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--- public:t-622-arti-08-1:cadiarover [2008/03/07 13:39] – eric
+++ public:t-622-arti-08-1:cadiarover [2024/04/29 13:33] (current) – external edit 127.0.0.1
@@ Line 27: / Line 27: @@
 For the details see PsySpec.xml in the RobotSim directory.
+===== Development =====
+=== Settings ===
-===== Development =====
+These values define the parameters that will be used in the final evaluation runs:
-=== Environment ===
+<parameter name="pickables_good" type="Integer" value="10"/>
-You need to set your command and path variables in Visual Studio:
-  Command="$(PSYCLONE_DIR)\psyclone.exe"
+<parameter name="pickables_bad" type="Integer" value="100"/>
-  CommandArguments="spec=$(SolutionDir)\$(ProjectName)\PsySpec.xml"
-  WorkingDirectory="$(SolutionDir)\release"
-Also these environment variables need to be set:
+<parameter name="danger_zones" type="Integer" value="10"/>
-  PSYCLONE_DIR = C:\AI_Class_Setup_Dir\Psyclone\psyclone1.1.7.CADIA.win32net05
+<parameter name="bin_collision_distance" type="Double" value="40"/>
-  PSYCLONE_SDK_DIR = C:\AI_Class_Setup_Dir\Psyclone\psyclonesdk1.1.7.pbl.win32net05
-  OGRE_HOME = C:\AI_Class_Setup_Dir\OgreSDK
-Bjarni Þór Árnason has offered his own setup to those who are interested: http://www.steik.org/dump/AI_Class_Setup_Dir_Bjarni.rar (Notice: This is offered as-is with no guarantees or promises.)
+<parameter name="pickable_good_collision_distance" type="Double" value="10"/>
-=== C++ ===
+<parameter name="pickable_bad_collision_distance" type="Double" value="10"/>
-You will code C++ Psyclone cranks, i.e. dll code to be executed as threads by the Psyclone middleware. The 3DWorld is one of them.
+<parameter name="teleporter_collision_distance" type="Double" value="20"/>
-Pysclone modules send and receive messages -- reception of messages is dependent on their subscriptions (see Psyclone documentation in psyclone1.1.7.CADIA.win32\html) defined in the PsySpec file.
+<parameter name="danger_zone_collision_distance" type="Double" value="40"/>
-You can use the Test function defined in cranks.cpp in the RobotSim project as a template for creating a module. You can define as many cranks as you want.
+<parameter name="landmark_collision_distance" type="Double" value="10"/>
-Create a new visual studio solution getting most of the settings from the RobotSim.sln. By most, we mean everything but the settings relevant to Ogre. You can also duplicate the RobotSim.sln and 3DWorld.vcproj files - maybe requiring minor manual tweaking in a text editor.
+<parameter name="speedModule" type="Double" value="0.2"/>
-Shall you start from scratch, you will have to include files from psyclone sdk \ Core Library \ include, and link against CoreLibrary.lib, Psapi.lib and IPHlpApix.lib, located in psyclone sdk \ Core Library. These are release builds; shall you run in debug mode, use the version of CoreLibrary under the debug directory.
+<parameter name="acceleration" type="Double" value="0.01"/><!--in [0,1] per ms2-->
-In any case copy the files dll.* and cranks.* in your source directory, load them in your project, remove the Runtime crank, rename Test and code your own crank. Shall you need more cranks, define more functions on the same template. Copy also the PsySpec.xml with no change. Then add the specification of your own crank(s).
+<parameter name="deceleration" type="Double" value="0.01"/><!--in [0,1] per ms2-->
-Note: a Psyclone module is a set of cranks. You can define more than one module, with more than one crank.
+<parameter name="lowRes_aperture" type="Double" value="60"/>
-As for RobotSim.sln, setup the execution in the project properties, debugging section: that's how you'll start the application.
+<parameter name="lowRes_range" type="Double" value="300"/>
-To stop: in debug mode, use the debugger stop button; in release mode, 3 times CTRL-C in the Psyclone shell window.
+<parameter name="hiRes_aperture" type="Double" value="45"/>
-{{public:t-622-arti-08-1:cadia.module.robotsim.3dworld.rar|}} - 07.03.2008: this is the latest 3DWorld dll.
+<parameter name="hiRes_range" type="Double" value="160"/>
+<parameter name="carrying_capacity" type="Integer" value="3"/>
+<parameter name="autopilot_distance_threshold" type="Double" value="50"/>
+<parameter name="energy_initial" type="Double" value="1000000000"/>
+<parameter name="energy_per_pickable_good" type="Double" value="0"/><!--units gained per item-->
+<parameter name="energy_per_pickable_bad" type="Double" value="0"/><!--units gained per item-->
+<parameter name="energy_per_danger_zone" type="Double" value="2"/><!--units gained per crossing-->
+<parameter name="energy_per_time_idle" type="Double" value="0.00001"/><!--units per ms-->
+<parameter name="energy_per_time_move" type="Double" value="0.0001"/><!--units per ms-->
+<parameter name="energy_per_landmark" type="Double" value="2"/><!--units gained per leaving a landmark-->
+<parameter name="score_per_pickable_good" type="Double" value="100"/><!--gained per item-->
+<parameter name="score_per_pickable_bad" type="Double" value="20"/><!--gained per item-->
+<parameter name="score_per_delivery" type="Double" value="40"/><!--gained per item delivered in a bin-->
+<parameter name="score_per_consumed_energy" type="Double" value="-30"/><!--per energy unit-->
+<parameter name="time_limit" type="Integer" value="300000"/><!--in ms-->
+<parameter name="max_landmarks" type="Integer" value="100"/>
+=== Latest Update ===
+{{public:t-622-arti-08-1:cadia.module.robotsim.3dworld.01.04.08.rar|}} - 01.04.08: dll
+bug fix: the graphics for the sensors used the aperture values as the full angle instead of the half-angles
+bug fix: energy consumption is now accounted for in the score.
+NB: settings have been updated too by the game committee.
+{{public:t-622-arti-08-1:cadia.module.robotsim.3dworld.31.03.08.rar|}} - 31.03.08: dll
+bug fix: for ultra fast machines, frame period could be 0, yielding ground_speed #INF.
+when that's the case, the frame is now skipped
+{{public:t-622-arti-08-1:cadia.module.robotsim.3dworld.36.03.08.rar|}} - 26.03.08: dll, PsySpec.xml
+added robot.eof message: this indicates the end of receiving sensory messages (they begin after the status message).
+{{public:t-622-arti-08-1:cadia.module.robotsim.3dworld.24.03.08.rar|}} - 24.03.08: dll
+Bug fixes:
+ids are now part of the hi/low res and collision messages - source code update available on svn: http://cadia.ru.is/svn/repos/software/Psyclone/CADIA/Modules/RobotSim/
+{{public:t-622-arti-08-1:cadia.module.robotsim.3dworld.rar|}} - 07.03.2008: dll, RobotSim.material and PsySpec.xml
 Bug fixes:
@@ Line 82: / Line 134: @@
 - objects have a unique ID; they will appear in HiRes sensors reports and LowRes too (in the latter case, only if a HiRes sensing occured first)
-- the rover can leave landmarks - orange small cubes - (they have unique IDs too), for an energy cost (L key to leave one manually)
+- the rover can leave landmarks - orange small cubes - (they have unique IDs too), for an energy cost (L key to leave one manually). Landmarks appear right under the rover: to be perceived, the rover has first to get away from it at least 2 x the collision distance (otherwise you would receive instantly collision messages).
 - on simulation startup, a message "robot.start" is issued, with the starting time and time limit: you should wait for that message to start your code
@@ Line 93: / Line 145: @@
 NB2: don't forget to update - besides the main dll - RobotSim.material and PsySpec.xml
+-----
+=== Environment ===
+You need to set your command and path variables in Visual Studio:
+  Command="$(PSYCLONE_DIR)\psyclone.exe"
+  CommandArguments="spec=$(SolutionDir)\$(ProjectName)\PsySpec.xml"
+  WorkingDirectory="$(SolutionDir)\release"
+Also these environment variables need to be set:
+  PSYCLONE_DIR = C:\AI_Class_Setup_Dir\Psyclone\psyclone1.1.7.CADIA.win32net05
+  PSYCLONE_SDK_DIR = C:\AI_Class_Setup_Dir\Psyclone\psyclonesdk1.1.7.pbl.win32net05
+  OGRE_HOME = C:\AI_Class_Setup_Dir\OgreSDK
+Bjarni Þór Árnason has offered his own setup to those who are interested: http://www.steik.org/dump/AI_Class_Setup_Dir_Bjarni.rar (Notice: This is offered as-is with no guarantees or promises.)
+=== C++ ===
+You will code C++ Psyclone cranks, i.e. dll code to be executed as threads by the Psyclone middleware. The 3DWorld is one of them.
+Pysclone modules send and receive messages -- reception of messages is dependent on their subscriptions (see Psyclone documentation in psyclone1.1.7.CADIA.win32\html) defined in the PsySpec file.
+You can use the Test function defined in cranks.cpp in the RobotSim project as a template for creating a module. You can define as many cranks as you want.
+Create a new visual studio solution getting most of the settings from the RobotSim.sln. By most, we mean everything but the settings relevant to Ogre. You can also duplicate the RobotSim.sln and 3DWorld.vcproj files - maybe requiring minor manual tweaking in a text editor.
+Shall you start from scratch, you will have to include files from psyclone sdk \ Core Library \ include, and link against CoreLibrary.lib, Psapi.lib and IPHlpApix.lib, located in psyclone sdk \ Core Library. These are release builds; shall you run in debug mode, use the version of CoreLibrary under the debug directory.
+In any case copy the files dll.* and cranks.* in your source directory, load them in your project, remove the Runtime crank, rename Test and code your own crank. Shall you need more cranks, define more functions on the same template. Copy also the PsySpec.xml with no change. Then add the specification of your own crank(s).
+Note: a Psyclone module is a set of cranks. You can define more than one module, with more than one crank.
+As for RobotSim.sln, setup the execution in the project properties, debugging section: that's how you'll start the application.
+To stop: in debug mode, use the debugger stop button; in release mode, 3 times CTRL-C in the Psyclone shell window.