def fsm_setup(self):
self.fsm = FSM('INIT', [])
self.fsm.set_default_transition(lgFSM.Error, 'INIT')
self.fsm.add_transition_any('INIT', None, 'INIT')
self.fsm.add_transition('RW', 'INIT', lgFSM.Root)
self.fsm.add_transition('Xp', 'INIT', lgFSM.Period)
self.fsm.add_transition('Wd', 'INIT', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Wd', 'DECL', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Ss', 'DECL', lgFSM.Subject, 'INIT')
self.fsm.add_transition('AF', 'DECL', lgFSM.Object, 'INIT')
def fsm_setup(self):
self.fsm = FSM('INIT', [])
self.fsm.set_default_transition(lgFSM.Error, 'INIT')
self.fsm.add_transition_any('INIT', None, 'INIT')
self.fsm.add_transition('RW', 'INIT', lgFSM.Root)
self.fsm.add_transition('Xp', 'INIT', lgFSM.Period)
self.fsm.add_transition('Wd', 'INIT', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Wd', 'DECL', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Ss', 'DECL', lgFSM.Subject, 'INIT')
self.fsm.add_transition('AF', 'DECL', lgFSM.Object, 'INIT')
def __init__(self, initial_state, memory=[]):
# Map (input_symbol, current_state) --> (action, next_state).
self.state_transitions = {}
# Map (current_state) --> (action, next_state).
self.input_symbol = None
self.initial_state = initial_state
self.current_state = self.initial_state
self.next_state = None
self.action = None
self.memory = memory
self.registers = {}
self.register_history = []
self.L_registers = {}
self.R_registers = {}
self.fsm = FSM('INIT')
self.fsm.add_transition('front_left', 'INIT', None, 'FRONT_L')
self.fsm.add_transition('front_right', 'INIT', None, 'FRONT_R')
class grammarFSM:
def fsm_setup(self):
self.fsm = FSM('INIT', [])
self.fsm.set_default_transition(lgFSM.Error, 'INIT')
self.fsm.add_transition_any('INIT', None, 'INIT')
self.fsm.add_transition('RW', 'INIT', lgFSM.Root)
self.fsm.add_transition('Xp', 'INIT', lgFSM.Period)
self.fsm.add_transition('Wd', 'INIT', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Wd', 'DECL', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Ss', 'DECL', lgFSM.Subject, 'INIT')
self.fsm.add_transition('AF', 'DECL', lgFSM.Object, 'INIT')
def fsm_run(self, input):
debug(input)
return self.fsm.process_list(input)
def PaintWorld():
global players, limits, obs, enemies, time2, time1, time, debug, ts, enemy_bullets, player_bullets
try:
# Keys Pressed and saved in buffer
keyOperations()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glLoadIdentity()
glTranslatef(0.0, -20.0, -140.0)
#######################
# Draw the Objects
drawLife(players[0], enemies)
# Plane
drawPlane()
# Limits of the world
drawLimits(limits)
# Obstacles
drawObstacle(obstacle1)
drawObstacle(obstacle2)
drawObstacle(obstacle3)
# Draw Food
drawFood(food)
# Player
for player in players:
if player.life == 0:
print ""
print " GAME OVER... "
print ""
print " Thanks for playing Battle Cubes :D "
print ""
sys.exit(0)
drawAgent(player)
#Agent's Bullets
for bullet in player_bullets:
drawBullet(bullet, 1)
#Agent' Bullets
for bullet in enemy_bullets:
drawBullet(bullet, 2)
# Enemies
for enemy in enemies:
enemy_bullets = enemy_bullets + enemy.bullets
enemy.bullets = []
if enemy.life <= 0:
enemies.remove(enemy)
characters.remove(enemy)
break
drawEnemy(enemy)
drawNavMesh(ts)
#######################
#############
# Behaviour #
#############
fsm = FSM()
steerings = [
SteeringOutput(),
SteeringOutput(),
SteeringOutput(),
SteeringOutput()
]
# Iterating through all the enemies
for i in range(0, len(enemies)):
enemy = enemies[i]
if enemy.life > 0:
# Updating the state on the FSM
enemy.state = fsm.update(enemy, characters, food)
# Retrieving the new steering
steerings[i] = getSteering(characters, player, enemy, obs, ts,
food)
physics = check_physics(characters, obs, obstacle_ob)
# Get end just before calculating new positions,
# velocities and accelerations
time2 = datetime.now()
time = ((time2 - time1).microseconds) / 1000000.0
# Updating player stats
updatePlayer(player, time, obstacle_ob)
#Updating agent's bullets from agent
for b in player_bullets:
if b.position[1] < 0:
player_bullets.remove(b)
else:
#print b.velocity
steering = SteeringOutput()
# Acceleration in y-axes (gravity)
b.update(steering, time)
#Check bullet position
check_shot(b, enemies)
for ob in obstacle_ob:
if inside_ob(b, ob):
player_bullets.remove(b)
break
#for wall in obs:
# agent_wall(agent,wall)
#print "posicion " + str(b.position)
#Updating enemy's bullets
for b in enemy_bullets:
if b.position[1] < 0:
enemy_bullets.remove(b)
else:
#print b.velocity
steering = SteeringOutput()
# Acceleration in y-axes (gravity)
b.update(steering, time)
#Check bullet position
check_shot(b, [player])
for ob in obstacle_ob:
if inside_ob(b, ob):
enemy_bullets.remove(b)
break
#print player.velocity
# Updating enemies stats
for i in range(0, len(enemies)):
if enemies[i].life > 0:
enemies[i].update(steerings[i], time, obstacle_ob, "auto")
for col in physics:
col[0].update(col[1], time, obstacle_ob, "auto")
# Get initial time just after calculating everything
time1 = datetime.now()
####################
# End of Behaviour #
####################
glutSwapBuffers()
except Exception, e:
traceback.print_exc()
sys.exit(-1)
def PaintWorld():
global players, limits, obs, enemies, time2, time1, time, debug, ts, enemy_bullets, player_bullets, itime, ftime, rtime, mm, is_firing
try:
# Keys Pressed and saved in buffer
keyOperations()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glLoadIdentity()
glTranslatef(0.0, -20.0, -140.0)
#######################
# Draw the Objects
drawLife(players[0],enemies)
# Plane
drawPlane()
# Limits of the world
drawLimits(limits)
# Obstacles
drawObstacle(obstacle1)
drawObstacle(obstacle2)
drawObstacle(obstacle3)
# Draw Food
drawFood(food)
# Player
for player in players:
if player.life == 0:
print ""
print " GAME OVER... "
print ""
print " Thanks for playing Battle Cubes :D "
print ""
sys.exit(0)
drawAgent(player)
#Agent's Bullets
for bullet in player_bullets:
drawBullet(bullet,1)
#Agent' Bullets
for bullet in enemy_bullets:
drawBullet(bullet,2)
# Enemies
for enemy in enemies:
enemy_bullets = enemy_bullets + enemy.bullets
enemy.bullets = []
if enemy.life <= 0:
enemies.remove(enemy)
characters.remove(enemy)
break
drawEnemy(enemy)
# Drawing the Nav Mesh & the sound
drawNavMesh(ts,mm)
#######################
# Refreshing the map connections
ftime = datetime.now()
rtime = (ftime - itime).microseconds
if (rtime > 900000):
itime = datetime.now()
refreshMap(mm)
go = True
# Refreshing the is_firing status
for i in range(len(mm.m)):
for j in range(len(mm.m)):
if mm.m[i][j] != -1 and mm.m[i][j]!=20:
go = False
if go:
is_firing = False
#############
# Behaviour #
#############
fsm = FSM()
steerings = [SteeringOutput(),SteeringOutput(),SteeringOutput(),SteeringOutput()]
tg = TacticGraph()
player.life = 20
# Iterating through all the enemies
for i in range(0,len(enemies)):
enemy = enemies[i]
if enemy.life > 0:
# Updating the state on the FSM
enemy.state = fsm.update(enemy,characters,food,is_firing)
# Retrieving the new steering
steerings[i] = getSteering(characters,player,
enemy,obs,ts,food,tg,mm)
physics = check_physics(characters,obs,obstacle_ob)
# Get end just before calculating new positions,
# velocities and accelerations
time2 = datetime.now()
time = ( (time2 - time1).microseconds ) / 1000000.0
# Updating player stats
updatePlayer(player,time,obstacle_ob)
# Updating agent's bullets from agent
for b in player_bullets:
if b.position[1] < 0:
player_bullets.remove(b)
else:
#print b.velocity
steering = SteeringOutput()
# Acceleration in y-axes (gravity)
b.update(steering, time)
#Check bullet position
check_shot(b,enemies)
for ob in obstacle_ob:
if inside_ob(b,ob):
player_bullets.remove(b)
break
#for wall in obs:
# agent_wall(agent,wall)
#print "posicion " + str(b.position)
#Updating enemy's bullets
for b in enemy_bullets:
if b.position[1] < 0:
enemy_bullets.remove(b)
else:
#print b.velocity
steering = SteeringOutput()
# Acceleration in y-axes (gravity)
b.update(steering, time)
#Check bullet position
check_shot(b,[player])
for ob in obstacle_ob:
if inside_ob(b,ob):
enemy_bullets.remove(b)
break
#print player.velocity
# Updating enemies stats
for i in range(0,len(enemies)):
if enemies[i].life > 0:
enemies[i].update(steerings[i],time,obstacle_ob,"auto")
for col in physics:
col[0].update(col[1],time,obstacle_ob,"auto")
# Get initial time just after calculating everything
time1 = datetime.now()
####################
# End of Behaviour #
####################
glutSwapBuffers()
except Exception, e:
traceback.print_exc()
sys.exit(-1)
class NDPDA_FSM:
""" So this is a non-deterministic FSM can be used as a
push-down Automata (PDA) since a PDA is a FSM + memory."""
registers = None
def __init__(self, initial_state, memory=[]):
# Map (input_symbol, current_state) --> (action, next_state).
self.state_transitions = {}
# Map (current_state) --> (action, next_state).
self.input_symbol = None
self.initial_state = initial_state
self.current_state = self.initial_state
self.next_state = None
self.action = None
self.memory = memory
self.registers = {}
self.register_history = []
self.L_registers = {}
self.R_registers = {}
self.fsm = FSM('INIT')
self.fsm.add_transition('front_left', 'INIT', None, 'FRONT_L')
self.fsm.add_transition('front_right', 'INIT', None, 'FRONT_R')
def reset (self):
self.current_state = self.initial_state
self.input_symbol = None
def set_register_state(self, in_state):
#debug(in_state)
pass
def match_register_state(self, in_state):
#debug(in_state)
pass
def add_transition(self, input_symbol, state, action=None, next_state=None):
#debug(state)
if next_state is None:
next_state = state
#debug(state)
#debug(input_symbol)
self.state_transitions[input_symbol] = (state, action, next_state)
def get_transition(self, input_symbol):
for regex_transitions in self.state_transitions:
re_to_match = re.compile(regex_transitions)
re_search = re_to_match.search(input_symbol)
if re_search:
yield self.state_transitions[regex_transitions]
def process(self, input_symbol):
output = None
self.input_symbol = input_symbol
for transitions in self.get_transition(self.input_symbol):
self.state, self.action, self.next_state = transitions
#debug(self.registers)
if self.match_register_state(self.state):
self.set_register_state(self.next_state)
if self.state:
output = {self.action:{'state':self.state,'set_state':self.next_state}}
else:
output = {self.action:{'set_state':self.next_state}}
break
self.current_state = self.next_state
self.next_state = None
self.memory.pop(0)
if output:
return output
def process_list (self, input_symbols):
debug(input_symbols)
output = []
current_item = 0
for s in input_symbols:
#debug(s)
runner = self.process(s)
output.append((current_item, runner))
current_item += 1
return output
class grammarFSM:
def fsm_setup(self):
self.fsm = FSM('INIT', [])
self.fsm.set_default_transition(lgFSM.Error, 'INIT')
self.fsm.add_transition_any('INIT', None, 'INIT')
self.fsm.add_transition('RW', 'INIT', lgFSM.Root)
self.fsm.add_transition('Xp', 'INIT', lgFSM.Period)
self.fsm.add_transition('Wd', 'INIT', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Wd', 'DECL', lgFSM.Declarative, 'DECL')
self.fsm.add_transition('Ss', 'DECL', lgFSM.Subject, 'INIT')
self.fsm.add_transition('AF', 'DECL', lgFSM.Object, 'INIT')
def fsm_run(self, input):
debug(input)
return self.fsm.process_list(input)
