def _initialize_socket(self):
if config.debugLevelEnabled(config.INFO):
print 'Socket: Establishing connection to server {0} at port {1}'.format(self.url, self.port)
try:
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect((self.url, self.port))
greeting = self._receive()
if greeting != Socket.GREETING:
if config.debugLevelEnabled(config.ERROR):
print ('Socket: Invalid greeting received from server {0} at port {1}: {2}'
.format(self.url, self.port, greeting))
sys.exit(1)
else:
message = 'agent 1'
self.sendExpectNoResponse(message)
except socket.error as e:
if config.debugLevelEnabled(config.ERROR):
print ('Socket: Error occurred while attempting to establish connection with server {0} at port {1}: {2}'
.format(self.url, self.port, e))
sys.exit(1)
if config.debugLevelEnabled(config.INFO):
print 'Socket: Connection successfully established'
def _initialize_socket(self):
if config.debugLevelEnabled(config.INFO):
print 'Socket: Establishing connection to server {0} at port {1}'.format(
self.url, self.port)
try:
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect((self.url, self.port))
greeting = self._receive()
if greeting != Socket.GREETING:
if config.debugLevelEnabled(config.ERROR):
print(
'Socket: Invalid greeting received from server {0} at port {1}: {2}'
.format(self.url, self.port, greeting))
sys.exit(1)
else:
message = 'agent 1'
self.sendExpectNoResponse(message)
except socket.error as e:
if config.debugLevelEnabled(config.ERROR):
print(
'Socket: Error occurred while attempting to establish connection with server {0} at port {1}: {2}'
.format(self.url, self.port, e))
sys.exit(1)
if config.debugLevelEnabled(config.INFO):
print 'Socket: Connection successfully established'
def listObstacles(self):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Sending listObstacles request'
response = self.socket.sendExpectListResponse('obstacles')
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for listObstacles request = {0}'.format(response)
return Obstacle.parseList(response.getList())
def listEnemyTanks(self):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Sending listEnemyTanks request'
response = self.socket.sendExpectListResponse('othertanks')
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for listEnemyTanks request = {0}'.format(response)
return EnemyTank.parseList(response.getList())
def listTeams(self):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Sending listTeams request'
response = self.socket.sendExpectListResponse('teams')
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for listTeams request = {0}'.format(
response)
return Team.parseList(response.getList())
def shoot(self, tank):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Ordering tank {0} to shoot'.format(tank)
response = self.socket.sendExpectStandardResponse('shoot {0}'.format(tank))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for shoot order = {0}'.format(response)
elif not response.isOk() and config.debugLevelEnabled(config.WARN):
print 'ServerProxy: Attempted to shoot tank {0}, but it hasn\'t reloaded yet'.format(tank)
return response
def getSurroundings(self, tank):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Sending getSurroundings request'
response = self.socket.sendExpectListResponse('occgrid {0}'.format(tank))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for listConstants request = {0}'.format(response)
occList = response.getList()
if len(occList) > 0:
return OccGrid.parseList(response.getList())
else:
return None
def setTurnRate(self, tank, rate):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Ordering tank {0} to set turn rate to {1}'.format(tank, rate)
if rate > 1:
print 'ServerProxy: Limiting tank turn rate to 1'
rate = 1
elif rate < -1:
print 'ServerProxy: Limiting tank turn rate to -1'
rate = -1
response = self.socket.sendExpectStandardResponse('angvel {0} {1}'.format(tank, rate))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for setTurnRate order = {0}'.format(response)
def shoot(self, tank):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Ordering tank {0} to shoot'.format(tank)
response = self.socket.sendExpectStandardResponse(
'shoot {0}'.format(tank))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for shoot order = {0}'.format(
response)
elif not response.isOk() and config.debugLevelEnabled(config.WARN):
print 'ServerProxy: Attempted to shoot tank {0}, but it hasn\'t reloaded yet'.format(
tank)
return response
def getSurroundings(self, tank):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Sending getSurroundings request'
response = self.socket.sendExpectListResponse(
'occgrid {0}'.format(tank))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for listConstants request = {0}'.format(
response)
occList = response.getList()
if len(occList) > 0:
return OccGrid.parseList(response.getList())
else:
return None
def setVelocity(self, tank, speed):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Ordering tank {0} to set velocity to {1}'.format(tank, speed)
if speed > 1:
print 'ServerProxy: Limiting tank speed to 1'
speed = 1
elif speed < -1:
print 'ServerProxy: Limiting tank speed to -1'
speed = -1
response = self.socket.sendExpectStandardResponse('speed {0} {1}'.format(tank, speed))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for setVelocity order = {0}'.format(response)
return response
def setTurnRate(self, tank, rate):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Ordering tank {0} to set turn rate to {1}'.format(
tank, rate)
if rate > 1:
print 'ServerProxy: Limiting tank turn rate to 1'
rate = 1
elif rate < -1:
print 'ServerProxy: Limiting tank turn rate to -1'
rate = -1
response = self.socket.sendExpectStandardResponse(
'angvel {0} {1}'.format(tank, rate))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for setTurnRate order = {0}'.format(
response)
def setVelocity(self, tank, speed):
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Ordering tank {0} to set velocity to {1}'.format(
tank, speed)
if speed > 1:
print 'ServerProxy: Limiting tank speed to 1'
speed = 1
elif speed < -1:
print 'ServerProxy: Limiting tank speed to -1'
speed = -1
response = self.socket.sendExpectStandardResponse(
'speed {0} {1}'.format(tank, speed))
if config.debugLevelEnabled(config.TRACE):
print 'ServerProxy: Response for setVelocity order = {0}'.format(
response)
return response
def aim(self, target, status):
if config.debugLevelEnabled(config.DEBUG):
print "ArtemisAgent: my angle = {}".format(degrees(status.angle))
newAngle = self._calculateAngle((status.x, status.y), target)
turnRate = self._calcTurn(newAngle, degrees(status.angle))
if self._shouldShoot(target, (status.x, status.y), status.angle):
return tuple(["shoot"])
else:
return tuple(["turn", turnRate])
def aim(self, target, status):
if config.debugLevelEnabled(config.DEBUG):
print "ArtemisAgent: my angle = {}".format(degrees(status.angle))
newAngle = self._calculateAngle((status.x, status.y), target)
turnRate = self._calcTurn(newAngle, degrees(status.angle))
if self._shouldShoot(target, (status.x, status.y), status.angle):
return tuple(["shoot"])
else:
return tuple(["turn", turnRate])
def _run(self): while True: now = time.time() if config.debugLevelEnabled(config.DEBUG): print 'KalmanFilter: filtering' next_wakeup = now + self.delta_t self._doPredictions() sleepLength = next_wakeup - time.time() time.sleep(sleepLength)
def _takeAction(self, prediction):
if prediction != "":
if config.debugLevelEnabled(config.DEBUG):
print "ArtemisAgency: Enemy predicted at {}".format(prediction)
tanks = self.server.listFriendlyTanks()
for i in xrange(len(self.agents)):
action = self.agents[i].aim(prediction, tanks[i])
if action[0] == "turn":
self.server.setTurnRate(i, action[1])
elif action[0] == "shoot":
self.server.shoot(i)
def _takeAction(self, prediction):
if prediction != "":
if config.debugLevelEnabled(config.DEBUG):
print "ArtemisAgency: Enemy predicted at {}".format(prediction)
tanks = self.server.listFriendlyTanks()
for i in xrange(len(self.agents)):
action = self.agents[i].aim(prediction, tanks[i])
if action[0] == "turn":
self.server.setTurnRate(i, action[1])
elif action[0] == "shoot":
self.server.shoot(i)
def _calcVector(self, vectorList):
deltaX = 0
deltaY = 0
for vector in vectorList:
deltaX += vector[0]
deltaY += vector[1]
if config.debugLevelEnabled(config.TRACE):
print "DeltaX = {0}, DeltaY = {1}".format(deltaX, deltaY)
angle, magnitude = self._deltaToVelocity(deltaX, deltaY)
return angle, magnitude
def _calcVector(self, vectorList):
deltaX = 0
deltaY = 0
for vector in vectorList:
deltaX += vector[0]
deltaY += vector[1]
if config.debugLevelEnabled(config.TRACE):
print "DeltaX = {0}, DeltaY = {1}".format(deltaX, deltaY)
angle, magnitude = self._deltaToVelocity(deltaX, deltaY)
return angle, magnitude
def _run(self):
while True:
now = time.time()
if config.debugLevelEnabled(config.DEBUG):
print 'KalmanFilter: filtering'
next_wakeup = now + self.delta_t
self._doPredictions()
sleepLength = next_wakeup - time.time()
time.sleep(sleepLength)
def __init__(self, enemy, obsQueue, predQueue, interval):
self.iteration_count = 15
self.enemy = enemy
self.obsQueue = obsQueue
self.predQueue = predQueue
if config.debugLevelEnabled(config.INFO):
print "KalmanFilter: Initializing"
self._setConstants(interval)
self._run()
def __init__(self, enemy, obsQueue, predQueue, interval): self.iteration_count = 15 self.enemy = enemy self.obsQueue = obsQueue self.predQueue = predQueue if config.debugLevelEnabled(config.INFO): print "KalmanFilter: Initializing" self._setConstants(interval) self._run()
def _calcTurn(self, newAngle, myAngle):
angle = newAngle - myAngle
if angle > 180:
angle -= 360
elif angle < -180:
angle += 360
if abs(angle) > 5:
rate = copysign(1, angle)
else:
rate = 0
if config.debugLevelEnabled(config.DEBUG):
print "ArtemisAgent: Desired angle = {0:.2f}, Angle = {1:.2f}, Rate = {2:.2f}".format(
newAngle, myAngle, rate)
return rate
def _calcTurn(self, newAngle, myAngle):
angle = newAngle - myAngle
if angle > 180:
angle -= 360
elif angle < -180:
angle += 360
if abs(angle) > 5:
rate = copysign(1, angle)
else:
rate = 0
if config.debugLevelEnabled(config.DEBUG):
print "ArtemisAgent: Desired angle = {0:.2f}, Angle = {1:.2f}, Rate = {2:.2f}".format(
newAngle, myAngle, rate)
return rate
def _takeAction(self): for i in range(len(self.agents)): action = self.agents[i].getAction() if action != "": if config.debugLevelEnabled(config.TRACE): print "Action" + action + str(i) if action == "move": self.server.setVelocity(i, 1) elif action == "stopMove": self.server.setVelocity(i, 0) elif action == "turn": self.server.setTurnRate(i, 1) elif action == "stopTurn": self.server.setTurnRate(i, 0) elif action == "shoot": self.server.shoot(i)
def getAction(self, fieldList, status):
now = time.time()
if config.debugLevelEnabled(config.TRACE):
print "my angle"
print degrees(status.angle)
if len(self.moveTimes) == 0:
vectorList = self._createVectors(fieldList, status.x, status.y)
newAngle, newVelocity = self._calcVector(vectorList)
if newAngle != 0:
self._calcTurn(newAngle, degrees(status.angle))
return tuple(["speed", newVelocity])
elif self.moveTimes[0] < now:
action = self.moveList[self.moveTimes[0]]
del self.moveList[self.moveTimes[0]]
del self.moveTimes[0]
return action
else:
return tuple([""])
def getAction(self, fieldList, status): now = time.time() if config.debugLevelEnabled(config.TRACE): print "my angle" print degrees(status.angle) if len(self.moveTimes) == 0: vectorList = self._createVectors(fieldList, status.x, status.y) newAngle, newVelocity = self._calcVector(vectorList) if newAngle != 0: self._calcTurn(newAngle, degrees(status.angle)) return tuple(["speed", newVelocity]) elif self.moveTimes[0] < now: action = self.moveList[self.moveTimes[0]] del self.moveList[self.moveTimes[0]] del self.moveTimes[0] return action else: return tuple([""])
def _receive(self):
fullResponse = ''
while 1:
data = self.socket.recv(self.RECV_SIZE)
# if config.debugLevelEnabled(config.TRACE):
# print 'Socket: Receive loop, received "{0}"'.format(data)
if not data.startswith(Socket.ACKNOWLEDGE):
fullResponse += data
lastLine = data.strip().split('\n')[-1]
if any([lastLine.startswith(eom) for eom in Socket.END_OF_MESSAGE_LIST]):
break
fullResponse = fullResponse.strip()
if config.debugLevelEnabled(config.TRACE):
print 'Socket: Received "{0}"'.format(fullResponse)
return fullResponse
def sendExpectStandardResponse(self, message):
response = self._handleSend(message, True)
lines = response.split('\n')
responseLine = 0
if lines[responseLine].startswith(Socket.ACKNOWLEDGE):
# setVelocity or setTurnRate 1 comes back as 1.0
if lines[responseLine].endswith(message):
responseLine += 1
else:
if config.debugLevelEnabled(config.WARN):
print ('Socket: WARN: Received acknowledge line that doesn\'t match message. ' +
'Message = "{0}", Response = "{1}"').format(message, response)
return FailResponse([])
splitResponse = response[responseLine].split(' ', 1)
if splitResponse[0] == Socket.OK_RESPONSE:
return OkResponse(splitResponse[1:])
else:
return FailResponse(splitResponse[1:])
def _calcTurn(self, newAngle, myAngle):
angle = newAngle - myAngle
if angle > 180:
angle -= 360
elif angle < -180:
angle += 360
now = time.time()
duration = .2
stop = now + duration
if abs(angle) < 5:
speed = 0
elif abs(angle) > 90:
speed = copysign(1, angle)
else:
#speed = (angle/18) * .1 + .2
speed = copysign(.5, angle)
if config.debugLevelEnabled(config.TRACE):
print "Desired angle = {0:.2f}, Angle = {1:.2f}, Speed = {2:.2f}".format(
newAngle, angle, speed)
self.moveTimes.append(now)
self.moveList[now] = tuple(["turn", speed])
def _receive(self):
fullResponse = ''
while 1:
data = self.socket.recv(self.RECV_SIZE)
# if config.debugLevelEnabled(config.TRACE):
# print 'Socket: Receive loop, received "{0}"'.format(data)
if not data.startswith(Socket.ACKNOWLEDGE):
fullResponse += data
lastLine = data.strip().split('\n')[-1]
if any([
lastLine.startswith(eom)
for eom in Socket.END_OF_MESSAGE_LIST
]):
break
fullResponse = fullResponse.strip()
if config.debugLevelEnabled(config.TRACE):
print 'Socket: Received "{0}"'.format(fullResponse)
return fullResponse
def _calcTurn(self, newAngle, myAngle):
angle = newAngle - myAngle
if angle > 180:
angle -= 360
elif angle < -180:
angle += 360
now = time.time()
duration = .2
stop = now + duration
if abs(angle) < 5:
speed = 0
elif abs(angle) > 90:
speed = copysign(1, angle)
else:
#speed = (angle/18) * .1 + .2
speed = copysign(.5, angle)
if config.debugLevelEnabled(config.TRACE):
print "Desired angle = {0:.2f}, Angle = {1:.2f}, Speed = {2:.2f}".format(
newAngle, angle, speed)
self.moveTimes.append(now)
self.moveList[now] = tuple(["turn", speed])
def sendExpectStandardResponse(self, message):
response = self._handleSend(message, True)
lines = response.split('\n')
responseLine = 0
if lines[responseLine].startswith(Socket.ACKNOWLEDGE):
# setVelocity or setTurnRate 1 comes back as 1.0
if lines[responseLine].endswith(message):
responseLine += 1
else:
if config.debugLevelEnabled(config.WARN):
print(
'Socket: WARN: Received acknowledge line that doesn\'t match message. '
+ 'Message = "{0}", Response = "{1}"').format(
message, response)
return FailResponse([])
splitResponse = response[responseLine].split(' ', 1)
if splitResponse[0] == Socket.OK_RESPONSE:
return OkResponse(splitResponse[1:])
else:
return FailResponse(splitResponse[1:])
def _send(self, message):
if config.debugLevelEnabled(config.TRACE):
print 'Socket: Sending "{0}"'.format(message)
self.socket.send(message + '\n')
def _init(self):
if config.debugLevelEnabled(config.INFO):
print "ArtemisAgency: Initializing"
for tank in self.server.listFriendlyTanks():
self.agents.append(ArtemisAgent())
def _addToObservations(self):
if config.debugLevelEnabled(config.DEBUG):
print 'ArtemisAgency: observing'
observations = self.server.listEnemyTanks()
self.obsQueue.put(observations)
def _close_socket(self):
if config.debugLevelEnabled(config.INFO):
print 'Socket: Closing connection'
self.socket.close()
def _close_socket(self): if config.debugLevelEnabled(config.INFO): print 'Socket: Closing connection' self.socket.close()
def _init(self): if config.debugLevelEnabled(config.INFO): print "ArtemisAgency: Initializing" for tank in self.server.listFriendlyTanks(): self.agents.append(ArtemisAgent())
def _send(self, message):
if config.debugLevelEnabled(config.TRACE):
print 'Socket: Sending "{0}"'.format(message)
self.socket.send(message + '\n')
def _addToObservations(self): if config.debugLevelEnabled(config.DEBUG): print 'ArtemisAgency: observing' observations = self.server.listEnemyTanks() self.obsQueue.put(observations)
parser.add_argument('-d', '--debuglevel')
return parser
def startKalman(obsQueue, predQueue, args, interval):
time.sleep(interval / 2.0)
KalmanClient(obsQueue, predQueue, args, interval)
if __name__ == "__main__":
parser = _get_parser()
args = parser.parse_args()
if args.debuglevel:
print "Setting debug level to {}".format(args.debuglevel)
config.setDebugLevelFromString(args.debuglevel)
obsQueue = Queue()
predQueue = Queue()
interval = .75
if config.debugLevelEnabled(config.INFO):
print 'Constantina: Starting child processes'
p = Process(target=startKalman, args=(obsQueue, predQueue, args, interval))
p.start()
ArtemisClient(obsQueue, predQueue, args, interval)
