AI: Put object outside if not enought place inside

TODO

@@ -5,3 +5,6 @@
 * Poser (nourriture, etc): que si a carre penetrable tout autour (pour pas remplir couloir)
 * Poser à coté: moins envie de prendre plus le tas est petit, et plus envie de poser si tas grand etc
 * Poser: Si échoué à poser x fois: Mode "evacuer": Sortie de la zone odorante et poser.
+* Les ordres de mouvement doivent dependre des differents bout de brain
+* il commence a y avoir grosse embrouille dans les cerveaux :/
+* !!! GO_OUTSIDE: Remlacer par EXPLO. Ca evite de vouloir suivreles molecules a l'envers ! Mais QUID des larves ?

config.py

@@ -61,13 +61,14 @@ config = {
             'cant_put_still': 5
         },
         'put': {
-            'max_objects_at_same_position': 5
+            'max_objects_at_same_position': 1,
+            'max_put_fail_count': 20
         }
     },
     'stigmergy': {
         'molecule': {
             'evaporate_decrement': 5,
-            'evaporate_min_age': 100,
+            'evaporate_min_age': 1000,
             'evaporate_each_cycle': 100
         }
     }

intelligine/core/exceptions.py

@@ -13,6 +13,16 @@ class UnableToFoundMovement(MovementException):
     pass
 
 
+class MovementModeExpired(MovementException):
+
+    def __init__(self, *args, mode, **kwargs):
+        super().__init__(*args, **kwargs)
+        self._switch_to_mode = mode
+
+    def get_switch_to_mode(self):
+        return self._switch_to_mode
+
+
 class MoleculeException(Exception):
     pass
 
@@ -75,4 +85,8 @@ class NearNothingFound(NearException):
 
 
 class CantFindWhereToPut(ActionException):
+    pass
+
+
+class ExplorationAlreadyResolved(DirectionException):
     pass

intelligine/cst.py

@@ -15,13 +15,18 @@ CANT_CARRY_STILL = IncrementedNamedInt.get('intelligine.cantcarry.still')
 CANT_PUT_STILL = IncrementedNamedInt.get('intelligine.cantput.still')
 ACTION_DIE = IncrementedNamedInt.get('intelligine.basebug.action.die')
 MOLECULE_SEARCHING = IncrementedNamedInt.get('intelligine.molecule_searching')
+MOLECULE_SEARCHING_WAY = IncrementedNamedInt.get('intelligine.molecule_searching_way')
 MOLECULES = IncrementedNamedInt.get('intelligine.molecules')
 
+PUT_FAIL_COUNT = IncrementedNamedInt.get('intelligine.put.fail.count')
+
 MODE = IncrementedNamedInt.get('intelligine.basebug.move')
 MODE_EXPLO = IncrementedNamedInt.get('intelligine.basebug.move.explo')
 MODE_GOHOME = IncrementedNamedInt.get('intelligine.basebug.move.gohome')
 MODE_NURSE = IncrementedNamedInt.get('intelligine.basebug.move.nurse')
 MODE_HOME = IncrementedNamedInt.get('intelligine.basebug.move.home')
+MODE_GO_OUTSIDE = IncrementedNamedInt.get('intelligine.basebug.move.go_outside')
+MODE_SEARCH_AROUND = IncrementedNamedInt.get('intelligine.basebug.move.search_around')
 
 MOVE_BYBASS = IncrementedNamedInt.get('intelligine.basebug.move.bypass')
 MOVE_BYBASS_DISTANCE = IncrementedNamedInt.get('intelligine.basebug.move.bypass.distance')
@@ -57,6 +62,7 @@ COL_TRANSPORTER_CARRYING = IncrementedNamedInt.get('intelligine.col.transporter_
 COL_TRANSPORTER_NOT_CARRYING = IncrementedNamedInt.get('intelligine.col.transporter_not_carrying')
 COL_EATABLE = IncrementedNamedInt.get('intelligine.col.eatable')
 COL_SMELL = IncrementedNamedInt.get('intelligine.col.smell')
+COL_PUT_OUTSIDE = IncrementedNamedInt.get('intelligine.col.put_outside')
 
 INSTANCE_CLASS = IncrementedNamedInt.get('intelligine.instance_class')
 

intelligine/sandbox/test/test.tmx

@@ -933,9 +933,9 @@
    <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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1031,12 +1031,12 @@
    <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="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1129,14 +1129,14 @@
    <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="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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1229,14 +1229,14 @@
    <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="242"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1329,14 +1329,14 @@
    <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="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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1428,15 +1428,15 @@
    <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="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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1526,16 +1526,16 @@
    <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="241"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="241"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1626,15 +1626,15 @@
    <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="241"/>
    <tile gid="241"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1726,10 +1726,10 @@
    <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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1826,22 +1826,22 @@
    <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="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="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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -1926,22 +1926,22 @@
    <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="241"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
+   <tile gid="0"/>
    <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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -2026,22 +2026,22 @@
    <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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="1"/>
    <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="243"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -2137,11 +2137,11 @@
    <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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -2237,11 +2237,11 @@
    <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="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -2331,11 +2331,11 @@
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="243"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -2431,11 +2431,11 @@
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
-   <tile gid="241"/>
    <tile gid="0"/>
    <tile gid="0"/>
    <tile gid="0"/>
-   <tile gid="241"/>
+   <tile gid="0"/>
+   <tile gid="0"/>
    <tile gid="241"/>
    <tile gid="241"/>
    <tile gid="241"/>
@@ -2531,11 +2531,11 @@
    <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="241"/>
    <tile gid="241"/>
    <tile gid="241"/>

intelligine/simulation/molecule/DirectionMolecule.py

@@ -7,6 +7,9 @@ from intelligine.synergy.event.move.direction import get_direction_for_degrees
 
 class DirectionMolecule():
 
+    WAY_UP = 'u'
+    WAY_DOWN = 'd'
+
     _positions_key = None
 
     @classmethod
@@ -15,16 +18,19 @@ class DirectionMolecule():
         context.metas.list.add(MOLECULES, MOLECULES, point, assert_not_in=False)
 
     @classmethod
-    def get_direction_for_point(cls, context, point, molecule_type):
+    def get_direction_for_point(cls, context, point, molecule_type, molecule_way=WAY_UP):
         flavour = context.molecules().get_flavour(point)
         molecule = flavour.get_molecule(category=MOLECULES_DIRECTION, type=molecule_type)
 
         distance = molecule.get_distance()
-        around_molecule_filter = lambda around_molecule: around_molecule.get_distance() < distance
+        around_molecule_filter = lambda around_molecule: around_molecule.get_distance() < distance #  TODO <= ?
+        if molecule_way == cls.WAY_DOWN:
+            around_molecule_filter = lambda around_molecule: around_molecule.get_distance() >= distance
         around_molecules_points = cls._get_around_molecules(context, point, molecule_type,
                                                             molecule_filter=around_molecule_filter)
 
-        if not around_molecules_points:
+        if not around_molecules_points \
+           or (len(around_molecules_points) == 1 and around_molecules_points[0][0] == point):
             raise NoMolecule()
 
         shuffle(around_molecules_points)
@@ -36,9 +42,12 @@ class DirectionMolecule():
             if around_molecule_sorted[1].get_intensity() == max_intensity:
                 around_molecules_max.append(around_molecule_sorted)
 
+        reverse = False
+        if molecule_way == cls.WAY_DOWN:
+            reverse = True
         around_molecules_sorted_by_distance = sorted(around_molecules_max,
                                                       key=lambda x: x[1].get_distance(),
-                                                      reverse=False)
+                                                      reverse=reverse)
 
         go_to_point = around_molecules_sorted_by_distance[0][0]
 

intelligine/simulation/object/brain/AntBrain.py

@@ -1,15 +1,16 @@
+from intelligine.simulation.molecule.DirectionMolecule import DirectionMolecule
 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 MODE, MODE_EXPLO, MODE_GOHOME, PHEROMON_DIR_EXPLO, \
     BRAIN_PART_TAKE, BRAIN_PART_PUT, MODE_NURSE, PHEROMON_DIR_NONE, BRAIN_PART_ATTACK, MODE_HOME, \
-    SMELL_FOOD, SMELL_EGG
+    SMELL_FOOD, SMELL_EGG, MODE_GO_OUTSIDE, MOLECULE_SEARCHING_WAY, MODE_SEARCH_AROUND
 from intelligine.cst import MOLECULE_SEARCHING
 from intelligine.cst import BRAIN_PART_MOVE
 from intelligine.simulation.object.brain.part.transport.AntPutBrainPart import AntPutBrainPart
 from intelligine.simulation.object.brain.part.transport.AntTakeBrainPart import AntTakeBrainPart
 from intelligine.synergy.object.Food import Food
 from intelligine.synergy.object.ant.Egg import Egg
+from intelligine.simulation.object.brain.part.move.AntMoveBrainPart import AntMoveBrainPart
 from synergine.core.exceptions import NotFound
 
 
@@ -51,6 +52,10 @@ class AntBrain(Brain):
             molecule_direction_type = None
         elif mode == MODE_HOME:
             molecule_direction_type = PHEROMON_DIR_EXPLO
+        elif mode == MODE_GO_OUTSIDE:
+            molecule_direction_type = None
+        elif mode == MODE_SEARCH_AROUND:
+            molecule_direction_type = PHEROMON_DIR_EXPLO
         else:
             raise NotImplementedError()
 
@@ -61,6 +66,7 @@ class AntBrain(Brain):
             self._host.get_movement_molecule_gland().disable()
 
     def _update_molecule_searching(self, mode):
+        way = DirectionMolecule.WAY_UP
         if mode == MODE_EXPLO:
             molecule_searching = PHEROMON_DIR_EXPLO
         elif mode == MODE_GOHOME:
@@ -68,13 +74,20 @@ class AntBrain(Brain):
         elif mode == MODE_NURSE:
             molecule_searching = PHEROMON_DIR_NONE
         elif mode == MODE_HOME:
-            # TODO: Ca depend de ce que fait la fourmis, si s'occupe des oeufs, etc
             molecule_searching = self.get_part(BRAIN_PART_TAKE).get_smell_target()
+        elif mode == MODE_GO_OUTSIDE:
+            #  TODO: Dans l'idée c'est sortir, donc il faudrait remonter toutes les smells ...
+            molecule_searching = self.get_part(BRAIN_PART_TAKE).get_smell_target()
+            way = DirectionMolecule.WAY_DOWN
+        elif mode == MODE_SEARCH_AROUND:
+            molecule_searching = PHEROMON_DIR_NONE
         else:
             raise NotImplementedError()
 
         self._molecule_searching = molecule_searching
+        self._molecule_searching_way = way
         self._context.metas.value.set(MOLECULE_SEARCHING, self._host.get_id(), molecule_searching)
+        self._context.metas.value.set(MOLECULE_SEARCHING_WAY, self._host.get_id(), way)
 
     def get_movement_mode(self):
         return self._movement_mode

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

@@ -1,12 +1,14 @@
+from synergine.core.Core import Core
 from intelligine.shorcut.brain import get_brain_class
 from intelligine.simulation.object.brain.part.move.AntStar.ByPass import ByPass
 from intelligine.simulation.object.brain.part.move.AntStar.Host import Host
 from intelligine.simulation.object.brain.part.move.MoveBrainPart import MoveBrainPart
 from intelligine.synergy.event.move.direction import directions_modifiers, get_position_with_direction_decal
 from synergine_xyz.cst import POSITION
-from intelligine.core.exceptions import NoMolecule
+from intelligine.core.exceptions import NoMolecule, ExplorationAlreadyResolved, MovementModeExpired
 from intelligine.cst import MOLECULE_SEARCHING, MODE_EXPLO, MODE_HOME, MODE, MODE_GOHOME, \
-    EXPLORATION_VECTOR, MOLECULES_DIRECTION
+    EXPLORATION_VECTOR, MOLECULES_DIRECTION, PUT_FAIL_COUNT, MODE_GO_OUTSIDE, MOLECULE_SEARCHING_WAY, COL_PUT_OUTSIDE, \
+    MODE_SEARCH_AROUND
 from intelligine.simulation.molecule.DirectionMolecule import DirectionMolecule
 
 
@@ -26,7 +28,10 @@ class AntMoveBrainPart(MoveBrainPart):
     def get_direction(cls, context, object_id):
         move_mode = context.metas.value.get(MODE, object_id)
         if move_mode == MODE_GOHOME:
-            return cls._get_direction_with_exploration_vector(context, object_id)
+            try:
+                return cls._get_direction_with_exploration_vector(context, object_id)
+            except ExplorationAlreadyResolved:
+                raise MovementModeExpired(mode=MODE_SEARCH_AROUND)
         else:
             try:
                 return cls._get_direction_with_molecules(context, object_id)
@@ -39,9 +44,15 @@ class AntMoveBrainPart(MoveBrainPart):
     def _get_direction_with_molecules(cls, context, object_id):
         object_point = context.metas.value.get(POSITION, object_id)
         molecule_type = context.metas.value.get(MOLECULE_SEARCHING, object_id)
+        molecule_way = context.metas.value.get(MOLECULE_SEARCHING_WAY, object_id)
         try:
-            direction = cls._get_molecule_direction_for_point(context, object_point, molecule_type)
+            direction = cls._get_molecule_direction_for_point(context, object_point, molecule_type, molecule_way)
         except NoMolecule:
+
+            movement_mode = context.metas.value.get(MODE, object_id)
+            if movement_mode == MODE_GO_OUTSIDE:
+                raise
+
             try:
                 direction = cls._get_direction_of_molecule(context, object_point, molecule_type)
             except NoMolecule:
@@ -49,8 +60,8 @@ class AntMoveBrainPart(MoveBrainPart):
         return direction
 
     @staticmethod
-    def _get_molecule_direction_for_point(context, point, molecule_type):
-        return DirectionMolecule.get_direction_for_point(context, point, molecule_type)
+    def _get_molecule_direction_for_point(context, point, molecule_type, molecule_way):
+        return DirectionMolecule.get_direction_for_point(context, point, molecule_type, molecule_way)
 
     @staticmethod
     def _get_direction_of_molecule(context, point, molecule_type):
@@ -66,6 +77,10 @@ class AntMoveBrainPart(MoveBrainPart):
 
     @classmethod
     def _get_direction_with_exploration_vector(cls, context, object_id):
+        exploration_vector = context.metas.value.get(EXPLORATION_VECTOR, object_id)
+        if exploration_vector == (0, 0):
+            raise ExplorationAlreadyResolved()
+
         ant_star = cls._get_by_pass_brain(context, object_id)
         ant_star.advance()
         return ant_star.get_host().get_moved_to_direction()
@@ -102,15 +117,30 @@ class AntMoveBrainPart(MoveBrainPart):
         """
         movement_mode = self._host_brain.get_movement_mode()
 
+        # TODO: Algo de depl. dans les brain part (ex. put)
+        put_fail_count = self._context.metas.value.get(PUT_FAIL_COUNT, self._host.get_id(), allow_empty=True,
+                                                       empty_value=0)
+        put_fail_count_max = Core.get_configuration_manager().get('ant.max_put_fail_count', 20)
+
         if movement_mode == MODE_GOHOME and self._on_home_smell(self._context, self._host.get_id()):
             self._arrived_at_home()
 
+        if movement_mode == MODE_SEARCH_AROUND and self._on_home_smell(self._context, self._host.get_id()):
+            self._arrived_at_home()
+
         elif movement_mode == MODE_HOME and not self._on_home_smell(self._context, self._host.get_id()):
             self._start_new_exploration()
 
         elif movement_mode == MODE_EXPLO and self._on_home_smell(self._context, self._host.get_id()):
             self._init_exploration_vector()
 
+        elif movement_mode == MODE_HOME and put_fail_count >= put_fail_count_max:
+            self._host.get_brain().switch_to_mode(MODE_GO_OUTSIDE)
+            self._host._add_col(COL_PUT_OUTSIDE)  #  TODO: protege pas necessaire ?
+
+        elif movement_mode == MODE_GO_OUTSIDE and not self._on_home_smell(self._context, self._host.get_id()):
+            self._start_new_exploration()
+
         # TODO: sitch explo si rien a faire (rien a poser par exemple) et HOME
 
     @classmethod

intelligine/simulation/object/brain/part/transport/AntPutBrainPart.py

@@ -2,7 +2,7 @@ from intelligine.synergy.object.Food import Food
 from synergine.core.Core import Core
 from intelligine.core.exceptions import CantFindWhereToPut
 from intelligine.cst import MODE_EXPLO, TYPE_RESOURCE_EXPLOITABLE, MODE_NURSE, TYPE_NURSERY, \
-    MODE_HOME, TYPE_RESOURCE_EATABLE, MODE_GOHOME, CARRY
+    MODE_HOME, TYPE_RESOURCE_EATABLE, MODE_GOHOME, CARRY, PUT_FAIL_COUNT, MODE_SEARCH_AROUND
 from intelligine.simulation.object.brain.part.transport.TransportBrainPart import TransportBrainPart
 from synergine_xyz.cst import POSITION, POSITIONS
 
@@ -13,7 +13,8 @@ class AntPutBrainPart(TransportBrainPart):
     _mode_matches.update({
         MODE_NURSE: [TYPE_NURSERY],
         MODE_HOME: [TYPE_RESOURCE_EATABLE],
-        MODE_GOHOME: []
+        MODE_GOHOME: [],
+        MODE_SEARCH_AROUND: []
     })
 
     _types_matches = {
@@ -23,6 +24,11 @@ class AntPutBrainPart(TransportBrainPart):
 
     @classmethod
     def can_put(cls, context, object_id, object_near_id):
+        put_fail_count = context.metas.value.get(PUT_FAIL_COUNT, object_id, allow_empty=True, empty_value=0)
+        put_fail_count_max = Core.get_configuration_manager().get('ant.max_put_fail_count', 20)
+        if put_fail_count >= put_fail_count_max:
+            return False
+
         # Si l'objet à coté fait partie des objets concernés par le mode du porteur
         if cls._match_with_mode(context, object_id, object_near_id):
             # Et si les objet sont rangeable enssemble:

intelligine/simulation/object/brain/part/transport/AntTakeBrainPart.py

@@ -1,7 +1,7 @@
 from intelligine.simulation.object.brain.part.transport.TakeBrainPart import TakeBrainPart
 from intelligine.synergy.object.ressource.Ressource import Resource
 from intelligine.cst import MODE_EXPLO, TYPE_RESOURCE_EXPLOITABLE, \
-    MODE_GOHOME, MODE_NURSE, TYPE_NURSERY, MODE_HOME
+    MODE_GOHOME, MODE_NURSE, TYPE_NURSERY, MODE_HOME, MODE_SEARCH_AROUND
 
 
 class AntTakeBrainPart(TakeBrainPart):
@@ -10,7 +10,8 @@ class AntTakeBrainPart(TakeBrainPart):
     _mode_matches = {
         MODE_EXPLO: [TYPE_RESOURCE_EXPLOITABLE],
         MODE_NURSE: [TYPE_NURSERY],
-        MODE_GOHOME: []
+        MODE_GOHOME: [],
+        MODE_SEARCH_AROUND: []
     }
 
     def __init__(self, host_brain):

intelligine/synergy/Colony.py

@@ -1,6 +1,7 @@
 from synergine.synergy.collection.SynergyCollection import SynergyCollection
 from intelligine.synergy.event.move.MoveAction import MoveAction
 from intelligine.synergy.event.attack.NearAttackableAction import NearAttackableAction
+from intelligine.synergy.event.transport.PutOutsideAction import PutOutsideAction
 from intelligine.synergy.event.transport.TakeableAction import TakeableAction
 from intelligine.synergy.event.transport.PutableAction import PutableAction
 from intelligine.synergy.event.CycleAction import CycleAction
@@ -11,7 +12,7 @@ class Colony(SynergyCollection):
     def __init__(self, configuration):
         super().__init__(configuration)
         self._actions = [MoveAction, NearAttackableAction, TakeableAction, PutableAction,
-                         CycleAction]
+                         CycleAction, PutOutsideAction]
         self._start_position = configuration.get_start_position()
 
     def get_start_position(self):

intelligine/synergy/event/move/MoveAction.py

@@ -15,6 +15,10 @@ class MoveAction(Action):
         self._move_to_direction = None
 
     def run(self, obj, context, synergy_manager):
+        if self._parameters.get(MoveEvent.PARAM_NEW_MODE, None):
+            obj.get_brain().switch_to_mode(self._parameters[MoveEvent.PARAM_NEW_MODE])
+            return
+
         try:
             self._apply_move(obj, context)
         except ActionAborted:

intelligine/synergy/event/move/MoveEvent.py

@@ -1,4 +1,4 @@
-from intelligine.core.exceptions import UnableToFoundMovement
+from intelligine.core.exceptions import UnableToFoundMovement, MovementModeExpired
 from intelligine.synergy.event.move.direction import get_position_with_direction_decal
 from intelligine.shorcut.brain import get_brain_part
 from synergine.core.exceptions import NotConcernedEvent
@@ -12,6 +12,7 @@ class MoveEvent(Event):
 
     PARAM_POSITION = 'pos'
     PARAM_DIRECTION = 'dir'
+    PARAM_NEW_MODE = 'mod'
 
     _mechanism = Mechanism
     _concern = COL_WALKER
@@ -21,6 +22,9 @@ class MoveEvent(Event):
             direction = self._get_direction(object_id, context)
         except UnableToFoundMovement:
             raise NotConcernedEvent()
+        except MovementModeExpired as movement_expired:
+            parameters[self.PARAM_NEW_MODE] = movement_expired.get_switch_to_mode()
+            return parameters
 
         object_point = context.metas.value.get(POSITION, object_id)
         move_to_point = get_position_with_direction_decal(direction, object_point)

intelligine/synergy/event/transport/PutOutsideAction.py

@@ -0,0 +1,19 @@
+from intelligine.cst import CANT_CARRY_STILL, BRAIN_PART_PUT, COL_PUT_OUTSIDE, MODE_EXPLO
+from intelligine.synergy.event.transport.PutOutsideEvent import PutOutsideEvent
+from intelligine.synergy.event.transport.PutableAction import PutableAction
+
+
+class PutOutsideAction(PutableAction):
+    _listen = PutOutsideEvent
+
+    def run(self, obj, context, synergy_manager):
+        # TODO: Refact avec pare,t
+        obj_transported = obj.get_carried()
+        obj_transported.set_carried_by(None)
+        obj.put_carry(obj_transported, self._parameters['position_to_put'])
+        context.metas.value.set(CANT_CARRY_STILL, obj.get_id(), 5)
+        obj.reinit_put_fail_count()
+
+        #  obj.get_brain().get_part(BRAIN_PART_PUT).done(obj_transported)
+        obj._remove_col(COL_PUT_OUTSIDE)
+        obj.get_brain().switch_to_mode(MODE_EXPLO)  # TODO: dans le brain.done

intelligine/synergy/event/transport/PutOutsideEvent.py

@@ -0,0 +1,30 @@
+from synergine.core.exceptions import NotConcernedEvent
+from synergine_xyz.cst import POSITION
+from intelligine.cst import COL_PUT_OUTSIDE
+from intelligine.simulation.object.brain.part.move.AntMoveBrainPart import AntMoveBrainPart
+from intelligine.simulation.object.brain.part.transport.AntPutBrainPart import AntPutBrainPart
+from intelligine.synergy.event.Event import Event
+
+
+# TODO: NearEvent ?
+class PutOutsideEvent(Event):
+
+    _concern = COL_PUT_OUTSIDE
+
+    def _prepare(self, object_id, context, parameters={}):
+        # TODO: DEV code ailleurs (._)
+        if AntMoveBrainPart._on_home_smell(context, object_id):
+            raise NotConcernedEvent()
+
+        current_position = context.metas.value.get(POSITION, object_id)
+        around_positions = context.get_around_points_of(current_position)
+
+        for around_position in around_positions:
+            # TODO DEV: ... ._
+            if AntPutBrainPart._position_have_free_space_around(context, around_position):
+                if AntPutBrainPart._position_is_enought_place(context, around_position):
+                    # TODO: Constant ?
+                    parameters['position_to_put'] = around_position
+                    return parameters
+
+        raise NotConcernedEvent()

intelligine/synergy/event/transport/PutableAction.py

@@ -11,13 +11,12 @@ class PutableAction(Action):
     _listen = PutableEvent
     _depend = [MoveAction]
 
-    def __init__(self, object_id, parameters):
-        super().__init__(object_id, parameters)
-
     def run(self, obj, context, synergy_manager):
         obj_transported = obj.get_carried()
 
         if not self._parameters[PutableEvent.PARAM_PUT_TO]:
+            if self._parameters[PutableEvent.PARAM_HOME_FAIL]:
+                obj.increment_put_fail_count()
             raise ActionAborted()
 
         for position_to_put in self._parameters[PutableEvent.PARAM_PUT_TO]:
@@ -30,6 +29,7 @@ class PutableAction(Action):
             obj_transported.set_carried_by(None)
             obj.put_carry(obj_transported, position_to_put)
             context.metas.value.set(CANT_CARRY_STILL, obj.get_id(), 5)
+            obj.reinit_put_fail_count()
 
             obj.get_brain().get_part(BRAIN_PART_PUT).done(obj_transported)
 

intelligine/synergy/event/transport/PutableEvent.py

@@ -13,6 +13,7 @@ class PutableEvent(NearEvent):
 
     PARAM_PUT = 'put'
     PARAM_PUT_TO = 'put_to'
+    PARAM_HOME_FAIL = 'home_fail'
     _mechanism = AroundMechanism
     _concern = COL_TRANSPORTER_CARRYING
     _near_name = 'objects_ids_putable'
@@ -37,12 +38,14 @@ class PutableEvent(NearEvent):
                     put_position = brain_part.get_put_position(context, object_id, object_near_id)
                     parameters[self.PARAM_PUT].append(object_near_id)
                     parameters[self.PARAM_PUT_TO].append(put_position)
+                    parameters[self.PARAM_HOME_FAIL] = False
                     return parameters  # Si a terme on veut tous les calculer a l'avance, ne pas retourner ici
                 except CantFindWhereToPut:
                     pass  # On continu la booucle
 
         # Si a terme on veut tous les calculer a l'avance, raise que si rien trouve
-        raise NotConcernedEvent()
+        parameters[self.PARAM_HOME_FAIL] = True
+        return parameters
 
     @staticmethod
     def _can_put(object_id, context):

intelligine/synergy/object/ant/Ant.py

@@ -2,7 +2,7 @@ from intelligine.core.exceptions import MoleculeException
 from intelligine.synergy.object.Bug import Bug
 from intelligine.cst import CARRYING, TRANSPORTER, ATTACKER, COL_TRANSPORTER, COL_TRANSPORTER_NOT_CARRYING, \
     COL_FIGHTER, MODE_EXPLO, MODE_GOHOME, BODY_PART_PHEROMONE_GLAND, TYPE, TYPE_ANT, \
-    COL_TRANSPORTER_CARRYING, MODE_NURSE, MODE_HOME, CARRY
+    COL_TRANSPORTER_CARRYING, MODE_NURSE, MODE_HOME, CARRY, PUT_FAIL_COUNT
 from intelligine.synergy.object.Food import Food
 from intelligine.simulation.object.molecule.MovementMoleculeGland import MovementMoleculeGland
 from intelligine.simulation.object.brain.AntBrain import AntBrain
@@ -25,6 +25,7 @@ class Ant(Bug):
         #  TODO: Comme pour lorsque une action put est faite, lancer un algo de choix de la mission a suivre.
         self._brain.switch_to_mode(MODE_EXPLO)
         context.metas.list.add(TYPE, self.get_id(), TYPE_ANT)
+        self._put_fail_count = 0
 
     def die(self):
         super().die()
@@ -85,4 +86,15 @@ class Ant(Bug):
                 pass
 
     def get_colony(self):
-        return self.get_collection()
+        return self.get_collection()
+
+    def get_put_fail_count(self):
+        return self._put_fail_count
+
+    def increment_put_fail_count(self):
+        self._put_fail_count += 1
+        self._context.metas.value.set(PUT_FAIL_COUNT, self.get_id(), self._put_fail_count)
+
+    def reinit_put_fail_count(self):
+        self._put_fail_count = 0
+        self._context.metas.value.set(PUT_FAIL_COUNT, self.get_id(), self._put_fail_count)