Examples with NullOperator nars.nal.nal8.operator.NullOperator used on opensource projects

Example 1 with NullOperator

use of nars.nal.nal8.operator.NullOperator in project narchy by automenta.

the class CarefulRover method initMotors.

protected void initMotors(Body torso) {
    nar.on(new NullOperator("vision") {

        @Override
        public List<Task> apply(Operation o) {
            final String command = command(o, o.getMemory());
            String[] sections = command.split(",");
            if (sections.length == 1) {
                // switch (sections[0]) {
                // case "far":
                // dist = 20f;
                // break;
                // case "near":
                // dist = 10f;
                // break;
                // default:
                // return null;
                // }
                String angle = sections[0];
                float dist;
                dist = 5 + 20f * o.getTask().getTruth().getExpectation();
                VisionRay vr = pixels.get(angle);
                if (vr != null)
                    vr.setDistance(dist);
            }
            return null;
        }
    });
    System.out.println(pixels);
    for (String a : pixels.keySet()) {
        randomActions.add("vision(" + a + ")! :!: %1%");
        randomActions.add("vision(" + a + ")! :|: %0%");
    }
    randomActions.add("motor(left)! :|:");
    // randomActions.add("motor(left,left)!");
    randomActions.add("motor(right)! :|:");
    // randomActions.add("motor(right,right)!");
    // randomActions.add("motor(forward,forward)!"); //too much actions are not good,
    // however i would agree if <motor(forward,forward) --> motor(forward)>.
    randomActions.add("motor(forward)! :|:");
    // randomActions.add("motor(forward,forward)!");
    // randomActions.add("motor(forward)!");
    randomActions.add("motor(reverse)! :|:");
    randomActions.add("motor(stop)! :|:");
    // randomActions.add("motor(random)!");
    nar.on(new NullOperator("motor") {

        @Override
        public List<Task> apply(Operation operation) {
            String command = command(operation, operation.getMemory());
            if (command.equals("$1")) {
                // variable causes random movement
                double v = Math.random();
                if (v < 0.25f) {
                    command = "left";
                } else if (v < 0.5f) {
                    command = "right";
                } else if (v < 0.75f) {
                    command = "forward";
                } else {
                    command = "reverse";
                }
            }
            float strength = operation.getTaskExpectation();
            float rotSpeed = 15 * strength;
            float linSpeed = 1 * strength;
            switch(command) {
                case "right":
                    rotateRelative(-rotSpeed);
                    break;
                case "right,right":
                    rotateRelative(-rotSpeed * 2);
                    break;
                case "left":
                    rotateRelative(+rotSpeed);
                    break;
                case "left,left":
                    rotateRelative(+rotSpeed * 2);
                    break;
                case "forward,forward":
                    thrustRelative(+2 * linSpeed);
                    break;
                case "forward":
                    thrustRelative(+linSpeed);
                    break;
                case "reverse":
                    thrustRelative(-linSpeed);
                    break;
                case "stop":
                    stop();
                    break;
                case "random":
                    randomAction();
                    break;
            }
            return null;
        }
    });
}