First commit

Author: gwens

9781484227428.jpg

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+
+import breve
+
+class AggressorController( breve.BraitenbergControl ):
+    def __init__( self ):
+        breve.BraitenbergControl.__init__( self )
+        self.depth = None
+        self.frameCount = 0
+        self.leftSensor = None
+        self.leftWheel = None
+        self.n = 0
+        self.rightSensor = None
+        self.rightWheel = None
+        self.simSpeed = 0
+        self.startTime = 0
+        self.vehicle = None
+        self.video = None
+        AggressorController.init( self )
+
+    def init( self ):
+        self.n = 0
+        while ( self.n < 10 ):
+            breve.createInstances( breve.BraitenbergLight, 1 ).move( breve.vector( ( 20 * breve.breveInternalFunctionFinder.sin( self, ( ( self.n * 6.280000 ) / 10 ) ) ), 1, ( 20 * breve.breveInternalFunctionFinder.cos( self, ( ( self.n * 6.280000 ) / 10 ) ) ) ) )
+            self.n = ( self.n + 1 )
+
+        self.vehicle = breve.createInstances( breve.BraitenbergVehicle, 1 )
+        self.watch( self.vehicle )
+        self.vehicle.move( breve.vector( 0, 2, 18 ) )
+        self.leftWheel = self.vehicle.addWheel( breve.vector( -0.500000, 0, -1.500000 ) )
+        self.rightWheel = self.vehicle.addWheel( breve.vector( -0.500000, 0, 1.500000 ) )
+        self.leftWheel.setNaturalVelocity( 0.000000 )
+        self.rightWheel.setNaturalVelocity( 0.000000 )
+        self.rightSensor = self.vehicle.addSensor( breve.vector( 2.000000, 0.400000, 1.500000 ) )
+        self.leftSensor = self.vehicle.addSensor( breve.vector( 2.000000, 0.400000, -1.500000 ) )
+        self.leftSensor.link( self.rightWheel )
+        self.rightSensor.link( self.leftWheel )
+        self.leftSensor.setBias( 15.000000 )
+        self.rightSensor.setBias( 15.000000 )
+        self.video = breve.createInstances( breve.Image, 1 )
+        self.video.setSize( 176, 144 )
+        self.depth = breve.createInstances( breve.Image, 1 )
+        self.depth.setSize( 176, 144 )
+        self.startTime = self.getRealTime()
+
+    def postIterate( self ):
+        self.frameCount = ( self.frameCount + 1 )
+        self.simSpeed = ( self.getTime() / ( self.getRealTime() - self.startTime ) )
+        print '''Simulation speed = %s''' % (  self.simSpeed )
+        self.video.readPixels( 0, 0 )
+        self.depth.readDepth( 0, 0, 1, 50 )
+        if ( self.frameCount < 10 ):
+            self.video.write( '''imgs/video-%s.png''' % (  self.frameCount ) )
+
+        self.depth.write16BitGrayscale( '''imgs/depth-%s.png''' % (  self.frameCount ) )
+
+
+breve.AggressorController = AggressorController
+
+
+# Create an instance of our controller object to initialize the simulation
+
+AggressorController()
+

Chapter 10/RangeImager.py

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+"""
+# Example usage
+from genetic import *
+target = 371
+p_count = 100
+i_length = 6
+i_min = 0
+i_max = 100
+p = population(p_count, i_length, i_min, i_max)
+fitness_history = [grade(p, target),]
+for i in xrange(100):
+    p = evolve(p, target)
+    fitness_history.append(grade(p, target))
+
+for datum in fitness_history:
+   print datum
+"""
+from random import randint, random
+from operator import add
+
+def individual(length, min, max):
+    'Create a member of the population.'
+    return [ randint(min,max) for x in xrange(length) ]
+
+def population(count, length, min, max):
+    """
+    Create a number of individuals (i.e. a population).
+
+    count: the number of individuals in the population
+    length: the number of values per individual
+    min: the minimum possible value in an individual's list of values
+    max: the maximum possible value in an individual's list of values
+
+    """
+    return [ individual(length, min, max) for x in xrange(count) ]
+
+def fitness(individual, target):
+    """
+    Determine the fitness of an individual. Higher is better.
+
+    individual: the individual to evaluate
+    target: the target number individuals are aiming for
+    """
+    sum = reduce(add, individual, 0)
+    return abs(target-sum)
+
+def grade(pop, target):
+    'Find average fitness for a population.'
+    summed = reduce(add, (fitness(x, target) for x in pop))
+    return summed / (len(pop) * 1.0)
+
+def evolve(pop, target, retain=0.2, random_select=0.05, mutate=0.01):
+    graded = [ (fitness(x, target), x) for x in pop]
+    graded = [ x[1] for x in sorted(graded)]
+    retain_length = int(len(graded)*retain)
+    parents = graded[:retain_length]
+    # randomly add other individuals to
+    # promote genetic diversity
+    for individual in graded[retain_length:]:
+        if random_select > random():
+            parents.append(individual)
+    # mutate some individuals
+    for individual in parents:
+        if mutate > random():
+            pos_to_mutate = randint(0, len(individual)-1)
+            # this mutation is not ideal, because it
+            # restricts the range of possible values,
+            # but the function is unaware of the min/max
+            # values used to create the individuals,
+            individual[pos_to_mutate] = randint(
+                min(individual), max(individual))
+    # crossover parents to create children
+    parents_length = len(parents)
+    desired_length = len(pop) - parents_length
+    children = []
+    while len(children) < desired_length:
+        male = randint(0, parents_length-1)
+        female = randint(0, parents_length-1)
+        if male != female:
+            male = parents[male]
+            female = parents[female]
+            half = len(male) / 2
+            child = male[:half] + female[half:]
+            children.append(child)
+    parents.extend(children)
+    return parents

Chapter 10/genetic.py

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+import breve
+
+class Controller(breve.BraitenbergControl):
+    def __init__(self):
+        breve.BraitenbergControl.__init__(self)
+        self.vehicle = None
+        self.leftSensor = None
+        self.rightSensor = None
+        self.leftWheel = None
+        self.rightWheel = None
+        self.simSpeed = 0
+        self.light = None
+        Controller.init(self)
+
+    def init(self):
+        self.light = breve.createInstances(breve.BraitenbergLight, 1)
+        self.light.move(breve.vector(10, 1, 0))
+        self.vehicle = breve.createInstances(breve.BraitenbergVehicle,1)
+        self.watch(self.vehicle)
+        self.vehicle.move( breve.vector(0, 2, 18))        self.leftWheel = self.vehicle.addWheel(breve.vector(-0.500000,0,-1.500000))        self.rightWheel = self.vehicle.addWheel( breve.vector(-0.500000,0,1.500000))        self.leftWheel.setNaturalVelocity(0.000000)        self.rightWheel.setNaturalVelocity(0.000000)
+        self.rightSensor = self.vehicle.addSensor(breve.vector(2.000000, 0.400000, 1.500000))        self.leftSensor = self.vehicle.addSensor( breve.vector(2.000000, 0.400000, -1.500000 ) )        self.leftSensor.link(self.rightWheel)        self.rightSensor.link(self.leftWheel)        self.leftSensor.setBias(15.000000)        self.rightSensor.setBias(15.000000)
+        
+    def iterate(self):
+        breve.BraitenbergControl.iterate(self)
+        
+breve.Controller = Controller
+
+Controller()

Chapter 11/firstVehicle.py

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+import breve
+
+class Controller(breve.BraitenbergControl):
+    def __init__(self):
+        breve.BraitenbergControl.__init__(self)
+        self.vehicle = None
+        self.leftSensor = None
+        self.rightSensor = None
+        self.leftWheel = None
+        self.rightWheel = None
+        self.simSpeed = 0
+        self.light = None
+        Controller.init(self)
+
+    def init(self):
+
+        self.light = breve.createInstances(breve.BraitenbergLight, 1)
+        self.light.move(breve.vector(10, 1, 0))
+        self.vehicle = breve.createInstances(breve.BraitenbergVehicle,1)
+        self.watch(self.vehicle)
+        self.vehicle.move( breve.vector(0, 2, 18))        self.leftWheel = self.vehicle.addWheel(breve.vector(-0.500000,0,-1.500000))        self.rightWheel = self.vehicle.addWheel( breve.vector(-0.500000,0,1.500000))        self.leftWheel.setNaturalVelocity(0.500000)        self.rightWheel.setNaturalVelocity(1.000000)
+        self.rightSensor = self.vehicle.addSensor(breve.vector(2.000000, 0.400000, 1.500000))        self.leftSensor = self.vehicle.addSensor( breve.vector(2.000000, 0.400000, -1.500000 ) )        self.leftSensor.link(self.rightWheel)        self.rightSensor.link(self.leftWheel)        self.leftSensor.setBias(15.000000)        self.rightSensor.setBias(15.000000)
+        self.startTime = self.getRealTime()
+        
+    def iterate(self):
+        breve.BraitenbergControl.iterate(self)
+        self.simSpeed = (self.getTime()/(self.getRealTime()- self.startTime))        print '''Simulation speed = %s''' % (  self.simSpeed )
+        
+breve.Controller = Controller
+
+Controller()

Chapter 11/secondVehicle.py

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+import RPi.GPIO as GPIOimport timeimport threadingimport numpy as np# next two libraries must be installed IAW appendix instructionsimport Adafruit_GPIO.SPI as SPIimport Adafruit_MCP3008class Behavior():    global pwmL, pwmR, distance1, distance2    # use the BCM pin numbers    GPIO.setmode(GPIO.BCM)    # setup the motor control pins    GPIO.setup(18, GPIO.OUT)    GPIO.setup(19, GPIO.OUT)    pwmL = GPIO.PWM(18,20) # pin 18 is left wheel pwm    pwmR = GPIO.PWM(19,20) # pin 19 is right wheel pwm    # must 'start' the motors with 0 rotation speeds    pwmL.start(2.8)    pwmR.start(2.8)class Controller():    def __init__(self):        self.behaviors = []        self.wait_object = threading.Event()        self.active_behavior_index = None        self.running = True        #self.return_when_no_action = return_when_no_action        #self.callback = lambda x: 0    def add(self, behavior):        self.behaviors.append(behavior)    def remove(self, index):        old_behavior = self.behaviors[index]        del self.behaviors[index]        if self.active_behavior_index == index:  # stop the old one if the new one overrides it            old_behavior.suppress()            self.active_behavior_index = None    def update(self, behavior, index):        old_behavior = self.behaviors[index]        self.behaviors[index] = behavior        if self.active_behavior_index == index:  # stop the old one if the new one overrides it            old_behavior.suppress()    def step(self):        behavior = self.find_next_active_behavior()        if behavior is not None:            self.behaviors[behavior].action()            return True        return False    def find_next_active_behavior(self):        for priority, behavior in enumerate(self.behaviors):            active = behavior.takeControl()            if active == True:                activeIndex = priority        print 'index = ', activeIndex        time.sleep(2)        return activeIndex        def find_and_set_new_active_behavior(self):        new_behavior_priority = self.find_next_active_behavior()        if self.active_behavior_index is None or self.active_behavior_index > new_behavior_priority:            if self.active_behavior_index is not None:                self.behaviors[self.active_behavior_index].suppress()            self.active_behavior_index = new_behavior_priority            print 'priority = ', self.active_behavior_index            # Callback to tell something it changed the active behavior if anything is interested#            self.callback(self.active_behavior_index)    def start(self):  # run the action methods        self.running = True        self.find_and_set_new_active_behavior()  # force do it ourselves once to find the right one        thread = threading.Thread(name="Continuous behavior checker",                                  target=self.continuously_find_new_active_behavior, args=())        thread.daemon = True        thread.start()                while self.running:            if self.active_behavior_index is not None:                running_behavior = self.active_behavior_index                self.behaviors[running_behavior].action()                                if running_behavior == self.active_behavior_index:                      self.active_behavior_index = None                    self.find_and_set_new_active_behavior()##            elif self.return_when_no_action:#                break            #Nothing more to do, so we are shutting down            self.running = False#    def start(self, run_in_thread=False):#        if run_in_thread:#            thread = threading.Thread(name="Subsumption Thread",#                                      target=self._start, args=())#            thread.daemon = True#            thread.start()#        else:#            self.start()    def stop(self):        self._running = False        self.behaviors[self.active_behavior_index].suppress()    def continuously_find_new_active_behavior(self):        while self.running:            self.find_and_set_new_active_behavior()    def __str__(self):        return str(self.behaviors)class NormalBehavior(Behavior):    def takeControl(self):        return True    def action(self):        # drive forward        pwmL.ChangeDutyCycle(3.6)        pwmR.ChangeDutyCycle(2.2)    def suppress(self):        # all stop        pwmL.ChangeDutyCycle(2.6)        pwmR.ChangeDutyCycle(2.6)class AvoidObstacle(Behavior):           def takeControl(self):        #self.distance1 = distance1        #self.distance2 = distance2        if self.distance1 <= 25.4 or self.distance2 <= 25.4:            return True        else:            return False        def action(self):        # drive backward        pwmL.ChangeDutyCycle(2.2)        pwmR.ChangeDutyCycle(3.6)        time.sleep(1.5)        # turn right        pwmL.ChangeDutyCycle(3.6)        pwmR.ChangeDutyCycle(2.6)        time.sleep(0.3)        # stop        pwmL.ChangeDutyCycle(2.6)        pwmR.ChangeDutyCycle(2.6)    def suppress(self):        # all stop        pwmL.ChangeDutyCycle(2.6)        pwmR.ChangeDutyCycle(2.6)    def setDistances(self, dest1, dest2):        self.distance1 = dest1        self.distance2 = dest2class StopRobot(Behavior):    global voltage    critical_voltage = 6    def takeControl(self):        if voltage < critical_voltage:            return True        else:            return False    def action(self):        # drive forward        pwmL.ChangeDutyCycle(3.6)        pwmR.ChangeDutyCycle(2.2)    def suppress(self):        # all stop        pwmL.ChangeDutyCycle(2.6)        pwmR.ChangeDutyCycle(2.6)class testBBR():           def __init__(self):                # instantiate objects        self.nb = NormalBehavior()        self.oa = AvoidObstacle()        self.control = Controller()        # setup the behaviors array by priority; last-in = highest        self.control.add(self.nb)        self.control.add(self.oa)        # initialize distances        distance1 = 50        distance2 = 50        self.oa.setDistances(distance1, distance2)        # activate the behaviors        self.control.start()        threshold = 25.4 #10 inches        # use the BCM pin numbers        GPIO.setmode(GPIO.BCM)        # ultrasonic sensor pins        self.TRIG1 = 23 # an output        self.ECHO1 = 24 # an input        self.TRIG2 = 25 # an output        self.ECHO2 = 27 # an input        # set the output pins        GPIO.setup(self.TRIG1, GPIO.OUT)        GPIO.setup(self.TRIG2, GPIO.OUT)        # set the input pins        GPIO.setup(self.ECHO1, GPIO.IN)        GPIO.setup(self.ECHO2, GPIO.IN)        # initialize sensors        GPIO.output(self.TRIG1, GPIO.LOW)        GPIO.output(self.TRIG2, GPIO.LOW)        time.sleep(1)        # Hardware SPI configuration:        SPI_PORT   =  0        SPI_DEVICE = 0        self.mcp = Adafruit_MCP3008.MCP3008(spi=SPI.SpiDev(SPI_PORT, SPI_DEVICE))    def run(self):                # forever loop         while True:            # sensor 1 reading            GPIO.output(self.TRIG1, GPIO.HIGH)            time.sleep(0.000010)            GPIO.output(self.TRIG1, GPIO.LOW)            # following code detects the time duration for the echo pulse            while GPIO.input(self.ECHO1) == 0:                pulse_start = time.time()                    while GPIO.input(self.ECHO1) == 1:                pulse_end = time.time()            pulse_duration = pulse_end - pulse_start            # distance calculation            distance1 = pulse_duration * 17150            # round distance to two decimal points            distance1 = round(distance1, 2)            time.sleep(0.1) # ensure that sensor 1 is quiet                # sensor 2 reading            GPIO.output(self.TRIG2, GPIO.HIGH)            time.sleep(0.000010)            GPIO.output(self.TRIG2, GPIO.LOW)            # following code detects the time duration for the echo pulse            while GPIO.input(self.ECHO2) == 0:                pulse_start = time.time()                    while GPIO.input(self.ECHO2) == 1:                pulse_end = time.time()            pulse_duration = pulse_end - pulse_start            # distance calculation            distance2 = pulse_duration * 17150            # round distance to two decimal points            distance2 = round(distance2, 2)               time.sleep(0.1) # ensure that sensor 2 is quiet            self.oa.setDistances(distance1, distance2)                        count0 = self.mcp.read_adc(0)            # approximation given 1023 = 7.5V            voltage = count0 / 100                         self.control.find_and_set_new_active_behavior()            print 'distance1 = ', distance1            print            print 'distance2 = ', distance2            print             print 'voltage = ', voltage            print            time.sleep(5)# instantiate an instance of testBBRbbr = testBBR()# run itbbr.run()

Chapter 11/subsumption.py

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+import breve
+
+class Controller(breve.BraitenbergControl):
+    def __init__(self):
+        breve.BraitenbergControl.__init__(self)
+        self.vehicle = None
+        self.leftSensor = None
+        self.rightSensor = None
+        self.leftWheel = None
+        self.rightWheel = None
+        self.simSpeed = 0
+        self.light = None
+        Controller.init(self)
+
+    def init(self):
+        self.n = 0
+        while ( self.n < 10 ):
+            breve.createInstances( breve.BraitenbergLight, 1 ).move( breve.vector( ( 20 * breve.breveInternalFunctionFinder.sin( self, ( ( self.n * 6.280000 ) / 10 ) ) ), 1, ( 20 * breve.breveInternalFunctionFinder.cos( self, ( ( self.n * 6.280000 ) / 10 ) ) ) ) )
+            self.n = ( self.n + 1 )
+        #self.light = breve.createInstances(breve.BraitenbergLight, 1)
+        #self.light.move(breve.vector(10, 1, 0))
+        self.vehicle = breve.createInstances(breve.BraitenbergVehicle,1)
+        self.watch(self.vehicle)
+        self.vehicle.move( breve.vector(0, 2, 18))        self.leftWheel = self.vehicle.addWheel(breve.vector(-0.500000,0,-1.500000))        self.rightWheel = self.vehicle.addWheel( breve.vector(-0.500000,0,1.500000))        self.leftWheel.setNaturalVelocity(0.000000)        self.rightWheel.setNaturalVelocity(0.000000)
+        self.rightSensor = self.vehicle.addSensor(breve.vector(2.000000, 0.400000, 1.500000))        self.leftSensor = self.vehicle.addSensor( breve.vector(2.000000, 0.400000, -1.500000 ) )        self.leftSensor.link(self.rightWheel)        self.rightSensor.link(self.leftWheel)        self.leftSensor.setBias(15.000000)        self.rightSensor.setBias(15.000000)
+        self.startTime = self.getRealTime()
+        
+    def iterate(self):
+        breve.BraitenbergControl.iterate(self)
+        self.simSpeed = (self.getTime()/(self.getRealTime()- self.startTime))        print '''Simulation speed = %s''' % (  self.simSpeed )
+        
+breve.Controller = Controller
+
+Controller()