Merge pull request #48 from vagechirkov/round-environment

Round environment

.github/workflows/docker-image-push.yml

@@ -0,0 +1,25 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches:
+      - develop
+
+jobs:
+
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Docker Login
+        env:
+          DOCKER_USER: ${{secrets.DOCKER_USER}}
+          DOCKER_PASSWORD: ${{secrets.DOCKER_PASSWORD}}
+        run: |
+          docker login -u $DOCKER_USER -p $DOCKER_PASSWORD
+      - name: Build the Docker image
+        run: docker build . --file Dockerfile --tag  ${{secrets.DOCKER_USER}}/scioip34abm:latest
+      - name: Push Docker image to DockerHub
+        run: docker push ${{secrets.DOCKER_USER}}/scioip34abm:latest

.github/workflows/docker-image.yml

@@ -1,10 +1,9 @@
 name: Docker Image CI
 
 on:
-  push:
-    branches: [ develop ]
   pull_request:
-    branches: [ develop ]
+    branches:
+      - develop
 
 jobs:
 
@@ -13,14 +12,6 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v2
-    - name: Docker Login
-      env:
-        DOCKER_USER: ${{secrets.DOCKER_USER}}
-        DOCKER_PASSWORD: ${{secrets.DOCKER_PASSWORD}}
-      run: |
-        docker login -u $DOCKER_USER -p $DOCKER_PASSWORD
-    - name: Build the Docker image
-      run: docker build . --file Dockerfile --tag  ${{secrets.DOCKER_USER}}/scioip34abm:latest
-    - name: Push Docker image to DockerHub
-      run: docker push ${{secrets.DOCKER_USER}}/scioip34abm:latest
+      - uses: actions/checkout@v2
+      - name: Build the Docker image
+        run: docker build . --file Dockerfile

.github/workflows/python-package.yml

@@ -1,6 +1,6 @@
 name: Python package
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
   build:

.gitignore

@@ -245,4 +245,7 @@ cython_debug/
 .idea
 
 # ignore all copied env files
-*_copy.env
+*_copy.env
+
+# ignore videos
+*.mp4

abm/projects/cooperative_signaling/cs_agent/cs_agent.py

@@ -1,10 +1,10 @@
 import numpy as np
 
 from abm.agent import supcalc
+from abm.projects.cooperative_signaling.cs_agent.cs_supcalc import \
+    reflection_from_circular_wall, random_walk, F_reloc_LR, phototaxis
 from abm.agent.agent import Agent
 from abm.contrib import colors
-from abm.projects.cooperative_signaling.cs_agent.cs_supcalc import random_walk, \
-    F_reloc_LR, phototaxis
 
 
 class CSAgent(Agent):
@@ -57,11 +57,11 @@ def update(self, agents):
         else:
             if self.meter > 0:
                 theta, taxis_dir = phototaxis(
-                                        self.meter,
-                                        self.prev_meter,
-                                        self.theta_prev,
-                                        self.taxis_dir,
-                                        self.phototaxis_theta_step)
+                    self.meter,
+                    self.prev_meter,
+                    self.theta_prev,
+                    self.taxis_dir,
+                    self.phototaxis_theta_step)
                 self.taxis_dir = taxis_dir
                 vel = (2 - self.velocity)
                 self.agent_type = "mars_miner"
@@ -84,12 +84,15 @@ def update(self, agents):
             self.velocity += vel
             # self.prove_velocity()  # possibly bounding velocity of agent
 
-            # updating agent's position
-            self.position[0] += self.velocity * np.cos(self.orientation)
-            self.position[1] -= self.velocity * np.sin(self.orientation)
+            # new agent's position
+            new_pos = (
+                self.position[0] + self.velocity * np.cos(self.orientation),
+                self.position[1] - self.velocity * np.sin(self.orientation)
+            )
 
-            # boundary conditions if applicable
-            self.reflect_from_walls()
+            # update the agent's position with constraints (reflection from the
+            # walls) or with the new position
+            self.position = list(self.reflect_from_walls(new_pos))
         else:
             # self.agent_type = "signalling"
             print(self.meter)
@@ -286,3 +289,45 @@ def prove_velocity(self, velocity_limit=1):
             if np.abs(self.velocity) > velocity_limit:
                 # stopping agent if too fast during exploration
                 self.velocity = 1
+
+    def reflect_from_walls(self, new_pos=()):
+        """
+        Reflecting agent from the circle arena border.
+        """
+        # x coordinate - x of the center point of the circle
+        x = new_pos[0] + self.radius
+        c_x = (self.WIDTH / 2 + self.window_pad)
+        dx = x - c_x
+        # y coordinate - y of the center point of the circle
+        y = new_pos[1] + self.radius
+        c_y = (self.HEIGHT / 2 + self.window_pad)
+        dy = y - c_y
+        # radius of the environment
+        e_r = self.HEIGHT / 2
+
+        # return if the agent has not reached the boarder
+        if np.linalg.norm([dx, dy]) + self.radius < e_r:
+            return new_pos
+
+        # reflect the agent from the boarder
+        self.orientation = reflection_from_circular_wall(
+            dx, dy, self.orientation)
+
+        # make orientation between 0 and 2pi
+        self.prove_orientation()
+
+        # relocate the agent back inside the circle
+        new_pos = (
+            self.position[0] + self.velocity * np.cos(self.orientation),
+            self.position[1] - self.velocity * np.sin(self.orientation)
+        )
+        # check if the agent is still outside the circle
+        diff = [new_pos[0] - c_x, new_pos[1] - c_y]
+        if np.linalg.norm(diff) + self.radius >= e_r:
+            # if yes, relocate it again
+            dist = np.linalg.norm(diff) + self.radius - e_r
+            new_pos = (
+                self.position[0] + dist * np.cos(self.orientation),
+                self.position[1] - dist * np.sin(self.orientation)
+            )
+        return new_pos

abm/projects/cooperative_signaling/cs_agent/cs_supcalc.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pygame
 
 from abm.contrib import movement_params
 
@@ -38,6 +39,42 @@ def F_reloc_LR(vel_now, V_now, v_desired=None, theta_max=None):
     return (v_desired - vel_now), theta
 
 
+
+def reflection_from_circular_wall(dx, dy, orientation):
+    """
+    Calculating the reflection of the agent from the circle arena border.
+    SEE: https://stackoverflow.com/questions/54543170/angle-reflexion-for-bouncing-ball-in-a-circle
+
+    :param dx: x coordinate of the agent minus center of the circle
+    :param dy: y coordinate of the agent minus center of the circle
+    :param orientation: orientation of the agent
+    :return: new orientation of the agent
+    """
+    # normal vector of the circle
+    c_norm = (pygame.math.Vector2(dx, dy)).normalize()
+    # incident vector: the current direction vector of the bouncing agent
+    vec_i = pygame.math.Vector2(np.cos(orientation), np.sin(orientation))
+    # orientation inside the circle
+    i_orientation = np.pi + np.arctan2(vec_i[1], vec_i[0])
+
+    # reflection vector: outgoing direction vector of the bouncing agent
+    vec_r = vec_i - 2 * c_norm.dot(vec_i) * c_norm
+    # np.degrees(self.orientation)
+    new_orientation = np.pi + np.arctan2(vec_r[1], vec_r[0])
+
+    # make sure that the new orientation points inside the circle and not too
+    # flat to the border
+    if np.abs(new_orientation - i_orientation) > np.pi / 4:
+        new_orientation = i_orientation
+    # make sure that the change of the orientation is not too big; this prevents
+    # the agent from "jumping" over the border and other wierd behavior when the
+    # agent changes its orientation too ofter
+    elif np.abs(new_orientation - orientation) > np.pi / 4:
+        new_orientation = i_orientation
+
+    return new_orientation
+
+
 def phototaxis(meter, prev_meter, prev_theta, taxis_dir,
                phototaxis_theta_step):
     """

abm/projects/cooperative_signaling/cs_agent/tests/test_cs_supcalc.py

@@ -1,5 +1,6 @@
 import numpy as np
 import pytest
+from unittest import mock
 
 from abm.projects.cooperative_signaling.cs_agent import cs_supcalc
 
@@ -9,11 +10,44 @@ def test_random_walk():
     # set random seed
     np.random.seed(42)
 
-    dvel, dtheta = cs_supcalc.random_walk()
-
+    # passing values to override abm.movementparams values read from .env file
+    dvel, dtheta = cs_supcalc.random_walk(desired_vel=1, exp_theta_min=-0.3, exp_theta_max=0.3)
     assert dvel == 1.0
     assert dtheta == -0.0752759286915825
 
+    # test case: not passing min theta, read from module fixed var
+    with mock.patch('abm.contrib.movement_params.exp_theta_min', -0.5):
+        dvel, dtheta = cs_supcalc.random_walk(desired_vel=1, exp_theta_min=None, exp_theta_max=0.3)
+        assert dvel == 1.0
+        assert dtheta == 0.26057144512793295
+
+    # test case: not passing velocity, read from module fixed var
+    with mock.patch('abm.contrib.movement_params.exp_vel_max', 3):
+        dvel, dtheta = cs_supcalc.random_walk(desired_vel=None, exp_theta_min=-0.3, exp_theta_max=0.3)
+        assert dvel == 3
+        assert dtheta == 0.13919636508684308
+
+
+def test_reflection_from_circular_wall():
+    """Test reflection_from_circular_wall()"""
+
+    new_orientation = cs_supcalc.reflection_from_circular_wall(
+        0, 1, np.pi / 2)
+    assert new_orientation == np.pi * 3 / 2
+
+    new_orientation = cs_supcalc.reflection_from_circular_wall(
+        1, 0, np.pi)
+    assert new_orientation == np.pi * 2
+
+    # test very flat reflection angle
+    orient = np.pi + np.pi / 6
+    vec_i = [np.cos(orient), np.sin(orient)]
+    # orientation inside the circle
+    i_orientation = np.pi + np.arctan2(vec_i[1], vec_i[0])
+    new_orientation = cs_supcalc.reflection_from_circular_wall(
+        0, 1, orient)
+    assert new_orientation == i_orientation
+
 
 @pytest.mark.parametrize(
     "meter, prev_meter, prev_theta, taxis_dir, new_theta, new_taxis_dir",

abm/projects/cooperative_signaling/cs_environment/cs_resource.py

@@ -3,7 +3,8 @@
 
 from abm.contrib import colors
 from abm.environment.rescource import Rescource
-from abm.projects.cooperative_signaling.cs_agent.cs_supcalc import random_walk
+from abm.projects.cooperative_signaling.cs_agent.cs_supcalc import random_walk, \
+    reflection_from_circular_wall
 
 
 class CSResource(Rescource):
@@ -44,59 +45,45 @@ def prove_orientation(self):
             self.orientation = self.orientation - 2 * np.pi
 
     def reflect_from_walls(self):
-        """reflecting agent from environment boundaries according to a desired
-        x, y coordinate. If this is over any
-        boundaries of the environment, the agents position and orientation will
-        be changed such that the agent is
-         reflected from these boundaries."""
-
-        # Boundary conditions according to center of agent (simple)
+        """
+        Reflecting resource from the circle arena border. Analogous to CSAgent
+        reflect_from_walls() method.
+        """
+        # x coordinate - x of the center point of the circle
         x = self.position[0] + self.radius
+        c_x = (self.WIDTH / 2 + self.window_pad)
+        dx = x - c_x
+        # y coordinate - y of the center point of the circle
         y = self.position[1] + self.radius
-
-        # Reflection from left wall
-        if x < self.boundaries_x[0]:
-            self.position[0] = self.boundaries_x[0] - self.radius
-
-            if np.pi / 2 <= self.orientation < np.pi:
-                self.orientation -= np.pi / 2
-            elif np.pi <= self.orientation <= 3 * np.pi / 2:
-                self.orientation += np.pi / 2
-            self.prove_orientation()  # bounding orientation into 0 and 2pi
-
-        # Reflection from right wall
-        if x > self.boundaries_x[1]:
-
-            self.position[0] = self.boundaries_x[1] - self.radius - 1
-
-            if 3 * np.pi / 2 <= self.orientation < 2 * np.pi:
-                self.orientation -= np.pi / 2
-            elif 0 <= self.orientation <= np.pi / 2:
-                self.orientation += np.pi / 2
-            self.prove_orientation()  # bounding orientation into 0 and 2pi
-
-        # Reflection from upper wall
-        if y < self.boundaries_y[0]:
-            self.position[1] = self.boundaries_y[0] - self.radius
-
-            if np.pi / 2 <= self.orientation <= np.pi:
-                self.orientation += np.pi / 2
-            elif 0 <= self.orientation < np.pi / 2:
-                self.orientation -= np.pi / 2
-            self.prove_orientation()  # bounding orientation into 0 and 2pi
-
-        # Reflection from lower wall
-        if y > self.boundaries_y[1]:
-            self.position[1] = self.boundaries_y[1] - self.radius - 1
-            if 3 * np.pi / 2 <= self.orientation <= 2 * np.pi:
-                self.orientation += np.pi / 2
-            elif np.pi <= self.orientation < 3 * np.pi / 2:
-                self.orientation -= np.pi / 2
-            self.prove_orientation()  # bounding orientation into 0 and 2pi
-
+        c_y = (self.HEIGHT / 2 + self.window_pad)
+        dy = y - c_y
+        # radius of the environment
+        e_r = self.HEIGHT / 2
+
+        # return if the resource has not reached the boarder
+        if np.linalg.norm([dx, dy]) + self.radius < e_r:
+            return
+
+        # reflect the resource from the boarder
+        self.orientation = reflection_from_circular_wall(
+            dx, dy, self.orientation)
+
+        # make orientation between 0 and 2pi
+        self.prove_orientation()
+
+        # relocate the resource back inside the circle
+        relocation = self.velocity
+        self.position[0] += relocation * np.cos(self.orientation)
+        self.position[1] -= relocation * np.sin(self.orientation)
         self.center = (
             self.position[0] + self.radius, self.position[1] + self.radius)
 
+        # check if the resource is still outside the circle
+        diff = [self.center[0] - c_x, self.center[1] - c_y]
+        if np.linalg.norm(diff) + self.radius >= e_r:
+            # if yes, relocate it again at the center
+            self.center = (c_x, c_y)
+
     def update(self):
 
         # applying random movement on resource patch
@@ -130,6 +117,8 @@ def draw_update(self):
         self.mask = pygame.mask.from_surface(self.image)
         if self.is_clicked or self.show_stats:
             font = pygame.font.Font(None, 18)
-            text = font.render(f"{self.resc_left:.2f}, Q{self.unit_per_timestep:.2f}", True, colors.BLACK)
+            text = font.render(
+                f"{self.resc_left:.2f}, Q{self.unit_per_timestep:.2f}", True,
+                colors.BLACK)
             self.image.blit(text, (0, 0))
             text_rect = text.get_rect(center=self.rect.center)