private static bool CheckVegStatus(IRobotManager robotManager, Species species)
{
if (!species.Veg || !species.Native)
{
return(false);
}
//see if any active robots have chloroplasts
if (robotManager.Robots.Where(r => r.Exists && r.Chloroplasts > 0)
.Select(rob => new { rob, splitname = rob.FName.Split(")") })
.Select(t =>
t.splitname[0].StartsWith("(") && int.TryParse(t.splitname[0][1..], out _)
public static void Mutate(IRobotManager robotManager, Robot rob, bool reproducing = false)
{
if (!rob.MutationProbabilities.EnableMutations || SimOpt.SimOpts.DisableMutations)
{
return;
}
var delta = rob.LastMutation;
if (reproducing)
{
if (rob.MutationProbabilities.CopyError.Probability > 0)
{
CopyError(rob);
}
if (rob.MutationProbabilities.Insertion.Probability > 0)
{
Insertion(rob);
}
if (rob.MutationProbabilities.Reversal.Probability > 0)
{
Reversal(rob);
}
if (rob.MutationProbabilities.MajorDeletion.Probability > 0)
{
MajorDeletion(rob);
}
if (rob.MutationProbabilities.MinorDeletion.Probability > 0)
{
MinorDeletion(rob);
}
}
else
{
if (rob.MutationProbabilities.PointMutation.Probability > 0)
{
PointMutation(rob);
}
}
delta = rob.LastMutation - delta;
if (SimOpt.SimOpts.EnableAutoSpeciation)
{
if (rob.Mutations > rob.Dna.Count * (double)SimOpt.SimOpts.SpeciationGeneticDistance / 100)
{
SimOpt.SimOpts.SpeciationForkInterval++;
var splitname = rob.FName.Split(")");
var robname = splitname[0].StartsWith("(") && int.TryParse(splitname[0][1..], out _) ? splitname[1] : rob.FName;
public static void VegsRepopulate(IRobotManager robotManager, IBucketManager bucketManager)
{
CoolDown++;
if (CoolDown >= SimOpt.SimOpts.RepopCooldown)
{
for (var t = 1; t < SimOpt.SimOpts.RepopAmount; t++)
{
aggiungirob(robotManager, bucketManager);
TotalVegs++;
}
CoolDown -= SimOpt.SimOpts.RepopCooldown;
}
}
public Controller(
IModel model,
IPlanManager planManager,
IRobotManager robotManager,
IDetectorManager detectorManager,
IRunManager runManager,
IDBManager dbManager
)
{
m_model = model;
m_planmanager = planManager;
m_robotmanager = robotManager;
m_detectormanager = detectorManager;
m_runmanager = runManager;
m_dbmanager = dbManager;
}
public static void NetForces(IRobotManager robotManager, Robot rob)
{
if (Math.Abs(rob.Velocity.X) < 0.0000001)
{
rob.Velocity = new DoubleVector(0, rob.Velocity.Y);
}
if (Math.Abs(rob.Velocity.Y) < 0.0000001)
{
rob.Velocity = new DoubleVector(rob.Velocity.X, 0);
}
FrictionForces(rob);
SphereDragForces(rob);
BrownianForces(rob);
GravityForces(rob);
VoluntaryForces(rob);
}
public RobotService(IRobotManager manager, AutoMapper.IMapper mapper)
{
_manager = Check.NotNull(manager, nameof(manager)); _mapper = Check.NotNull(mapper, nameof(mapper)); ServiceCtor();
}
public RobotsController(IAzioniManager azioniManager, IUtilityManager utilityManager, IRobotManager robotManager)
{
_azioniManager = azioniManager;
_utilityManager = utilityManager;
_robotManager = robotManager;
}
public RobotController(IRobotManager manager)
{
_manager = Check.NotNull(manager, nameof(manager)); RobotControllerCtor();
}
public PowerSourceChangeSubscriber(IRobotManager mgr)
{
_mgr = Check.NotNull(mgr, nameof(mgr));
DataNotFoundHandling = ResultHandling.ContinueWithAudit;
MaxAttempts = 5;
}
public RobotService(IRobotManager manager) => _manager = Check.NotNull(manager, nameof(manager));
public RobotController(IRobotManager manager) => _manager = Check.NotNull(manager, nameof(manager));
public static void feedvegs(IRobotManager robotManager, int totnrg)
{
//Botsareus 8/16/2014 All robots are set to think there is no sun, sun is calculated later
foreach (var rob in robotManager.Robots.Where(r => r.Energy > 0 && r.Exists))
{
rob.Memory[218] = 0;
}
double ScreenArea = SimOpt.SimOpts.FieldWidth * SimOpt.SimOpts.FieldHeight;
var TotalRobotArea = robotManager.Robots.Where(r => r.Exists).Sum(r => Math.Pow(r.GetRadius(SimOpt.SimOpts.FixedBotRadii), 2) * Math.PI);
if (ScreenArea < 1)
{
ScreenArea = 1;
}
LightAval = TotalRobotArea / ScreenArea; //Panda 8/14/2013 Figure AreaInverted a.k.a. available light
if (LightAval > 1)
{
LightAval = 1; //Botsareus make sure LighAval never goes negative
}
var AreaCorrection = Math.Pow((1 - LightAval), 2) * 4;
foreach (var rob in robotManager.Robots.Where(r => r.Energy > 0 && r.Exists))
{
double acttok = 0;
//Botsareus 8/16/2014 Allow robots to share chloroplasts again
if (rob.Chloroplasts > 0)
{
if (rob.ChloroplastsShareDelay > 0)
{
rob.ChloroplastsShareDelay--;
}
double tok = totnrg;
if (tok < 0)
{
tok = 0;
}
tok /= 3.5; //Botsareus 2/25/2014 A little mod for PhinotPi
//Panda 8/14/2013 New chloroplast codez
var ChloroplastCorrection = rob.Chloroplasts / 16000;
var AddEnergyRate = (AreaCorrection * ChloroplastCorrection) * 1.25;
var SubtractEnergyRate = Math.Pow(rob.Chloroplasts / 32000, 2);
acttok = (AddEnergyRate - SubtractEnergyRate) * tok;
}
rob.Memory[218] = 1; //Botsareus 8/16/2014 Now it is time view the sun
if (!(rob.Chloroplasts > 0))
{
continue;
}
acttok -= rob.Age * rob.Chloroplasts / 1000000000; //Botsareus 10/6/2015 Robots should start losing body at around 32000 cycles
rob.Energy += acttok * (1 - SimOpt.SimOpts.VegFeedingToBody);
rob.Body += acttok * SimOpt.SimOpts.VegFeedingToBody / 10;
if (rob.Energy > 32000)
{
rob.Energy = 32000;
}
if (rob.Body > 32000)
{
rob.Body = 32000;
}
}
}
private static void aggiungirob(IRobotManager robotManager, IBucketManager bucketManager)
{
if (!SimOpt.SimOpts.Specie.Any(s => CheckVegStatus(robotManager, s)))
{
return;
}
int r;
do
{
r = ThreadSafeRandom.Local.Next(0, SimOpt.SimOpts.Specie.Count); // start randomly in the list of species
} while (!CheckVegStatus(robotManager, SimOpt.SimOpts.Specie[r]));
var x = ThreadSafeRandom.Local.Next(Robot.RobSize / 2, SimOpt.SimOpts.FieldWidth - Robot.RobSize / 2);
var y = ThreadSafeRandom.Local.Next(Robot.RobSize / 2, SimOpt.SimOpts.FieldHeight - Robot.RobSize / 2);
if (SimOpt.SimOpts.Specie[r].Name == "" || SimOpt.SimOpts.Specie[r].Path == "Invalid Path")
{
return;
}
var a = DnaManipulations.RobScriptLoad(robotManager, bucketManager, System.IO.Path.Join(SimOpt.SimOpts.Specie[r].Path,
SimOpt.SimOpts.Specie[r].Name));
if (a == null)
{
SimOpt.SimOpts.Specie[r].Native = false;
return;
}
//Check to see if we were able to load the bot. If we can't, the path may be wrong, the sim may have
//come from another machine with a different install path. Set the species path to an empty string to
//prevent endless looping of error dialogs.
if (!a.Exists)
{
SimOpt.SimOpts.Specie[r].Path = "Invalid Path";
return;
}
a.IsVegetable = SimOpt.SimOpts.Specie[r].Veg;
if (a.IsVegetable)
{
a.Chloroplasts = SimOptions.StartChlr;
}
a.IsFixed = SimOpt.SimOpts.Specie[r].Fixed;
a.CantSee = SimOpt.SimOpts.Specie[r].CantSee;
a.DnaDisabled = SimOpt.SimOpts.Specie[r].DisableDna;
a.MovementSysvarsDisabled = SimOpt.SimOpts.Specie[r].DisableMovementSysvars;
a.CantReproduce = SimOpt.SimOpts.Specie[r].CantReproduce;
a.IsVirusImmune = SimOpt.SimOpts.Specie[r].VirusImmune;
a.IsCorpse = false;
a.IsDead = false;
a.Body = 1000;
a.Mutations = 0;
a.OldMutations = 0;
a.LastMutation = 0;
a.SonNumber = 0;
a.Parent = null;
Array.Clear(a.Memory, 0, a.Memory.Length);
if (a.IsFixed)
{
a.Memory[216] = 1;
}
a.Position = new DoubleVector(x, y);
a.Aim = ThreadSafeRandom.Local.NextDouble() * Math.PI * 2;
a.Memory[MemoryAddresses.SetAim] = (int)a.Aim * 200;
//Bot is already in a bucket due to the prepare routine
bucketManager.UpdateBotBucket(a);
a.Energy = SimOpt.SimOpts.Specie[r].Stnrg;
a.MutationProbabilities = SimOpt.SimOpts.Specie[r].Mutables;
a.VirusTimer = 0;
a.VirusShot = null;
a.NumberOfGenes = DnaManipulations.CountGenes(a.Dna);
a.GenMut = (double)a.Dna.Count / RobotsManager.GeneticSensitivity;
a.Memory[MemoryAddresses.DnaLenSys] = a.Dna.Count;
a.Memory[MemoryAddresses.GenesSys] = a.NumberOfGenes;
a.ChloroplastsDisabled = SimOpt.SimOpts.Specie[r].NoChlr;
for (var i = 0; i < 7; i++)
{
a.Skin[i] = SimOpt.SimOpts.Specie[r].Skin[i];
}
a.Color = SimOpt.SimOpts.Specie[r].Color;
Senses.MakeOccurrList(a);
}
public PowerSourceChangeSubscriber(IRobotManager mgr, ILogger <PowerSourceChangeSubscriber> log)
{
_mgr = Check.NotNull(mgr, nameof(mgr));
_log = Check.NotNull(log, nameof(log));
DataNotFoundHandling = ResultHandling.ContinueWithAudit;
}