandHold=50,Command,-1}),
[-1,0,0];
{Cooloff,CommandHold,Command,_ATag} ->
%io:format("Order:~p~n",[{Cooloff,CommandHold,Command}]),
if
(Cooloff >= 0) ->
put(order,{Cooloff-1,CommandHold,Command,-1}),
[-1|Command];
(Cooloff =< 0) and (CommandHold >= 0) ->
%Coolfoff finished, hold command and do commanhold countdown
%io:format("Order:~p~n",[Command]),
put(order,{Cooloff,CommandHold-1,Command,1}),
[1|Command];
(Cooloff =< 0) and (CommandHold =< 0) ->
erase(order),
[-1,0,0]
end
end.
guard(CTVL,SensorId,_Parameters)->
BeaconCoords=case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
[0,0];
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Beacon=lists:keyfind(beacon,2,Avatars),
{AX,AY} = Self#avatar.loc,
Direction = Self#avatar.direction,
{BX,BY} = Beacon#avatar.loc,
CoordDif={AX-BX,AY-BY},
{R,Theta}=geometry:cartesian2polar(CoordDif),
{_,DirTheta}=geometry:cartesian2polar(Direction),
[R,Theta-DirTheta]
%energy_scaner(silent,{1,0,0},Density,Spread,Loc,Direction,lists:keydelete(self(), 2, Avatars))
end,
%calculate distance to beacon, based on beacon's loc
case get(guard) of
undefined ->
Cooloff = 100,
put(guard,{Cooloff,CommandHold=100,Range=200+random:uniform(200),BeaconCoords,-1}),
[-1,Range|BeaconCoords];
{Cooloff,CommandHold,Range,_OldBC,_ATag} ->
%io:format("Guard:~p~n",[{Cooloff,CommandHold,Range}]),
if
(Cooloff >= 0) ->
put(guard,{Cooloff-1,CommandHold,Range,BeaconCoords,-1}),
[-1,Range|BeaconCoords];
(Cooloff =< 0) and (CommandHold >= 0) ->
%Coolfoff finished, hold command and do commanhold countdown
%io:format("Beacon:~p~n",[{Range,BeaconCoords}]),
put(guard,{Cooloff,CommandHold-1,Range,BeaconCoords,1}),
[1,Range|BeaconCoords];
(Cooloff =< 0) and (CommandHold =< 0) ->
erase(guard),
[-1,0,0,0]
end
end.
%What should it be?
%Input: ViewAngle= Radian, Density= n, Gaze direction= {SensorLoc,Direction}.
%Output: List of ranges 1/Distance no intersection = -1, with angle starting with Gaze + (ViewAngle/2), and ending with (Gaze - ViewAngle/2), [Dist1...DistDensity].
distance_scaner(Op,{Zoom,PanX,PanY},Density,Spread,Loc,Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
RangeScanList = compose_RangeScanList(Loc,UnitRays,Avatars,[]),
%io:format("RangeScanList:~p~n",[RangeScanList]),
case {Op,get(canvas)} of
{silent,_} ->
done;
{draw,undefined} ->
Canvas = gen_server:call(get(scape),get_canvas),
put(canvas,Canvas);
{draw,Canvas}->
{X,Y} = Loc,
FLoc = {X*Zoom+PanX,Y*Zoom+PanY},
ScanListP=lists:zip(UnitRays,RangeScanList),
Ids = [gs:create(line,Canvas,[{coords,[FLoc,{(X+Xr*Scale)*Zoom+PanX,(Y+Yr*Scale)*Zoom+PanY}]}])||{{Xr,Yr},Scale}<-ScanListP, Scale =/= -1],
timer:sleep(2),
[gs:destroy(Id) || Id<- Ids]
end,
RangeScanList.
compose_RangeScanList(Loc,[Ray|UnitRays],Avatars,Acc)->
{Distance,_Color}=shortest_intrLine({Loc,Ray},Avatars,{inf,void}),
compose_RangeScanList(Loc,UnitRays,Avatars,[Distance|Acc]);
compose_RangeScanList(_Loc,[],_Avatars,Acc)->
lists:reverse(Acc).
color_scaner(Op,{Zoom,PanX,PanY},Density,Spread,Loc,Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
ColorScanList = compose_ColorScanList(Loc,UnitRays,Avatars,[]),
%io:format("ColorScanList:~p~n",[ColorScanList]),
case {Op,get(canvas)} of
{silent,_} ->
done;
{draw,undefined} ->
Canvas = gen_server:call(get(scape),get_canvas),
put(canvas,Canvas);
{draw,Canvas}->
{X,Y} = Loc,
FLoc = {X*Zoom+PanX,Y*Zoom+PanY},
ScanListP=lists:zip(UnitRays,ColorScanList),
Ids = [gs:create(line,Canvas,[{coords,[FLoc,{(X+Xr*25)*Zoom+PanX,(Y+Yr*25)*Zoom+PanY}]},{fg,val2clr(Color)}])||{{Xr,Yr},Color}<-ScanListP],
timer:sleep(2),
[gs:destroy(Id) || Id<- Ids]
end,
ColorScanList.
compose_ColorScanList(Loc,[Ray|UnitRays],Avatars,Acc)->
{_Distance,Color}=shortest_intrLine({Loc,Ray},Avatars,{inf,void}),
compose_ColorScanList(Loc,UnitRays,Avatars,[Color|Acc]);
compose_ColorScanList(_Loc,[],_Avatars,Acc)->
lists:reverse(Acc).
energy_scaner(Op,{Zoom,PanX,PanY},Density,Spread,Loc,Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
EnergyScanList = compose_EnergyScanList(Loc,UnitRays,Avatars,[]),
%io:format("RangeScanList:~p~n",[RangeScanList]),
case Op of
silent ->
done;
draw ->
io:format("EnergyScanList:~p~n",[EnergyScanList])
end,
EnergyScanList.
compose_EnergyScanList(Loc,[Ray|UnitRays],Avatars,Acc)->
{_Distance,_Color,Energy}=shortest_intrLine2({Loc,Ray},Avatars,{inf,void},0),
%io:format("compose_EnergyScanList:~p~n",[Energy]),
compose_EnergyScanList(Loc,UnitRays,Avatars,[Energy/100|Acc]);
compose_EnergyScanList(_Loc,[],_Avatars,Acc)->
lists:reverse(Acc).
shortest_intrLine2(Gaze,[Avatar|Avatars],Val,Energy)->
{D,_} = Val,
{U_D,U_C} = intr(Gaze,Avatar#avatar.objects,Val),
U_Energy = case D == U_D of
true ->
Energy;
false ->
Avatar#avatar.energy
end,
shortest_intrLine2(Gaze,Avatars,{U_D,U_C},U_Energy);
shortest_intrLine2(_Gaze,[],{Distance,Color},Energy)->
case Distance of
inf ->%TODO, perhaps absence of color should be -1, not 1.
{-1,1,Energy};
0.0 ->
{-1,1,Energy};
_ ->
{Distance,clr2val(Color),Energy}
end.
create_UnitRays(_,0,_,_,Acc)->
Acc;
create_UnitRays({X,Y},Density,Resolution,Angle,Acc)->
%io:format("Angle:~p~n",[Angle*180/math:pi()]),
UnitRay = {X*math:cos(Angle) - Y*math:sin(Angle), X*math:sin(Angle) + Y*math:cos(Angle)},
create_UnitRays({X,Y},Density-1,Resolution,Angle+Resolution,[UnitRay|Acc]).
shortest_intrLine(Gaze,[Avatar|Avatars],Val)->
shortest_intrLine(Gaze,Avatars,intr(Gaze,Avatar#avatar.objects,Val));
shortest_intrLine(_Gaze,[],{Distance,Color})->
case Distance of
inf ->%TODO, perhaps absence of color should be -1, not 1.
{-1,1};
0.0 ->
{-1,1};
_ ->
{Distance,clr2val(Color)}
end.
intr(Gaze,[{circle,_Id,Color,_Pivot,C,R}|Objects],{Min,MinColor})->
{S,D} = Gaze,
[{Xc,Yc}] = C,
{Xs,Ys} = S,
{Xd,Yd} = D,
{Xv,Yv} = {Xs-Xc,Ys-Yc},
VdotD = Xv*Xd + Yv*Yd,
Dis = math:pow(VdotD,2) - (Xv*Xv + Yv*Yv - R*R),
%io:format("S:~p D:~p C:~p V:~p R:~p VdotD:~p Dis:~p~n",[S,D,C,{Xv,Yv},R,VdotD,Dis]),
Result=case Dis > 0 of
false ->
inf;
true ->
SqrtDis = math:sqrt(Dis),
I1 = -VdotD - SqrtDis,
I2 = -VdotD + SqrtDis,
case (I1 > 0) and (I2 >0) of
true ->
erlang:min(I1,I2);
false ->
inf
end
end,
{UMin,UMinColor}=case Result < Min of
true ->
{Result,Color};
false ->
{Min,MinColor}
end,
intr(Gaze,Objects,{UMin,UMinColor});
intr(Gaze,[{line,_Id,Color,_Pivot,[{X3,Y3},{X4,Y4}],_Parameter}|Objects],{Min,MinColor})->
{S,D} = Gaze,
{X1,Y1} = S,
{XD0,YD0} = D,
PerpXD1 = Y4-Y3,
PerpYD1 = -(X4-X3),
PerpXD0 = YD0,
PerpYD0 = -XD0,
Result=case PerpXD1*XD0 + PerpYD1*YD0 of
0.0 ->
inf;
Denom ->
RayLength = ((PerpXD1*(X3-X1)) + (PerpYD1*(Y3-Y1)))/Denom,
T = ((PerpXD0*(X3-X1)) + (PerpYD0*(Y3-Y1)))/Denom,
case (RayLength >= 0) and (T >= 0) and (T =< 1) of
true ->
RayLength;
false ->
inf
end
end,
{UMin,UMinColor}=case Result < Min of
true ->
{Result,Color};
false ->
{Min,MinColor}
end,
intr(Gaze,Objects,{UMin,UMinColor});
intr(_Gaze,[],{Min,MinColor})->
{Min,MinColor}.
shortest_distance(OperatorAvatar,Avatars)->
Loc = OperatorAvatar#avatar.loc,
shortest_distance(Loc,Avatars,inf).
shortest_distance({X,Y},[Avatar|Avatars],SD)->
{LX,LY} = Avatar#avatar.loc,
Distance = math:sqrt(math:pow(X-LX,2)+math:pow(Y-LY,2)),
shortest_distance({X,Y},Avatars,erlang:min(SD,Distance));
shortest_distance({_X,_Y},[],SD)->
case SD of
inf ->
-1;
_ ->
SD
end.
coned_avatar_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
%io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type =/= borders],
coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_color_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type =/= borders],
coned_color_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_energy_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), (A#avatar.type == flatlander) or (A#avatar.type == prey) or (A#avatar.type == plant)],
% io:format("TargetAvatars:~p~n",[length(TargetAvatars)]),
coned_energy_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_sound_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), (A#avatar.type == flatlander) or (A#avatar.type == prey)],
%s io:format("TargetAvatars:~p~n",[length(TargetAvatars)]),
coned_sound_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_flatlander_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == flatlander],
coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_plant_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), (A#avatar.type == plant)],
coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_poison_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == poison],
coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_plantandpoison_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
PlantAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == plant],
PoisonAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == poison],
PlantVector=coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,PlantAvatars),
PoisonVector=coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,PoisonAvatars),
PlantVector++PoisonVector
end.
coned_PlantPredatorPrey_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
PlantAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == plant],
FlatlanderAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == flatlander],
PreyAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == prey],
PlantVector=coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,PlantAvatars),
FlatlanderVector=coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,FlatlanderAvatars),
PreyVector=coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,PreyAvatars),
PlantVector++FlatlanderVector++PreyVector
end.
coned_prey_sensor(CTVL,SensorId,[Density])->
case gen_server:call(get(scape),{get_all,avatars}) of
destroyed->
lists:duplicate(CTVL,-1);
Avatars ->
Self = lists:keyfind(self(),2,Avatars),
% io:format("Avatars:~p Self:~p~n",[Avatars,Self]),
Loc = Self#avatar.loc,
Direction = Self#avatar.direction,
R = Self#avatar.r,
TargetAvatars = [A || A<-lists:keydelete(self(), 2, Avatars), A#avatar.type == prey],
coned_object_sensor(silent,{1,0,0},R,Density,2*math:pi(),Loc,Direction,TargetAvatars)
end.
coned_object_sensor(Op,{Zoom,PanX,PanY},R,Density,Spread,{X,Y},Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
RangeList = [is_in_cone(X,Y,X+Xd,Y+Yd,Resolution/2,Avatars,inf) || {Xd,Yd} <- UnitRays],
case {Op,get(canvas)} of
{silent,_} ->
done;
{draw,undefined} ->
Canvas = gen_server:call(get(scape),get_canvas),
put(canvas,Canvas);
{draw,Canvas}->
RangeListP=lists:zip(UnitRays,RangeList),
Ids = [gs:create(line,Canvas,[{coords,[{X*Zoom+PanX,Y*Zoom+PanY},{(X+Xd*Sc)*Zoom+PanX,(Y+Yd*Sc)*Zoom+PanY}]}])||{{Xd,Yd},Sc}<-RangeListP,Sc =/= -1],
timer:sleep(2),
[gs:destroy(Id) || Id<- Ids]
end,
% io:format("RangeList~p~n",[RangeList]),
RangeList.
is_in_cone(X1,Y1,X2,Y2,HalfCone,[Avatar|Avatars],Val)->
{X3,Y3} = Avatar#avatar.loc,
Angle = try angle([{X1,Y1},{X2,Y2}],[{X1,Y1},{X3,Y3}]) of
Result ->
Result
catch
E->
io:format("***********************************************************IS_IN_CONE STACKTRACE~p~n",[erlang:get_stacktrace()]),
Msg = [{X1,Y1},{X2,Y2},{X3,Y3},erlang:get_stacktrace()],
logger ! {self(),store,Msg},
io:format("~p~n",[{{X1,Y1},{X2,Y2},{X3,Y3},erlang:get_stacktrace()}]),
ets:insert(test1,{self(),[{{X1,Y1},{X2,Y2},{X3,Y3},E}]}),
0
end,
U_Val=case abs(Angle) < HalfCone of
true ->
Distance = math:sqrt(math:pow(X1-X3,2)+math:pow(Y1-Y3,2)),%TODO - Avatar#avatar.r,
erlang:min(Distance,Val);
false ->
Val
end,
is_in_cone(X1,Y1,X2,Y2,HalfCone,Avatars,U_Val);
is_in_cone(_X1,_Y1,_X2,_Y2,_HalfCone,[],Distance)->
case Distance of
inf ->
-1;
_ ->
Distance
end.
coned_color_sensor(Op,{Zoom,PanX,PanY},R,Density,Spread,{X,Y},Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
RangeList = [is_in_cone_color(X,Y,X+Xd,Y+Yd,Resolution/2,Avatars,inf) || {Xd,Yd} <- UnitRays],
%io:format("RangeList:~p~n",[RangeList]),
case {Op,get(canvas)} of
{silent,_} ->
done;
{draw,undefined} ->
Canvas = gen_server:call(get(scape),get_canvas),
put(canvas,Canvas);
{draw,Canvas}->
RangeListP=lists:zip(UnitRays,RangeList),
Ids = [gs:create(line,Canvas,[{coords,[{X*Zoom+PanX,Y*Zoom+PanY},{(X+Xd*Sc)*Zoom+PanX,(Y+Yd*Sc)*Zoom+PanY}]}])||{{Xd,Yd},Sc}<-RangeListP],
timer:sleep(2),
[gs:destroy(Id) || Id<- Ids]
end,
RangeList.
is_in_cone_color(X1,Y1,X2,Y2,HalfCone,[Avatar|Avatars],Val)->
{X3,Y3} = Avatar#avatar.loc,
Angle = angle([{X1,Y1},{X2,Y2}],[{X1,Y1},{X3,Y3}]),
U_Val=case abs(Angle) < HalfCone of
true ->
Distance = math:sqrt(math:pow(X1-X3,2)+math:pow(Y1-Y3,2)),
case Distance < Val of
true ->
type2color(Avatar#avatar.type);
%Avatar#avatar.team;
false ->
Val
end;
false ->
Val
end,
is_in_cone_color(X1,Y1,X2,Y2,HalfCone,Avatars,U_Val);
is_in_cone_color(_X1,_Y1,_X2,_Y2,_HalfCone,[],Color)->
case Color of
inf ->
-1;
_ ->
Color
end.
type2color(Type)->
case Type of
prey -> 1;
predator -> 0;
plant -> -1
end.
coned_energy_sensor(Op,{Zoom,PanX,PanY},R,Density,Spread,{X,Y},Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
% io:format("UnitRays:~p~n",[UnitRays]),
RangeList = [is_in_cone_energy(X,Y,X+Xd,Y+Yd,Resolution/2,Avatars,inf) || {Xd,Yd} <- UnitRays],
% io:format("RangeList:~p~n",[RangeList]),
case {Op,get(canvas)} of
{silent,_} ->
done;
{draw,undefined} ->
Canvas = gen_server:call(get(scape),get_canvas),
put(canvas,Canvas);
{draw,Canvas}->
RangeListP=lists:zip(UnitRays,RangeList),
Ids = [gs:create(line,Canvas,[{coords,[{X*Zoom+PanX,Y*Zoom+PanY},{(X+Xd*Sc)*Zoom+PanX,(Y+Yd*Sc)*Zoom+PanY}]}])||{{Xd,Yd},Sc}<-RangeListP],
timer:sleep(2),
[gs:destroy(Id) || Id<- Ids]
end,
RangeList.
is_in_cone_energy(X1,Y1,X2,Y2,HalfCone,[Avatar|Avatars],Val)->
{X3,Y3} = Avatar#avatar.loc,
Angle = angle([{X1,Y1},{X2,Y2}],[{X1,Y1},{X3,Y3}]),
U_Val=case abs(Angle) < HalfCone of
true ->
Distance = math:sqrt(math:pow(X1-X3,2)+math:pow(Y1-Y3,2)),
case Distance < Val of
true ->
E_Resolution = 100,
AEnergy = Avatar#avatar.energy/E_Resolution,
% io:format("AEnergy:~p~n",[AEnergy]),
if
(AEnergy >= 1) ->
1 - 1/AEnergy;
(AEnergy =< -1) ->
-1 - 1/AEnergy;
true ->
0
end;
false ->
Val
end;
false ->
Val
end,
is_in_cone_energy(X1,Y1,X2,Y2,HalfCone,Avatars,U_Val);
is_in_cone_energy(_X1,_Y1,_X2,_Y2,_HalfCone,[],Energy)->
case Energy of
inf ->
-1;
_ ->
Energy
end.
coned_sound_sensor(Op,{Zoom,PanX,PanY},R,Density,Spread,{X,Y},Direction,Avatars)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
SAngle = (Density/2)*Resolution,
StartAngle = -SAngle+Resolution/2;
%{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
SAngle=trunc(Density/2)*Resolution,
StartAngle = -SAngle
%io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
%{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end,
UnitRays = create_UnitRays(Direction,Density,Resolution,StartAngle,[]),
% io:format("UnitRays:~p~n",[UnitRays]),
RangeList = [is_in_cone_sound(X,Y,X+Xd,Y+Yd,Resolution/2,Avatars,inf) || {Xd,Yd} <- UnitRays],
% io:format("RangeList:~p~n",[RangeList]),
case {Op,get(canvas)} of
{silent,_} ->
done;
{draw,undefined} ->
Canvas = gen_server:call(get(scape),get_canvas),
put(canvas,Canvas);
{draw,Canvas}->
RangeListP=lists:zip(UnitRays,RangeList),
Ids = [gs:create(line,Canvas,[{coords,[{X*Zoom+PanX,Y*Zoom+PanY},{(X+Xd*Sc)*Zoom+PanX,(Y+Yd*Sc)*Zoom+PanY}]}])||{{Xd,Yd},Sc}<-RangeListP],
timer:sleep(2),
[gs:destroy(Id) || Id<- Ids]
end,
RangeList.
is_in_cone_sound(X1,Y1,X2,Y2,HalfCone,[Avatar|Avatars],Val)->
{X3,Y3} = Avatar#avatar.loc,
Angle = angle([{X1,Y1},{X2,Y2}],[{X1,Y1},{X3,Y3}]),
U_Val=case abs(Angle) < HalfCone of
true ->
Distance = math:sqrt(math:pow(X1-X3,2)+math:pow(Y1-Y3,2)),
case Distance < Val of
true ->
Sound = Avatar#avatar.sound,
io:format("Sound:~p~n",[Sound]),
Sound;
false ->
Val
end;
false ->
Val
end,
is_in_cone_sound(X1,Y1,X2,Y2,HalfCone,Avatars,U_Val);
is_in_cone_sound(_X1,_Y1,_X2,_Y2,_HalfCone,[],Sound)->
case Sound of
inf ->
0;
_ ->
Sound
end.
angle([{X1,Y1},{X2,Y2}],[{X3,Y3},{X4,Y4}])->%Non directional, only magnitude of the angle between the 2 lines.
{Ux,Uy} = {X2-X1,Y2-Y1},
{Vx,Vy} = {X4-X3,Y4-Y3},
Ulength = math:sqrt(Ux*Ux+Uy*Uy),
Vlength = math:sqrt(Vx*Vx+Vy*Vy),
Denomenator = (Ulength*Vlength),
Val = case Denomenator == 0 of
true ->
(Ux*Vx+Uy*Vy)/0.00001;
false ->
(Ux*Vx+Uy*Vy)/(Ulength*Vlength)
end,
case (Val >= -1) and (Val =< 1) of
true ->
math:acos(Val);
false ->
case Val > 1 of
true ->
0;
false ->
math:pi()
end
end.
clr2val(Color)->
case Color of
black -> -1; %poison
cyan -> -0.75;
green -> -0.5; %plant
yellow -> -0.25;
blue -> 0; %prey
gret -> 0.25;
red -> 0.5; %predator
brown -> 0.75; % wall
_ -> 1%io:format("transducers:clr2val(Color): Color = ~p~n",[Color]), 1 %emptiness
end.
val2clr(Val)->
case Val of
-1 -> black;
-0.75 -> cyan;
-0.5 -> green;
-0.25 -> yellow;
0 -> blue;
0.25 -> grey;
0.5 -> red;
0.75 -> brown;
_ -> white
end.
is_even(Val)->
case (Val rem 2) of
0 ->
true;
_ ->
false
end.
cone(Density,Spread)->
case is_even(Density) of
true ->
Resolution = Spread/Density,
StartAngle = (Density/2)*Resolution,
{angle_list((-StartAngle+Resolution/2),Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,(-StartAngle+Resolution/2),[])};
false ->
Resolution = Spread/Density,
StartAngle=trunc(Density/2)*Resolution,
io:format("Resolution:~p StartAngle:~p Density:~p Spread:~p~n",[Resolution,StartAngle,Density,Spread]),
{angle_list(-StartAngle,Density,Resolution,[]),create_UnitRays({0,1},Density,Resolution,-StartAngle,[])}
end.
angle_list(_Angle,0,_Resolution,Acc)->
Acc;
angle_list(Angle,Index,Resolution,Acc)->
angle_list(Angle+Resolution,Index-1,Resolution,[Angle|Acc]).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% XOR-AND-XOR %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
xorandxor(CTVL,_SensorId,_Parameters)->
case get(xorandxor) of
undefined ->
TF = [true,false],
TruthTable = [{[bo2bi(A),bo2bi(B),bo2bi(C),bo2bi(D)],bo2bi((A xor B) and (C xor D))} || A<-TF,B<-TF,C<-TF,D<-TF],
put(xorandxor,TruthTable);
TruthTable ->
TruthTable
end,
[{Q,A}|_]=TruthTable,
Q.
%[complex:scale(-1,1,X)|| X<-Q].
bo2bi(true)->1;
bo2bi(false)->-1.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% TMAZE %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
dtm_GetInput(VL,_SensorId,Parameters)->
SensoryVector=tmaze:dtm_sim(exoself_id,sense,Parameters),
%io:format("self():~p SensoryVector:~p~n",[self(),SensoryVector]),
case length(SensoryVector)==VL of
true ->
SensoryVector;
false ->
io:format("Error in sensor:dtm_GetInput/3, VL:~p SensoryVector:~p~n",[VL,SensoryVector]),
lists:duplicate(VL,0)
end.