Exemplo n.º 1
0
        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 _)
Exemplo n.º 2
0
        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;
Exemplo n.º 3
0
 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;
     }
 }
Exemplo n.º 4
0
 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;
 }
Exemplo n.º 5
0
        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);
        }
Exemplo n.º 6
0
 public RobotService(IRobotManager manager, AutoMapper.IMapper mapper)
 {
     _manager = Check.NotNull(manager, nameof(manager)); _mapper = Check.NotNull(mapper, nameof(mapper)); ServiceCtor();
 }
Exemplo n.º 7
0
 public RobotsController(IAzioniManager azioniManager, IUtilityManager utilityManager, IRobotManager robotManager)
 {
     _azioniManager  = azioniManager;
     _utilityManager = utilityManager;
     _robotManager   = robotManager;
 }
Exemplo n.º 8
0
 public RobotController(IRobotManager manager)
 {
     _manager = Check.NotNull(manager, nameof(manager)); RobotControllerCtor();
 }
Exemplo n.º 9
0
 public PowerSourceChangeSubscriber(IRobotManager mgr)
 {
     _mgr = Check.NotNull(mgr, nameof(mgr));
     DataNotFoundHandling = ResultHandling.ContinueWithAudit;
     MaxAttempts          = 5;
 }
Exemplo n.º 10
0
 public RobotService(IRobotManager manager) => _manager = Check.NotNull(manager, nameof(manager));
Exemplo n.º 11
0
 public RobotController(IRobotManager manager) => _manager = Check.NotNull(manager, nameof(manager));
Exemplo n.º 12
0
        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;
                }
            }
        }
Exemplo n.º 13
0
        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);
        }
Exemplo n.º 14
0
 public PowerSourceChangeSubscriber(IRobotManager mgr, ILogger <PowerSourceChangeSubscriber> log)
 {
     _mgr = Check.NotNull(mgr, nameof(mgr));
     _log = Check.NotNull(log, nameof(log));
     DataNotFoundHandling = ResultHandling.ContinueWithAudit;
 }