* SIMS: Split Zone Coverage sims into zone_coverage_line, zone_covera…

…ge_arc, and zone_coverage_onion directories * LICENSE: Modified license to include recent years * SIMS: Updated sims to set default buffer size to 2MB for simulated agents * Streamlined a function in ZoneCoverage to not use goto statements for readability * Updated to version 0.9.23
jredmondson · Feb 2, 2016 · bb283f0 · bb283f0
1 parent 1ae1e9f
commit bb283f0
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diff --git a/LICENSE.txt b/LICENSE.txt
@@ -1,4 +1,4 @@
-Copyright (c) 2013-2014 Carnegie Mellon University. All Rights Reserved.
+Copyright (c) 2013-2016 Carnegie Mellon University. All Rights Reserved.
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
 

diff --git a/VERSION.txt b/VERSION.txt
@@ -1 +1 @@
-0.9.22
+0.9.23
diff --git a/scripts/simulation/simulation.pm b/scripts/simulation/simulation.pm
@@ -22,7 +22,7 @@ sub run {
       #$cmd = "$cmd gdb ";
       #$cmd = "$cmd -ex \\\"set breakpoint pending on\\\" ";
       #$cmd = "$cmd -ex run --args ";
-      $cmd = "$cmd $gams_root/gams_controller -i $i -n $num --loop-time $time --period $period";
+      $cmd = "$cmd $gams_root/gams_controller -i $i -n $num --loop-time $time --period $period --queue-length 2000000";
       $cmd = "$cmd --madara-file $gams_root/scripts/simulation/madara_init_common.mf";
       $cmd = "$cmd $gams_root/scripts/simulation/areas/$area.mf";
       $cmd = "$cmd $gams_root/scripts/simulation/$sim/madara_init_common.mf";
@@ -36,7 +36,7 @@ sub run {
       }
       elsif ($osname eq "MSWin32") # windows default
       {
-        $cmd = "$gams_root\\bin\\gams_controller -i $i -n $num --loop-time $time --period $period --madara-file $gams_root\\scripts\\simulation\\$sim\\madara_init_$i.mf $gams_root\\scripts\\simulation\\areas\\$area.mf $gams_root\\scripts\\simulation\\madara_init_common.mf --madara-level $madara_debug --gams-level $gams_debug";
+        $cmd = "$gams_root\\bin\\gams_controller -i $i -n $num --loop-time $time --period $period --madara-file $gams_root\\scripts\\simulation\\$sim\\madara_init_$i.mf $gams_root\\scripts\\simulation\\areas\\$area.mf $gams_root\\scripts\\simulation\\madara_init_common.mf --madara-level $madara_debug --gams-level $gams_debug --queue-length 2000000";
         print("start \"Device$i\" /REALTIME $cmd\n\n");
         system("start \"Device$i\" /REALTIME $cmd");
       }

diff --git a/...simulation/zone_coverage/madara_init_0.mf → ...lation/zone_coverage_arc/madara_init_0.mf b/...simulation/zone_coverage/madara_init_0.mf → ...lation/zone_coverage_arc/madara_init_0.mf
diff --git a/...simulation/zone_coverage/madara_init_1.mf → ...lation/zone_coverage_arc/madara_init_1.mf b/...simulation/zone_coverage/madara_init_1.mf → ...lation/zone_coverage_arc/madara_init_1.mf
diff --git a/...simulation/zone_coverage/madara_init_2.mf → ...lation/zone_coverage_arc/madara_init_2.mf b/...simulation/zone_coverage/madara_init_2.mf → ...lation/zone_coverage_arc/madara_init_2.mf
diff --git a/...simulation/zone_coverage/madara_init_3.mf → ...lation/zone_coverage_arc/madara_init_3.mf b/...simulation/zone_coverage/madara_init_3.mf → ...lation/zone_coverage_arc/madara_init_3.mf
diff --git a/...simulation/zone_coverage/madara_init_4.mf → ...lation/zone_coverage_arc/madara_init_4.mf b/...simulation/zone_coverage/madara_init_4.mf → ...lation/zone_coverage_arc/madara_init_4.mf
diff --git a/...simulation/zone_coverage/madara_init_5.mf → ...lation/zone_coverage_arc/madara_init_5.mf b/...simulation/zone_coverage/madara_init_5.mf → ...lation/zone_coverage_arc/madara_init_5.mf
diff --git a/...simulation/zone_coverage/madara_init_6.mf → ...lation/zone_coverage_arc/madara_init_6.mf b/...simulation/zone_coverage/madara_init_6.mf → ...lation/zone_coverage_arc/madara_init_6.mf
diff --git a/...simulation/zone_coverage/madara_init_7.mf → ...lation/zone_coverage_arc/madara_init_7.mf b/...simulation/zone_coverage/madara_init_7.mf → ...lation/zone_coverage_arc/madara_init_7.mf
diff --git a/...simulation/zone_coverage/madara_init_8.mf → ...lation/zone_coverage_arc/madara_init_8.mf b/...simulation/zone_coverage/madara_init_8.mf → ...lation/zone_coverage_arc/madara_init_8.mf
diff --git a/scripts/simulation/zone_coverage_arc/madara_init_common.mf b/scripts/simulation/zone_coverage_arc/madara_init_common.mf
@@ -0,0 +1,18 @@
+group.assets.members.size=1;
+group.assets.members.0="agent.0";
+group.protectors.members.size=7;
+group.protectors.members.0="agent.1";
+group.protectors.members.1="agent.3";
+group.protectors.members.2="agent.4";
+group.protectors.members.3="agent.5";
+group.protectors.members.4="agent.6";
+group.protectors.members.5="agent.7";
+group.protectors.members.6="agent.8";
+group.enemies.members.size=1;
+group.enemies.members.0="agent.2";
+
+.platform="vrep-uav";
+
+.zone_coverage_formation="arc";
+.zone_coverage_buffer=2;
+.zone_coverage_distance=0.5;
diff --git a/...zone_coverage/zone_coverage_simulation.pl → ..._coverage_arc/zone_coverage_simulation.pl b/...zone_coverage/zone_coverage_simulation.pl → ..._coverage_arc/zone_coverage_simulation.pl
@@ -7,8 +7,8 @@
 $madara_debug = 5;
 $gams_debug = 5;
 $period = 1;
-$num = 16;
+$num = 9;
-$sim = "zone_coverage";
+$sim = "zone_coverage_arc";
 $area = "small";
 $border = "region.0";
 $num_coverages = 0;

diff --git a/scripts/simulation/zone_coverage_line/madara_init_0.mf b/scripts/simulation/zone_coverage_line/madara_init_0.mf
@@ -0,0 +1,10 @@
+
+.vrep_port=19906;
+
+.initial_lat=40.443222;
+.initial_lon=-79.940334;
+.initial_alt=4;
+
+agent.0.command="null";
+agent.0.command.size=0;
+agent.0.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_1.mf b/scripts/simulation/zone_coverage_line/madara_init_1.mf
@@ -0,0 +1,15 @@
+.vrep_port=19907;
+
+.initial_lat=40.443131;
+.initial_lon=-79.940570;
+.initial_alt=4;
+
+agent.1.command="zone coverage";
+agent.1.command.size=0;
+agent.1.command.formation=.zone_coverage_formation;
+agent.1.command.assets="assets";
+agent.1.command.protectors="protectors";
+agent.1.command.enemies="enemies";
+agent.1.command.buffer=.zone_coverage_buffer;
+agent.1.command.distance=.zone_coverage_distance;
+agent.1.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_2.mf b/scripts/simulation/zone_coverage_line/madara_init_2.mf
@@ -0,0 +1,12 @@
+.vrep_port=19908;
+.vrep_max_delta=0.5;
+.vrep_thread_move_speed=1;
+
+.initial_lat=40.443236;
+.initial_lon=-79.940570;
+.initial_alt=4;
+
+agent.2.command="ppac";
+agent.2.command.size=1;
+agent.2.command.0="region.0";
+agent.2.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_3.mf b/scripts/simulation/zone_coverage_line/madara_init_3.mf
@@ -0,0 +1,15 @@
+.vrep_port=19909;
+
+.initial_lat=40.443131;
+.initial_lon=-79.940670;
+.initial_alt=4;
+
+agent.3.command="zone coverage";
+agent.3.command.size=0;
+agent.3.command.formation=.zone_coverage_formation;
+agent.3.command.assets="assets";
+agent.3.command.protectors="protectors";
+agent.3.command.enemies="enemies";
+agent.3.command.buffer=.zone_coverage_buffer;
+agent.3.command.distance=.zone_coverage_distance;
+agent.3.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_4.mf b/scripts/simulation/zone_coverage_line/madara_init_4.mf
@@ -0,0 +1,15 @@
+.vrep_port=19910;
+
+.initial_lat=40.443131;
+.initial_lon=-79.940470;
+.initial_alt=4;
+
+agent.4.command="zone coverage";
+agent.4.command.size=0;
+agent.4.command.formation=.zone_coverage_formation;
+agent.4.command.assets="assets";
+agent.4.command.protectors="protectors";
+agent.4.command.enemies="enemies";
+agent.4.command.buffer=.zone_coverage_buffer;
+agent.4.command.distance=.zone_coverage_distance;
+agent.4.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_5.mf b/scripts/simulation/zone_coverage_line/madara_init_5.mf
@@ -0,0 +1,15 @@
+.vrep_port=19911;
+
+.initial_lat=40.443231;
+.initial_lon=-79.940470;
+.initial_alt=4;
+
+agent.5.command="zone coverage";
+agent.5.command.size=0;
+agent.5.command.formation=.zone_coverage_formation;
+agent.5.command.assets="assets";
+agent.5.command.protectors="protectors";
+agent.5.command.enemies="enemies";
+agent.5.command.buffer=.zone_coverage_buffer;
+agent.5.command.distance=.zone_coverage_distance;
+agent.5.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_6.mf b/scripts/simulation/zone_coverage_line/madara_init_6.mf
@@ -0,0 +1,15 @@
+.vrep_port=19912;
+
+.initial_lat=40.443031;
+.initial_lon=-79.940470;
+.initial_alt=4;
+
+agent.6.command="zone coverage";
+agent.6.command.size=0;
+agent.6.command.formation=.zone_coverage_formation;
+agent.6.command.assets="assets";
+agent.6.command.protectors="protectors";
+agent.6.command.enemies="enemies";
+agent.6.command.buffer=.zone_coverage_buffer;
+agent.6.command.distance=.zone_coverage_distance;
+agent.6.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_7.mf b/scripts/simulation/zone_coverage_line/madara_init_7.mf
@@ -0,0 +1,16 @@
+.vrep_port=19913;
+
+.initial_lat=40.443031;
+.initial_lon=-79.940570;
+.initial_alt=4;
+
+agent.7.command="zone coverage";
+agent.7.command.size=0;
+agent.7.command.formation=.zone_coverage_formation;
+agent.7.command.assets="assets";
+agent.7.command.protectors="protectors";
+agent.7.command.enemies="enemies";
+agent.7.command.buffer.zone_coverage_buffer;
+agent.7.command.buffer=.zone_coverage_buffer;
+agent.7.command.distance=.zone_coverage_distance;
+agent.7.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_8.mf b/scripts/simulation/zone_coverage_line/madara_init_8.mf
@@ -0,0 +1,15 @@
+.vrep_port=19914;
+
+.initial_lat=40.443031;
+.initial_lon=-79.940670;
+.initial_alt=4;
+
+agent.8.command="zone coverage";
+agent.8.command.size=0;
+agent.8.command.formation=.zone_coverage_formation;
+agent.8.command.assets="assets";
+agent.8.command.protectors="protectors";
+agent.8.command.enemies="enemies";
+agent.8.command.buffer=.zone_coverage_buffer;
+agent.8.command.distance=.zone_coverage_distance;
+agent.8.hertz=.hertz;
diff --git a/scripts/simulation/zone_coverage_line/madara_init_common.mf b/scripts/simulation/zone_coverage_line/madara_init_common.mf
@@ -0,0 +1,19 @@
+group.assets.members.size=1;
+group.assets.members.0="agent.0";
+group.protectors.members.size=7;
+group.protectors.members.0="agent.1";
+group.protectors.members.1="agent.3";
+group.protectors.members.2="agent.4";
+group.protectors.members.3="agent.5";
+group.protectors.members.4="agent.6";
+group.protectors.members.5="agent.7";
+group.protectors.members.6="agent.8";
+group.enemies.members.size=1;
+group.enemies.members.0="agent.2";
+
+.platform="vrep-uav";
+
+.zone_coverage_formation="line";
+.zone_coverage_buffer=2;
+.zone_coverage_distance=0.5;
+.hertz=.5;
diff --git a/scripts/simulation/zone_coverage_line/zone_coverage_simulation.pl b/scripts/simulation/zone_coverage_line/zone_coverage_simulation.pl
@@ -0,0 +1,17 @@
+#!/usr/bin/perl
+use lib "$ENV{GAMS_ROOT}/scripts/simulation";
+use simulation;
+
+$gams_root = $ENV{GAMS_ROOT};
+$time = 3600;
+$madara_debug = 5;
+$gams_debug = 5;
+$period = 1;
+$num = 9;
+$sim = "zone_coverage_line";
+$area = "small";
+$border = "region.0";
+$num_coverages = 0;
+$launch_controllers = 1;
+
+simulation::run($num, $time, $period, $sim, $area, $madara_debug, $gams_debug, $border, $num_coverages, $launch_controllers);
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_0.mf b/scripts/simulation/zone_coverage_onion/madara_init_0.mf
@@ -0,0 +1,9 @@
+
+.vrep_port=19906;
+
+.initial_lat=40.443222;
+.initial_lon=-79.940334;
+.initial_alt=4;
+
+agent.0.command="null";
+agent.0.command.size=0;
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_1.mf b/scripts/simulation/zone_coverage_onion/madara_init_1.mf
@@ -0,0 +1,14 @@
+.vrep_port=19907;
+
+.initial_lat=40.443131;
+.initial_lon=-79.940570;
+.initial_alt=4;
+
+agent.1.command="zone coverage";
+agent.1.command.size=0;
+agent.1.command.formation=.zone_coverage_formation;
+agent.1.command.assets="assets";
+agent.1.command.protectors="protectors";
+agent.1.command.enemies="enemies";
+agent.1.command.buffer=.zone_coverage_buffer;
+agent.1.command.distance=.zone_coverage_distance;
diff --git a/...imulation/zone_coverage/madara_init_10.mf → ...ion/zone_coverage_onion/madara_init_10.mf b/...imulation/zone_coverage/madara_init_10.mf → ...ion/zone_coverage_onion/madara_init_10.mf
diff --git a/...imulation/zone_coverage/madara_init_11.mf → ...ion/zone_coverage_onion/madara_init_11.mf b/...imulation/zone_coverage/madara_init_11.mf → ...ion/zone_coverage_onion/madara_init_11.mf
diff --git a/...imulation/zone_coverage/madara_init_12.mf → ...ion/zone_coverage_onion/madara_init_12.mf b/...imulation/zone_coverage/madara_init_12.mf → ...ion/zone_coverage_onion/madara_init_12.mf
diff --git a/...imulation/zone_coverage/madara_init_13.mf → ...ion/zone_coverage_onion/madara_init_13.mf b/...imulation/zone_coverage/madara_init_13.mf → ...ion/zone_coverage_onion/madara_init_13.mf
diff --git a/...imulation/zone_coverage/madara_init_14.mf → ...ion/zone_coverage_onion/madara_init_14.mf b/...imulation/zone_coverage/madara_init_14.mf → ...ion/zone_coverage_onion/madara_init_14.mf
diff --git a/...imulation/zone_coverage/madara_init_15.mf → ...ion/zone_coverage_onion/madara_init_15.mf b/...imulation/zone_coverage/madara_init_15.mf → ...ion/zone_coverage_onion/madara_init_15.mf
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_2.mf b/scripts/simulation/zone_coverage_onion/madara_init_2.mf
@@ -0,0 +1,11 @@
+.vrep_port=19908;
+.vrep_max_delta=0.5;
+.vrep_thread_move_speed=1;
+
+.initial_lat=40.443236;
+.initial_lon=-79.940570;
+.initial_alt=4;
+
+agent.2.command="ppac";
+agent.2.command.size=1;
+agent.2.command.0="region.0";
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_3.mf b/scripts/simulation/zone_coverage_onion/madara_init_3.mf
@@ -0,0 +1,14 @@
+.vrep_port=19909;
+
+.initial_lat=40.443131;
+.initial_lon=-79.940670;
+.initial_alt=4;
+
+agent.3.command="zone coverage";
+agent.3.command.size=0;
+agent.3.command.formation=.zone_coverage_formation;
+agent.3.command.assets="assets";
+agent.3.command.protectors="protectors";
+agent.3.command.enemies="enemies";
+agent.3.command.buffer=.zone_coverage_buffer;
+agent.3.command.distance=.zone_coverage_distance;
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_4.mf b/scripts/simulation/zone_coverage_onion/madara_init_4.mf
@@ -0,0 +1,14 @@
+.vrep_port=19910;
+
+.initial_lat=40.443131;
+.initial_lon=-79.940470;
+.initial_alt=4;
+
+agent.4.command="zone coverage";
+agent.4.command.size=0;
+agent.4.command.formation=.zone_coverage_formation;
+agent.4.command.assets="assets";
+agent.4.command.protectors="protectors";
+agent.4.command.enemies="enemies";
+agent.4.command.buffer=.zone_coverage_buffer;
+agent.4.command.distance=.zone_coverage_distance;
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_5.mf b/scripts/simulation/zone_coverage_onion/madara_init_5.mf
@@ -0,0 +1,14 @@
+.vrep_port=19911;
+
+.initial_lat=40.443231;
+.initial_lon=-79.940470;
+.initial_alt=4;
+
+agent.5.command="zone coverage";
+agent.5.command.size=0;
+agent.5.command.formation=.zone_coverage_formation;
+agent.5.command.assets="assets";
+agent.5.command.protectors="protectors";
+agent.5.command.enemies="enemies";
+agent.5.command.buffer=.zone_coverage_buffer;
+agent.5.command.distance=.zone_coverage_distance;
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_6.mf b/scripts/simulation/zone_coverage_onion/madara_init_6.mf
@@ -0,0 +1,14 @@
+.vrep_port=19912;
+
+.initial_lat=40.443031;
+.initial_lon=-79.940470;
+.initial_alt=4;
+
+agent.6.command="zone coverage";
+agent.6.command.size=0;
+agent.6.command.formation=.zone_coverage_formation;
+agent.6.command.assets="assets";
+agent.6.command.protectors="protectors";
+agent.6.command.enemies="enemies";
+agent.6.command.buffer=.zone_coverage_buffer;
+agent.6.command.distance=.zone_coverage_distance;
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_7.mf b/scripts/simulation/zone_coverage_onion/madara_init_7.mf
@@ -0,0 +1,15 @@
+.vrep_port=19913;
+
+.initial_lat=40.443031;
+.initial_lon=-79.940570;
+.initial_alt=4;
+
+agent.7.command="zone coverage";
+agent.7.command.size=0;
+agent.7.command.formation=.zone_coverage_formation;
+agent.7.command.assets="assets";
+agent.7.command.protectors="protectors";
+agent.7.command.enemies="enemies";
+agent.7.command.buffer.zone_coverage_buffer;
+agent.7.command.buffer=.zone_coverage_buffer;
+agent.7.command.distance=.zone_coverage_distance;
diff --git a/scripts/simulation/zone_coverage_onion/madara_init_8.mf b/scripts/simulation/zone_coverage_onion/madara_init_8.mf
@@ -0,0 +1,14 @@
+.vrep_port=19914;
+
+.initial_lat=40.443031;
+.initial_lon=-79.940670;
+.initial_alt=4;
+
+agent.8.command="zone coverage";
+agent.8.command.size=0;
+agent.8.command.formation=.zone_coverage_formation;
+agent.8.command.assets="assets";
+agent.8.command.protectors="protectors";
+agent.8.command.enemies="enemies";
+agent.8.command.buffer=.zone_coverage_buffer;
+agent.8.command.distance=.zone_coverage_distance;
diff --git a/...simulation/zone_coverage/madara_init_9.mf → ...tion/zone_coverage_onion/madara_init_9.mf b/...simulation/zone_coverage/madara_init_9.mf → ...tion/zone_coverage_onion/madara_init_9.mf
diff --git a/...ation/zone_coverage/madara_init_common.mf → ...zone_coverage_onion/madara_init_common.mf b/...ation/zone_coverage/madara_init_common.mf → ...zone_coverage_onion/madara_init_common.mf
@@ -1,6 +1,6 @@
 group.assets.members.size=1;
 group.assets.members.0="agent.0";
-group.protectors.members.size=14;
+group.protectors.members.size=8;
 group.protectors.members.0="agent.1";
 group.protectors.members.1="agent.3";
 group.protectors.members.2="agent.4";

diff --git a/scripts/simulation/zone_coverage_onion/zone_coverage_simulation.pl b/scripts/simulation/zone_coverage_onion/zone_coverage_simulation.pl
@@ -0,0 +1,17 @@
+#!/usr/bin/perl
+use lib "$ENV{GAMS_ROOT}/scripts/simulation";
+use simulation;
+
+$gams_root = $ENV{GAMS_ROOT};
+$time = 3600;
+$madara_debug = 5;
+$gams_debug = 5;
+$period = 1;
+$num = 10;
+$sim = "zone_coverage_onion";
+$area = "small";
+$border = "region.0";
+$num_coverages = 0;
+$launch_controllers = 1;
+
+simulation::run($num, $time, $period, $sim, $area, $madara_debug, $gams_debug, $border, $num_coverages, $launch_controllers);