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Built-in Skills


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Introduction

Skills are built-in modules, written in Java, that provide a set of related built-in variables and built-in actions (in addition to those already provided by GAMA) to the species that declare them. A declaration of skill is done by filling the skills attribute in the species definition:

species my_species skills: [skill1, skill2] {
    ...
}

Skills have been designed to be mutually compatible so that any combination of them will result in a functional species. An example of skill is the moving skill.

So, for instance, if a species is declared as:

species foo skills: [moving]{
...
}

Its agents will automatically be provided with the following variables : speed, heading, destination and the following actions: move, goto, wander, follow in addition to those built-in in species and declared by the modeller. Most of these variables, except the ones marked read-only, can be customized and modified like normal variables by the modeller. For instance, one could want to set a maximum for the speed; this would be done by redeclaring it like this:

float speed max:100 min:0;

Or, to obtain a speed increasing at each simulation step:

float speed max:100 min:0  <- 1 update: speed * 1.01;

Or, to change the speed in a behavior:

if speed = 5 {
    speed <- 10;
}

Table of Contents

advanced_driving, driving, fipa, GAMASQL, MDXSKILL, messaging, moving, moving3D, network, physics, skill_road, skill_road_node, SQLSKILL,


advanced_driving

Variables

  • current_index (int): the current index of the agent target (according to the targets list)
  • current_lane (int): the current lane on which the agent is
  • current_path (path): the current path that tha agent follow
  • current_road (agent): current road on which the agent is
  • current_target (point): the current target of the agent
  • distance_to_goal (float): euclidean distance to the next point of the current segment
  • final_target (point): the final target of the agent
  • max_acceleration (float): maximum acceleration of the car for a cycle
  • max_speed (float): maximal speed of the vehicle
  • min_security_distance (float): the minimal distance to another driver
  • on_linked_road (boolean): is the agent on the linked road?
  • proba_block_node (float): probability to block a node (do not let other driver cross the crossroad)
  • proba_lane_change_down (float): probability to change lane to a lower lane (right lane if right side driving) if necessary
  • proba_lane_change_up (float): probability to change lane to a upper lane (left lane if right side driving) if necessary
  • proba_respect_priorities (float): probability to respect priority (right or left) laws
  • proba_respect_stops (list): probability to respect stop laws - one value for each type of stop
  • proba_use_linked_road (float): probability to change lane to a linked road lane if necessary
  • real_speed (float): the actual speed of the agent (in meter/second)
  • right_side_driving (boolean): are drivers driving on the right size of the road?
  • security_distance_coeff (float): the coefficient for the computation of the the min distance between two drivers (according to the vehicle speed - security_distance =max(min_security_distance, security_distance_coeff * min(self.real_speed, other.real_speed) )
  • segment_index_on_road (int): current segment index of the agent on the current road
  • speed (float): the speed of the agent (in meter/second)
  • speed_coeff (float): speed coefficient for the speed that the driver want to reach (according to the max speed of the road)
  • targets (list): the current list of points that the agent has to reach (path)
  • vehicle_length (float): the length of the vehicle (in meters)

Actions

advanced_follow_driving

moves the agent towards along the path passed in the arguments while considering the other agents in the network (only for graph topology)

  • returns: float
  • path (path): a path to be followed.
  • target (point): the target to reach
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • time (float): time to travel

compute_path

action to compute a path to a target location according to a given graph

  • returns: path
  • graph (graph): the graph on wich compute the path
  • target (agent): the target node to reach
  • source (agent): the source node (optional, if not defined, closest node to the agent location)
  • on_road (agent): the road on which the agent is located (optional)

drive

action to drive toward the final target

  • returns: void

drive_random

action to drive by chosen randomly the next road

  • returns: void
  • proba_roads (map): a map containing for each road (key), the probability to be selected as next road (value)

external_factor_impact

action that allows to define how the remaining time is impacted by external factor

  • returns: float
  • new_road (agent): the road on which to the driver wants to go
  • remaining_time (float): the remaining time

is_ready_next_road

action to test if the driver can take the given road at the given lane

  • returns: bool
  • new_road (agent): the road to test
  • lane (int): the lane to test

lane_choice

action to choose a lane

  • returns: int
  • new_road (agent): the road on which to choose the lane

path_from_nodes

action to compute a path from a list of nodes according to a given graph

  • returns: path
  • graph (graph): the graph on wich compute the path
  • nodes (list): the list of nodes composing the path

speed_choice

action to choose a speed

  • returns: float
  • new_road (agent): the road on which to choose the speed

test_next_road

action to test if the driver can take the given road

  • returns: bool
  • new_road (agent): the road to test

driving

Variables

  • lanes_attribute (string): the name of the attribut of the road agent that determine the number of road lanes
  • living_space (float): the min distance between the agent and an obstacle (in meter)
  • obstacle_species (list): the list of species that are considered as obstacles
  • speed (float): the speed of the agent (in meter/second)
  • tolerance (float): the tolerance distance used for the computation (in meter)

Actions

follow_driving

moves the agent along a given path passed in the arguments while considering the other agents in the network.

  • returns: path
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • path (path): a path to be followed.
  • return_path (boolean): if true, return the path followed (by default: false)
  • move_weights (map): Weigths used for the moving.
  • living_space (float): min distance between the agent and an obstacle (replaces the current value of living_space)
  • tolerance (float): tolerance distance used for the computation (replaces the current value of tolerance)
  • lanes_attribute (string): the name of the attribut of the road agent that determine the number of road lanes (replaces the current value of lanes_attribute)

goto_driving

moves the agent towards the target passed in the arguments while considering the other agents in the network (only for graph topology)

  • returns: path
  • target (geometry): the location or entity towards which to move.
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • on (any type): list, agent, graph, geometry that restrains this move (the agent moves inside this geometry)
  • return_path (boolean): if true, return the path followed (by default: false)
  • move_weights (map): Weigths used for the moving.
  • living_space (float): min distance between the agent and an obstacle (replaces the current value of living_space)
  • tolerance (float): tolerance distance used for the computation (replaces the current value of tolerance)
  • lanes_attribute (string): the name of the attribut of the road agent that determine the number of road lanes (replaces the current value of lanes_attribute)

fipa

The fipa skill offers some primitives and built-in variables which enable agent to communicate with each other using the FIPA interaction protocol.

Variables

  • accept_proposals (list): A list of ‘accept_proposal’ performative messages of the agent’s mailbox having .
  • agrees (list): A list of ‘accept_proposal’ performative messages.
  • cancels (list): A list of ‘cancel’ performative messages.
  • cfps (list): A list of ‘cfp’ (call for proposal) performative messages.
  • conversations (list): A list containing the current conversations of agent. Ended conversations are automatically removed from this list.
  • failures (list): A list of ‘failure’ performative messages.
  • informs (list): A list of ‘inform’ performative messages.
  • proposes (list): A list of ‘propose’ performative messages .
  • queries (list): A list of ‘query’ performative messages.
  • refuses (list): A list of ‘propose’ performative messages.
  • reject_proposals (list): A list of ‘reject_proposals’ performative messages.
  • requests (list): A list of ‘request’ performative messages.
  • requestWhens (list): A list of ‘request-when’ performative messages.
  • subscribes (list): A list of ‘subscribe’ performative messages.

Actions

accept_proposal

Replies a message with an ‘accept_proposal’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

agree

Replies a message with an ‘agree’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

cancel

Replies a message with a ‘cancel’ peformative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

cfp

Replies a message with a ‘cfp’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

end_conversation

Reply a message with an ‘end_conversation’ peprformative message. This message marks the end of a conversation. In a ‘no-protocol’ conversation, it is the responsible of the modeler to explicitly send this message to mark the end of a conversation/interaction protocol.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

failure

Replies a message with a ‘failure’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

inform

Replies a message with an ‘inform’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

propose

Replies a message with a ‘propose’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

query

Replies a message with a ‘query’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

refuse

Replies a message with a ‘refuse’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The contents of the replying message

reject_proposal

Replies a message with a ‘reject_proposal’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

reply

Replies a message. This action should be only used to reply a message in a ‘no-protocol’ conversation and with a ‘user defined performative’. For performatives supported by GAMA (i.e., standard FIPA performatives), please use the ‘action’ with the same name of ‘performative’. For example, to reply a message with a ‘request’ performative message, the modeller should use the ‘request’ action.

  • returns: unknown
  • message (24): The message to be replied
  • performative (string): The performative of the replying message
  • contents (list): The content of the replying message

request

Replies a message with a ‘request’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

send

Starts a conversation/interaction protocol.

  • returns: msi.gaml.extensions.fipa.FIPAMessage
  • to (list): A list of receiver agents
  • contents (list): The content of the message. A list of any GAML type
  • performative (string): A string, representing the message performative
  • protocol (string): A string representing the name of interaction protocol

start_conversation

Starts a conversation/interaction protocol.

  • returns: msi.gaml.extensions.fipa.FIPAMessage
  • to (list): A list of receiver agents
  • contents (list): The content of the message. A list of any GAML type
  • performative (string): A string, representing the message performative
  • protocol (string): A string representing the name of interaction protocol

subscribe

Replies a message with a ‘subscribe’ performative message.

  • returns: unknown
  • message (24): The message to be replied
  • contents (list): The content of the replying message

GAMASQL

Variables

Actions

read

  • returns: void
  • params (map): Connection parameters
  • table (string): select string with question marks
  • filter (list): List of values that are used to replace question marks

SqlObject

  • returns: msi.gama.database.geosql.GamaSqlConnection
  • params (map): Connection parameters
  • table (string): select string with question marks
  • filter (string): Filter for select

testConnection

  • returns: bool
  • params (map): Connection parameters

MDXSKILL

Variables

Actions

select

  • returns: list
  • params (map): Connection parameters
  • onColumns (string): select string with question marks
  • onRows (list): List of values that are used to replace question marks
  • from (list): List of values that are used to replace question marks
  • where (list): List of values that are used to replace question marks
  • values (list): List of values that are used to replace question marks

testConnection

  • returns: bool
  • params (map): Connection parameters

timeStamp

  • returns: float

messaging

A simple skill that provides agents with a mailbox than can be filled with messages

Variables

  • mailbox (list): The list of messages that can be consulted by the agent

Actions

send

  • returns: msi.gama.extensions.messaging.GamaMessage
  • to (any type): The agent, or server, to which this message will be sent to
  • contents (any type): The contents of the message, an arbitrary object

moving

The moving skill is intended to define the minimal set of behaviours required for agents that are able to move on different topologies

Variables

  • current_edge (geometry): Represents the agent/geometry on which the agent is located (only used with a graph)
  • current_path (path): Represents the path on which the agent is moving on (goto action on a graph)
  • destination (point): Represents the next location of the agent if it keeps its current speed and heading (read-only). ** Only correct in continuous topologies and may return nil values if the destination is outside the environment **
  • heading (float): Represents the absolute heading of the agent in degrees.
  • location (point): Represents the current position of the agent
  • real_speed (float): Represents the actual speed of the agent (in meter/second)
  • speed (float): Represents the speed of the agent (in meter/second)

Actions

follow

moves the agent along a given path passed in the arguments.

  • returns: path
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • path (path): a path to be followed.
  • move_weights (map): Weights used for the moving.
  • return_path (boolean): if true, return the path followed (by default: false)

goto

moves the agent towards the target passed in the arguments.

  • returns: path
  • target (geometry): the location or entity towards which to move.
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • on (any type): graph, topology, list of geometries or map of geometries that restrain this move
  • recompute_path (boolean): if false, the path is not recompute even if the graph is modified (by default: true)
  • return_path (boolean): if true, return the path followed (by default: false)
  • move_weights (map): Weights used for the moving.

move

moves the agent forward, the distance being computed with respect to its speed and heading. The value of the corresponding variables are used unless arguments are passed.

  • returns: path
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • heading (float): the angle (in degree) of the target direction.
  • bounds (geometry): the geometry (the localized entity geometry) that restrains this move (the agent moves inside this geometry

wander

Moves the agent towards a random location at the maximum distance (with respect to its speed). The heading of the agent is chosen randomly if no amplitude is specified. This action changes the value of heading.

  • returns: void
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • amplitude (float): a restriction placed on the random heading choice. The new heading is chosen in the range (heading - amplitude/2, heading+amplitude/2)
  • bounds (geometry): the geometry (the localized entity geometry) that restrains this move (the agent moves inside this geometry)
  • on (graph): the graph that restrains this move (the agent moves on the graph
  • proba_edges (map): When the agent moves on a graph, the probability to choose another edge. If not defined, each edge has the same probability to be chosen

moving3D

The moving skill 3D is intended to define the minimal set of behaviours required for agents that are able to move on different topologies

Variables

  • destination (point): continuously updated destination of the agent with respect to its speed and heading (read-only)
  • heading (float): the absolute heading of the agent in degrees (in the range 0-359)
  • pitch (float): the absolute pitch of the agent in degrees (in the range 0-359)
  • roll (float): the absolute roll of the agent in degrees (in the range 0-359)
  • speed (float): the speed of the agent (in meter/second)

Actions

move

moves the agent forward, the distance being computed with respect to its speed and heading. The value of the corresponding variables are used unless arguments are passed.

  • returns: path
  • speed (float): the speed to use for this move (replaces the current value of speed)
  • heading (int): int, optional, the direction to take for this move (replaces the current value of heading)
  • pitch (int): int, optional, the direction to take for this move (replaces the current value of pitch)
  • heading (int): int, optional, the direction to take for this move (replaces the current value of roll)
  • bounds (geometry): the geometry (the localized entity geometry) that restrains this move (the agent moves inside this geometry

network

The network skill provides new features to let agents exchange message through network.

Variables

  • network_groups (list): The set of groups the agent belongs to
  • network_name (string): Net ID of the agent
  • network_server (list): The list of all the servers to which the agent is connected

Actions

connect

Action used by a networking agent to connect to a server or as a server.

  • returns: void
  • protocol (string): protocol type (UDP, TCP, MQTT (by default)): the possible value ares ‘udp_server’, ‘udp_emitter’, ‘tcp_server’, ‘tcp_client’, otherwise the MQTT protocol is used.
  • port (int): Port number
  • with_name (string): name of the agent on the server
  • login (string): login for the connection to the server
  • password (string): password associated to the login
  • to (string): server URL (localhost or a server URL)

execute

  • returns: string
  • command (string): command to execute

fetch_message

  • returns: msi.gama.extensions.messaging.GamaMessage

has_more_message

  • returns: bool

leave_the_group

leave a group of agent

  • returns: void
  • from (string): name of the group the agent wants to leave

physics

Variables

  • collisionBound (map):
  • density (float):
  • mass (float):
  • motor (point):
  • space (agent):
  • velocity (list):

Actions


skill_road

Variables

  • agents_on (list): for each lane of the road, the list of agents for each segment
  • all_agents (list): the list of agents on the road
  • lanes (int): the number of lanes
  • linked_road (-199): the linked road: the lanes of this linked road will be usable by drivers on the road
  • maxspeed (float): the maximal speed on the road
  • source_node (agent): the source node of the road
  • target_node (agent): the target node of the road

Actions

register

register the agent on the road at the given lane

  • returns: void
  • agent (agent): the agent to register on the road.
  • lane (int): the lane index on which to register; if lane index >= number of lanes, then register on the linked road

unregister

unregister the agent on the road

  • returns: void
  • agent (agent): the agent to unregister on the road.

skill_road_node

Variables

  • block (map): define the list of agents blocking the node, and for each agent, the list of concerned roads
  • priority_roads (list): the list of priority roads
  • roads_in (list): the list of input roads
  • roads_out (list): the list of output roads
  • stop (list): define for each type of stop, the list of concerned roads

Actions


SQLSKILL

Variables

Actions

executeUpdate

  • returns: int
  • params (map): Connection parameters
  • updateComm (string): SQL commands such as Create, Update, Delete, Drop with question mark
  • values (list): List of values that are used to replace question mark

getCurrentDateTime

  • returns: string
  • dateFormat (string): date format examples: ‘yyyy-MM-dd’ , ‘yyyy-MM-dd HH:mm:ss’

getDateOffset

  • returns: string
  • dateFormat (string): date format examples: ‘yyyy-MM-dd’ , ‘yyyy-MM-dd HH:mm:ss’
  • dateStr (string): Start date
  • offset (string): number on day to increase or decrease

insert

  • returns: int
  • params (map): Connection parameters
  • into (string): Table name
  • columns (list): List of column name of table
  • values (list): List of values that are used to insert into table. Columns and values must have same size

list2Matrix

  • returns: matrix
  • param (list): Param: a list of records and metadata
  • getName (boolean): getType: a boolean value, optional parameter
  • getType (boolean): getType: a boolean value, optional parameter

select

  • returns: list
  • params (map): Connection parameters
  • select (string): select string with question marks
  • values (list): List of values that are used to replace question marks

testConnection

  • returns: bool
  • params (map): Connection parameters

timeStamp

  • returns: float