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properly implemented seeding for BinaryFOVSensor (probably) #39

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Merged
kenblu24 merged 2 commits into from
Sep 9, 2025
Merged

properly implemented seeding for BinaryFOVSensor (probably) #39

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489d215
properly implemented seeding for BinaryFOVSensor (probably)
kenblu24 Sep 9, 2025
bf360dc
use new numpy generator for initial seeding from time
kenblu24 Sep 9, 2025
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18 changes: 17 additions & 1 deletion src/swarmsim/sensors/AbstractSensor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,8 @@
class AbstractSensor:
config_vars = ['static_position', 'n_possible_states', 'show']

def __init__(self, agent=None, parent=None, static_position=None, n_possible_states=0, draw=True, **kwargs):
def __init__(self, agent=None, parent=None, static_position=None, n_possible_states=0,
draw=True, seed=None, **kwargs):
"""Sensor class for the agent.

Sensors should typically have a parent that is assigned to them that must be of subclass 'Agent'
Expand All @@ -31,6 +32,7 @@ def __init__(self, agent=None, parent=None, static_position=None, n_possible_sta
self.current_state = 0
self.detection_id = 0
self.goal_detected = False
self.set_seed(seed)

def step(self, world):
if self.agent is None and self.static_position is None:
Expand Down Expand Up @@ -62,3 +64,17 @@ def set_agent(self, agent, parent=None):
self.parent = parent
elif self.parent is None or parent is ...:
self.parent = agent

def set_seed(self, seed):
if seed is None:
if hasattr(self.parent, 'rng'):
self.seed = self.parent.rng.integers(0, 2**31)
elif hasattr(self.agent, 'rng'):
self.seed = self.agent.rng.integers(0, 2**31)
else:
temp_rng = np.random.default_rng(None)
self.seed = int(temp_rng.integers(0, 2**31))
else:
self.seed = seed
self.rng = np.random.default_rng(self.seed)
return self.seed
10 changes: 3 additions & 7 deletions src/swarmsim/sensors/BinaryFOVSensor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ def __init__(
target_team=None,
**kwargs
):
super().__init__(agent=agent, parent=parent)
super().__init__(agent=agent, parent=parent, seed=seed, **kwargs)
self.angle = 0.0
self.theta = theta
self.bias = bias
Expand Down Expand Up @@ -99,10 +99,6 @@ def __init__(

self.r = distance

self.seed = seed
if self.seed is not None:
np.random.seed(self.seed)

def checkForLOSCollisions(self, world: RectangularWorld) -> None:
# Mathematics obtained from Sundaram Ramaswamy
# https://legends2k.github.io/2d-fov/design.html
Expand Down Expand Up @@ -342,7 +338,7 @@ def determineState(self, real_value, agent, world=None):
invert = self.invert
if real_value:
# Consider Reporting False Negative
if np.random.random_sample() < self.fn:
if self.rng.random() < self.fn:
self.agent_in_sight = None
self.current_state = 1 if invert else 0
self.detection_id = 0
Expand All @@ -354,7 +350,7 @@ def determineState(self, real_value, agent, world=None):

else:
# Consider Reporting False Positive
if np.random.random_sample() < self.fp:
if self.rng.random() < self.fp:
self.agent_in_sight = None
self.detection_id = 0
self.current_state = 0 if invert else 1
Expand Down
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