RensDur · RensDur · Feb 28, 2023 · Feb 28, 2023 · Mar 7, 2023 · Mar 7, 2023
diff --git a/SaR_gui/__pycache__/__init__.cpython-310.pyc b/SaR_gui/__pycache__/__init__.cpython-310.pyc
diff --git a/SaR_gui/__pycache__/__init__.cpython-37.pyc b/SaR_gui/__pycache__/__init__.cpython-37.pyc
diff --git a/SaR_gui/__pycache__/__init__.cpython-38.pyc b/SaR_gui/__pycache__/__init__.cpython-38.pyc
diff --git a/SaR_gui/__pycache__/visualization_server.cpython-310.pyc b/SaR_gui/__pycache__/visualization_server.cpython-310.pyc
diff --git a/SaR_gui/__pycache__/visualization_server.cpython-37.pyc b/SaR_gui/__pycache__/visualization_server.cpython-37.pyc
diff --git a/SaR_gui/__pycache__/visualization_server.cpython-38.pyc b/SaR_gui/__pycache__/visualization_server.cpython-38.pyc
diff --git a/actions1/__pycache__/CustomActions.cpython-38.pyc b/actions1/__pycache__/CustomActions.cpython-38.pyc
diff --git a/agents1/OfficialAgent.py b/agents1/OfficialAgent.py
diff --git a/agents1/__pycache__/BaselineAgent.cpython-38.pyc b/agents1/__pycache__/BaselineAgent.cpython-38.pyc
diff --git a/agents1/__pycache__/OfficialAgent.cpython-38.pyc b/agents1/__pycache__/OfficialAgent.cpython-38.pyc
diff --git a/agents1/__pycache__/TutorialAgent.cpython-38.pyc b/agents1/__pycache__/TutorialAgent.cpython-38.pyc
diff --git a/agents1/descide_on_actions_useful_vars.md b/agents1/descide_on_actions_useful_vars.md
@@ -0,0 +1,283 @@
+# These are useful variables that we can use to adapt the robot's decisions
+
+
+## Obviously: the trust beliefs:
+I've created two functions that quickly extract the trust-belief values for the human-teammate
+
+Willingness:    ```getCurrentWillingnessBelief()``` <Br>
+Competence:     ```getCurrentCompetenceBelief()```
+
+These are placed inside the scope of ```decide_on_actions()```.
+
+
+<hr>
+
+## Getters: provide information that we base our decision on
+
+|Variable                   |Meaning                |Possible values|
+|---------------------------|-----------------------|---------------|
+|```self._searchedRooms```  |Rooms that have been searched by the robot or human | List[~Room]|
+|```self._distanceHuman```  |Distance between the robot and the human   |'close' or 'far'|
+|```self._distanceDrop```   |Distance from the robot to the drop-zone   |'close' or 'far'   |
+|```self._roomVics```       |List of victims in the current room        |List[~Victim]|
+|```self._recentVic```      |Recently (or currently) considered victim  |~Victim|
+|```remainingZones```       |Remaining drop zones                       |List[~Zone-Info]   |
+|```remainingVics```        |Remaining victims                          |List[~Victim]   |
+|```remaining```            |Location of remaining victims|List[~Location]<Br>_indexed by ~Victims_|
+|   |   |   |
+
+
+<hr>
+
+## Setters: means of changing robot's behaviour
+|Variable                   |Meaning                |Possible values|
+|---------------------------|-----------------------|---------------|
+|```self._goalVic```        |Target victim to rescue next| ~Victim|
+|```self._goalLoc```        |Target location to move next| ~Location|
+|```self._rescue```         |Directive for the robot to start rescuing a victim   | None or 'alone' or 'together'|
+|   |   |   |
+
+
+
+
+# Decisions that are currently made by the robot
+
+## Phase 1: FIND_NEXT_GOAL
+
+**All areas have been searched, but there's still victims left.**
+Define a previously found victim as target
+```python
+if vic in self._foundVictims and vic in self._todo and len(self._searchedRooms)==0:
+```
+
+**Otherwise, if not all areas have been searched and there's still victims left in the 'found' list**
+Define a previously found victim as target
+```python
+if vic in self._foundVictims and vic not in self._todo:
+```
+
+**If there are no target victims found (found-list empty)**
+Visit an unsearched area to search for victims
+```python
+if vic not in self._foundVictims or vic in self._foundVictims and vic in self._todo and len(self._searchedRooms)>0:
+    PHASE -> PICK_UNSEARCHED_ROOM
+```
+
+## Phase 2: PICK_UNSEARCHED_ROOM
+
+**If all areas have been searched but the task is not finished**
+```python
+if self._remainingZones and len(unsearchedRooms) == 0:
+    PHASE -> FIND_NEXT_GOAL
+```
+
+_Start searching areas again_
+
+**Otherwise, if there are still areas to search**
+```python
+else:
+    PHASE -> PLAN_PATH_TO_ROOM
+```
+
+_Define which one to search next_
+
+## Phase 3: PLAN_PATH_TO_ROOM
+
+**NO IMPORTANT DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 4: FOLLOW_PATH_TO_ROOM
+
+**NO IMPORTANT DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 5: REMOVE_OBSTACLE_IF_NEEDED
+
+**If the human tells the agent not to remove the obstacle**
+```python
+if self.received_messages_content and self.received_messages_content[-1] == 'Continue' and not self._remove:
+    PHASE -> FIND_NEXT_GOAL
+```
+
+_Determine the next area to explore_
+
+**If the human tells the agent to (help) remove the rock**
+```python
+if self.received_messages_content and self.received_messages_content[-1] == 'Remove' or self._remove:
+```
+
+*** OBSTACLE: ROCK ***
+
+_Wait for the human to help removing the obstacle and remove the obstacle together_
+
+*** OBSTACLE: TREE ***
+
+_Remove the obstacle if the human tells the agent to do so_
+
+*** OBSTACLE: STONES ***
+
+_Remove the obstacle alone if the human decides so_
+
+OR:
+
+_Remove the obstacle together if the human decides so_
+
+## Phase 6: ENTER_ROOM
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 7: PLAN_ROOM_SEARCH_PATH
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 8: FOLLOW_ROOM_SEARCH_PATH
+
+**The robot has found a mildly- or critically-injured victim**
+
+_Describe the action that the robot takes accordingly_
+
+```python
+if 'mild' in vic and self._answered == False and not self._waiting:
+    self._sendMessage('Found ' + vic + ' in ' + self._door['room_name'] + '. Please decide whether to "Rescue together", "Rescue alone", or "Continue" searching. \n \n \
+        Important features to consider are: \n safe - victims rescued: ' + str(self._collectedVictims) + '\n explore - areas searched: area ' + str(self._searchedRooms).replace('area ','') + '\n \
+        clock - extra time when rescuing alone: 15 seconds \n afstand - distance between us: ' + self._distanceHuman,'RescueBot')
+    self._waiting = True
+
+if 'critical' in vic and self._answered == False and not self._waiting:
+    self._sendMessage('Found ' + vic + ' in ' + self._door['room_name'] + '. Please decide whether to "Rescue" or "Continue" searching. \n\n \
+        Important features to consider are: \n explore - areas searched: area ' + str(self._searchedRooms).replace('area','') + ' \n safe - victims rescued: ' + str(self._collectedVictims) + '\n \
+        afstand - distance between us: ' + self._distanceHuman,'RescueBot')
+    self._waiting = True
+```
+
+
+<hr>
+
+**The robot discovered that the victim, about which it learned it was located in room A, is in fact not there**
+
+_Communicate that the agent did not find the target victim in the are, while the human previously communicted the victim was located there._
+
+```python
+if self._goalVic in self._foundVictims and self._goalVic not in self._roomVics and self._foundVictimLocs[self._goalVic]['room'] == self._door['room_name']:
+```
+
+<hr>
+
+**The RescueBot received a message from the human saying it wants to rescue a critically injured victim**
+
+_Rescue the victim, together with the human_
+
+```python
+if self.received_messages_content and self.received_messages_content[-1] == 'Rescue' and 'critical' in self._recentVic:
+    self._rescue = 'together'
+```
+
+<hr>
+
+**The RescueBot received a message from the human saying it wants to rescue a mildly injured victim, together**
+
+_Rescue the victim, together with the human_
+
+```python
+if self.received_messages_content and self.received_messages_content[-1] == 'Rescue together' and 'mild' in self._recentVic:
+    self._rescue = 'together'
+```
+
+<hr>
+
+**The RescueBot received a message from the human saying it should rescue a mildly injured victim alone.**
+
+_Rescue the victim, without help from the human_
+
+```python
+if self.received_messages_content and self.received_messages_content[-1] == 'Rescue alone' and 'mild' in self._recentVic:
+    [...]
+    self._rescue = 'alone'
+```
+
+<hr>
+
+**The human says that the robot should continue searching rooms**
+
+_Do as the human instructed_
+
+```python
+if self.received_messages_content and self.received_messages_content[-1] == 'Continue':
+    [...]
+    self._todo.append(self._recentVic)
+    self._recentVic = None
+    PHASE -> FIND_NEXT_GOAL
+```
+
+<hr>
+
+**The robot hasn't heard from the human yet, about whether to rescue the victim or not**
+
+_Wait indefinetely_
+
+```python
+if self.received_messages_content and self._waiting and self.received_messages_content[-1] != 'Rescue' and self.received_messages_content[-1] != 'Continue':
+    return None, {}
+```
+
+
+## Phase 9: PLAN_PATH_TO_VICTIM
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 10: FOLLOW_PATH_TO_VICTIM
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 11: TAKE_VICTIM
+
+_Some interesting decisions are made, but I don't think we should take these into consideration_ ~Rens
+
+## Phase 12: PLAN_PATH_TO_DROPPOINT
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 13: FOLLOW_PATH_TO_DROPPOINT
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+## Phase 14: DROP_VICTIM
+
+**NO INTERESTING DECISIONS ARE MADE IN THIS PHASE**
+
+
+
+Willingness = eigen initiatief | beschikbaarbaarheid voor hulp | motivatie om de taak te voltooien
+Competence  = goed geheugen | snelste route kiezen | weak/normal/strong | 
+
+
+
+self._sendMessage('Our score is ' + str(state['rescuebot']['score']) + '.', 'RescueBot')
+If you are ready to begin our mission, you can simply start moving.', 'RescueBot')
+self._sendMessage('Moving to ' + self._foundVictimLocs[vic]['room'] + ' to pick up ' + self._goalVic +'. Please come there as well to help me carry ' + self._goalVic + ' to the drop zone.', 'RescueBot')
+self._sendMessage('Going to re-search all areas.', 'RescueBot')
+self._sendMessage('Moving to ' + str(self._door['room_name']) + ' to pick up ' + self._goalVic + ' together with you.', 'RescueBot')
+self._sendMessage('Moving to ' + str(self._door['room_name']) + ' to pick up ' + self._goalVic + '.', 'RescueBot')
+self._sendMessage('Moving to ' + str(self._door['room_name']) + ' because it is the closest unsearched area.', 'RescueBot')
+self._sendMessage('Reaching ' + str(self._door['room_name']) + ' will take a bit longer because I found stones blocking my path.', 'RescueBot')
+\n clock - removal time: 5 seconds \n afstand - distance between us: ' + self._distanceHuman ,'RescueBot')
+self._sendMessage('Please come to ' + str(self._door['room_name']) + ' to remove rock.','RescueBot')
+self._sendMessage('Lets remove rock blocking ' + str(self._door['room_name']) + '!','RescueBot')
+\n clock - removal time: 10 seconds','RescueBot')
+self._sendMessage('Removing tree blocking ' + str(self._door['room_name']) + '.','RescueBot')
+self._sendMessage('Removing tree blocking ' + str(self._door['room_name']) + ' because you asked me to.', 'RescueBot')
+\n clock - removal time together: 3 seconds \n afstand - distance between us: ' + self._distanceHuman + '\n clock - removal time alone: 20 seconds','RescueBot')
+self._sendMessage('Removing stones blocking ' + str(self._door['room_name']) + '.','RescueBot')
+self._sendMessage('Please come to ' + str(self._door['room_name']) + ' to remove stones together.','RescueBot')
+self._sendMessage('Lets remove stones blocking ' + str(self._door['room_name']) + '!','RescueBot')
+self._sendMessage('Found ' + vic + ' in ' + self._door['room_name'] + ' because you told me ' + vic + ' was located here.','RescueBot')
+clock - extra time when rescuing alone: 15 seconds \n afstand - distance between us: ' + self._distanceHuman,'RescueBot')
+afstand - distance between us: ' + self._distanceHuman,'RescueBot')
+self._sendMessage(self._goalVic + ' not present in ' + str(self._door['room_name']) + ' because I searched the whole area without finding ' + self._goalVic + '.','RescueBot')
+self._sendMessage('Please come to ' + str(self._door['room_name']) + ' to carry ' + str(self._recentVic) + ' together.', 'RescueBot')
+self._sendMessage('Lets carry ' + str(self._recentVic) + ' together! Please wait until I moved on top of ' + str(self._recentVic) + '.', 'RescueBot')
+self._sendMessage('Please come to ' + str(self._door['room_name']) + ' to carry ' + str(self._recentVic) + ' together.', 'RescueBot')
+self._sendMessage('Lets carry ' + str(self._recentVic) + ' together! Please wait until I moved on top of ' + str(self._recentVic) + '.', 'RescueBot')
+self._sendMessage('Picking up ' + self._recentVic + ' in ' + self._door['room_name'] + '.','RescueBot')
+self._sendMessage('Transporting ' + self._goalVic + ' to the drop zone.', 'RescueBot')
+self._sendMessage('Delivered ' + self._goalVic + ' at the drop zone.', 'RescueBot')
+self._sendMessage('Moving to ' + str(self._door['room_name']) + ' to help you remove an obstacle.','RescueBot')
+self._sendMessage('Will come to ' + area + ' after dropping ' + self._goalVic + '.','RescueBot')
diff --git a/beliefs/allTrustBeliefs.csv b/beliefs/allTrustBeliefs.csv
@@ -1,2 +1,2 @@
-name;competence;willingness
+name;competence;willingness;confidence
 ;;;
diff --git a/beliefs/currentTrustBelief.csv b/beliefs/currentTrustBelief.csv
@@ -1,2 +1,2 @@
-name;competence;willingness
-rens;0.5;0.5
+name;competence;willingness;confidence
+Alice;0.5;0.5975;0.545
diff --git a/brains1/ArtificialBrain.py b/brains1/ArtificialBrain.py
@@ -615,7 +615,7 @@ class ArtificialBrain(ArtificialAgentBrain, ABC):
     This class is the obligatory base class for the agents.
     Agents must implement decide_on_action
     """
-    def __init__(self, slowdown, condition, name, folder):
+    def __init__(self, slowdown, condition, name, eval_type, folder):
         '''
         @param slowdown an integer. Basically this sets action_duration
         field to the given slowdown. 1 implies normal speed
@@ -626,6 +626,7 @@ def __init__(self, slowdown, condition, name, folder):
         self.__condition = condition
         self.__name = name
         self.__folder = folder
+        self.__eval_type = eval_type
         super().__init__()
 
     def decide_on_action(self, state:State):

diff --git a/brains1/__pycache__/ArtificialBrain.cpython-38.pyc b/brains1/__pycache__/ArtificialBrain.cpython-38.pyc
diff --git a/brains1/__pycache__/HumanBrain.cpython-38.pyc b/brains1/__pycache__/HumanBrain.cpython-38.pyc
diff --git a/classes/ReceivedMessageState.py b/classes/ReceivedMessageState.py
@@ -0,0 +1,18 @@
+class ReceivedMessageState:
+
+    def __init__(self, msg="", time=0, dist='', robot_msg=[], found_vic=[], collected_vic=[]):
+        # The message itself
+        self.message = msg
+
+        # Record time
+        self.time = time
+
+        # Store the distance between the human and the robot at the moment the message was received
+        self.distanceHumanRobot = dist
+
+        # Store the messages sent by the robot at the moment the message was received
+        self.messagesSentByRobot = robot_msg
+
+        # Store lists of found and collected victims at the moment this message was received
+        self.foundVictims = found_vic
+        self.collectedVictims = collected_vic
diff --git a/classes/__pycache__/ReceivedMessageState.cpython-38.pyc b/classes/__pycache__/ReceivedMessageState.cpython-38.pyc
diff --git a/loggers/CustomLogger.py b/loggers/CustomLogger.py
@@ -0,0 +1,39 @@
+
+import csv
+
+action_file = "/Users/rensdur/Documents/TU Delft/BSc Computer Science and Engineering/Year 3/CSE3210 Collaborative Artificial Intelligence/Project 2/GitHub/CAI-Group38-Project2/logs/exp_strong_at_time_10h-31m-45s_date_19d-03m-2023y/world_1/actions__2023-03-19_103146.csv"
+
+action_header = []
+action_contents=[]
+trustfile_header = []
+trustfile_contents = []
+# Calculate the unique human and agent actions
+unique_agent_actions = []
+unique_human_actions = []
+with open(action_file) as csvfile:
+    reader = csv.reader(csvfile, delimiter=';', quotechar="'")
+    for row in reader:
+        if action_header==[]:
+            action_header=row
+            continue
+        if row[2:4] not in unique_agent_actions and row[2]!="":
+            unique_agent_actions.append(row[2:4])
+        if row[4:6] not in unique_human_actions and row[4]!="":
+            unique_human_actions.append(row[4:6])
+        if row[4] == 'RemoveObjectTogether' or row[4] == 'CarryObjectTogether' or row[4] == 'DropObjectTogether':
+            if row[4:6] not in unique_agent_actions:
+                unique_agent_actions.append(row[4:6])
+        res = {action_header[i]: row[i] for i in range(len(action_header))}
+        action_contents.append(res)
+
+no_ticks = action_contents[-1]['tick_nr']
+score = action_contents[-1]['score']
+completeness = action_contents[-1]['completeness']
+
+print("\n\n=====OUPUT=====")
+print("Completeness: " + str(completeness))
+print("Score: " + str(score))
+print("No_ticks: " + str(no_ticks))
+print("Agent_actions: " + str(len(unique_agent_actions)))
+print("Human_actions: " + str(len(unique_human_actions)))
+print()