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main.py
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main.py
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#! /usr/bin/env python2
# -*- coding: utf-8 -*-
import argparse
import os
import pygame
import random
import sys
from math import copysign
import engine
import behaviors
import models
from engine.vector import Point, Vector, normalize
from engine.graphics import Graphics
from engine.field import Field
from engine.bot import Bot
from obstacle_maps import maps
from mock_trajectories import *
from config import config
def create_log_file():
fname = "data"
fnumber = 1
# find first number X such that file "dataX.txt" doesn't exist
while os.access(fname + str(fnumber) + ".txt", os.F_OK):
fnumber += 1
return open(fname + str(fnumber) + ".txt", "w")
def reset(eng, obstacle_map, model=models.DifferentialModel, interactive=False, log_data=False):
log_file = None
if log_data:
log_file = create_log_file()
log_dict = {"num_bots": 1 + config.NUM_FOLLOWERS} # counting the leader
print >> log_file, log_dict
eng.bots = []
eng.obstacles = []
eng.targets = []
if interactive:
pos_fun = None
start_pos = config.DEFAULT_START_POS
start_dir = Vector(0.0, 1.0)
eng.bots.append(Bot(models.MockModel(pos=start_pos, dir=start_dir, vel=0.0,
pos_fun=pos_fun, collidable=True),
behavior=behaviors.Leader(log_file=log_file)))
else:
#pos_fun = make_lissajous(17.0, 4, 1.2, 1, 3)
pos_fun = make_lissajous(25.5, 7, 1.8, 1, 3)
#pos_fun = make_ellipse()
#pos_fun = make_lissajous(18.0, 4, 4, 1, 1) # circle
#pos_fun = make_figure8()
eng.bots.append(Bot(models.MockModel(pos=(0.0, 0.0), dir=(1.0, 0.0), vel=0.0, pos_fun=pos_fun, collidable=True),
behavior=behaviors.Leader(log_file=log_file)))
start_pos = eng.bots[0].real.pos_fun(0.0)
start_dir = normalize(eng.bots[0].real.vel_fun(0.0, 0.01))
eng.bots[0].real.pos = start_pos
eng.bots[0].real.dir = start_dir
displacement = -start_dir * 3.1 * config.BOT_RADIUS
for i in xrange(config.NUM_FOLLOWERS):
eng.bots.append(Bot(model(pos=start_pos + (i + 1) * displacement,
dir=start_dir, vel=0.0),
behavior=behaviors.Follower(g=30, zeta=0.9,
leader=eng.bots[i],
trajectory_delay=config.TRAJECTORY_DELAY,
update_delta_t=config.SENSOR_UPDATE_DELAY,
orig_leader=eng.bots[0],
orig_leader_delay= config.TRAJECTORY_DELAY * (i + 1),
noise_sigma=config.MEASUREMENT_SIGMA,
log_file=log_file,
visibility_fov=config.FOV_ANGLE,
visibility_radius=config.FOV_RADIUS,
id="%02d" % (i + 1),
dt=1.0/config.SENSOR_UPDATE_DELAY)))
eng.obstacles = maps[obstacle_map][:]
eng.time = 0
def show_state(movement):
if movement == engine.Movement.Accel:
return "Acceleration mode"
elif movement == engine.Movement.Speed:
return "Velocity mode"
else:
return "Direction mode"
def main(args):
try:
config.read_from_file("config.txt")
print("Configuration read from config.txt")
args.interactive = args.interactive or config.INTERACTIVE
except (OSError, IOError):
pass
random.seed(config.SEED)
print "Starting with parameters:"
print "config.MEASUREMENT_SIGMA =", config.MEASUREMENT_SIGMA
print "config.MOVEMENT_SIGMA =", config.MOVEMENT_SIGMA
# This seems to set initial window position on Windows
os.environ['SDL_VIDEO_WINDOW_POS'] = "%d,%d" % (1,20)
pygame.init()
#font = pygame.font.Font(None, 30)
font = pygame.font.SysFont("Arial", 25)
#pygame.display.init()
info = pygame.display.Info()
size = (info.current_w - 10, info.current_h - 100)
field = Field((0.01 * size[0], 0.01 * size[1]), size)
graph = Graphics(field, size)
eng = engine.Engine(field)
cur_group = True
cur_obstacle_map = 0
cur_movement = engine.Movement.Speed
cur_model = models.DifferentialModel
reset(eng, obstacle_map=cur_obstacle_map, model=cur_model,
interactive=args.interactive, log_data=args.log_data)
finished = False
clock = pygame.time.Clock()
iter_counter = 1
paused = False
pressed_keys = set()
collision_has_occurred = False
while not finished:
eng.field.resize_to_contain(bot.real.pos for bot in eng.bots)
real_delta_time = 0.001 * clock.tick(config.FRAMERATE)
delta_time = 1.0 / config.FRAMERATE
for event in pygame.event.get():
if event.type == pygame.QUIT:
finished = True
elif event.type == pygame.MOUSEBUTTONDOWN:
pass
elif event.type == pygame.KEYUP:
if event.key in pressed_keys:
pressed_keys.remove(event.key)
elif event.type == pygame.KEYDOWN:
recognized_key = False
reset_needed = False
pressed_keys.add(event.key)
if event.key == pygame.K_z:
cur_model = models.HolonomicModel
recognized_key = True
reset_needed = True
paused = False
elif event.key == pygame.K_x:
cur_model = models.DifferentialModel
recognized_key = True
reset_needed = True
paused = False
elif event.key == pygame.K_p:
paused = not paused
elif event.key == pygame.K_r:
reset_needed = True
elif event.key >= pygame.K_1 and event.key <= pygame.K_9:
cur_obstacle_map = event.key - pygame.K_1
reset_needed = True
elif event.key == pygame.K_ESCAPE:
finished = True
if reset_needed:
reset(eng, obstacle_map=cur_obstacle_map, model=cur_model,
interactive=args.interactive, log_data=args.log_data)
collision_has_occurred = False
if finished:
break
if pygame.K_LEFT in pressed_keys:
try:
max_rot_vel = 2 * (eng.bots[0].real.max_vel - eng.bots[0].real.vel) / (eng.bots[0].real.width * eng.bots[0].real.vel)
max_rot_vel = min(max_rot_vel, config.MAX_INTERACTIVE_ROT_VEL)
eng.bots[0].real.dir = engine.vector.rotate(eng.bots[0].real.dir, max_rot_vel * delta_time)
except ZeroDivisionError:
pass
if pygame.K_RIGHT in pressed_keys:
try:
max_rot_vel = 2 * (eng.bots[0].real.max_vel - eng.bots[0].real.vel) / (eng.bots[0].real.width * eng.bots[0].real.vel)
max_rot_vel = min(max_rot_vel, config.MAX_INTERACTIVE_ROT_VEL)
eng.bots[0].real.dir = engine.vector.rotate(eng.bots[0].real.dir, -max_rot_vel * delta_time)
except ZeroDivisionError:
pass
if pygame.K_UP in pressed_keys:
eng.bots[0].real.vel += 1 * eng.bots[0].real.max_accel * delta_time
if pygame.K_DOWN in pressed_keys:
eng.bots[0].real.vel -= 1 * eng.bots[0].real.max_accel * delta_time
if paused:
continue
eng.time += delta_time
#eng.time = 0.001 * pygame.time.get_ticks() - time_start
iter_counter += 1
if iter_counter % config.FRAMES_PER_BOT_UPDATE == 0:
eng.update_bots()
eng.update_physics(delta_time, config.MOVEMENT_SIGMA)
collided_set = eng.check_collisions()
graph.render(bots = eng.bots,
obstacles = eng.obstacles,
targets = eng.targets)
text = ("Time: %0.1f" % eng.time) + ("s")#, FPS: %.2f" % (1.0 / real_delta_time))
text += u", update Δt = %.3fs" % (config.FRAMES_PER_BOT_UPDATE * 1.0/config.FRAMERATE)
if collided_set: # collision is occurring currently
collision_has_occurred = True
#if collision_has_occurred:
# text += ". A collision has been recorded"
ren = font.render(text, 0, (255, 255, 255))
text_size = font.size(text)
graph.screen.blit(ren, (30, graph.size[1] - text_size[1]))
pygame.display.flip()
pygame.display.quit()
pygame.quit()
sys.exit()
def parse_arguments():
parser = argparse.ArgumentParser(description='')
parser.add_argument('--log-data', '--log', action='store_true', default=False)
parser.add_argument('--interactive', '--int', action='store_true', default=False)
return parser.parse_args()
if __name__ == "__main__":
main(parse_arguments())