Skip to content

Commit

Permalink
First tweaks for the preparation of the engine
Browse files Browse the repository at this point in the history
  • Loading branch information
@GwynethLlewelyn
GwynethLlewelyn committed Jul 23, 2017
1 parent 221650c commit 3682877
Show file tree
Hide file tree
Showing 2 changed files with 142 additions and 90 deletions.
227 changes: 137 additions & 90 deletions engine.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,23 @@ func (wsM *WsMessageType) New(msgType string, msgSubType string, msgText string,
// running bool
//}

// Constants for movement algorithm. Names are retained from the PHP version.
// TODO(gwyneth): Have these constants as variables which are read from the configuration file.

const OS_NPC_SIT_NOW = 0
// for genetic algorithm
const RADIUS = 10 // this is the size of the grid that is thrown around the avatar
const POPULATION_SIZE = 50 // was 50
const GENERATIONS = 20 // was 20 for 20x20 grid
const CHROMOSOMES = 7 // was 28 for 20x20 grid
const CROSSOVER_RATE = 90.0 // = 90%, we use a random number generator for 0-100
const MUTATION_RATE = 5.0 // = 0.005%, we use a random number generator for 0-1000 - TODO(gwyneth): try later with 0.01
const WALKING_SPEED = 3.19 // avatar walking speed in meters per second)
// Weights for Shi & Cui
const W1 = 1.0 // Sub-function of Path Length
const W2 = 10.0 // Sub-function of Path Security
const W3 = 5.0 // Sub-function of Smoothness

// Go is tricky. While we send and receive WebSocket messages as it would be expected on a 'normal'
// programming language, we actually have an insane amount of goroutines all in parallel. So what we do is to
// send messages to a 'channel' (Go's version of a semaphore) and receive them from a different one; two sets
Expand Down Expand Up @@ -284,8 +301,9 @@ func engine() {
db, err := sql.Open(PDO_Prefix, SQLiteDBFilename)
checkErr(err)

// load in Agents!
rows, err := db.Query("SELECT * FROM Agents ORDER BY Name") // can't hurt much to let the DB engine sort it
// load in Agents! We need them to call the movement algorithm for each one
// BUG(gwyneth): what if the number of agents _change_ while we're running the engine? We need a way to reset the engine somehow. We have a hack at the moment: send a SIGCONT, it will try to restart the engine in a new goroutine
rows, err := db.Query("SELECT * FROM Agents ORDER BY Name") // can't hurt much to let the DB engine sort it, that way we humans have an idea on how far we've progressed when adding agents
checkErr(err)

for rows.Next() {
Expand Down Expand Up @@ -314,101 +332,130 @@ func engine() {
// we should extract the region name from Agent.Location, but I'm lazy!
Agents = append(Agents, Agent)
}

// Load in the 'special' objects (cubes). Because the Master Controllers can be somewhere in here, to save code.
// and a database query, we simply skip all the Master Controllers until we get the most recent one, which gets saved
// The rest of the objects are cubes, so we will need them in the ObjectType array (20170722).
// BUG(gwyneth): Does not work across regions! We will probably need a map of bot controllers for that and check which one to call depending on the region of the current agent; simple, but I'm lazy (20170722).

rows, err = db.Query("SELECT * FROM Positions ORDER BY LastUpdate ASC")
checkErr(err)

for rows.Next() {
err = rows.Scan(
&Position.PermURL,
&Position.UUID,
&Position.Name,
&Position.OwnerName,
&Position.Location,
&Position.Position,
&Position.Rotation,
&Position.Velocity,
&Position.LastUpdate,
&Position.OwnerKey,
&Position.ObjectType,
&Position.ObjectClass,
&Position.RateEnergy,
&Position.RateMoney,
&Position.RateHappiness,
)
Position.Coords_xyz = strings.Split(strings.Trim(*Position.Position.Ptr(), "() \t\n\r"), ",")

// check if we got a Master Bot Controller!
if (*Position.ObjectType.Ptr() == "Bot Controller") {
masterController = Position // this will get overwritten until we get the last, most recent one
} else {
Cubes = append(Cubes, Position) // if not a controller, it must be a cube! add it to array!
}
}

// load in everything we found out so far on our region(s) but ignore phantom objects
// end-users ought to set their cubes to phantom as well, or else the agents will think of them as obstacles!
rows, err = db.Query("SELECT * FROM Obstacles WHERE Phantom = 0")
checkErr(err)

for rows.Next() {
err = rows.Scan(
&Object.UUID,
&Object.Name,
&Object.BotKey,
&Object.BotName,
&Object.Type,
&Object.Position,
&Object.Rotation,
&Object.Velocity,
&Object.LastUpdate,
&Object.Origin,
&Object.Phantom,
&Object.Prims,
&Object.BBHi,
&Object.BBLo,
)
Object.Coords_xyz = strings.Split(strings.Trim(*Object.Position.Ptr(), "() \t\n\r"), ",")

Objects = append(Objects, Object)
}

// Debug stuff. Delete it after usage.
var marshalled []byte = []byte("Kablooie! JSON blew up everything! No data available...")
marshalled, err = json.MarshalIndent(Objects, "", " ")
checkErr(err)
log.Println("Objects", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Objects: %s<br />", marshalled), "")
marshalled, err = json.MarshalIndent(Agents, "", " ")
checkErr(err)
log.Println("Agents", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Agents: %s<br />", marshalled ), "")
marshalled, err = json.MarshalIndent(Cubes, "", " ")
checkErr(err)
log.Println("Cubes", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Cubes: %s<br />", marshalled), "")
marshalled, err = json.MarshalIndent(masterController, "", " ")
checkErr(err)
log.Println("Master Bot Controller", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Master Bot Controller: %s<br />", marshalled), "")

// debugging stuff ends here

// release DB resources before we start our job
rows.Close()
db.Close()


// if we have zero agents, we cannot go on!
// TODO(gwyneth): be more graceful handling this, because the engine will stop forever this way
if len(Agents) == 0 {
log.Println("Error: no Agents found. Engine cannot run. Aborted. Add an Agent and try sending a SIGCONT to restart engine again")
sendMessageToBrowser("status", "restart", "Error: no Agents found. Engine cannot run. Aborted. Add an Agent and try sending a <code>SIGCONT</code> to restart engine again<br />"," ")
return
}

for {
for i, Agent := range Agents {
log.Println("Starting to manipulate Agent", i, "-", *Agent.Name.Ptr())

// check if we should be running or not
if engineRunning.Load().(bool) {
log.Println("Starting to manipulate Agent", i, "-", *Agent.Name.Ptr())
// We need to refresh all the data about cubes and positions again!

// do stuff while it runs, e.g. open databases, search for agents and so forth

log.Println("Reloading database for Cubes (Positions) and Obstacles...")

// Open database
db, err = sql.Open(PDO_Prefix, SQLiteDBFilename)
checkErr(err)


// Load in the 'special' objects (cubes). Because the Master Controllers can be somewhere in here, to save code.
// and a database query, we simply skip all the Master Controllers until we get the most recent one, which gets saved
// The rest of the objects are cubes, so we will need them in the ObjectType array (20170722).
// BUG(gwyneth): Does not work across regions! We will probably need a map of bot controllers for that and check which one to call depending on the region of the current agent; simple, but I'm lazy (20170722).

Cubes = nil // clear array, let the Go garbage collector deal with the memory (20170723)
rows, err = db.Query("SELECT * FROM Positions ORDER BY LastUpdate ASC")
checkErr(err)

for rows.Next() {
err = rows.Scan(
&Position.PermURL,
&Position.UUID,
&Position.Name,
&Position.OwnerName,
&Position.Location,
&Position.Position,
&Position.Rotation,
&Position.Velocity,
&Position.LastUpdate,
&Position.OwnerKey,
&Position.ObjectType,
&Position.ObjectClass,
&Position.RateEnergy,
&Position.RateMoney,
&Position.RateHappiness,
)
Position.Coords_xyz = strings.Split(strings.Trim(*Position.Position.Ptr(), "() \t\n\r"), ",")

// check if we got a Master Bot Controller!
if (*Position.ObjectType.Ptr() == "Bot Controller") {
masterController = Position // this will get overwritten until we get the last, most recent one
} else {
Cubes = append(Cubes, Position) // if not a controller, it must be a cube! add it to array!
}
}

// load in everything we found out so far on our region(s) but ignore phantom objects
// end-users ought to set their cubes to phantom as well, or else the agents will think of them as obstacles!
Objects = nil
rows, err = db.Query("SELECT * FROM Obstacles WHERE Phantom = 0")
checkErr(err)

for rows.Next() {
err = rows.Scan(
&Object.UUID,
&Object.Name,
&Object.BotKey,
&Object.BotName,
&Object.Type,
&Object.Position,
&Object.Rotation,
&Object.Velocity,
&Object.LastUpdate,
&Object.Origin,
&Object.Phantom,
&Object.Prims,
&Object.BBHi,
&Object.BBLo,
)
Object.Coords_xyz = strings.Split(strings.Trim(*Object.Position.Ptr(), "() \t\n\r"), ",")

Objects = append(Objects, Object)
}

// Debug stuff. Delete it after usage.
/*
var marshalled []byte = []byte("Kablooie! JSON blew up everything! No data available...")
marshalled, err = json.MarshalIndent(Objects, "", " ")
checkErr(err)
log.Println("Objects", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Objects: %s<br />", marshalled), "")
marshalled, err = json.MarshalIndent(Agents, "", " ")
checkErr(err)
log.Println("Agents", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Agents: %s<br />", marshalled ), "")
marshalled, err = json.MarshalIndent(Cubes, "", " ")
checkErr(err)
log.Println("Cubes", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Cubes: %s<br />", marshalled), "")
marshalled, err = json.MarshalIndent(masterController, "", " ")
checkErr(err)
log.Println("Master Bot Controller", marshalled)
sendMessageToBrowser("status", "info", fmt.Sprintf("Master Bot Controller: %s<br />", marshalled), "")
*/
// debugging stuff ends here

// release DB resources before we start our job
rows.Close()
db.Close()

// Do not trust the database with the exact Agent position: ask the master controller directly
log.Println(*masterController.PermURL.Ptr())


// output something to console so that we know this is being run in parallel
fmt.Print("\r|")
time.Sleep(1000 * time.Millisecond)
fmt.Print("\r/")
Expand Down
5 changes: 5 additions & 0 deletions gobot.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,11 @@ func main() {
sendMessageToBrowser("status", "", randomdata.FullName(randomdata.Female) + "<br />", "") // defined on engine.go for now
case syscall.SIGUSR2:
sendMessageToBrowser("status", "", randomdata.Country(randomdata.FullCountry) + "<br />", "") // defined on engine.go for now
case syscall.SIGCONT:
// HACK(gwyneth): if the engine dies, send a SIGCONT to get it running again (20170723).
log.Println("SIGCONT caught; trying to launch the engine again")
sendMessageToBrowser("status", "restart", "<code>SIGCONT</code> caught; trying to launch the engine again<br />", "")
go engine() // is this a good idea? Maybe we ought to have a flag saying if we're running or not! (20170723)
default:
log.Println("Unknown UNIX signal caught!! Ignoring...")
}
Expand Down

0 comments on commit 3682877

Please sign in to comment.