def __init__(self):
self.robot_clients = {}
self.robot_states = {}
self.maze = Maze('../data/maze2.pgm')
# don't use: self.visualizer = GameVisualizerImage(self.maze)
self.visualizer = GameVisualizer(self.maze)
def __init__(self):
self.robot_clients = {}
self.robot_states = {}
self.maze = Maze('../data/maze2.pgm')
# don't use: self.visualizer = GameVisualizerImage(self.maze)
self.visualizer = GameVisualizer(self.maze)
class GameMaster(object):
def __init__(self):
self.robot_clients = {}
self.robot_states = {}
self.maze = Maze('../data/maze2.pgm')
# don't use: self.visualizer = GameVisualizerImage(self.maze)
self.visualizer = GameVisualizer(self.maze)
#self.visualizer = GameVisualizerRawTerminal(self.maze)
def addClient(self, clientName):
print clientName
module = __import__(clientName)
if clientName in self.robot_clients.keys():
clientName = clientName + str(len(self.robot_clients))
self.robot_clients[clientName] = module.TestClient() # TODO get class name
self.robot_states[clientName] = RobotState()
start_position = self.maze.getStartPosition()
self.robot_states[clientName].id = start_position[0]
self.robot_states[clientName].position = start_position[1:3]
self.robot_states[clientName].orientation = start_position[-1]
def initGame(self):
pass
def gameFinished(self):
goal = self.maze.getGoal()
for state in self.robot_states.values():
if goal == state.position:
return True
return False
def getCompass(self,robot_state):
goal = self.maze.getGoal()
position = robot_state.position
angle = math.atan2( goal[1] - position[1] , goal[0] - position[0]) * 180.0 / math.pi + 90;
compass = round(angle/45) - (robot_state.orientation * 2)
if compass < 0:
compass += 8
return compass
def startGame(self):
i = 0 # just for testing
self.maze.updateRobotStates(self.robot_states)
while i < 100000 and not self.gameFinished(): #i < 10: #
i += 1
#sleep(0.05)
self.visualizer.showState()
#a = raw_input()
print "round",i
for name, robot in self.robot_clients.items():
sensor_data = None
if self.robot_states[name].sense == True:
sensor_data = self.maze.getSensorData(self.robot_states[name])
sensor_data["battery"] = self.robot_states[name].battery
sensor_data["stones"] = self.robot_states[name].stones
sensor_data["bombs"] = self.robot_states[name].bombs
self.robot_states[name].sense = False
compass = self.getCompass(self.robot_states[name])
#try:
command = robot.getNextCommand(sensor_data, self.robot_states[name].bumper, compass,self.robot_states[name].teleported)
#except:
# print "Error in robot",name,"continue"
print name, "command:", Command.names[command]
print "battery: ", self.robot_states[name].battery
self.robot_states[name].bumper = False
self.robot_states[name].teleported = False
if command == Command.RightTurn:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
self.robot_states[name].orientation = (self.robot_states[name].orientation + 1) % 4
if command == Command.LeftTurn:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
self.robot_states[name].orientation = (self.robot_states[name].orientation - 1) % 4
if command == Command.Sense:
self.robot_states[name].sense = True
if command == Command.DropStone:
if self.robot_states[name].stones > 0:
position = self.robot_states[name].getIndicees()[2]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].stones -= 1
self.maze.setStone(position)
if command == Command.DropBomb:
if self.robot_states[name].bombs > 0:
position = self.robot_states[name].getIndicees()[2]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].bombs -= 1
self.maze.setBomb(position)
if command == Command.MoveForward:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
position = self.robot_states[name].getIndicees()[0]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].position = position[:]
if self.maze.checkPortal(position) == True:
newPosition = self.maze.getFreePortal(self.robot_states)
if newPosition != None:
self.robot_states[name].position = newPosition[:]
self.robot_states[name].teleported = True
else:
self.robot_states[name].bumper = True
if command == Command.Stay:
if self.robot_states[name].battery < 100:
if self.robot_states[name].position in self.maze.getLoadingStations():
self.robot_states[name].battery += 30
else:
self.robot_states[name].battery += 1
if self.robot_states[name].battery > 100:
self.robot_states[name].battery = 100
self.maze.updateRobotStates(self.robot_states)
self.maze.updateRound(self.robot_states)
class GameMaster(object):
def __init__(self):
self.robot_clients = {}
self.robot_states = {}
self.maze = Maze('../data/maze2.pgm')
# don't use: self.visualizer = GameVisualizerImage(self.maze)
self.visualizer = GameVisualizer(self.maze)
#self.visualizer = GameVisualizerRawTerminal(self.maze)
def addClient(self, clientName):
print clientName
module = __import__(clientName)
if clientName in self.robot_clients.keys():
clientName = clientName + str(len(self.robot_clients))
self.robot_clients[clientName] = module.TestClient(
) # TODO get class name
self.robot_states[clientName] = RobotState()
start_position = self.maze.getStartPosition()
self.robot_states[clientName].id = start_position[0]
self.robot_states[clientName].position = start_position[1:3]
self.robot_states[clientName].orientation = start_position[-1]
def initGame(self):
pass
def gameFinished(self):
goal = self.maze.getGoal()
for state in self.robot_states.values():
if goal == state.position:
return True
return False
def getCompass(self, robot_state):
goal = self.maze.getGoal()
position = robot_state.position
angle = math.atan2(goal[1] - position[1],
goal[0] - position[0]) * 180.0 / math.pi + 90
compass = round(angle / 45) - (robot_state.orientation * 2)
if compass < 0:
compass += 8
return compass
def startGame(self):
i = 0 # just for testing
self.maze.updateRobotStates(self.robot_states)
while i < 100000 and not self.gameFinished(): #i < 10: #
i += 1
#sleep(0.05)
self.visualizer.showState()
#a = raw_input()
print "round", i
for name, robot in self.robot_clients.items():
sensor_data = None
if self.robot_states[name].sense == True:
sensor_data = self.maze.getSensorData(
self.robot_states[name])
sensor_data["battery"] = self.robot_states[name].battery
sensor_data["stones"] = self.robot_states[name].stones
sensor_data["bombs"] = self.robot_states[name].bombs
self.robot_states[name].sense = False
compass = self.getCompass(self.robot_states[name])
#try:
command = robot.getNextCommand(
sensor_data, self.robot_states[name].bumper, compass,
self.robot_states[name].teleported)
#except:
# print "Error in robot",name,"continue"
print name, "command:", Command.names[command]
print "battery: ", self.robot_states[name].battery
self.robot_states[name].bumper = False
self.robot_states[name].teleported = False
if command == Command.RightTurn:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
self.robot_states[name].orientation = (
self.robot_states[name].orientation + 1) % 4
if command == Command.LeftTurn:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
self.robot_states[name].orientation = (
self.robot_states[name].orientation - 1) % 4
if command == Command.Sense:
self.robot_states[name].sense = True
if command == Command.DropStone:
if self.robot_states[name].stones > 0:
position = self.robot_states[name].getIndicees()[2]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].stones -= 1
self.maze.setStone(position)
if command == Command.DropBomb:
if self.robot_states[name].bombs > 0:
position = self.robot_states[name].getIndicees()[2]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].bombs -= 1
self.maze.setBomb(position)
if command == Command.MoveForward:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
position = self.robot_states[name].getIndicees()[0]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].position = position[:]
if self.maze.checkPortal(position) == True:
newPosition = self.maze.getFreePortal(
self.robot_states)
if newPosition != None:
self.robot_states[
name].position = newPosition[:]
self.robot_states[name].teleported = True
else:
self.robot_states[name].bumper = True
if command == Command.Stay:
if self.robot_states[name].battery < 100:
if self.robot_states[
name].position in self.maze.getLoadingStations(
):
self.robot_states[name].battery += 30
else:
self.robot_states[name].battery += 1
if self.robot_states[name].battery > 100:
self.robot_states[name].battery = 100
self.maze.updateRobotStates(self.robot_states)
self.maze.updateRound(self.robot_states)
