Working on smell

TODO

@@ -1,3 +1,5 @@
 * Fourmis (map.tmx) pas en mode nurse (-> algo de choix d'activité plus tard)
 * Pygame: smell, pheromons: rendre + generique
 * Smell: Calcul de la distance max
+* Ant: MOVE_MODE_HOME && rien à faire (pas de truc à stocker, switch to mode EXPLO)
+* Plus de pheromone deposer a l'explo !

intelligine/cst.py

@@ -20,6 +20,7 @@ MOVE_MODE = IncrementedNamedInt.get('intelligine.basebug.move.mode')
 MOVE_MODE_EXPLO = IncrementedNamedInt.get('intelligine.basebug.move.mode.explo')
 MOVE_MODE_GOHOME = IncrementedNamedInt.get('intelligine.basebug.move.mode.gohome')
 MOVE_MODE_NURSE = IncrementedNamedInt.get('intelligine.basebug.move.mode.nurse')
+MOVE_MODE_HOME = IncrementedNamedInt.get('intelligine.basebug.move.mode.home')
 
 TYPE = IncrementedNamedInt.get('intelligine.object.type')
 TYPE_RESOURCE_EXPLOITABLE = IncrementedNamedInt.get('intelligine.object.type.resource.transformable')
@@ -32,7 +33,9 @@ PHEROMON_DIRECTION = IncrementedNamedInt.get('intelligine.phero.direction')
 PHEROMON_DIR_NONE = IncrementedNamedInt.get('intelligine.phero.direction.none')
 PHEROMON_DIR_EXPLO = IncrementedNamedInt.get('intelligine.phero.direction.explo')
 PHEROMON_DIR_HOME = IncrementedNamedInt.get('intelligine.phero.direction.home')
+EXPLORATION_VECTOR = IncrementedNamedInt.get('intelligine.exploration_vector')
 
+SMELL = IncrementedNamedInt.get('intelligine.smell')
 OBJ_SMELL = IncrementedNamedInt.get('intelligine.obj_smell')
 SMELL_FOOD = IncrementedNamedInt.get('intelligine.smell.food')
 SMELL_EGG = IncrementedNamedInt.get('intelligine.smell.egg')

intelligine/sandbox/exploration/map.tmx

@@ -311,6 +311,7 @@
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
+   <tile gid="243"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -329,8 +330,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -513,6 +513,7 @@
    <tile gid="241"/>
    <tile gid="0"/>
    <tile gid="0"/>
+   <tile gid="1"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -529,8 +530,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -730,7 +730,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -930,7 +930,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -1126,7 +1126,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="242"/>
@@ -1327,7 +1327,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -1528,7 +1528,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2123,7 +2123,7 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2312,15 +2312,15 @@
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
-   <tile gid="0"/>
-   <tile gid="0"/>
-   <tile gid="0"/>
-   <tile gid="0"/>
-   <tile gid="0"/>
+   <tile gid="242"/>
    <tile gid="0"/>
    <tile gid="242"/>
    <tile gid="0"/>
@@ -2425,14 +2425,14 @@
    <tile gid="0"/>
    <tile gid="242"/>
    <tile gid="0"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2525,14 +2525,14 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
-   <tile gid="243"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2625,14 +2625,14 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2725,14 +2725,14 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="1"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2825,14 +2825,14 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -2925,14 +2925,14 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
@@ -3025,14 +3025,14 @@
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>

intelligine/simulation/object/brain/AntBrain.py

@@ -2,7 +2,7 @@ from intelligine.simulation.object.brain.Brain import Brain
 from intelligine.simulation.object.brain.part.attack.AttackBrainPart import AttackBrainPart
 from intelligine.simulation.object.brain.part.move.AntMoveBrainPart import AntMoveBrainPart
 from intelligine.cst import MOVE_MODE, MOVE_MODE_EXPLO, MOVE_MODE_GOHOME, PHEROMON_DIR_HOME, PHEROMON_DIR_EXPLO, \
-    BRAIN_PART_TAKE, BRAIN_PART_PUT, MOVE_MODE_NURSE, PHEROMON_DIR_NONE, BRAIN_PART_ATTACK
+    BRAIN_PART_TAKE, BRAIN_PART_PUT, MOVE_MODE_NURSE, PHEROMON_DIR_NONE, BRAIN_PART_ATTACK, MOVE_MODE_HOME
 from intelligine.cst import PHEROMONE_SEARCHING
 from intelligine.cst import BRAIN_PART_MOVE
 from intelligine.simulation.object.brain.part.transport.AntPutBrainPart import AntPutBrainPart
@@ -21,11 +21,12 @@ class AntBrain(Brain):
 
     def __init__(self, context, host):
         super().__init__(context, host)
-        self._movement_mode = MOVE_MODE_EXPLO
+        self._movement_mode = MOVE_MODE_HOME
         self._distance_from_objective = 0  # TODO rename: distance_since_objective
         self._pheromone_searching = PHEROMON_DIR_EXPLO
 
     def switch_to_mode(self, mode):
+        # TODO: Mode explo: reinit exploration vector
         self._movement_mode = mode
         self._update_pheromone_gland(mode)
         self._context.metas.value.set(MOVE_MODE, self._host.get_id(), mode)
@@ -39,6 +40,8 @@ class AntBrain(Brain):
             pheromone_direction_type = PHEROMON_DIR_EXPLO
         elif mode == MOVE_MODE_NURSE:
             pheromone_direction_type = None
+        elif mode == MOVE_MODE_HOME:
+            pheromone_direction_type = None
         else:
             raise NotImplementedError()
 
@@ -55,6 +58,8 @@ class AntBrain(Brain):
             pheromone_searching = PHEROMON_DIR_HOME
         elif mode == MOVE_MODE_NURSE:
             pheromone_searching = PHEROMON_DIR_NONE
+        elif mode == MOVE_MODE_HOME:
+            return
         else:
             raise NotImplementedError()
         self._pheromone_searching = pheromone_searching

intelligine/simulation/object/brain/Brain.py

@@ -33,3 +33,9 @@ class Brain():
         # TODO: N'est-ce pas un schema appartenant a la classe ? Ne suffirai t-il pas de stocker ce schema par classe
         # plutôt que par objet ?
         self._context.metas.value.set(BRAIN_SCHEMA, self._host.get_id(), self._schema)
+
+    def get_context(self):
+        return self._context
+
+    def get_host(self):
+        return self._host

intelligine/simulation/object/brain/part/move/AntMoveBrainPart.py

@@ -1,18 +1,38 @@
 from intelligine.simulation.object.brain.part.move.MoveBrainPart import MoveBrainPart
+from intelligine.synergy.event.move.direction import directions_modifiers, get_direction_for_degrees
 from synergine_xyz.cst import POSITION
 from intelligine.core.exceptions import NoPheromone
-from intelligine.cst import PHEROMONE_SEARCHING, MOVE_MODE_EXPLO, COL_TRANSPORTER_NOT_CARRYING, COL_TRANSPORTER_CARRYING
+from intelligine.cst import PHEROMONE_SEARCHING, MOVE_MODE_EXPLO, \
+    MOVE_MODE_HOME, MOVE_MODE, MOVE_MODE_GOHOME, EXPLORATION_VECTOR, POINTS_SMELL
 from intelligine.simulation.pheromone.DirectionPheromone import DirectionPheromone
+from synergine_xyz.geometry import get_degree_from_north
 
 
 class AntMoveBrainPart(MoveBrainPart):
 
+    def __init__(self, host_brain):
+        super().__init__(host_brain)
+        self._exploration_vector = (0, 0)
+
+    def _set_exploration_vector(self, new_vector):
+        self._exploration_vector = new_vector
+        # TODO: On devrais donner le context aux brain parts
+        self._host_brain.get_context().metas.value.set(EXPLORATION_VECTOR,
+                                                       self._host_brain.get_host().get_id(),
+                                                       new_vector)
+
     @classmethod
     def get_direction(cls, context, object_id):
-        try:
-            return cls._get_direction_with_pheromones(context, object_id)
-        except NoPheromone:
-            return super().get_direction(context, object_id)
+        move_mode = context.metas.value.get(MOVE_MODE, object_id)
+        if move_mode == MOVE_MODE_EXPLO:
+            try:
+                return cls._get_direction_with_pheromones(context, object_id)
+            except NoPheromone:
+                return super().get_direction(context, object_id)
+        elif move_mode == MOVE_MODE_GOHOME:
+            return cls._get_direction_with_exploration_vector(context, object_id)
+
+        return super().get_direction(context, object_id)
 
     @classmethod
     def _get_direction_with_pheromones(cls, context, object_id):
@@ -43,12 +63,70 @@ class AntMoveBrainPart(MoveBrainPart):
         except NoPheromone as err:
             raise err
 
+    @staticmethod
+    def _get_direction_with_exploration_vector(context, object_id):
+        current_position = context.metas.value.get(POSITION, object_id)
+        exploration_vector = context.metas.value.get(EXPLORATION_VECTOR, object_id)
+        # TODO: inverser
+        home_vector = (exploration_vector[0] - (exploration_vector[0]*2),
+                       exploration_vector[1] - (exploration_vector[1]*2))
+        home_position = (0, current_position[1]+home_vector[0], current_position[2]+home_vector[1])
+        degree_from_north = get_degree_from_north(current_position, home_position)
+        direction_for_home_vector = get_direction_for_degrees(degree_from_north)
+
+        return direction_for_home_vector
+
+    # TODO: obj pas necessaire, il est dans _host
     def done(self, obj, context):
         super().done(obj, context)
         self._appose_pheromone(obj)
+        self._check_context(obj, context)
+        self._apply_context(obj, context)
 
     @staticmethod
     def _appose_pheromone(obj):
         if obj.get_movement_pheromone_gland().is_enabled():
             obj.get_movement_pheromone_gland().appose()
 
+    def _check_context(self, obj, context):
+        """
+
+        If was in exploration, and just found home smell;
+            -> home mode (then, in this mode: no update vector, put food if food, etc)
+        If was in home, and just loose home smell:
+            -> exploration mode
+
+        :param obj:
+        :param context:
+        :return:
+        """
+        if self._host_brain.get_movement_mode() == MOVE_MODE_EXPLO and self._on_home_smell(context, obj.get_id()):
+            self._host_brain.switch_to_mode(MOVE_MODE_HOME)
+
+        if self._host_brain.get_movement_mode() == MOVE_MODE_HOME and not self._on_home_smell(context, obj.get_id()):
+            # TODO: sitwh explo que si rien a faire (rien a poser par exemple)
+            self._host_brain.switch_to_mode(MOVE_MODE_EXPLO)
+            self._start_new_exploration()
+
+    @classmethod
+    def _on_home_smell(cls, context, object_id):
+        current_position = context.metas.value.get(POSITION, object_id)
+        smell_points = context.metas.value.get(POINTS_SMELL, POINTS_SMELL, allow_empty=True, empty_value={})
+        if current_position in smell_points:
+            return True
+        return False
+
+    def _update_exploration_vector(self):
+        # TODO: add tuple as vectors ?
+        just_move_vector = directions_modifiers[self._host_brain.get_host().get_previous_direction()]
+        self._set_exploration_vector((self._exploration_vector[0] + just_move_vector[1],
+                                      self._exploration_vector[1] + just_move_vector[2]))
+
+
+    def _apply_context(self, obj, context):
+        movement_mode = self._host_brain.get_movement_mode()
+        if movement_mode == MOVE_MODE_EXPLO or movement_mode == MOVE_MODE_GOHOME:
+            self._update_exploration_vector()
+
+    def _start_new_exploration(self):
+        self._exploration_vector = (0, 0)

intelligine/simulation/object/pheromone/MovementPheromoneGland.py

@@ -7,6 +7,6 @@ class MovementPheromoneGland(PheromoneGland):
 
     def get_pheromone(self):
         """
-        :return: pheromone_type, distance_from_objective
+        :return: Pheromone
         """
         return Pheromone(PHEROMON_DIRECTION, self._pheromone_type, self._host.get_brain().get_distance_from_objective(), 1)

intelligine/synergy/event/move/direction.py

@@ -117,6 +117,7 @@ directions_degrees = {
     (202.5, 247.5): 16,
     (247.5, 292.5): 13,
     (292.5, 337.5): 10,
+    (337.5, 360): 11,
     (337.5, 0): 11
 }
 
@@ -127,7 +128,7 @@ def get_direction_for_degrees(degrees):
     for plage in directions_degrees:
         if plage[0] <= degrees <= plage[1]:
             return directions_degrees[plage]
-    raise Exception("Unknow plage for degree \"" + degrees + '"')
+    raise Exception("Unknow plage for degree \"" + str(degrees) + '"')
 
 
 """

intelligine/synergy/object/ant/Ant.py

@@ -2,7 +2,7 @@ from intelligine.core.exceptions import PheromoneException
 from intelligine.synergy.object.Bug import Bug
 from intelligine.cst import CARRYING, TRANSPORTER, ATTACKER, COL_TRANSPORTER, COL_TRANSPORTER_NOT_CARRYING, \
     COL_FIGHTER, MOVE_MODE_EXPLO, MOVE_MODE_GOHOME, BODY_PART_PHEROMONE_GLAND, TYPE, TYPE_ANT, \
-    COL_TRANSPORTER_CARRYING, MOVE_MODE_NURSE
+    COL_TRANSPORTER_CARRYING, MOVE_MODE_NURSE, MOVE_MODE_HOME
 from intelligine.synergy.object.Food import Food
 from intelligine.simulation.object.pheromone.MovementPheromoneGland import MovementPheromoneGland
 from intelligine.simulation.object.brain.AntBrain import AntBrain
@@ -21,7 +21,7 @@ class Ant(Bug):
                                                            COL_TRANSPORTER_NOT_CARRYING,
                                                            COL_FIGHTER])
         self._carried = None
-        self._brain.switch_to_mode(MOVE_MODE_EXPLO)
+        self._brain.switch_to_mode(MOVE_MODE_HOME)
         context.metas.list.add(TYPE, self.get_id(), TYPE_ANT)
 
     def die(self):