ants/model.py

"""
model.py - Part of ants project

This file implements the mesa model on which our ActiveRandomWalkerAnts
will act

License: AGPL 3 (see end of file)
(C) Alexander Bocken, Viviane Fahrni, Grace Kagho
"""

import numpy as np
from mesa.model import Model
from mesa.space import Coordinate, HexGrid, Iterable
from multihex import MultiHexGridScalarFields
from mesa.time import SimultaneousActivation
from mesa.datacollection import DataCollector
from agent import RandomWalkerAnt
from collections import deque

kwargs_paper_setup1 = {
        "width": 100,
        "height": 100,
        "N_0": 20,
        "N_m": 100,
        "N_r": 5,
        "alpha": 0.6,
        "gamma": 0.001,
        "beta": 0.0512,
        "d_s": 0.001,
        "d_e": 0.001,
        "s_0": 0.99,
        "e_0": 0.99,
        "q_0": 80,
        "q_tr": 1,
        "e_min": 0,
        "nest_position": (49,49),
        "N_f": 5,
        "food_size" : 55,
        "max_steps": 8000,
        "resistance_map_type" : None,
}

kwargs_paper_setup2 = {
        "width": 100,
        "height": 100,
        "N_0": 20,
        "N_m": 100,
        "N_r": 5,
        "alpha": 0.6,
        "gamma": 0.01,
        "beta": 0.0512,
        "d_s": 0.001,
        "d_e": 0.001,
        "s_0": 0.99,
        "e_0": 0.99,
        "q_0": 80,
        "q_tr": 1,
        "e_min": 0,
        "nest_position": (49,49),
        "N_f": 5,
        "food_size" : 550,
        "max_steps": 8000,
        "resistance_map_type" : None,
}


class ActiveWalkerModel(Model):
    def __init__(self, width : int, height : int,
                 N_0 : int, # number of initial roamers
                 N_m : int, # max number of ants
                 N_r : int, # number of new recruits
                 alpha : float, #biased random walk
                 beta : float, # decay rate drop rate
                 gamma : float, # decay rate pheromone concentration fields
                 d_s : float, # decay rate sensitvity
                 d_e : float, # decay rate energy
                 s_0 : float, # sensitvity reset
                 e_0 : float, # energy reset
                 q_0 : float,  # initial pheromone level
                 q_tr : float, # threshold under which ant cannot distinguish concentrations
                 e_min : float, # energy at which walker dies
                 nest_position : Coordinate,
                 N_f=5, #num food sources
                 food_size= 55,
                 max_steps:int=1000,
                 resistance_map_type=None,
                 ) -> None:
        super().__init__()

        self.N_m : int       = N_m   # max number of ants
        self.N_r : int       = N_r   # number of new recruits
        self.alpha : float   = alpha # biased random walk if no gradient
        self.gamma : float   = gamma # decay rate pheromone concentration fields
        self.beta : float    = beta  # decay rate drop rate
        self.d_s : float     = d_s   # decay rate sensitvity
        self.d_e : float     = d_e   # decay rate energy (get's multiplied with resistance)
        self.s_0 : float     = s_0   # sensitvity reset
        self.e_0 : float     = e_0   # energy reset
        self.q_0 : float     = q_0   # pheromone drop rate reset
        self.q_tr : float    = q_tr  # threshold under which ant cannot distinguish concentrations
        self.e_min : float   = e_min # energy at which walker dies
        self.N_f : int       = N_f #num food sources

        fields=["A", "B", "nests", "food", "res"]
        self.schedule = SimultaneousActivation(self)
        self.grid = MultiHexGridScalarFields(width=width, height=height, torus=True, fields=fields)

        if resistance_map_type is None:
            self.grid.fields["res"] = np.ones((width, height)).astype(float)
        elif resistance_map_type == "perlin":
            # perlin generates isotropic noise which may or may not be a good choice
            # pip3 install git+https://github.com/pvigier/perlin-numpy
            from perlin_numpy import (
                generate_fractal_noise_2d,
                generate_perlin_noise_2d,
            )
            noise = generate_perlin_noise_2d(shape=(width,height), res=((10,10)))
            normalized_noise = (noise - np.min(noise))/(np.max(noise) - np.min(noise))
            self.grid.fields["res"] = normalized_noise
        else:
            # possible other noise types: simplex or value
            raise NotImplemented(f"{resistance_map_type=} is not implemented.")


        self._unique_id_counter = -1

        self.max_steps = max_steps
        self.grid.add_nest(nest_position)

        for agent_id in self.get_unique_ids(N_0):
            if self.schedule.get_agent_count() < self.N_m:
                agent = RandomWalkerAnt(unique_id=agent_id, model=self, look_for_pheromone="A", drop_pheromone="A")
                self.schedule.add(agent)
                self.grid.place_agent(agent, pos=nest_position)

        for _ in range(N_f):
            self.grid.add_food(food_size)
 

        # Breadth-first-search algorithm for connectivity
        #def bfs(graph, start_node, threshold): #graph=grid, start_node=nest, threshold=TBD?
         #   visited = set()
         #   queue = deque([(start_node, [])])
         #   paths = {}
         #   connected_food_sources = set()
            
         #   while queue:
         #       current_node, path = queue.popleft()
                #current_node = tuple(current_node)
         #       visited.add(current_node)

         #       if current_node in graph:
         #           for neighbor, m.grid.fields["A"] in graph[current_node].items():
         #               if neighbor not in visited and m.grid.fields["A"] >= threshold:
         #                   new_path = path + [neighbor]
         #                   queue.append((neighbor, new_path))
                    
                            # Check if the neighbor is a food source
         #                   if neighbor in self.grid_food:
         #                       if neighbor not in paths:
         #                           paths[neighbor] = new_path
         #                           connected_food_sources.add(neighbor)

         #   connectivity = len(connected_food_sources)                    
                                    
         #   return connectivity
        
        
        # Calculate connectivity through BFS
        
       # current_paths = bfs(self.grid, self.grid.fields["nests"], 0.000001)
        
  
        
        def subset_agent_count(self):
            subset_agents = [agent for agent in self.schedule.agents if agent.sensitivity == self.s_0 and agent.look_for_pheromone == "B"]
            count = float(len(subset_agents))
            return count

        
        self.datacollector = DataCollector(
                # model_reporters={"agent_dens": lambda m: m.agent_density()},
                model_reporters = {"pheromone_a": lambda m: m.grid.fields["A"],
                                    "pheromone_b": lambda m: m.grid.fields["B"],
                                    "alive_ants": lambda m: self.schedule.get_agent_count(),
                                    "sucessful_walkers": lambda m: subset_agent_count(self),
                                    #"connectivity": lambda m: check_food_source_connectivity(self.grid_food,current_paths),
                                   },
                agent_reporters={}
                )
        self.datacollector.collect(self) # keep at end of __init___

    #def subset_agent_count(self):
       # subset_agents = [agent for agent in self.schedule.agents if agent.sensitivity == self.s_0]
       # count = float(len(subset_agents))
       # return count
        
    def agent_density(self):
        a = np.zeros((self.grid.width, self.grid.height))
        for i in range(self.grid.width):
            for j in range(self.grid.height):
                a[i,j] = len(self.grid[(i,j)])
        return a


    def step(self):
        self.schedule.step()        # step() and advance() all agents

        # apply decay rate on pheromone levels
        for key in ("A", "B"):
            field = self.grid.fields[key]
            self.grid.fields[key] =  field - self.gamma*field

        self.datacollector.collect(self)

        if self.schedule.steps >= self.max_steps:
            self.running = False

    def get_unique_id(self) -> int:
        self._unique_id_counter += 1
        return self._unique_id_counter

    def get_unique_ids(self, num_ids : int):
        for _ in range(num_ids):
            yield self.get_unique_id()

"""
This program is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, version 3.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details.

You should have received a copy of the GNU Affero General Public License along with this program. If not, see <https://www.gnu.org/licenses/>
"""