new exp beacon guided aggreg

Author: KenN7

loop-functions/gianduja/GiandujaBeaconAggregationLoopFunc.cpp

@@ -9,9 +9,9 @@ GiandujaBeaconAggregationLoopFunction::GiandujaBeaconAggregationLoopFunction() {
   m_cCoordSpot2 = CVector2(-0.5,0.5);
   m_unCostSpot1 = 0;
   m_fObjectiveFunction = 0;
-  m_Tbar = 0;
-  m_State = 0;
   m_unTime = 0;
+  m_unMesParam = 0;
+  m_unMes = 0;
 }
 
 /****************************************/
@@ -36,23 +36,37 @@ void GiandujaBeaconAggregationLoopFunction::Reset() {
     CoreLoopFunctions::Reset();
     m_unCostSpot1 = 0;
     m_fObjectiveFunction = 0;
-    m_State = 0;
-    m_Tbar = 0;
-    m_unTime = 0;
-    ExtractTime();
+    if (m_unMesParam == 3) {
+        m_unMes = m_pcRng->Uniform(CRange<UInt32>(0,2));
+    }
+    else {
+        m_unMes = m_unMesParam;
+    }
     PlaceBeacon();
     //PlaceLight();
 }
 
 
 void GiandujaBeaconAggregationLoopFunction::Init(TConfigurationNode& t_tree) {
     CoreLoopFunctions::Init(t_tree);
+    TConfigurationNode cParametersNode;
+    try {
+        cParametersNode = GetNode(t_tree, "params");
+        GetNodeAttributeOrDefault(cParametersNode, "mes", m_unMesParam, (UInt32) 3);
+    } catch(std::exception e) {
+        LOGERR << e.what() << std::endl;
+    }
+    if (m_unMesParam == 3) {
+        m_unMes = m_pcRng->Uniform(CRange<UInt32>(0,2));
+    }
+    else {
+        m_unMes = m_unMesParam;
+    }
     //PlaceLight();
-    ExtractTime();
     PlaceBeacon();
+    SetMessageBeacon();
 }
 
-
 /****************************************/
 /****************************************/
 
@@ -71,19 +85,6 @@ argos::CColor GiandujaBeaconAggregationLoopFunction::GetFloorColor(const argos::
   return CColor::GRAY50;
 }
 
-
-void GiandujaBeaconAggregationLoopFunction::ExtractTime() {
-    try {
-        CEPuckEntity& cEntity = dynamic_cast<CEPuckEntity&>(GetSpace().GetEntity("beacon0"));
-        CEPuckBeacon& cController = dynamic_cast<CEPuckBeacon&>(cEntity.GetControllableEntity().GetController());
-        m_Tbar = cController.getTBar();
-        //LOG << "Time=" << m_Tbar << std::endl;
-    } catch (std::exception& ex) {
-        LOGERR << "Error while casting ExtractTime: " << ex.what() << std::endl;
-    }
-}
-
-
 void GiandujaBeaconAggregationLoopFunction::PlaceBeacon() {
     try {
         CEPuckEntity& cEpuck = dynamic_cast<CEPuckEntity&>(GetSpace().GetEntity("beacon0"));
@@ -97,22 +98,16 @@ void GiandujaBeaconAggregationLoopFunction::PlaceBeacon() {
 
 }
 
-// void GiandujaBeaconAggregationLoopFunction::PlaceLight() {
-//     // /* Place a light at a random spot to prevent robots to exploit (anti)phototaxis behaviours as RW */
-//     CLightEntity& cLight = dynamic_cast<CLightEntity&>(GetSpace().GetEntity("light0"));
-//     /* Consider the light only if it has non zero intensity */
-//     cLight.SetIntensity(m_pcRng->Uniform(CRange<Real>(0.05f, 0.8f)));
-//
-//     Real ab;
-//     Real DistributionRadius = 1.3;
-//
-//     ab = m_pcRng->Uniform(CRange<Real>(0.0f, 1.0f));
-//     Real posX = DistributionRadius * cos(2 * CRadians::PI.GetValue() * ab);
-//     Real posY = DistributionRadius * sin(2 * CRadians::PI.GetValue() * ab);
-//
-//     cLight.MoveTo(CVector3(posX, posY, 0.4),CQuaternion().FromEulerAngles(m_pcRng->Uniform(CRange<CRadians>(CRadians::ZERO,CRadians::TWO_PI)),
-//     CRadians::ZERO,CRadians::ZERO));
-// }
+void GiandujaBeaconAggregationLoopFunction::SetMessageBeacon() {
+    try {
+        CEPuckEntity& cEntity = dynamic_cast<CEPuckEntity&>(GetSpace().GetEntity("beacon0"));
+        CEPuckBeacon& cController = dynamic_cast<CEPuckBeacon&>(cEntity.GetControllableEntity().GetController());
+        cController.setMessage(m_unMes);
+        //LOG << "Time=" << m_Tbar << std::endl;
+    } catch (std::exception& ex) {
+        LOGERR << "Error while casting SetMessageBeacon: " << ex.what() << std::endl;
+    }
+}
 
 CVector3 GiandujaBeaconAggregationLoopFunction::GetRandomPosition() {
     Real a;
@@ -134,22 +129,21 @@ void GiandujaBeaconAggregationLoopFunction::PostStep() {
     CSpace::TMapPerType& tEpuckMap = GetSpace().GetEntitiesByType("epuck");
     CVector2 cEpuckPosition(0,0);
 
-    if (m_unTime > m_Tbar) {
-        m_State = 1;
-    }
-
     for (CSpace::TMapPerType::iterator it = tEpuckMap.begin(); it != tEpuckMap.end(); ++it) {
         CEPuckEntity* pcEpuck = any_cast<CEPuckEntity*>(it->second);
         cEpuckPosition.Set(pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetX(),
                          pcEpuck->GetEmbodiedEntity().GetOriginAnchor().Position.GetY());
 
-        Real fDistanceSpot1 = (m_cCoordSpot1 - cEpuckPosition).Length();
-
-        if (m_State == 0 && fDistanceSpot1 <= m_fRadius) {
-            m_unCostSpot1 += 2;
+        Real fDistanceSpot;
+        if (m_unMes == 0) {
+            fDistanceSpot = (m_cCoordSpot1 - cEpuckPosition).Length();
         }
-        else if (m_State == 1 && fDistanceSpot1 >= m_fRadius) {
-            m_unCostSpot1 += 2;
+        else if (m_unMes == 1) {
+            fDistanceSpot = (m_cCoordSpot2 - cEpuckPosition).Length();
+        }
+
+        if (fDistanceSpot >= m_fRadius) {
+            m_unCostSpot1 += 1;
         }
     }
     m_fObjectiveFunction = (Real) m_unCostSpot1;
@@ -165,9 +159,6 @@ void GiandujaBeaconAggregationLoopFunction::PostExperiment() {
 
 Real GiandujaBeaconAggregationLoopFunction::GetObjectiveFunction() {
     SInt32 score = 24000-m_fObjectiveFunction;
-    if (score < 0) {
-        score = 0;
-    }
     return (score);
 }
 

loop-functions/gianduja/GiandujaBeaconAggregationLoopFunc.h

@@ -24,9 +24,8 @@ class GiandujaBeaconAggregationLoopFunction: public CoreLoopFunctions {
     virtual void PostStep();
 
     Real GetObjectiveFunction();
-    void PlaceLight();
-    void ExtractTime();
     void PlaceBeacon();
+    void SetMessageBeacon();
 
     virtual CVector3 GetRandomPosition();
 
@@ -36,9 +35,9 @@ class GiandujaBeaconAggregationLoopFunction: public CoreLoopFunctions {
     CVector2 m_cCoordSpot2;
 
     UInt32 m_unCostSpot1;
-    UInt32 m_Tbar;
-    UInt8 m_State;
     Real m_fObjectiveFunction;
+    UInt32 m_unMesParam;
+    UInt8 m_unMes;
     UInt32 m_unTime;
 };