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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;
}

dynamic_body, fipa, intersection_skill, messaging, moving, moving3D, network, pedestrian, pedestrian_road, road_skill, SQLSKILL, static_body, thread,

• angular_damping (float): Between 0 and 1. an angular decelaration coefficient that occurs even without contact
• angular_velocity (point): The angular velocity of the agent in the three directions, expressed as a point.
• contact_damping (float): Between 0 and 1. a decelaration coefficient that occurs in case of contact. Only available in the native Bullet library (no effect on the Java implementation)
• damping (float): Between 0 and 1. a linear decelaration coefficient that occurs even without contact
• velocity (point): The linear velocity of the agent in the three directions, expressed as a point.

An action that allows to apply different effects to the object, like forces, impulses, etc.

Returned type: unknown

• clearance (boolean): If true clears all forces applied to the agent and clears its veolicity as well
• impulse (point): An idealised change of momentum. Adds to the velocity of the object. This is the kind of push that you would use on a pool billiard ball.
• force (point): Move (push) the object once with a certain moment, expressed as a point (vector). Adds to the existing forces.
• torque (point): Rotate (twist) the object once around its axes, expressed as a point (vector)

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

• accept_proposals (list): A list of 'accept_proposal' performative messages in the agent's mailbox
• agrees (list): A list of 'agree' 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_proposal' 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.

Replies a message with an 'accept_proposal' performative message.

Returned type: unknown

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

Replies a message with an 'agree' performative message.

Returned type: unknown

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

Replies a message with a 'cancel' peformative message.

Returned type: unknown

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

Replies a message with a 'cfp' performative message.

Returned type: unknown

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

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. Please note that if the contents of the messages of the conversation are not read, then this command has no effect (i.e. it must be read by at least one of the agents in the conversation)

Returned type: unknown

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

Replies a message with a 'failure' performative message.

Returned type: unknown

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

Replies a message with an 'inform' performative message.

Returned type: unknown

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

Replies a message with a 'propose' performative message.

Returned type: unknown

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

Replies a message with a 'query' performative message.

Returned type: unknown

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

Replies a message with a 'refuse' performative message.

Returned type: unknown

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

Replies a message with a 'reject_proposal' performative message.

Returned type: unknown

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

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.

Returned type: unknown

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

Replies a message with a 'request' performative message.

Returned type: unknown

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

Starts a conversation/interaction protocol.

Returned type: message

• 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

Replies a message with a 'subscribe' performative message.

Returned type: unknown

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

• 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

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

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

Action used to send a message (that can be of any kind of object) to an agent or a server.

Returned type: message

• 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

do send to:dest contents:"This message is sent by " + name + " to " + dest;

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

• 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)
• 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)

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

Returned type: path : optional: the path followed by the agent.

• 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)

do follow speed: speed * 2 path: road_path;

moves the agent towards the target passed in the arguments.

Returned type: path : optional: the path followed by the agent.

• 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.

do goto target: (one_of road).location speed: speed * 2 on: road_network;

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.

Returned type: 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

do move speed: speed - 10 heading: heading + rnd (30) bounds: agentA;

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.

Returned type: bool

• 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

do wander speed: speed - 10 amplitude: 120 bounds: agentA;

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

• 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)

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.

Returned type: 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)
• roll (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

do move speed: speed - 10 heading: heading + rnd (30) bounds: agentA;

The network skill provides new features to let agents exchange message through network. Sending and receiving data is done with the messaging skill's actions.

• 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

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

Returned type: bool

• protocol (string): protocol type (MQTT (by default), TCP, UDP, websocket, arduino): the possible value ares 'udp_server', 'udp_emitter', 'tcp_server', 'tcp_client', 'websocket_server', 'websocket_client', 'http', 'arduino', otherwise the MQTT protocol is used.
• port (int): Port number
• raw (boolean): message type raw or rich
• with_name (string): ID of the agent (its name) for the simulation
• login (string): login for the connection to the server
• password (string): password associated to the login
• force_network_use (boolean): force the use of the network even interaction between local agents
• to (string): server URL (localhost or a server URL)
• size_packet (int): For UDP connection, it sets the maximum size of received packets (default = 1024bits).

 do connect with_name:"any_name"; 
 do connect to:"localhost" port:9876 with_name:"any_name"; 
 do connect to:"localhost" protocol:"MQTT" port:9876 with_name:"any_name"; 
 do connect to:"localhost" protocol:"udp_server" port:9876 with_name:"Server"; 
 do connect to:"localhost" protocol:"udp_client" port:9876 with_name:"Client"; 
 do connect to:"localhost" protocol:"udp_server" port:9877 size_packet: 4096; 
 do connect to:"localhost" protocol:"tcp_client" port:9876; 
 do connect to:"localhost" protocol:"tcp_server" port:9876 raw:true; 
 do connect to: "https://openlibrary.org" protocol: "http" port: 443 raw: true; 
 do connect protocol: "arduino";

Action that executes a command in the OS, as if it is executed from a terminal.

Returned type: string : The error message if any

• command (string): command to execute

Fetch the first message from the mailbox (and remove it from the mailing box). If the mailbox is empty, it returns a nil message.

Returned type: message

message mess <- fetch_message(); 
loop while:has_more_message(){ 
	message mess <- fetch_message();
	write message.contents;
}

Fetch all messages from network to mailbox. Use this in specific case only, this action is done at the end of each step.

Returned type: bool

do fetch_message_from_network;//forces gama to get all the new messages since the begining of the cycle
loop while: has_more_message(){ 
	message mess <- fetch_message();
	write message.contents;
}

Check whether the mailbox contains any message.

Returned type: bool

bool mailbox_contain_messages <- has_more_message(); 
loop while:has_more_message(){ 
	message mess <- fetch_message();
	write message.contents;
}

Allow an agent to join a group of agents in order to broadcast messages to other members or to receive messages sent by other members. Note that all members of the group called : "ALL".

Returned type: bool

• with_name (string): name of the group

do join_group with_name:"group name"; 
do join_group with_name:"group name";
do send to:"group name" contents:"I am new in this group";

leave a group of agents. The leaving agent will not receive any message from the group. Overwhise, it can send messages to the left group

Returned type: bool

• with_name (string): name of the group the agent wants to leave

 do leave_group with_name:"my_group";

• A_obstacles_SFM (float): Value of A in the SFM model for obstacles - the force of repulsive interactions (classic values : mean = 4.5, std = 0.3)
• A_pedestrians_SFM (float): Value of A in the SFM model for pedestrians - the force of repulsive interactions (classic values : mean = 4.5, std = 0.3)
• avoid_other (boolean): has the pedestrian to avoid other pedestrians?
• B_obstacles_SFM (float): Value of B in the SFM model for obstacles - the range (in meters) of repulsive interactions
• B_pedestrians_SFM (float): Value of B in the SFM model for pedestrians - the range (in meters) of repulsive interactions
• current_index (int): the current index of the agent waypoint (according to the waypoint list)
• current_waypoint (geometry): the current waypoint of the agent
• final_waypoint (geometry): the final waypoint of the agent
• forces (map): the map of forces
• gama_SFM (float): Value of gama in the SFM model the amount of normal social force added in tangential direction. between 0.0 and 1.0 (classic values : mean = 0.35, std = 0.01)
• k_SFM (float): Value of k in the SFM model: force counteracting body compression
• kappa_SFM (float): Value of kappa in the SFM model: friction counteracting body compression
• lambda_SFM (float): Value of lambda in the SFM model - the (an-)isotropy (between 0.0 and 1.0)
• minimal_distance (float): Minimal distance between pedestrians
• n_prime_SFM (float): Value of n' in the SFM model (classic values : mean = 3.0, std = 0.7)
• n_SFM (float): Value of n in the SFM model (classic values : mean = 2.0, std = 0.1)
• obstacle_consideration_distance (float): Distance of consideration of obstacles (to compute the nearby obstacles, used as distance, the max between this value and (step * speed) - classic value: 3.5m
• obstacle_species (list): the list of species that are considered as obstacles
• pedestrian_consideration_distance (float): Distance of consideration of other pedestrians (to compute the nearby obstacles, used as distance, the max between this value and (step * speed) - classic value: 3.5m
• pedestrian_model (string): Model use for the movement of agents (Social Force Model). Can be either "simple" or "advanced" (default) for different versions of SFM Helbing model
• pedestrian_species (list): the list of species that are considered as pedestrians
• proba_detour (float): probability to accept to do a detour
• relaxion_SFM (float): Value of relaxion in the SFM model - the amount of delay time for an agent to adapt.(classic values : mean = 0.54, std = 0.05)
• roads_waypoints (map): for each waypoint, the associated road
• shoulder_length (float): The width of the pedestrian (in meters) - classic values: [0.39, 0.515]
• tolerance_waypoint (float): distance to a waypoint (in meters) to consider that an agent is arrived at the waypoint
• use_geometry_waypoint (boolean): use geometries as waypoint instead of points
• velocity (point): The velocity of the pedestrian (in meters)
• waypoints (list): the current list of points/shape that the agent has to reach (path)

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

Returned type: path : the computed path, return nil if no path can be taken

• pedestrian_graph (graph): the graph on wich compute the path
• target (geometry): the target to reach, can be any agent

do compute_virtual_path graph: pedestrian_network target: any_point;

clean all the interne state of the agent

Returned type: bool

• current_road (agent): current road on which the agent is located (can be nil)

action to walk toward the final target using the current_path (requires to use the compute_virtual_path action before)

Returned type: bool

do walk;

action to walk toward a target

Returned type: bool

• target (geometry): Move toward the target using the SFM model
• bounds (geometry): the geometry (the localized entity geometry) that restrains this move (the agent moves inside this geometry

do walk_to {10,10};

• agents_on (list): for each people on the road
• exit_nodes (map): The exit hub (several exit connected to each road extremities) that makes it possible to reduce angular distance when travelling to connected pedestrian roads
• free_space (geometry): for each people on the road
• intersection_areas (map): map of geometries to connect segments linked to this road
• linked_pedestrian_roads (list): the close pedestrian roads
• road_status (int): When road status equals 1 it has 2D continuous space property for pedestrian; when equal to 2 is simply a 1D road

Add exit hub to pedestrian corridor to reduce angular distance between node of the network

Returned type: bool

• pedestrian_graph (graph): The pedestrian network from which to find connected corridors
• distance_between_targets (float): min distances between 2 targets

do build_exit_hub pedestrian_graph: pedestrian_network distance_between_targets: 10.0;

Build intersection areas with connected roads

Returned type: bool

• pedestrian_graph (graph): The pedestrian network from which to find connected corridors

do build_intersection_areas pedestrian_graph: pedestrian_network;

action to initialize the free space of roads

Returned type: bool

• distance (float): the maximal distance to the road
• obstacles (container): the list of species to consider as obstacles to remove from the free space
• distance_extremity (float): the distance added to the extremimity to connect to other road (in meters)
• bounds (container): the geometries (the localized entity geometries) that restrains the agent movement (the agent moves inside this geometry
• masked_by (container): if defined, keep only the part of the geometry that is visible from the location of the road considering the given obstacles
• masked_by_precision (int): if masked_by is defined, number of triangles used to compute the visible geometries (default: 120)
• status (int): the status (int) of the road: 1 (default) for roads where agent move on a continuous 2D space and 0 for 1D roads with queu-in queu-out like movement

do initialize distance: 10.0 obstacles: [building];

• all_agents (list): the list of agents on the road
• linked_road (agent): 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
• num_lanes (int): the number of lanes
• num_segments (int): the number of road segments
• segment_lengths (list): stores the length of each road segment. The index of each element corresponds to the segment index.
• source_node (agent): the source node of the road
• target_node (agent): the target node of the road
• vehicle_ordering (list): provides information about the ordering of vehicle on any given lane

register the agent on the road at the given lane

Returned type: bool

• 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

do register agent: the_driver lane: 0;

This skill allows agents to be provided with actions and attributes in order to connect to SQL databases

Action used to execute any update query (CREATE, DROP, INSERT...) to the database (query written in SQL).

Returned type: 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

do executeUpdate params: PARAMS updateComm: "DROP TABLE IF EXISTS registration"; 
do executeUpdate params: PARAMS updateComm: "INSERT INTO registration " + "VALUES(100, 'Zara', 'Ali', 18);"; 
do executeUpdate params: PARAMS updateComm: "INSERT INTO registration " + "VALUES(?, ?, ?, ?);" values: [101, 'Mr', 'Mme', 45];

Action used to insert new data in a database

Returned type: 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

do insert params: PARAMS into: "registration" values: [102, 'Mahnaz', 'Fatma', 25]; 
do insert params: PARAMS into: "registration" columns: ["id", "first", "last"] values: [103, 'Zaid tim', 'Kha'];

Action that transforms the list of list of data and metadata (resulting from a query) into a matrix.

Returned type: 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

list<list> t <- list<list> (select(PARAMS, "SELECT * FROM registration"));
write list2Matrix(t, true, true);

Action used to restrieve data from a database

Returned type: list

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

list<list> t <- list<list> (select(PARAMS, "SELECT * FROM registration"));

Action used to test the connection to a database

Returned type: bool

• params (map): Connection parameters

if (!first(DB_Accessor).testConnection(PARAMS)) {
			write "Connection impossible";
			do pause;
		}

• aabb (geometry): The axis-aligned bounding box. A box used to evaluate the probability of contacts between objects. Can be displayed as any other GAMA shapes/geometries in order to verify that the physical representation of the agent corresponds to its geometry in the model
• friction (float): Between 0 and 1. The coefficient of friction of the agent (how much it decelerates the agents in contact with him). Default is 0.5
• mass (float): The mass of the agent. Should be equal to 0.0 for static, motionless agents
• restitution (float): Between 0 and 1. The coefficient of restitution of the agent (defines the 'bounciness' of the agent). Default is 0
• rotation (pair): The rotation of the physical body, expressed as a pair which key is the angle in degrees and value the axis around which it is measured

This action can be redefined in order for the agent to implement a specific behavior when it comes into contact (collision) with another agent. It is automatically called by the physics simulation engine on both colliding agents. The default built-in behavior does nothing.

Returned type: unknown

• other (agent): represents the other agent with which a collision has been detected

This action can be redefined in order for the agent to implement a specific behavior when a previous contact with another agent is removed. It is automatically called by the physics simulation engine on both colliding agents. The default built-in behavior does nothing.

Returned type: unknown

• other (agent): represents the other agent with which a collision has been detected

This action must be called when the geometry of the agent changes in the simulation world and this change must be propagated to the physical world. The change of location (in either worlds) or the rotation due to physical forces do not count as changes, as they are already taken into account. However, a rotation in the simulation world need to be handled by calling this action. As it involves long operations (removing the agent from the physical world, then reinserting it with its new shape), this action should not be called too often.

Returned type: unknown

The thread skill is intended to define the minimal set of behaviours required for agents that are able to run an action in a thread

End the current thread.

Returned type: bool : true if the thread was well stopped, false otherwise

do end_thread;

Start a new thread that will run the 'thread_action' either once if no facets are defined, of at a fixed rate if 'every:' is defined or with a fixed delay if 'interval:' is defined.

Returned type: bool : true if the thread was well created and started, false otherwise

• every (float): Rate in machine time at which this action is run. Default unit is in seconds, use explicit units to specify another, like 10 #ms. If no rate (and no interval) is specified, the action is run once. If the action takes longer than the interval to run, it it run immediately after the previous execution
• interval (float): Interval -- or delay -- between two executions of the action. Default unit is in seconds, use explicit units to specify another, like 10 #ms. If no interval (and no rate) is specified, the action is run once. An interval of 0 will make the action run continuously without delays

do run_thread every: 10#ms;

A virtual action, which contains what to execute in the thread. It needs to be redefined in the species that implement the thread skill

Returned type: unknown