; Radars simulation
; by Jose M. Vidal
 
breeds [radars targets anyBreed] 

globals [radar-separation trgt-in-sight]

;real-target-type is either "real" or "phantom". You an NOT ALLOWED to read this value!
;target-type is either "real" "phantom" or "unknown". 
;  target-type = "unknown" when the target is born.
;  target-type = real-target-type after the target has been seen by three radars.
;  if target-type = "phantom" the target dies immediately.
targets-own [target-type real-target-type time-to-live pointing-me myDistance5]

radars-own [bid-value listTargets listAngles listUtil asigned]

to startup
    setup
end

to setup
  ca
  set radar-separation 5
  setup-radars
end

to defaults
    set phantom-fraction 0.50
    set radar-amplitude 120
    set radar-radius 5
    setup
end

to setup-radars
 locals [x y x-width y-width]
 set x-width screen-edge-x
 set y-width screen-edge-y
 set-default-shape radars "arrow"
 set x ((radar-separation / 2) - 1 - x-width)
 while [x < x-width] [
   set y ((radar-separation / 2)  - 1 - y-width)
   while [y < y-width] [
     create-custom-radars 1 [
       setxy x y
       set color white]
     set y (y + radar-separation)]
   set x (x + radar-separation)]
end

to-report get-random-xcor
    report (random screen-size-x) - screen-edge-x
end

to-report get-random-ycor
    report (random screen-size-y) - screen-edge-y
end

to update
  create-custom-targets 1 [
    setxy get-random-xcor get-random-ycor
    set time-to-live random 100
    set target-type "unknown"
    set color green
    ifelse (random 1.0 < phantom-fraction) [
      set real-target-type "phantom"]
    [
      set real-target-type "real"]]
  ask targets [move-randomly
              set pointing-me 0
              set myDistance5 length values-from radars with [distance myself <= radar-radius] [who] ]
  ask radars [set asigned false
              track-target              
              set color white]
  ;if (any targets)
  ;  [ask targets [initiate-bidding-protocol]
  ;  ask targets [select-radars]]  
  
  re-track    ;Some changes to the arragement of radars are made
  plot total-utility
end

;We only get a utility from tracking real targets
to-report total-utility
   report sum (values-from targets [get-utility])
end

;For testing
to run-tests
    locals [num-runs run-length run-util total-util]
    set num-runs 10
    set run-length 500
    repeat num-runs [
        no-display
        setup
        set run-util 0
        repeat run-length [
            update
            set run-util (run-util + total-utility)
        ]
        display
        type "Run Average="
        print run-util / run-length
        set total-util (total-util + (run-util / run-length))
    ]
    type "Average="
    print total-util / num-runs
end

to re-track
locals [x y z indexX indexY indexT listT targetT myRadar listChanges]

;----------------------------------------------
;Find the targets which are pointed by only one radar and turning the radar towards some 
;ohter(s) target(s) pointed by more than 1, and less than 3 radars (if there is any)
set x values-from targets with [pointing-me = 1] [who]
if (length x > 0)
[
    set indexX 0
    repeat length x[
        if (pointing-me-of one-of targets with [who = item indexX x] = 1)
        [
        set y radars with [target-in-sight one-of targets with [who = item indexX x] and distance (one-of targets with [who = item indexX x]) <= radar-radius]
        if (asigned-of one-of y = false)
        [
            set z targets with [distance one-of y <= radar-radius and pointing-me < 3 and pointing-me > 0 and who != item indexX x]
            if (any z)
            [          
              set indexT 0
              set listT values-from (targets with [distancexy xcor-of one-of y ycor-of one-of y <= radar-radius]) [who]
              repeat length listT [
                  set targetT one-of targets with [who = item indexT listT]
                  ask one-of y [set trgt-in-sight target-in-sight targetT]
                  if (trgt-in-sight)
                      [set pointing-me-of one-of targets with [who = item indexT listT] (pointing-me-of targetT - 1)]
                 set indexT indexT + 1
               ]   
                    
            set asigned-of one-of y true
            set color-of one-of y green
            ask one-of y [set heading (towards one-of z)]
            
            set indexT 0
            set listT values-from (targets with [distancexy xcor-of one-of y ycor-of one-of y <= radar-radius]) [who]
            repeat length listT [
              set targetT one-of targets with [who = item indexT listT]
              ask one-of y [set trgt-in-sight target-in-sight targetT]
              if (trgt-in-sight)
                  [set pointing-me-of one-of targets with [who = item indexT listT] (pointing-me-of targetT + 1)]
              set indexT indexT + 1
           ]]
        ]]
        set indexX indexX + 1
    ]
]
;----------------------------------------------
;Find the targets which are pointed by more than 3 radars and turning one of the radars towards some 
;ohter(s) target(s) pointed by more than 1, and less than 3 radars (if there is any)
set x values-from targets with [pointing-me > 3] [who]
if (length x > 0)
[
    set indexX 0
    repeat length x[
    if (pointing-me-of one-of targets with [who = item indexX x] > 3)
    [
         set y values-from radars with [target-in-sight one-of targets with [who = item indexX x] and distance (one-of targets with [who = item indexX x]) <= radar-radius] [who]
         set indexY 0
         repeat length y
         [
             if (indexY <= length y)
             [
             set myRadar one-of radars with [who = item indexY y]
             
             set z targets with [distance one-of radars with [who = item indexY y] <= radar-radius and pointing-me < 3 and pointing-me > 0 and who != item indexX x]
             if (not any z)
                 [set z targets with [distance one-of radars with [who = item indexY y] <= radar-radius and pointing-me < 3 and who != item indexX x]]
             ifelse (any z)
             [                  
                  
              set indexT 0
              set listT values-from (targets with [distancexy xcor-of myRadar ycor-of myRadar <= radar-radius]) [who]
              set listChanges values-from anyBreed [who]
              repeat length listT 
              [                            
              if (indexT <= length listT)
               [  set targetT one-of targets with [who = item indexT listT]
                  ask myRadar [set trgt-in-sight target-in-sight targetT]
                  ifelse (trgt-in-sight)
                      ;[set pointing-me-of one-of targets with [who = item indexT listT] (pointing-me-of targetT - 1)]                      
                      [     
                      ;ifelse (tengo otro)
                      ifelse ((length values-from radars with [target-in-sight targetT and distance targetT <= radar-radius] [who]) > 1)
                          [set indexT length listT + 5]
                          [set listChanges fput (item indexT listT) listChanges
                          set indexT indexT + 1]
                      ]
                 [set indexT indexT + 1]
                ]
              ] ;repeat length listT 
                            
              ifelse (indexT < length listT + 5)
              [
                  set indexT 0
                  repeat length listChanges [
                      set pointing-me-of one-of targets with [who = item indexT listChanges] (pointing-me-of (one-of targets with [who = item indexT listChanges]) - 1)
                      set indexT indexT + 1
                  ]
                  
                  ask myRadar [set heading towards one-of z]                  
                  set color-of one-of radars with [who = item indexY y] green
          
                  set indexT 0
                  set listT values-from (targets with [distancexy xcor-of myRadar ycor-of myRadar <= radar-radius]) [who]
                  repeat length listT [
                      set targetT one-of targets with [who = item indexT listT]
                      ask myRadar [set trgt-in-sight target-in-sight targetT]
                      if (trgt-in-sight)
                          [set pointing-me-of one-of targets with [who = item indexT listT] (pointing-me-of targetT + 1)]
                     set indexT indexT + 1
                  ]  
                                             
                  set indexY (length y + 1)
              ] ;ifelse
              [set indexY indexY + 1]
            ] ;ifelse (any z)
            [set indexY indexY + 1]
            ] ;if (indexY <= length y)
         ] ;repeat y
         ] ;if
         set indexX indexX + 1
] ;repeat x
] ;if
;------------------------------------------

end

;;;;;;;;
;Targets member functions
;;;;;;;;

to move-randomly
    if (time-to-live <= 0) [die]
    if (target-type = "phantom") [die]
    right 45 - (random 90)
    fd (random 3)
    set time-to-live time-to-live - 1
end

; Let c be the number of radars that are less than radar-separation away from me.
;  Return
;     0 if c = 0
;     1 if c = 1
;     5 if c = 2
;     7 if c >= 3
; As long as real-target-type = "real", else return 0.
to-report get-utility  
  locals [my-radars]
    set my-radars length values-from 
      (radars with [target-in-sight myself and distance myself <= radar-radius]) [who]
  ifelse (my-radars >= 3) [
    set color blue
    set target-type real-target-type]
  [set color yellow]
  if (real-target-type = "phantom") [
    set color brown
    report 0]
  if (my-radars = 0) [report 0]
  if (my-radars = 1) [report 1]
  if (my-radars = 2) [report 5]
  report 7
end

;;;;;;;;;
;Radars member functions
;;;;;;;;;

;reports true if the-target is in sight given the radar's current heading
to-report target-in-sight [the-target]
  locals [angl]
  set angl abs (towards the-target - heading)
  set angl min list angl (360 - angl)
  report angl <= radar-amplitude / 2
end

to track-target
  locals [myTargets indexT targetT]
  if (any targets)
   [
      set myTargets (targets with [distance myself <= radar-radius])  ; and pointing-me < 5])
      if (length values-from myTargets [who] > 0)
      [ 
          set listTargets values-from anyBreed [who] 
          set listAngles values-from anyBreed [who]
          set listUtil values-from anyBreed [who]
          set heading average-Angle myTargets
          ;set asigned true
          
          set indexT 0
          set listTargets values-from (targets with [distance myself <= radar-radius]) [who]
          repeat length listTargets [
              set targetT one-of myTargets with [who = item indexT listTargets-of myself]
              if (target-in-sight targetT)
              [set pointing-me-of one-of targets with [who = item indexT listTargets-of myself] (pointing-me-of (one-of targets with [who = item indexT listTargets-of myself]) + 1)]
             set indexT indexT + 1
          ] 
          ;ask targets with [distance myself <= radar-radius and in-the-sight-of-radar myself ] [set pointing-me pointing-me + 1]
       ]        
   ]
end

to-report average-Angle [myTrgts]
    locals [nTrgts maxTrgts trgts result angles minT maxT twrds trgtTurtle indextemp indextemp2 pointing maxPointing distance5 maxDistance5]
    set listTargets values-from myTrgts [who]
    set nTrgts length listTargets
    ifelse (nTrgts = 1)
      [report towards one-of myTrgts]
      [
        set indextemp 0
        repeat nTrgts [
            set trgtTurtle (one-of myTrgts with [who = item indextemp listTargets-of myself])            
            set twrds fixTowards (towards trgtTurtle)
            ;set listTargets fput (who-of trgtTurtle) listTargets
            set listAngles fput twrds listAngles
            ifelse (target-type-of trgtTurtle = "real")
                [set listUtil fput 3 listUtil]
                [set listUtil fput 1 listUtil]
            set indextemp indextemp + 1
        ]
        set maxTrgts 0
        set maxPointing 0 
        set maxDistance5 0 
           set indextemp2 0             
           repeat 18 
           [             
            set minT fixTowards (fixTowards indextemp2 * 20)
            set maxT fixTowards (fixTowards (minT + 120))
            set indextemp2 indextemp2 + 1
            set indextemp 0
            set trgts 0  
            set pointing 0                     
            set distance5 0                                 
            ifelse (minT > maxT)            
            [ 
              repeat length listAngles[                  
                  if ((item indextemp listAngles >= minT and item indextemp listAngles >= maxT) or (item indextemp listAngles <= minT and item indextemp listAngles <= maxT))
                  [
                  set trgts trgts + item indextemp listUtil
                  set pointing pointing + pointing-me-of one-of myTrgts with [who = item indextemp listTargets-of myself]
                  set distance5 distance5 + myDistance5-of one-of myTrgts with [who = item indextemp listTargets-of myself]
                  ]
                  set indextemp indextemp + 1 
              ]
            ]
            [ 
              repeat length listAngles[                  
                  if (item indextemp listAngles >= minT and item indextemp listAngles <= maxT)
                  [
                  set trgts trgts + item indextemp listUtil
                  set pointing pointing + pointing-me-of one-of myTrgts with [who = item indextemp listTargets-of myself]
                  set distance5 distance5 + myDistance5-of one-of myTrgts with [who = item indextemp listTargets-of myself]
                  ]
                  set indextemp indextemp + 1 
              ]
            ]            

            if (trgts > maxTrgts)
            [
            set maxTrgts trgts
            set result fixTowards (minT + 60) 
            set maxDistance5 distance5
            set maxPointing pointing
            ]                        
            if (trgts = maxTrgts)
            [ if (distance5 > maxDistance5) 
              [set maxTrgts trgts
              set result fixTowards (minT + 60)
              set maxDistance5 distance5
              set maxPointing pointing ]
            ]
           ]
                                                           
        report result
      ]  
end

to-report fixTowards [twrd]
 if (twrd < 0)
   [report twrd + 360]
 ifelse (twrd > 360)
   [report twrd - 360]
   [report twrd] 
end

to-report minTowards [twrd]
 ifelse (twrd < 0)
 [report twrd + 360]
 [report twrd] 
end

to-report maxTowards [twrd]
 ifelse (twrd > 360)
 [report twrd - 360]
 [report twrd]
end

;My incredibly complex solution. Can you do better?
to track-target-old
  if (any targets)
    [set heading towards min-one-of targets [distance myself]]
end
@#$#@#$#@
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@#$#@#$#@
Name: Rosa L. Zavala-Gutierrez
email: zavalagu@engr.sc.edu
ID: 5555

I understand that it is the responsibility of every member of the
Carolina community to uphold an maintain the academic standards and
integrity of the University of South Carolina. Any member of the
University community, who has reasonable grounds to believe that an
infraction of the Code of Student Academic Responsibility has
occurred, has an obligation to report the alleged violation.

I certify that I have neither given nor received unauthorized aid on this problem set.
----------------------------------------------------------
The strategy I implemented consist of:

	1. In the track-target fuction, the radar try to find 
	the angle in which it will cover the most targets.
	Preference is given to Real targets so, each of them
	counts as 3).
	2. After every radar has run the track-target fuction, 
	they will pointing to the angle with which they cover 
	the most targets (individually).
	
	Note: Up to that time there is no communication among 
	radars (and that's pretty much the heavier part).

	3. Some changes to the arragement of radars are made. This 
	is made by:
		a. Finding the targets which are pointed by only 
		one radar and turning the radar towards some 
		ohter(s) target(s) pointed by more than 1, and less 
		than 3 radars (if there is any).
		b. Finding the targets which are pointed by more than 
		3 radars and turning one of the radars towards some 
		ohter(s) target(s) pointed by more than 1, and less 
		than 3 radars (if there is any).

	Note: In this last step there is indirect communication 
	between radars (through the target's "pointing-me" variable).

	This last step significantly improves the performance of the 
	algorithm in contrast to the first 2.

======================================================================
Note:

I implemented a bid strategy but it didn't improve the performance and 
it was too slow.			

Bid implementation:

Each target ask the radars that are less than radar-radius away from him, 
to bid for pointing to him.

Case				Bid Value
The target is the only one 
radar can sense			100
The target is the only real 
target the radar can sense	80 + (value-for-number-of-unknown)
The target is not the only 
real target the radar 
can sense			70 + (value-for-number-of-real-and-unknown)		
The target is of type unknown 	50 + (value-for-number-of-real-and-unknown)

Value-for-number-of-unknown:
If the radar can sense 3 or 
less targets of type unknown	3
If the radar can sense 5 
targets of type unknown		5
If the radar can sense more 
than 5 targets of type unknown	8

Value-for-number-of-real-and-unknown:
If the radar can sense more  
real than unknown		8
If the radar can sense equal 
real than unknown		5
If the radar can sense more 
unknown	than real		8

Then I selected the radars to point to the target by proportional selection.
@#$#@#$#@
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ant
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NetLogo 1.1 (Rev D)
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