From 50ed9322e390faf44f9012df0dd855679e4dbb3c Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Tue, 6 Feb 2018 14:02:56 +0100
Subject: [PATCH] Change agent to use a brain instead of renderer
---
navipy/__init__.py | 60 ++++++++++++++++++++++++++++++++++++
navipy/moving/agent.py | 70 ++++++++++--------------------------------
2 files changed, 77 insertions(+), 53 deletions(-)
diff --git a/navipy/__init__.py b/navipy/__init__.py
index e69de29..99e6fe8 100644
--- a/navipy/__init__.py
+++ b/navipy/__init__.py
@@ -0,0 +1,60 @@
+"""
+Every agent comes with a battery of a brain processing the about of \
+senses or sensors for biological or technical agent, respectively.
+
+The senses of agents in navipy are limited
+to:
+
+* 4d vision (brighness + depth)
+
+The 4d vision sense is controlled by rendering module, either an \
+online rendering or loaded from a database containing pre-rendered images.
+
+For example to use pre-rendered images from a database:
+
+.. literalinclude:: example/processing/apcv.py
+ :lines: 10-11
+
+Then the senses can be updated at a new position orientation:
+
+.. literalinclude:: example/processing/apcv.py
+ :lines: 15
+
+Renderer
+--------
+.. automodule:: navipy.sensors.renderer
+
+"""
+from database import DataBaseLoad
+
+class Bunch:
+ def __init__(self, **kwds):
+ self.__dict__.update(kwds)
+
+
+class Brain():
+ def __init__(self,
+ renderer=None):
+ self.vision = Bunch(scene=None,
+ viewing_directions=None,
+ channels=None)
+ self.renderer = renderer
+ if self.renderer is not None:
+ self.vision.scene = None
+ self.vision.viewing_directions = renderer.viewing_directions
+ self.vision.channels = renderer.channels
+
+ def velocity(self):
+ raise NotImplementedError("Subclasses should implement this")
+
+ def update(self, posorient):
+ if self.renderer is not None:
+ self.vision.scene = self.renderer.scene(posorient)
+
+ @property
+ def posorients(self):
+ if isinstance(self.renderer, DataBaseLoad):
+ return self.renderer.posorients
+ else:
+ raise NotImplementedError("Subclasses should implement this, "+
+ "when renderer is not DataBaseLoad")
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index 0415985..6a8acb5 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -37,8 +37,7 @@ class DefaultSensors():
class AbstractAgent():
def __init__(self):
- self._sensors = DefaultSensors()
- self._motion = defaultcallback
+ self._brian = DefaultSensors()
self._motion_param = None
self._alter_posorientvel = defaultcallback
self._posorient_col = ['x', 'y', 'z',
@@ -81,37 +80,20 @@ class AbstractAgent():
velocity.loc[self._velocity_col]
@property
- def motion(self):
- return inspect.getsourcelines(self._motion)
+ def brain(self):
+ return inspect.getsourcelines(self._brain)
- @property
- def motion_param(self):
- return self._motion_param.copy()
-
- @motion_param.setter
- def motion_param(self, param):
- if isinstance(param, dict):
- self._motion_param = param
- else:
- raise TypeError('motion param should be a dictionary')
-
- @property
- def sensors(self):
- return inspect.getsourcelines(self._sensors)
+ @brain.setter
+ def brain(self, brain):
+ self._brain = brain
@property
def alter_posorientvel(self):
return inspect.getsourcelines(self._alter_posorientvel)
def move(self):
- self._sensors.update(self.posorient)
- if self._motion_param is None:
- self.velocity = self._motion(self._posorient_vel,
- self._sensors)
- else:
- self.velocity = self._motion(self._posorient_vel,
- self._sensors,
- **self._motion_param)
+ self._brain.update(self.posorient)
+ self.velocity = self._brian.velocity()
alteredpos = self._alter_posorientvel(self._posorient_vel)
self.posorient = alteredpos
self.velocity = alteredpos
@@ -142,20 +124,12 @@ CyberBeeAgent is a close loop agent and need to be run within blender \
bla
"""
- def __init__(self, renderer):
+ def __init__(self, brain):
AbstractAgent.__init__(self)
AbstractAgent._alter_posorientvel = \
lambda motion_vec: navimomath.next_pos(motion_vec,
move_mode='free_run')
- self.sensors = renderer
-
- @AbstractAgent.sensors.setter
- def sensors(self, renderer):
- self._sensors = Senses(renderer)
-
- @AbstractAgent.motion.setter
- def motion(self, motion):
- self._motion = motion
+ self.brain = brain
class GridAgent(AbstractAgent, Process):
@@ -173,25 +147,15 @@ GridAgent is a close loop agent here its position is snap to a grid.
library. Thus, several GridAgents can safely be run in parallel.
"""
- def __init__(self, database_filename,
+ def __init__(self, brain,
posorients_queue=None,
results_queue=None):
if (posorients_queue is not None) and (results_queue is not None):
multiprocessing.Process.__init__(self)
AbstractAgent.__init__(self)
self._alter_posorientvel = self.snap_to_grid
- self.sensors = database_filename
-
- @AbstractAgent.sensors.setter
- def sensors(self, database_filename):
- self.db = DataBaseLoad(database_filename)
- self._posorients = self.db.posorients
- self._sensors = Senses(renderer=self.db)
-
- @AbstractAgent.motion.setter
- def motion(self, motion):
- self._motion = motion
-
+ self.brain = brain
+
@property
def mode_of_motion(self):
"""
@@ -284,11 +248,11 @@ the agent motion, or
2. pre-computed agent-motion
"""
- def __init__(self, database_filename):
- self.db = DataBaseLoad(database_filename)
+ def __init__(self, brian):
+ self._brain = copy.deepcopy(brain)
# Init the graph
self._graph = nx.DiGraph()
- for row_id, posor in self.db.posorients.iterrows():
+ for row_id, posor in self._brain.posorients.iterrows():
posor.name = row_id
self._graph.add_node(row_id,
posorient=posor)
@@ -320,7 +284,7 @@ the agent motion, or
# Start ndatabase loader
num_agents = ncpu
- agents = [GridAgent(self.dbname,
+ agents = [GridAgent(copy.deepcopy(self._brain),
posorients_queue=posorients_queue,
results_queue=results_queue)
for _ in range(num_agents)]
--
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