def run_app():
while HUD.execution_thread.is_alive():
#Actualizo la hora cada 0.1 seg
t = time.localtime()
#time_formated = f"{t.tm_year}/{t.tm_mon}/{t.tm_mday} - {t.tm_hour}:{t.tm_min}:{t.tm_sec}"
time_formated = {
"año": t.tm_year,
"mes": t.tm_mon,
"dia": t.tm_mday,
"hora": t.tm_hour,
"min": t.tm_min,
"sec": t.tm_sec
}
print(time_formated)
HUD.update_label(time_formated)
#Actualizo el texto:
#Para darle color a una linea debo agregar la key f"{key_origina}_color"
time_formated = {
"año": t.tm_year,
"mes": t.tm_mon,
"dia": t.tm_mday,
"hora": t.tm_hour,
"min": t.tm_min,
"sec": t.tm_sec,
"año_color": "green",
"mes_color": "blue",
"dia_color": "yellow",
"hora_color": "red"
}
HUD.update_text(time_formated)
time.sleep(1)
def __init__(self, gsm):
self.gsm = gsm
self.background = Background(
os.path.join("res", "PlayState", "background.png"))
self.camera = Camera(self)
self.HUD = HUD(self.gsm)
# Key handling
self.leftKeyDown = False
self.rightKeyDown = False
self.upKeyDown = False
self.spriteSheet = SpriteSheet(
os.path.join("res", "PlayState", "Spritesheet.png"), 1)
# Holds all the objects in the game
self.allObjectList = pygame.sprite.Group()
self.activeObjectList = pygame.sprite.Group()
self.terrainList = pygame.sprite.Group()
self.interactableList = pygame.sprite.Group()
self.enemyList = pygame.sprite.Group()
self.enemyAIList = pygame.sprite.Group()
self.player = None
self.level = currentLevel # Sets the current level
self.loadLevel(self.level) # Loads the level
def __init__(self, world):
#화면 크기
self.width = 800
self.height = 600
#센서 종류
self.actor_list = []
self.extra_list = []
self.extra_controller_list = []
self.player = None
self.camera_rgb = None
self.camera_semseg = None
self.lane_invasion_sensor = None
self.collision_sensor = None
self.gnss_sensor = None
self.waypoint = None
self.path = []
self.world = world
self.map = world.get_map()
self.spectator = self.world.get_spectator()
self.hud = HUD(self.width, self.height)
self.waypoints = self.map.generate_waypoints(3.0)
## visualize all waypoints ##
# for n, p in enumerate(self.waypoints):
# if n>1000:
# break
# world.debug.draw_string(p.transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=30)
self.extra_num = 5
self.control_mode = None
self.restart()
self.main()
def __init__(self, nw_tile, nh_tile):
self.nw_tile = nw_tile # Set number of tile in x
self.nh_tile = nh_tile # Set number of tile in y
self.number_body = 3 # Set number of snake's body
self.score = 0 # Set score of sanke
self.db_save_size = 6 # Column size of data base
self.id = 0 # index of database's column
self.type = 1
self.x = 2
self.y = 3
self.s = 4
self.t = 5
self.enemy_dict = {} # Enemy snake dictionary
self.client_state_dict = {
'OK': 0,
'notNStart': 1,
'notNExit': 2
} # KList state of client
self.client_state = self.client_state_dict[
'notNStart'] # State of cleint
self.play_state = False # Playing state
self.game_time = 0 # time of game
self.tile_mng = TileManager(width, height, self.nw_tile,
self.nh_tile) # Set TileManager
self.snake = Snake(1, 1, self.tile_mng, green, SNAKE,
raw_input("Enter : "),
self.number_body) # Set my sanke
self.apple = Apple(0, 0, self.tile_mng, red, 0) # Set apple
self.hud = HUD() # Set HUD
def __init__(self, world):
#화면 크기
n_iters = 100
self.width = 800
self.height = 600
#센서 종류
self.actor_list = []
self.extra_list = []
self.extra_list = []
self.extra_controller_list = []
self.extra_dl_list = []
self.extra_dl_list = []
self.player = None
self.camera_rgb = None
self.camera_semseg = None
self.lane_invasion_sensor = None
self.collision_sensor = None
self.gnss_sensor = None
self.waypoint = None
self.path = []
self.save_dir = None
self.world = world
self.map = world.get_map()
self.spectator = self.world.get_spectator()
self.hud = HUD(self.width, self.height)
self.waypoints = self.map.generate_waypoints(3.0)
self.lane_change_time = time.time()
self.max_Lane_num = 4
self.ego_Lane = 2
self.agent = None
self.controller = None
self.is_first_time = True
self.decision = None
self.simul_time = time.time()
self.accumulated_reward = 0
self.end_point = 0
self.ROI_length = 1000 #(meters)
## visualize all waypoints ##
# for n, p in enumerate(self.waypoints):
# world.debug.draw_string(p.transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=999)
settings = self.world.get_settings()
# settings.no_rendering_mode = True
# settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.02
self.world.apply_settings(settings)
self.extra_num = 30
self.section = 0
self.lane_distance_between_start = None
self.lane_distance_between_end = None
self.lane_change_point = None
self.episode_start = None
self.index = 0
self.pre_max_Lane_num = self.max_Lane_num
self.restart()
self.main()
def update_text(texto, type="json"):
if type == "json":
try:
json_para_actualizar = json.loads(texto)
HUD.update_text(json_para_actualizar)
return 'ok. texto actualizado con json'
except:
return f'Hubo un error. Revisá que en la url estés usando comillas dobles (") en vez de simples (\'): {sys.exc_info()[0]}'
if type == "text":
HUD.update_text(texto)
return 'ok. texto actualizado'
return 'type no válido'
def __init__(self, gsm):
self.gsm = gsm
self.HUD = HUD(self.gsm)
global currentLevel
global highestLevelComplete
# If you beat all the levels
if highestLevelComplete == 5:
self.gsm.setState(self.gsm.VICTORYSTATE)
# Level Images
self.levelImgRed = pygame.image.load(
os.path.join("res", "MapState", "map level red.png"))
self.levelImgRed = pygame.transform.scale(self.levelImgRed, (50, 50))
self.levelImgBlue = pygame.image.load(
os.path.join("res", "MapState", "map level blue.png"))
self.levelImgBlue = pygame.transform.scale(self.levelImgBlue, (50, 50))
self.levelImgGray = pygame.image.load(
os.path.join("res", "MapState", "map level gray.png"))
self.levelImgGray = pygame.transform.scale(self.levelImgGray, (50, 50))
# Level Locations
# Level1
self.level1X = 100
self.level1Y = 500
# Level2
self.level2X = 450
self.level2Y = 425
# Level 3
self.level3X = 275
self.level3Y = 325
# Level 4
self.level4X = 600
self.level4Y = 250
# Level 5
self.level5X = 350
self.level5Y = 125
# Player boat (navigator)
self.player = pygame.image.load(
os.path.join("res", "MapState", "menu boat.png"))
self.playerX = 90
self.playerY = 450
def get_newgame():
"""returns the game scene"""
scene = Scene()
background_layer = BackgroundLayer()
# model
model = GameModel(background_layer)
# controller
ctrl = GameCtrl(model)
# view
hud = HUD()
view = GameView(model, hud)
# set controller in model
model.set_controller(ctrl)
# add controller
scene.add(ctrl, z=1, name="controller")
# add view
scene.add(hud, z=3, name="hud")
scene.add(background_layer, z=0, name="background")
scene.add(view, z=2, name="view")
return scene
def __init__(self):
#window setup
pygame.display.set_caption('Necromonster')
path = ['rec', 'misc', 'icon.png']
os.path.sep.join(path)
pygame.display.set_icon(pygame.image.load(os.path.sep.join(path)))
#pygame.display.set_icon(pygame.image.load('rec\\misc\\icon.png'))
self.main_path = os.getcwd()
# initiate the clock and screen
self.clock = pygame.time.Clock()
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.screen = pygame.display.set_mode(self.screen_res, pygame.HWSURFACE, 32)
self.DEBUG = 1
#Init custom game classes
self.Player = Player(self)
self.Monsters = Monster(self)
self.ItemHandler = Item(self)
self.Invent = Invent(self)
self.HUD = HUD(self)
# load fonts, create font list
self.text_list = []
self.default_font = pygame.font.SysFont(None, 20)
# get the map that you are on
self.blit_list = mapLoader.load('home', self)
self.Monsters.create('goop', [300, 300], 2, 'neutral')
while 1:
self.Loop()
def give_score(player: Player):
last_player = HistoryKeeper.get_last("player")
if last_player.x_coordinate > player.x_coordinate:
last_player.x_coordinate = player.x_coordinate
ScoreKeeper.current_distance -= VelocityCalculator.calc_distance(player.running_velocity)
is_moving_right = player.x_coordinate > last_player.x_coordinate
if is_moving_right or player.game_is_sidescrolling:
last_player.x_coordinate = player.x_coordinate
ScoreKeeper.current_distance += VelocityCalculator.calc_distance(player.running_velocity)
if ScoreKeeper.current_distance > ScoreKeeper.distance_traveled:
difference = ScoreKeeper.current_distance - ScoreKeeper.distance_traveled
ScoreKeeper.score += difference / 10
ScoreKeeper.distance_traveled = ScoreKeeper.current_distance
HUD.show_score(ScoreKeeper.score // 1)
def __init__(self, proxy_map, startup_check=False):
super(SpecificWorker, self).__init__(proxy_map)
self.width = 1280
self.height = 720
pygame.init()
pygame.font.init()
self.display = pygame.display.set_mode(
(self.width, self.height), pygame.HWSURFACE | pygame.DOUBLEBUF)
self.camera_manager = CameraManager(self.width, self.height)
self.gnss_sensor = GNSSSensor()
self.imu_sensor = IMUSensor()
self.hud = HUD(self.width, self.height, self.gnss_sensor,
self.imu_sensor)
self.controller = None
self.clock = pygame.time.Clock()
data_to_save = {
'control': [
'Time', 'Throttle', 'Steer', 'Brake', 'Gear', 'Handbrake',
'Reverse', 'Manualgear'
],
'communication': ['Time', 'CommunicationTime']
}
self.logger = Logger(self.melexlogger_proxy, 'carlaRemoteControl',
data_to_save)
self.logger_signal.connect(self.logger.publish_to_logger)
self.Period = 0
self.previousLat = None
self.previousLong = None
self.currentLat = None
self.currentLong = None
if startup_check:
self.startup_check()
else:
self.timer.timeout.connect(self.compute)
self.timer.start(self.Period)
def _init_game(self):
self.hud = HUD()
self.entities = []
self.spawn_player()
self.exhaust = ParticleSpawner(
self.player.pos.getCopy(),
self.player.angle + math.pi,
math.pi / 4, .01,
ParticleFactory(speed=20, color=(255, 0, 0)),
True)
self.entities.append(self.exhaust)
def TEST_createViewport(self,world,manager):
scrollLoc = (0,0)
viewportPos = (0,0)
viewportSize = (1024,768)
testViewport = Viewport(world,manager,scrollLoc,viewportPos,viewportSize,self.clientID)
self.viewport = testViewport
self.hud=HUD(manager,self.clientID)
self.viewport.hud=self.hud
self.hud.viewport=self.viewport
def init():
#game
pygame.init()
screen = pygame.display.set_mode((val.width + val.l_width, val.height))
clock = pygame.time.Clock()
pygame.font.init()
pygame.display.set_caption(val.title)
font = pygame.font.SysFont('Comic Sans MS', 20)
#HUD
hud = HUD(font, pygame, screen)
return (screen, pygame, clock, font, hud)
def __init__(self, width, height):
self.windowWidth = width
self.windowHeight = height
self.widthNumber = 0
self.heightNumber = 0
self.map = [] # Contains all the cells that make up the map
self.path = [
] # Ordered list of cells that make up the path for the enemies
self.walls = [] # List containing all the cells that make up the walls
self.enemies = [] # List of all enemies currently on the field
self.level = 0 # Incrementing level variable, increases difficulty
self.towers = [] # List of all towers currently on the map
self.bullets = [] # List of all bullets
self.start = 0
self.end = 0
self.startCell = None
self.endCell = None
self.hud = HUD(width, height)
def game_is_paused():
pause_clicked = HUD.pause_clicked()
# TODO can_pause? Isn't this used to pause and unpause?
can_pause = not GameRunner.pause_is_held_down and pause_clicked
if pause_clicked:
GameRunner.pause_is_held_down = True
else:
GameRunner.pause_is_held_down = False
if can_pause:
GameRunner.game_paused = not GameRunner.game_paused
return GameRunner.game_paused
def get_newgame():
scene = Scene()
model = GameModel()
controller = GameController(model)
# 视图
hud = HUD()
view = GameView(model, hud)
# 模型中的控制器
model.set_controller(controller)
# 添加控制器
scene.add(controller, z=1, name="controller")
scene.add(hud, z=3, name="hud")
scene.add(view, z=2, name="view")
return scene
def get_newgame():
scene = Scene()
model = GameModel()
controller = GameController(model)
# view
hud = HUD()
view = GameView(model, hud)
# set controller in model
model.set_controller(controller)
# add controller
scene.add(controller, z=1, name="controller")
scene.add(hud, z=3, name="hud")
scene.add(view, z=2, name="view")
return scene
def __init__(self):
#window setup
pygame.display.set_caption('Necromonster')
pygame.display.set_icon(pygame.image.load(os.path.join('rec', 'misc', 'icon.png')))
self.main_path = os.getcwd()
# initiate the clock and screen
self.clock = pygame.time.Clock()
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.center_point = [470., 350.]
self.screen = pygame.display.set_mode(self.screen_res, pygame.HWSURFACE, 32)
#DEBUG values
self.DEBUG = 1
self.RECT_DEBUG = 0
#Init custom game classe(s)
self.EntityHandler = EntityHandler(self)
self.Scheduler = Schedule(self)
self.Projectile = Projectile
self.Monster = Monster
self.Item = Item
self.Invent = Invent(self)
self.Weapon = Weapon
self.Garment = Garment
self.Player = Player(self)
self.HUD = HUD(self)
# Init entity manager vars
self.entities = []
# load fonts, create font list
self.text_list = []
self.default_font = pygame.font.SysFont(None, 20)
# get the map that you are on
self.blit_list = mapLoader.load('home', self)
self.Item(self, 'Mythril', [350, 400], world=1)
while 1:
self.Loop()
def get_newgame(level = 1):
status.score = 0
status.level = level
scene = Scene()
model = GameModel(hud_offset=director.window.get_size()[0]-800) #MAGIC original width
controller = GameController(model)
# view
hud = HUD()
view = GameView(model, hud)
# set controller in model
model.set_controller(controller)
# add controller
scene.add(controller, z=1, name="controller")
scene.add(hud, z=3, name="hud")
scene.add(view, z=2, name="view")
return scene
def __init__(self, window, scene, menu):
self.u = (2./3, -1./3.5)
self.v = (-2./3, -1./3.5)
self.w = (0, -15)
self._window = window
self._scene = scene
self._hud = HUD(self)
self._grid = Grid(self)
self._players = pygame.sprite.Group()
player1 = PlayerSprite(scene.getPlayer(0), menu)
self._playerG1 = pygame.sprite.Group()
self._playerG1.add(player1)
player2 = PlayerSprite(scene.getPlayer(1), menu)
self._playerG2 = pygame.sprite.Group()
self._playerG2.add(player2)
self._players.add(player1)
self._players.add(player2)
self._shadows = pygame.sprite.Group()
self._shadows.add(ShadowSprite(scene.getPlayer(0)))
self._shadows.add(ShadowSprite(scene.getPlayer(1)))
self._weaponGroup = pygame.sprite.Group()
self._weaponList = [WeaponSprite(scene.getPlayer(0).weapon()),
WeaponSprite(scene.getPlayer(1).weapon())]
def draw_everything(player: Player, enemies, platforms, game_is_paused):
player.draw()
player.item.render()
player.shield.render()
for x in range(len(enemies)):
enemy = enemies[x]
enemy.name = f"enemy{x}"
HistoryKeeper.add(enemy, enemy.name, True)
if enemy.is_within_screen and enemy.current_health > 0:
enemy.player = player
enemy.draw()
enemy.item.render()
enemy.shield.render()
HUD.show_enemy_health(enemy)
if HistoryKeeper.get_last(
enemy.name
).current_health > 0 and enemy.current_health <= 0:
UtilityFunctions.draw_font("+100",
pygame.font.Font(
'freesansbold.ttf', 10),
x_coordinate=enemy.x_coordinate,
y_coordinate=enemy.y_coordinate)
ScoreKeeper.score += 100
for x in range(len(platforms)):
platform = platforms[x]
if platform.is_within_screen:
platform.name = f"platform{x}"
HistoryKeeper.add(platform, platform.name, True)
platform.draw()
HistoryKeeper.add(player, "player", True)
HUD.render_pause_button(game_is_paused)
HUD.show_character_health(player)
ScoreKeeper.give_score(player)
class PlayState():
def __init__(self, gsm):
self.gsm = gsm
self.background = Background(
os.path.join("res", "PlayState", "background.png"))
self.camera = Camera(self)
self.HUD = HUD(self.gsm)
# Key handling
self.leftKeyDown = False
self.rightKeyDown = False
self.upKeyDown = False
self.spriteSheet = SpriteSheet(
os.path.join("res", "PlayState", "Spritesheet.png"), 1)
# Holds all the objects in the game
self.allObjectList = pygame.sprite.Group()
self.activeObjectList = pygame.sprite.Group()
self.terrainList = pygame.sprite.Group()
self.interactableList = pygame.sprite.Group()
self.enemyList = pygame.sprite.Group()
self.enemyAIList = pygame.sprite.Group()
self.player = None
self.level = currentLevel # Sets the current level
self.loadLevel(self.level) # Loads the level
def update(self):
# Fixes the bug where if you instantly switch directions you will stop moving
if self.leftKeyDown:
self.player.moveLeft()
if self.rightKeyDown:
self.player.moveRight()
self.camera.update(self.player)
self.HUD.update()
# PERFORMANCE FIX
# This block makes it so that only the objects that are within a certain range of the player will it update it and draw it.
# Runs through all the objects in the game and if it is within the range of the camera then add it to the active objects list.
for object in self.allObjectList:
if object.rect.right > -160 and object.rect.left < 960:
self.activeObjectList.add(object)
else:
self.activeObjectList.remove(object)
self.activeObjectList.update() # Updates all the active objects
self.background.update()
def draw(self, window):
window.fill(Color.CYAN)
self.background.draw(window)
self.activeObjectList.draw(window) # Draws all the active objects
self.HUD.draw(window)
def keyHandler(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
self.leftKeyDown = True
if event.key == pygame.K_RIGHT:
self.rightKeyDown = True
if event.key == pygame.K_UP:
self.player.jump(9.5)
if event.type == pygame.KEYUP:
if event.key == pygame.K_LEFT:
self.player.stopMoving()
self.leftKeyDown = False
if event.key == pygame.K_RIGHT:
self.player.stopMoving()
self.rightKeyDown = False
def loadLevel(
self, level
): # Reads the pixels of an image for their RGB Values and depending on these values, create a object at that position
if level == 1:
mapData = Image.open(
os.path.join("res", "PlayState",
"Level1Map(sand).png")) # Loads level1
elif level == 2:
mapData = Image.open(
os.path.join("res", "PlayState", "Level2Map(sand).png"))
elif level == 3:
mapData = Image.open(
os.path.join("res", "PlayState", "Level3Map.png"))
elif level == 4:
mapData = Image.open(
os.path.join("res", "PlayState", "Level4Map.png"))
elif level == 5:
mapData = Image.open(
os.path.join("res", "PlayState", "Level5Map.png"))
mapWidth, mapHeight = mapData.size # Gets the width and height of the image
print("WIDTH: " + str(mapWidth) + " HEIGHT: " +
str(mapHeight)) # For debugging
for x in range(mapWidth): # Runs through all the colomns
for y in range(mapHeight): # Runs through all the rows
currentPixel = mapData.getpixel((x, y))
red = currentPixel[0] # RED VALUE
green = currentPixel[1] # GREEN VALUE
blue = currentPixel[2] # BLUE VALUE
alpha = currentPixel[3] # ALPHA VALUE
# Checks for player spawner
if red == 255 and green == 0 and blue == 255 and alpha == 255:
self.player = Player(
x * 32,
y * 32,
self,
self.gsm,
self.spriteSheet,
)
self.allObjectList.add(self.player)
# Check for Grass blocks
if red == 0 and green == 255 and blue == 0 and alpha == 255:
self.terrainList.add(
Grass(x * 32, y * 32, self.spriteSheet))
# Checks for dirt blocks
if red == 222 and green == 144 and blue == 61 and alpha == 255:
self.terrainList.add(Dirt(x * 32, y * 32,
self.spriteSheet))
# Checks for sand blocks
if red == 243 and green == 225 and blue == 179 and alpha == 255:
self.terrainList.add(Sand(x * 32, y * 32,
self.spriteSheet))
# Check for coin blocks
if red == 255 and green == 255 and blue == 0 and alpha == 255:
self.interactableList.add(
Coin(x * 32, y * 32, self.spriteSheet))
# Checks for enemy AI detection
if red == 0 and green == 0 and blue == 0 and alpha == 255:
self.enemyAIList.add(EnemyAIBox(x * 32, y * 32, self))
# Checks for Crab enemy
if red == 255 and green == 0 and blue == 0 and alpha == 255:
self.enemyList.add(
Crab(x * 32, y * 32, self, self.spriteSheet))
# Checks for map piece
if red == 0 and green == 0 and blue == 255 and alpha == 255:
self.interactableList.add(
Map(x * 32, y * 32, self.spriteSheet))
if red == 0 and green == 255 and blue == 255 and alpha == 255:
self.interactableList.add(
Chest(x * 32, y * 32, self, self.spriteSheet))
print("Chest addded")
# Adds all the groups into one master group
self.allObjectList.add(self.terrainList)
self.allObjectList.add(self.interactableList)
self.allObjectList.add(self.enemyList)
self.allObjectList.add(self.enemyAIList)
def removeObject(self, object):
# Removes a game object from the game
self.allObjectList.remove(object)
self.activeObjectList.remove(object)
def nextLevel(self):
global highestLevelComplete
global currentLevel
# This makes it so that if you play a level you already beat, it doesn't unlock a new level
if currentLevel > highestLevelComplete:
highestLevelComplete += 1
def reset(self):
global highestLevelComplete
global currentLevel
highestLevelComplete = 0
currentLevel = 1
self.HUD.reset()
class StateManager(object):
def __init__(self):
self.quit = False
self._init_window()
self._init_game()
self.mode = "SPLASH"
# Prevent bouncing on switching game modes
self.debounce_timer = DEBOUNCE
# Create a window for the game
def _init_window(self):
# Window object represents the game's window
self.window = pyglet.window.Window(WIDTH, HEIGHT)
# Keys holds a handler that keeps track of keyboard state, part of pyglet
self.keys = pyglet.window.key.KeyStateHandler()
self.window.push_handlers(self.keys)
# Stage the game or return it to its initial state
def _init_game(self):
self.hud = HUD()
self.entities = []
self.spawn_player()
self.exhaust = ParticleSpawner(
self.player.pos.getCopy(),
self.player.angle + math.pi,
math.pi / 4, .01,
ParticleFactory(speed=20, color=(255, 0, 0)),
True)
self.entities.append(self.exhaust)
#Create a new instance of the Player class at the center of the screen
def spawn_player(self):
self.player = Player(Vect2(x=self.window.width/2, y=self.window.height/2))
self.entities.append(self.player)
# This function runs when the look is in game mode, and has all the updating/drawing logic
def game_loop(self, dt):
#Clear frame before looping
self.window.clear()
#print(pyglet.gl.get_current_context())
# On a proper engine the controller would probably be its own class.
# That level of abstraction makes it easier to use keyboards, mice, and
# other controllers the user may have
controller = {
'acc': self.keys[key.W],
'left': self.keys[key.A],
'right': self.keys[key.D],
'fire': self.keys[key.SPACE],
'quit': self.keys[key.ESCAPE],
'pause': self.keys[key.P]
}
self.quit = controller['quit']
if controller['pause'] and self.debounce_timer <= 0:
self.mode = "PAUSE"
self.debounce_timer = DEBOUNCE
self.player.input(controller)
#turn on thrust effect if ship is accelerating
self.exhaust.active = controller['acc']
self.exhaust.angle = (self.player.angle + math.pi)
self.exhaust.pos = self.player.pos.getCopy()
self.spawn_bullets()
self.spawn_asteroids()
self.detect_collisions()
for e in self.entities:
e.update(dt)
#for e in self.entities:
# print(e)
batch = pyglet.graphics.Batch()
for e in self.entities:
# batch.add expects a series of arguments
# most easily delivered as a tuple.
# * is the untuple argument.
batch.add(*e.draw())
# Filter out any dead objects
self.entities[:] = [e for e in self.entities if e.isAlive()]
# Draw objects to the frame
batch.draw()
self.hud.drawHUD()
# Determine if a bullet should be spawned, and then spawns a bullet
def spawn_bullets(self):
if self.player.isFiring():
self.entities.append(
Bullet(
self.player.pos.getCopy(),
self.player.angle
)
)
# Maintain a minimum asteroid population
def spawn_asteroids(self):
# Asteroid Spawning
asteroids = [e for e in self.entities if isinstance(e, Asteroid)]
if len(asteroids) < targetNo:
newAsteroid = Asteroid(3, Vect2(0, 0))
self.entities.append(newAsteroid)
# This function determines if any objects are colliding in a meaningful way for the game
def detect_collisions(self):
asteroids = [e for e in self.entities if isinstance(e, Asteroid)]
for asteroid in asteroids:
if self.player.overlaps(asteroid.hit_radius, asteroid.pos.getCopy()):
self.player.kill()
# Check if player is actually dead, it may be in invuln
# period
if (self.player.isAlive() != True):
if (self.hud.has_lives()):
self.spawn_player()
self.hud.kill()
else: self.mode = "GAMEOVER"
# Process asteroid/bullet collisions
for bullet in [e for e in self.entities if isinstance(e, Bullet)]:
for asteroid in asteroids:
if bullet.overlaps(
asteroid.hit_radius,
asteroid.pos.getCopy()):
asteroid.kill()
self.entities.append(
AsteroidDebris(
asteroid.pos.getCopy()))
if asteroid.size > 1:
# add two baby asteroids!
self.entities.append(
Asteroid(
asteroid.size - 1,
asteroid.pos.getCopy()))
self.entities.append(
Asteroid(
asteroid.size - 1,
asteroid.pos.getCopy()))
# Remove bullet
bullet.kill()
# Log the points
self.hud.hit()
# Inform the main function if the player requested to quit
def is_quit(self):
return self.quit
# Dispatch loop to the right function
def loop(self, dt):
if self.debounce_timer > 0:
self.debounce_timer -= dt
if self.mode == "GAME":
self.game_loop(dt)
elif self.mode == "PAUSE":
self.pause_loop(dt)
elif self.mode == "SPLASH":
self.splash_loop(dt)
elif self.mode == "GAMEOVER":
self.game_over_loop(dt)
else:
self.quit == True
print("Error: Debug: state.mode == Invalid state!")
# Pause screen
def pause_loop(self, dt):
self.window.clear()
label = pyglet.text.Label("Game Paused: Press p to unpause, or ESC to quit", font_size=24,
x=WIDTH//2, y=HEIGHT//2, anchor_x = 'center', anchor_y = 'center')
label.draw()
if self.keys[key.P] and self.debounce_timer <= 0:
self.mode = "GAME"
self.debounce_timer = DEBOUNCE
elif self.keys[key.ESCAPE]: self.quit = True
# Splash screen
def splash_loop(self, dt):
label = pyglet.text.Label("Rocks in Space: Press s to start", font_size=38,
x=WIDTH//2, y=HEIGHT//2, anchor_x = 'center', anchor_y = 'center')
label.draw()
if self.keys[key.S]: self.mode = "GAME"
elif self.keys[key.ESCAPE]: self.quit = True
# Game over screen
def game_over_loop(self, dt):
self.window.clear()
label = pyglet.text.Label("Game over! Press S to restart, or ESC to quit", font_size=24,
x=WIDTH//2, y=HEIGHT//2, anchor_x = 'center', anchor_y = 'center')
label.draw()
if self.keys[key.S]:
self.mode = "GAME"
self._init_game()
elif self.keys[key.ESCAPE]: self.quit = True
class MapState:
global amountOfLevels
global highestLevelComplete
global currentLevel
amountOfLevels = 5
highestLevelComplete = 0
currentLevel = 4
def __init__(self, gsm):
self.gsm = gsm
self.HUD = HUD(self.gsm)
global currentLevel
global highestLevelComplete
# If you beat all the levels
if highestLevelComplete == 5:
self.gsm.setState(self.gsm.VICTORYSTATE)
# Level Images
self.levelImgRed = pygame.image.load(
os.path.join("res", "MapState", "map level red.png"))
self.levelImgRed = pygame.transform.scale(self.levelImgRed, (50, 50))
self.levelImgBlue = pygame.image.load(
os.path.join("res", "MapState", "map level blue.png"))
self.levelImgBlue = pygame.transform.scale(self.levelImgBlue, (50, 50))
self.levelImgGray = pygame.image.load(
os.path.join("res", "MapState", "map level gray.png"))
self.levelImgGray = pygame.transform.scale(self.levelImgGray, (50, 50))
# Level Locations
# Level1
self.level1X = 100
self.level1Y = 500
# Level2
self.level2X = 450
self.level2Y = 425
# Level 3
self.level3X = 275
self.level3Y = 325
# Level 4
self.level4X = 600
self.level4Y = 250
# Level 5
self.level5X = 350
self.level5Y = 125
# Player boat (navigator)
self.player = pygame.image.load(
os.path.join("res", "MapState", "menu boat.png"))
self.playerX = 90
self.playerY = 450
def update(self):
if currentLevel == 1:
self.playerX = self.level1X
self.playerY = self.level1Y
elif currentLevel == 2:
self.playerX = self.level2X
self.playerY = self.level2Y
elif currentLevel == 3:
self.playerX = self.level3X
self.playerY = self.level3Y
elif currentLevel == 4:
self.playerX = self.level4X
self.playerY = self.level4Y
elif currentLevel == 5:
self.playerX = self.level5X
self.playerY = self.level5Y
def draw(self, window):
window.fill(Color.TEAL)
# Levels
# Level 1
if highestLevelComplete == 0: # if you have not completed any level
window.blit(self.levelImgRed, (self.level1X, self.level1Y))
elif highestLevelComplete > 0: # if you have the level
window.blit(self.levelImgBlue, (self.level1X, self.level1Y))
else:
window.blit(self.levelImgGray, (self.level1X, self.level1Y))
# Level 2
if highestLevelComplete == 1: # if you have beat level 1
window.blit(self.levelImgRed, (self.level2X, self.level2Y))
elif highestLevelComplete > 1: # if you have beat the level
window.blit(self.levelImgBlue, (self.level2X, self.level2Y))
else:
window.blit(self.levelImgGray, (self.level2X, self.level2Y))
# Level 3
if highestLevelComplete == 2: # if you have beat level 2
window.blit(self.levelImgRed, (self.level3X, self.level3Y))
elif highestLevelComplete > 2: # if you have beat the level
window.blit(self.levelImgBlue, (self.level3X, self.level3Y))
else:
window.blit(self.levelImgGray, (self.level3X, self.level3Y))
# Level 4
if highestLevelComplete == 3: # if you have beat level 3
window.blit(self.levelImgRed, (self.level4X, self.level4Y))
elif highestLevelComplete > 2: # if you have beat the level
window.blit(self.levelImgBlue, (self.level4X, self.level4Y))
else:
window.blit(self.levelImgGray, (self.level4X, self.level4Y))
# Level 5
if highestLevelComplete == 4: # if you have beat level 4
window.blit(self.levelImgRed, (self.level5X, self.level5Y))
elif highestLevelComplete > 3: # if you have beat the level
window.blit(self.levelImgBlue, (self.level5X, self.level5Y))
else:
window.blit(self.levelImgGray, (self.level5X, self.level5Y))
# Draw Lines
pygame.draw.line(window, Color.RED,
(self.level1X + 50, self.level1Y + 25),
(self.level2X, self.level2Y + 25))
pygame.draw.line(window, Color.RED, (self.level2X, self.level2Y + 25),
(self.level3X + 50, self.level3Y + 25))
pygame.draw.line(window, Color.RED,
(self.level3X + 50, self.level3Y + 25),
(self.level4X, self.level4Y + 25))
pygame.draw.line(window, Color.RED, (self.level4X, self.level4Y + 25),
(self.level5X + 50, self.level5Y + 25))
# Player
window.blit(self.player, (self.playerX, self.playerY))
self.HUD.draw(window)
def keyHandler(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
self.gsm.setState(self.gsm.MENUSTATE)
if event.key == pygame.K_UP:
self.moveUp()
if event.key == pygame.K_DOWN:
self.moveDown()
if event.key == pygame.K_RETURN:
self.gsm.setState(self.gsm.PLAYSTATE)
def moveUp(self):
global currentLevel
if currentLevel <= highestLevelComplete:
currentLevel += 1
def moveDown(self):
global currentLevel
if currentLevel > 1:
currentLevel -= 1
def nextLevel(self):
global highestLevelComplete
highestLevelComplete += 1
class CarlaEnv():
pygame.init()
font = pygame.font.init()
def __init__(self, world):
#화면 크기
self.width = 800
self.height = 600
#센서 종류
self.actor_list = []
self.extra_list = []
self.extra_controller_list = []
self.player = None
self.camera_rgb = None
self.camera_semseg = None
self.lane_invasion_sensor = None
self.collision_sensor = None
self.gnss_sensor = None
self.waypoint = None
self.path = []
self.world = world
self.map = world.get_map()
self.spectator = self.world.get_spectator()
self.hud = HUD(self.width, self.height)
self.waypoints = self.map.generate_waypoints(3.0)
## visualize all waypoints ##
# for n, p in enumerate(self.waypoints):
# if n>1000:
# break
# world.debug.draw_string(p.transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=30)
self.extra_num = 5
self.control_mode = None
self.restart()
self.main()
def restart(self):
blueprint_library = world.get_blueprint_library()
# start_pose = random.choice(self.map.get_spawn_points())
start_pose = self.map.get_spawn_points()[102]
##spawn points 시뮬레이션 상 출력##
# print(start_pose)
# for n, x in enumerate(self.map.get_spawn_points()):
# world.debug.draw_string(x.location, 'o', draw_shadow=True,
# color=carla.Color(r=0, g=255, b=255), life_time=30)
# self.load_traj()
self.waypoint = self.map.get_waypoint(start_pose.location,
lane_type=carla.LaneType.Driving)
# print(self.waypoint.transform)
## Ego vehicle의 global Route 출력##
# world.debug.draw_string(self.waypoint.transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=0, g=255, b=255), life_time=100)
# print(start_pose)
# print(self.waypoint.transform)
# self.controller = MPCController.Controller
self.spectator.set_transform(
carla.Transform(start_pose.location + carla.Location(z=50),
carla.Rotation(pitch=-90)))
self.player = world.spawn_actor(
random.choice(blueprint_library.filter('vehicle.bmw.grandtourer')),
start_pose)
self.actor_list.append(self.player)
# vehicle.set_simulate_physics(False)
self.camera_rgb = RGBSensor(self.player, self.hud)
self.actor_list.append(self.camera_rgb.sensor)
self.camera_semseg = SegmentationCamera(self.player, self.hud)
self.actor_list.append(self.camera_semseg.sensor)
self.collision_sensor = CollisionSensor(self.player,
self.hud) # 충돌 여부 판단하는 센서
self.actor_list.append(self.collision_sensor.sensor)
self.lane_invasion_sensor = LaneInvasionSensor(
self.player, self.hud) # lane 침입 여부 확인하는 센서
self.actor_list.append(self.lane_invasion_sensor.sensor)
self.gnss_sensor = GnssSensor(self.player)
self.actor_list.append(self.gnss_sensor.sensor)
# --------------
# Spawn Surrounding vehicles
# --------------
# spawn_points = carla.Transform(start_pose.location+carla.Location(0,10,0),start_pose.rotation) #world.get_map().get_spawn_points()
# spawn_points = self.map.get_waypoint(spawn_points.location,lane_type=carla.LaneType.Driving)
spawn_points = world.get_map().get_spawn_points()[85:]
number_of_spawn_points = len(
world.get_map().get_spawn_points()) #len(spawn_points)
if self.extra_num <= number_of_spawn_points:
# random.shuffle(spawn_points)
pass
elif self.extra_num > number_of_spawn_points:
msg = 'requested %d vehicles, but could only find %d spawn points'
print(msg)
# logging.warning(msg, self.extra_num, number_of_spawn_points)
self.extra_num = number_of_spawn_points
blueprints = world.get_blueprint_library().filter('vehicle.*')
blueprints = [
x for x in blueprints
if int(x.get_attribute('number_of_wheels')) == 4
]
# blueprints = [x for x in blueprints if not x.id.endswith('isetta')]
# blueprints = [x for x in blueprints if not x.id.endswith('carlacola')]
# print(number_of_spawn_points)
for n, transform in enumerate(spawn_points):
## surrounding vehicle 차량 spawn 지점 visualize
# world.debug.draw_string(transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=30)
if n >= self.extra_num:
break
if transform == start_pose:
continue
blueprint = random.choice(blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
# blueprint.set_attribute('role_name', 'autopilot')
# batch.append(SpawnActor(blueprint, transform).then(SetAutopilot(FutureActor, True)))
extra = world.spawn_actor(
random.choice(
blueprint_library.filter('vehicle.bmw.grandtourer')),
transform)
extra_pose = self.map.get_waypoint(
transform.location, lane_type=carla.LaneType.Driving)
self.extra_controller_list.append(
Pure_puresuit_controller(extra, extra_pose, None, 30)) # km/h
# extra.set_autopilot(True)
self.extra_list.append(extra)
# for response in client.apply_batch_sync(batch):
# if response.error:
# logging.error(response.error)
# else:
# self.extra_list.append(response.actor_id)
def draw_image(self, surface, image, blend=False):
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
image_surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
if blend:
image_surface.set_alpha(100)
surface.blit(image_surface, (0, 0))
def save_traj(self, current_location):
f = open('route.txt', 'a')
f.write(str(current_location.transform.location.x) + " ")
f.write(str(current_location.transform.location.y) + " ")
f.write(str(current_location.transform.location.z))
f.write("\n")
f.close()
def load_traj(self):
f = open("route.txt", 'r')
while True:
line = f.readline()
if not line: break
_list = line.split(' ')
_list = list(map(float, _list))
point = carla.Transform()
point.location.x = _list[0]
point.location.y = _list[1]
point.location.z = _list[2]
self.path.append(point)
#trajectory visualize
# for n, x in enumerate(self.path):
# world.debug.draw_string(x.location, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=30)
f.close()
def get_gray_segimg(self, image_semseg):
image_size = 96
array = np.frombuffer(image_semseg.raw_data, dtype=np.dtype("uint8"))
array = array.reshape((self.height, self.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
array = cv2.cvtColor(array, cv2.COLOR_BGR2GRAY)
cv2.imshow("camera.semantic_segmentation", array)
cv2.resizeWindow('Resized Window', 100, 100)
cv2.waitKey(1)
array = np.reshape([cv2.resize(array, (image_size, image_size))],
(1, image_size, image_size)) # (1, 96, 96)
return array
def main(self):
clock = pygame.time.Clock()
display = pygame.display.set_mode((self.width, self.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
controller = Pure_puresuit_controller(self.player, self.waypoint,
self.extra_list, 50) # km/h
Keyboardcontrol = KeyboardControl(self, False)
# controller = VehicleControl(self, True)
# self.player.apply_control(carla.Vehicle
# Control(throttle=1.0, steer=0.0, brake=0.0))
vehicles = self.world.get_actors().filter('vehicle.*')
# for i in vehicles:
# print(i.id)
cnt = 0
decision = None
try:
# Create a synchronous mode context.
with CarlaSyncMode(world,
self.camera_rgb.sensor,
self.camera_semseg.sensor,
fps=40) as sync_mode:
while True:
if Keyboardcontrol.parse_events(client, self, clock):
return
clock.tick()
cnt += 1
if cnt == 1000:
print('수해유 ㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠ')
decision = 1
aa = controller.apply_control(decision)
else:
aa = controller.apply_control()
for i in range(len(self.extra_controller_list)):
self.extra_controller_list[i].apply_control()
# world.debug.draw_string(aa, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=-1)
# print(self.waypoint.transform)
# print(self.player.get_transform())
# print(dist)
self.hud.tick(self, clock)
# print( clock.get_fps())
# Advance the simulation and wait for the data.
snapshot, image_rgb, image_semseg = sync_mode.tick(
timeout=0.1)
# Choose the next waypoint and update the car location.
# self.waypoint = random.choice(self.waypoint.next(1.5))
# self.player.set_transform(self.waypoint.transform)
# self.world.debug.draw_point(self.waypoint.transform.location,size=0.1,color=carla.Color(r=255, g=255, b=255),life_time=1)
## player trajactory history visualize ## -> project_to_road = false 시 차량의 궤적, True 시 차선센터 출력
# curent_location=self.map.get_waypoint(self.player.get_transform().location,project_to_road=True)
# world.debug.draw_string(curent_location.transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=0, g=255, b=255), life_time=100)
##이동 궤적 저장
# self.save_traj(curent_location)
# self.world.debug.draw_point(ww.transform.location,size=0.1,color=carla.Color(r=255, g=255, b=255),life_time=1)
self.spectator.set_transform(
carla.Transform(
self.player.get_transform().location +
carla.Location(z=100), carla.Rotation(pitch=-90)))
image_semseg.convert(
carla.ColorConverter.CityScapesPalette)
gray_image = self.get_gray_segimg(image_semseg)
# fps = round(1.0 / snapshot.timestamp.delta_seconds)
# Draw the display.
self.draw_image(display, image_rgb)
# self.draw_image(display, image_semseg, blend=False)
# pygame.gfxdraw.filled_circle(display,int(self.waypoint.transform.location.x),int(self.waypoint.transform.location.y),5,(255,255,255))
self.hud.render(display)
pygame.display.flip()
finally:
print('\ndestroying %d vehicles' % len(self.extra_list))
# client.apply_batch([carla.command.DestroyActor(x) for x in self.extra_list])
print('destroying actors.')
for actor in self.actor_list:
actor.destroy()
for extra in self.extra_list:
extra.destroy()
pygame.quit()
print('done.')
class BoardManager():
def __init__(self, nw_tile, nh_tile):
self.nw_tile = nw_tile # Set number of tile in x
self.nh_tile = nh_tile # Set number of tile in y
self.number_body = 3 # Set number of snake's body
self.score = 0 # Set score of sanke
self.db_save_size = 6 # Column size of data base
self.id = 0 # index of database's column
self.type = 1
self.x = 2
self.y = 3
self.s = 4
self.t = 5
self.enemy_dict = {} # Enemy snake dictionary
self.client_state_dict = {
'OK': 0,
'notNStart': 1,
'notNExit': 2
} # KList state of client
self.client_state = self.client_state_dict[
'notNStart'] # State of cleint
self.play_state = False # Playing state
self.game_time = 0 # time of game
self.tile_mng = TileManager(width, height, self.nw_tile,
self.nh_tile) # Set TileManager
self.snake = Snake(1, 1, self.tile_mng, green, SNAKE,
raw_input("Enter : "),
self.number_body) # Set my sanke
self.apple = Apple(0, 0, self.tile_mng, red, 0) # Set apple
self.hud = HUD() # Set HUD
# Update board
def update(self):
for event in pygame.event.get(): # Check all event
if event.type == pygame.QUIT: # Click Quit to quit program
pygame.quit() # quit programe
quit()
if event.type == pygame.KEYDOWN: # If pressed keyboard
if event.key == pygame.K_LEFT and not self.snake.get_move_list(
'right'): # Pressed left and not go right
self.snake.set_left() # Go left
elif event.key == pygame.K_RIGHT and not self.snake.get_move_list(
'left'): # Pressed right and not go left
self.snake.set_right() # Go right
elif event.key == pygame.K_UP and not self.snake.get_move_list(
'down'): # Pressed up and not go down
self.snake.set_up() # Go up
elif event.key == pygame.K_DOWN and not self.snake.get_move_list(
'up'): # Pressed down and not go up
self.snake.set_down() # Go down
elif event.key == pygame.K_x: # Press x
self.snake.snake_slide(self.snake.get_move(),
self.apple) # Use slide snake skill
elif event.key == pygame.K_c: # Press c
self.snake.snake_running() # Use running snake skill
x_pos_ls = [
int(self.snake.get_x_pos()[i] / self.tile_mng.get_sizew_tile())
for i in range(self.snake.get_number_body())
] # set x's list
y_pos_ls = [
int(self.snake.get_y_pos()[i] / self.tile_mng.get_sizeh_tile())
for i in range(self.snake.get_number_body())
] # set y's list
x_pos_n = self.client.pos_pattern(
x_pos_ls) # save in string in postion pattern (x, y)
y_pos_n = self.client.pos_pattern(y_pos_ls)
pattern = self.client.set_pattern(self.snake.get_id(), [
self.snake.get_type(), x_pos_n, y_pos_n,
self.snake.get_score(), 0
]) # set pattern of all data
# id,type,xs,ys,score,time
if self.client_state == self.client_state_dict[
'OK']: # Client state is "OK"
self.snake.snake_eat_apple(
self.apple) # Check does snake eat apple ?
self.snake.update() # Update snake
if self.apple.get_eaten(): # Apple is eaten by snake
pattern = "eaten" # pattern is "eaten"
self.apple.set_eaten(False) # Apple is not eaten
self.client.send(pattern) # Send pattern to client
data, addr = self.client.recv() # Receive data from server
if data == None: # Data is none => exit method
return
if data == "notNStart": # data is notNStart => set client state
self.client_state = self.client_state_dict['notNStart']
elif data == "notNExit": # data is notNExit => set client state
self.client_state = self.client_state_dict['notNExit']
else: # otherwise
self.client_state = self.client_state_dict[
'OK'] # Set client state to "OK"
split_list = self.client.split(data) # Split data
for ls in split_list:
self.game_time = int(ls[self.t]) # set time
if ls[self.id] == "*": # See id of apple
self.apple = Apple(int(ls[self.x]), int(ls[self.y]),
self.tile_mng, red, str(ls[self.type]))
elif ls[self.id] != self.snake.get_id() and ls[
self.id] != "*": # See enemy snake's id
self.enemy_dict[ls[self.id]] = Snake(
0, 0, self.tile_mng, blue, ls[self.type], ls[self.id],
0) # Save in dictionary of enemy snake
x_pos = self.client.pos_split(ls[self.x])
y_pos = self.client.pos_split(ls[self.y])
x_list = [
int(x_pos[i] * self.tile_mng.get_sizew_tile())
for i in range(len(x_pos))
]
y_list = [
int(y_pos[i] * self.tile_mng.get_sizeh_tile())
for i in range(len(y_pos))
]
self.enemy_dict[ls[self.id]].set_pos(
x_list, y_list) # Set postion enemy snake
# Render board
def render(self): # Render board
game_display.fill(white) # Background
if self.client_state == self.client_state_dict[
'OK']: # Client state is OK
if self.snake.state == 'dead': # If dead
# Draw dead HUD
self.hud.dead_hud(game_display, self.snake.get_dead_ellapse(),
self.snake.get_dead_delay(), width / 2,
height / 2, width / 3, height / 3)
else:
self.apple.render(game_display) # Render Apple
self.snake.render(game_display,
self.snake.get_number_body() -
1) # render snake
for key in self.enemy_dict: # Render enemy snake
self.enemy_dict[key].render(
game_display,
self.enemy_dict[key].get_number_body() - 1)
# Draw time's hud, score' hud, gauge's hud
self.hud.time_hud(game_display, self.game_time, width / 2,
height * 0.05)
self.hud.score_hud(game_display, self.snake.get_score(),
width * 0.8, height * 0.05)
self.hud.gauge_hud(
game_display,
min(
self.snake.get_slide_ellapse() /
self.snake.get_slide_delay(), 1), 0.6 * width,
0.95 * height, 0.4 * width, 0.02 * height)
self.hud.gauge_hud(
game_display,
min(
self.snake.get_run_use_ellapse() /
self.snake.get_run_use_delay(), 1), 0.6 * width,
0.97 * height, 0.4 * width, 0.02 * height)
pygame.display.update() # Update display
def loop(self): # Loop to play always
self.ip = raw_input("IP : ") # Get IP
self.client = ClientManager(self.ip, 8000) # Set client
packet = str(
"tile:" + str(width) + "," + str(height) + "," +
str(self.nw_tile) + "," + str(self.nh_tile)
) # Set pattern : width, height program and number of tile program
self.client.send(packet) # Send data to server
self.client.close() # Disconnnet socket
while True:
try:
self.client = ClientManager(self.ip, 8000) # Set client
self.update() # Update program
self.render() # Render program
self.client.close() # Disconnect from socket
except KeyboardInterrupt:
pygame.quit() # Quit program
quit()
pygame.quit() # Quit program
quit()
class Screen:
def __init__(self, window, scene, menu):
self.u = (2./3, -1./3.5)
self.v = (-2./3, -1./3.5)
self.w = (0, -15)
self._window = window
self._scene = scene
self._hud = HUD(self)
self._grid = Grid(self)
self._players = pygame.sprite.Group()
player1 = PlayerSprite(scene.getPlayer(0), menu)
self._playerG1 = pygame.sprite.Group()
self._playerG1.add(player1)
player2 = PlayerSprite(scene.getPlayer(1), menu)
self._playerG2 = pygame.sprite.Group()
self._playerG2.add(player2)
self._players.add(player1)
self._players.add(player2)
self._shadows = pygame.sprite.Group()
self._shadows.add(ShadowSprite(scene.getPlayer(0)))
self._shadows.add(ShadowSprite(scene.getPlayer(1)))
self._weaponGroup = pygame.sprite.Group()
self._weaponList = [WeaponSprite(scene.getPlayer(0).weapon()),
WeaponSprite(scene.getPlayer(1).weapon())]
def calcPos(self, vector):
return (
vector[0]*self.u[0] + vector[1]*self.v[0] + vector[2]*self.w[0] +
self._window.get_width()/2,
vector[0]*self.u[1] + vector[1]*self.v[1] + vector[2]*self.w[1] +
self._window.get_height()/2
)
def calcPosZ(self, vector):
return vector[0] + vector[1]
def calcVec(self, vector):
return (
vector[0]*self.u[0] + vector[1]*self.v[0],
vector[0]*self.u[1] + vector[1]*self.v[1]
)
def draw(self):
self._players.update(self._scene, self)
self._shadows.update(self._scene, self)
self._window.fill(pygame.Color(255,255,255))
for w in self._weaponList:
if w.weapon().active():
self._weaponGroup.add(w)
else:
self._weaponGroup.remove(w)
self._weaponGroup.update()
self._grid.draw()
self._shadows.draw(self._window)
if self.calcPosZ(self._scene.getPlayer(0).position()) > self.calcPosZ(self._scene.getPlayer(1).position()):
self._playerG1.draw(self._window);
self._playerG2.draw(self._window);
else:
self._playerG2.draw(self._window);
self._playerG1.draw(self._window);
self._weaponGroup.draw(self._window)
self._grid.afterDraw()
self._hud.draw()
pygame.display.flip()
class CarlaEnv():
pygame.init()
font = pygame.font.init()
def __init__(self, world):
#화면 크기
n_iters = 100
self.width = 800
self.height = 600
#센서 종류
self.actor_list = []
self.extra_list = []
self.extra_list = []
self.extra_controller_list = []
self.extra_dl_list = []
self.extra_dl_list = []
self.player = None
self.camera_rgb = None
self.camera_semseg = None
self.lane_invasion_sensor = None
self.collision_sensor = None
self.gnss_sensor = None
self.waypoint = None
self.path = []
self.save_dir = None
self.world = world
self.map = world.get_map()
self.spectator = self.world.get_spectator()
self.hud = HUD(self.width, self.height)
self.waypoints = self.map.generate_waypoints(3.0)
self.lane_change_time = time.time()
self.max_Lane_num = 4
self.ego_Lane = 2
self.agent = None
self.controller = None
self.is_first_time = True
self.decision = None
self.simul_time = time.time()
self.accumulated_reward = 0
self.end_point = 0
self.ROI_length = 1000 #(meters)
## visualize all waypoints ##
# for n, p in enumerate(self.waypoints):
# world.debug.draw_string(p.transform.location, 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=255), life_time=999)
settings = self.world.get_settings()
# settings.no_rendering_mode = True
# settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.02
self.world.apply_settings(settings)
self.extra_num = 30
self.section = 0
self.lane_distance_between_start = None
self.lane_distance_between_end = None
self.lane_change_point = None
self.episode_start = None
self.index = 0
self.pre_max_Lane_num = self.max_Lane_num
self.restart()
self.main()
def restart(self):
self.decision = None
self.simul_time = time.time()
self.lane_change_time = time.time()
self.max_Lane_num = 4
self.ego_Lane = 2
self.controller = None
self.accumulated_reward = 0
self.section = 0
self.episode_start = time.time()
self.pre_max_Lane_num = self.max_Lane_num
self.index = 0
print('start destroying actors.')
if len(self.actor_list) != 0:
# print('destroying actors.')
# print("actor 제거 :", self.actor_list)
for actor in self.actor_list:
# print("finally 에서 actor 제거 :", self.actor_list)
if actor.is_alive:
actor.destroy()
print("finshed actor destroy")
# for x in self.actor_list:
# try:
# client.apply_batch([carla.command.DestroyActors(x.id)])
# except:
# continue
if len(self.extra_list) != 0:
# client.apply_batch([carla.command.DestoryActors(x.id) for x in self.extra_list])
# print("extra 제거 :", self.extra_list)
for x in self.extra_list:
try:
client.apply_batch([carla.command.DestroyActor(x.id)])
except:
continue
# for extra in self.extra_list:
# # print("finally 에서 actor 제거 :", self.extra_list)
# print(extra.is_alive)
# if extra.is_alive:
# extra.destroy()
print("finshed extra destroy")
# for x in self.extra_list:
# try:
# client.apply_batch([carla.command.DestroyActor(x.id)])
# except:
# continue
print('finished destroying actors.')
self.actor_list = []
self.extra_list = []
self.ROI_extra_list = []
self.extra_controller_list = []
self.extra_dl_list = []
self.ROI_extra_dl_list = []
blueprint_library = self.world.get_blueprint_library()
# start_pose = random.choice(self.map.get_spawn_points())
start_pose = self.map.get_spawn_points()[102]
##spawn points 시뮬레이션 상 출력##
# print(start_pose)
# for n, x in enumerate(self.map.get_spawn_points()):
# world.debug.draw_string(x.location, 'o', draw_shadow=True,
# color=carla.Color(r=0, g=255, b=255), life_time=30)
# self.load_traj()
self.waypoint = self.map.get_waypoint(start_pose.location,
lane_type=carla.LaneType.Driving)
self.end_point = self.waypoint.next(400)[0].transform.location
# print(self.waypoint.transform)
## Ego vehicle의 global Route 출력##
world.debug.draw_string(self.waypoint.next(400)[0].transform.location,
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=255),
life_time=100)
# print(start_pose)
# print(self.waypoint.transform)
# self.controller = MPCController.Controller
self.player = world.spawn_actor(
random.choice(blueprint_library.filter('vehicle.bmw.grandtourer')),
start_pose)
# print(self.player.bounding_box) # ego vehicle length
self.actor_list.append(self.player)
self.camera_rgb = RGBSensor(self.player, self.hud)
self.actor_list.append(self.camera_rgb.sensor)
# self.camera_depth =DepthCamera(self.player, self.hud)
# self.actor_list.append(self.camera_depth.sensor)
# self.camera_semseg = SegmentationCamera(self.player,self.hud)
# self.actor_list.append(self.camera_semseg.sensor)
self.collision_sensor = CollisionSensor(self.player,
self.hud) # 충돌 여부 판단하는 센서
self.actor_list.append(self.collision_sensor.sensor)
self.lane_invasion_sensor = LaneInvasionSensor(
self.player, self.hud) # lane 침입 여부 확인하는 센서
self.actor_list.append(self.lane_invasion_sensor.sensor)
self.gnss_sensor = GnssSensor(self.player)
self.actor_list.append(self.gnss_sensor.sensor)
# --------------
# Spawn Surrounding vehicles
# --------------
print("Generate Extra")
spawn_points = []
blueprints = self.world.get_blueprint_library().filter('vehicle.*')
blueprints = [
x for x in blueprints
if int(x.get_attribute('number_of_wheels')) == 4
]
# print(*blueprints)
for i in range(10, 10 * (self.extra_num) + 1, 10):
dl = random.choice([-1, 0, 1])
self.extra_dl_list.append(dl)
spawn_point = None
if dl == -1:
spawn_point = self.waypoint.next(
i)[0].get_left_lane().transform
elif dl == 0:
spawn_point = self.waypoint.next(i)[0].transform
elif dl == 1:
spawn_point = self.waypoint.next(
i)[0].get_right_lane().transform
else:
print("Except ")
spawn_point = carla.Transform(
(spawn_point.location + carla.Location(z=1)),
spawn_point.rotation)
spawn_points.append(spawn_point)
# print(blueprint_library.filter('vehicle.bmw.grandtourer'))
# blueprint = random.choice(blueprint_library.filter('vehicle.bmw.grandtourer'))
blueprint = random.choice(blueprints)
# print(blueprint.has_attribute('color'))
if blueprint.has_attribute('color'):
# color = random.choice(blueprint.get_attribute('color').recommended_values)
# print(blueprint.get_attribute('color').recommended_values)
color = '255,255,255'
blueprint.set_attribute('color', color)
extra = self.world.spawn_actor(blueprint, spawn_point)
self.extra_list.append(extra)
print('Extra Genration Finished')
self.spectator.set_transform(
carla.Transform(
self.player.get_transform().location + carla.Location(z=100),
carla.Rotation(pitch=-90)))
ROI = 1000
# extra_target_velocity = 10
port = 8000
traffic_manager = client.get_trafficmanager(port)
traffic_manager.set_global_distance_to_leading_vehicle(100.0)
# traffic_manager.set_synchronous_mode(True) # for std::out_of_range eeror
tm_port = traffic_manager.get_port()
for extra in self.extra_list:
extra.set_autopilot(True, tm_port)
# Pure_puresuit_controller(extra, self.waypoint, None, 50) # km/h
# target_velocity = 30 #random.randrange(10, 40) # km/h
# extra.enable_constant_velocity(extra.get_trzansform().get_right_vector() * target_velocity/3.6)
traffic_manager.auto_lane_change(extra, False)
# self.player.set_autopilot(True,tm_port)
# traffic_manager.auto_lane_change(self.player, False)
self.controller = Pure_puresuit_controller(self.player, self.waypoint,
self.extra_list, 70) # km/h
# target_velocity = 60 / 3.6
# forward_vec = self.player.get_transform().get_forward_vector()
# print(forward_vec)
# velocity_vec = target_velocity*forward_vec
# self.player.set_target_velocity(velocity_vec)
# print(velocity_vec)
# print(velocity_vec)
# client.get_trafficmanager.auto_lane_change(extra, False)
###Test####
# clock = pygame.time.Clock()
# Keyboardcontrol = KeyboardControl(self, False)
# display = pygame.display.set_mode(
# (self.width, self.height),
# pygame.HWSURFACE | pygame.DOUBLEBUF)
# while True:
# if Keyboardcontrol.parse_events(client, self, clock):
# return
# self.spectator.set_transform(
# carla.Transform(self.player.get_transform().location + carla.Location(z=50),
# carla.Rotation(pitch=-90)))
# self.camera_rgb.render(display)
# self.hud.render(display)
# pygame.display.flip()
#
# self.controller.apply_control()
# # self.world.wait_for_tick(10.0)
# clock.tick(30)
#
# self.hud.tick(self, clock)
#### Test Finished #####
#### Test2 #####
# cnt=0
# clock = pygame.time.Clock()
# while True:
# # print(self.waypoint.lane_id)
# self.spectator.set_transform(
# carla.Transform(self.player.get_transform().location + carla.Location(z=100),
# carla.Rotation(pitch=-90)))
# cnt += 1
# if cnt == 100:
# print('수해유 ㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠㅠ')
# decision = 1
# self.controller.apply_control(decision)
# else:
# self.controller.apply_control()
# clock.tick(30)
#### Test2 Finished #####
# self.input_size = (self.extra_num)*4 + 1
self.input_size = 4 #dr dv da dl
self.output_size = 3
# for response in client.apply_batch_sync(batch):
# if response.error:
# logging.error(response.error)
# else:
# self.extra_list.append(response.actor_id)
print(5)
def step(self, decision):
SECONDS_PER_EPISODE = 1000
plc = 10
# decision = None
'''
# Simple Action (action number: 3)
action_test = action -1
self.vehicle.apply_control(carla.VehicleControl(throttle=1.0, steer=action_test*self.STEER_AMT))
'''
# Complex Action
if decision == 0: # LK
plc = 0
# elif action == -1: # left
# plc += 10
# decision = -1
# elif action == 1: # right
# plc += 10
# decision = 1
'''
if len(self.collision_hist) != 0:
done = True
reward = -200 + (time.time()-self.episode_start)*15/SECONDS_PER_EPISODE
else:
done = False
reward = 1
'''
end_length = math.sqrt(
(self.end_point.x - self.player.get_location().x)**2 +
(self.end_point.y - self.player.get_location().y)**2)
done = False
if len(self.collision_sensor.history) != 0:
done = True
reward = -100
elif end_length < 15:
done = True
reward = 1
elif self.max_Lane_num < self.ego_Lane:
done = True
reward = -100
else:
reward = 1 - (self.controller.desired_vel - self.controller.
velocity) / self.controller.desired_vel - plc
# print(reward)
self.accumulated_reward += reward
if time.time() > self.episode_start + SECONDS_PER_EPISODE:
done = True
#state length = 4 * num of extra vehicles + 1
state, x_static = self.get_next_state(decision) #get now state
# if len(state) == 29:
# print(" ")
return state, x_static, decision, reward, None, None, done
# Next State 표현 필요
def get_next_state(self, decision=None):
"""
dl : relative lane num after ching the lane
dr, dv, da : now state
"""
state = []
for x, extra in enumerate(self.extra_list):
if decision == 1:
self.extra_dl_list[x] = self.extra_dl_list[x] + 1
# self.ROI_extra_dl_list[x] =self.ROI_extra_dl_list[x]+1
elif decision == -1:
self.extra_dl_list[x] = self.extra_dl_list[x] - 1
# self.ROI_extra_dl_list[x] = self.ROI_extra_dl_list[x]-1
else:
pass
extra_pos = extra.get_transform().location
extra_vel = extra.get_velocity()
extra_acel = extra.get_acceleration()
dr = ((extra_pos.x - self.player.get_transform().location.x)**2 +
(extra_pos.y - self.player.get_transform().location.y)**2 +
((extra_pos.z - self.player.get_transform().location.z)**
2))**0.5 - abs(self.waypoint.lane_width *
(self.extra_dl_list[x]))
if isinstance(dr, complex):
print("complex")
dv = (self.player.get_velocity().x**2 +
self.player.get_velocity().y**2 +
self.player.get_velocity().z**2)**0.5 - (
extra_vel.x**2 + extra_vel.y**2 + extra_vel.z**2)**0.5
length = 2 * extra.bounding_box.extent.x / 10 # length of extra vehicle
# da = ((extra_acel.x - self.player.get_acceleration().x) ** 2 + (
# extra_acel.y - self.player.get_acceleration().y) ** 2 +
# (extra_acel.z - self.player.get_acceleration().z) ** 2) ** 0.5
state_dyn = [dr, dv, length, self.extra_dl_list[x]]
state.append(state_dyn)
# state.append(dr)
# state.append(dv)
# state.append(da)
# state.append(self.extra_dl_list[x])
if decision == 1:
self.ego_Lane += 1
elif decision == -1:
self.ego_Lane += -1
else:
pass
x_static = []
x_static.append([
self.ego_Lane, self.controller.velocity,
self.search_distance_valid() / self.ROI_length
])
# state.append(x_static)
# state.append(self.ego_Lane)
out = [state, x_static]
return out
def search_distance_valid(self):
# index= 4-self.ego_Lane
# print("index :", index)
last_lane_waypoint = self.map.get_waypoint(
self.player.get_transform().location,
lane_type=carla.LaneType.Driving) #self.controller.waypoint
search_raidus = 5
distance = 9999
# pre_distance = 0
i = 0.01
self.world.debug.draw_string(
self.controller.waypoint.transform.location,
'o',
draw_shadow=True,
color=carla.Color(r=0, g=0, b=255),
life_time=1)
try:
while last_lane_waypoint.lane_id > -4: # get waypoint of forth's lane
last_lane_waypoint = last_lane_waypoint.get_right_lane()
# print("lane id : ", last_lane_waypoint.lane_id)
except:
print("4-th lane not found")
# self.world.debug.draw_string(last_lane_waypoint.transform.location,
# '4', draw_shadow=True,
# color=carla.Color(r=0, g=255, b=255), life_time=9999)
# print(self.ego_Lane)
# if self.max_Lane_num ==3:
# print("e")
if self.max_Lane_num != self.pre_max_Lane_num:
self.index += 1
self.pre_max_Lane_num = self.max_Lane_num
# print(self.index)
if self.index % 2 == 0:
while search_raidus <= distance:
# pre_distance = distance
distance = (
(last_lane_waypoint.next(i)[0].transform.location.x -
self.lane_change_point[self.index].x)**2 +
(last_lane_waypoint.next(i)[0].transform.location.y -
self.lane_change_point[self.index].y)**2 +
(last_lane_waypoint.next(i)[0].transform.location.z -
self.lane_change_point[self.index].z)**2)**0.5
# if pre_distance <= distance:
# print("wrong")
# return distance + i
if round(distance - search_raidus) > 0:
i += round(distance - search_raidus)
# break
else:
return distance + i
else:
distance = math.hypot(
last_lane_waypoint.transform.location.x -
self.lane_change_point[self.index].x,
last_lane_waypoint.transform.location.y -
self.lane_change_point[self.index].y)
return -distance
# if self.max_Lane_num ==4:
# while search_raidus <= distance:
# pre_distance = distance
# # distance = ((last_lane_waypoint.next(i)[0].x-self.lane_start_point.x)**2+(last_lane_waypoint.next(i)[0].y-self.lane_start_point.y)**2+(last_lane_waypoint.next(i)[0].z-self.lane_start_point.z)**2)**0.5
# distance = ((last_lane_waypoint.next(i)[0].transform.location.x-self.lane_start_point[self.section].x)**2+(last_lane_waypoint.next(i)[0].transform.location.y-self.lane_start_point[self.section].y)**2+(last_lane_waypoint.next(i)[0].transform.location.z-self.lane_start_point[self.section].z)**2)**0.5
#
# # print("distance :",distance , "i :", i)
# if pre_distance <= distance:
# print("pre_distance <= distance error")
# break
# elif round(distance - search_raidus) > 0:
# i += round(distance - search_raidus)
# else:
# return min(distance + i, self.ROI_length)
# # print("i updated :", i)
# # self.max_Lane_num =3
# elif self.max_Lane_num == 3:
# while search_raidus <= distance:
# distance = ((last_lane_waypoint.next(i)[0].transform.location.x - self.lane_finished_point[
# self.section].x) ** 2 + (last_lane_waypoint.next(i)[0].transform.location.y -
# self.lane_finished_point[self.section].y) ** 2 + (
# last_lane_waypoint.next(i)[0].transform.location.z -
# self.lane_finished_point[self.section].z) ** 2) ** 0.5
# self.world.debug.draw_string(last_lane_waypoint.next(i)[0].transform.location,
# 'o', draw_shadow=True,
# color=carla.Color(r=255, g=255, b=0), life_time=9999)
# if pre_distance <= distance:
# print("pre_distance <= distance error")
# break
# elif round(distance - search_raidus) > 0:
# i += round(distance - search_raidus)
# else:
# return min(distance + i, self.ROI_length)
#
# if round(distance - search_raidus) > 0:
# i += round(distance - search_raidus)
# else:
# return max(-(distance + i), -self.ROI_length)
def safety_check(self, decision, safe_lane_change_again_time=5):
# print("method : ", self.agent.selection_method)
# if decision==-1 and self.ego_Lane ==1:
# print("here")
# elif decision ==1 and self.ego_Lane ==self.max_Lane_num:
# print("here")
if decision != 0 and decision != None:
if (time.time() -
self.lane_change_time) <= safe_lane_change_again_time:
return 0 #즉 직진
elif self.agent.selection_method == 'random' and decision == 1 and self.ego_Lane == self.max_Lane_num:
action = random.randrange(-1, 1)
return action
elif self.agent.selection_method == 'random' and decision == -1 and self.ego_Lane == 1:
action = random.randrange(0, 2)
return action
elif self.ego_Lane == self.max_Lane_num and decision == 1:
return int(self.agent.q_value[0][0:2].argmax().item()) - 1
elif self.ego_Lane == 1 and decision == -1:
return int(self.agent.q_value[0]
[1:3].argmax().item()) #not max exception
elif decision == 1 and self.ego_Lane != self.max_Lane_num:
self.lane_change_time = time.time()
return decision
elif decision == -1 and self.ego_Lane != 1:
self.lane_change_time = time.time()
return decision
else: #3차선에서 우 차도 판단, 1차선에서 좌차선 판단
if self.agent.selection_method == 'random' and decision == 1 and self.ego_Lane == self.max_Lane_num:
action = random.randrange(-1, 1)
return action
elif self.agent.selection_method == 'random' and decision == -1 and self.ego_Lane == 1:
action = random.randrange(0, 2)
return action
elif self.ego_Lane == self.max_Lane_num and decision == 1:
return int(self.agent.q_value[0][0:2].argmax().item()) - 1
elif self.ego_Lane == 1 and decision == -1:
return int(self.agent.q_value[0][1:3].argmax().item())
else:
return decision
# def safety_check_between_vehicles(self):
# if extra_lists
def main_test(self):
restart_time = time.time()
PATH = "/home/a/RL_decision/trained_info.tar"
print(torch.cuda.get_device_name())
clock = pygame.time.Clock()
Keyboardcontrol = KeyboardControl(self, False)
display = pygame.display.set_mode((self.width, self.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
self.lane_start_point = [
carla.Location(x=14.905815, y=-135.747452, z=0.000000),
carla.Location(x=172.745468, y=-364.531799, z=0.000000),
carla.Location(x=382.441040, y=-212.488907, z=0.000000)
]
self.lane_finished_point = [
carla.Location(x=14.631096, y=-205.746918, z=0.000000),
carla.Location(x=232.962860, y=-364.149139, z=0.000000),
carla.Location(x=376.542816, y=-10.352980, z=0.000000)
]
self.lane_change_point = [
carla.Location(x=14.905815, y=-135.747452, z=0.000000),
carla.Location(x=14.631096, y=-205.746918, z=0.000000),
carla.Location(x=172.745468, y=-364.531799, z=0.000000),
carla.Location(x=232.962860, y=-364.149139, z=0.000000),
carla.Location(x=382.441040, y=-212.488907, z=0.000000),
carla.Location(x=376.542816, y=-10.352980, z=0.000000)
]
self.world.debug.draw_string(carla.Location(x=14.905815,
y=-135.747452,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
self.world.debug.draw_string(carla.Location(x=14.631096,
y=-205.746918,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
# ---------------------------#
self.world.debug.draw_string(carla.Location(x=172.745468,
y=-364.531799,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
self.world.debug.draw_string(carla.Location(x=232.962860,
y=-364.149139,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
# ---------------------------#
self.world.debug.draw_string(carla.Location(x=382.441040,
y=-212.488907,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
self.world.debug.draw_string(carla.Location(x=376.542816,
y=-10.352980,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
lane_distance_between_points = []
for i in range(len(self.lane_finished_point)):
lane_distance_between_points.append(
((self.lane_start_point[i].x - self.lane_finished_point[i].x)**
2 + (self.lane_start_point[i].y -
self.lane_finished_point[i].y)**2 +
(self.lane_start_point[i].z - self.lane_finished_point[i].z)**
2)**0.5)
pre_decision = None
while True:
# if time.time()-restart_time > 10:
# print("restart")
# self.restart()
if Keyboardcontrol.parse_events(client, self, clock):
return
self.spectator.set_transform(
carla.Transform(
self.player.get_transform().location +
carla.Location(z=50), carla.Rotation(pitch=-90)))
self.camera_rgb.render(display)
self.hud.render(display)
pygame.display.flip()
## Get max lane ##
# print("start get lane")
if self.section < len(lane_distance_between_points):
self.lane_distance_between_start = (
(self.player.get_transform().location.x -
self.lane_start_point[self.section].x)**2 +
(self.player.get_transform().location.y -
self.lane_start_point[self.section].y)**2)**0.5
self.lane_distance_between_end = (
(self.player.get_transform().location.x -
self.lane_finished_point[self.section].x)**2 +
(self.player.get_transform().location.y -
self.lane_finished_point[self.section].y)**2)**0.5
# print("self.lane_distance_between_start : ",self.lane_distance_between_start,"self.lane_distance_between_end :",self.lane_distance_between_end, "lane_distance_between_points[section]",lane_distance_between_points[self.section],"section :", self.section)
if max(lane_distance_between_points[self.section], self.lane_distance_between_start, self.lane_distance_between_end) == \
lane_distance_between_points[self.section]:
self.max_Lane_num = 3
# world.debug.draw_string(self.player.get_transform().location, 'o', draw_shadow = True,
# color = carla.Color(r=255, g=255, b=0), life_time = 999)
elif max(lane_distance_between_points[self.section], self.lane_distance_between_start, self.lane_distance_between_end) == \
self.lane_distance_between_start and self.max_Lane_num ==3:
self.section += 1
self.max_Lane_num = 4
if self.section >= len(lane_distance_between_points
): # when, section_num = 3
self.section = 0
## finished get max lane ##
# print("finished get lane")
self.search_distance_valid()
# print("distance :" ,,"max_lane_num : ", self.max_Lane_num)
if self.max_Lane_num == 3:
self.world.debug.draw_string(
self.player.get_transform().location,
'o',
draw_shadow=True,
color=carla.Color(r=255, g=255, b=0),
life_time=9999)
if time.time() - self.lane_change_time > 10:
self.lane_change_time = time.time()
if pre_decision is None:
self.decision = 1
self.ego_Lane += 1
pre_decision = 1
elif pre_decision == 1:
pre_decision = -1
self.ego_Lane += -1
self.decision = -1
elif pre_decision == -1:
self.decision = 1
self.ego_Lane += 1
pre_decision = 1
else:
self.decision = 0
self.controller.apply_control(self.decision)
# self.world.wait_for_tick(10.0)
clock.tick(30)
self.hud.tick(self, clock)
def main(self):
PATH = "/home/a/RL_decision/trained_info.tar"
print(torch.cuda.get_device_name())
clock = pygame.time.Clock()
Keyboardcontrol = KeyboardControl(self, False)
display = pygame.display.set_mode((self.width, self.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
self.agent = decision_driving_Agent(self.input_size, self.output_size,
True, 1000, self.extra_num)
self.lane_start_point = [
carla.Location(x=14.905815, y=-135.747452, z=0.000000),
carla.Location(x=172.745468, y=-364.531799, z=0.000000),
carla.Location(x=382.441040, y=-212.488907, z=0.000000)
]
self.lane_finished_point = [
carla.Location(x=14.631096, y=-205.746918, z=0.000000),
carla.Location(x=232.962860, y=-364.149139, z=0.000000),
carla.Location(x=376.542816, y=-10.352980, z=0.000000)
]
self.lane_change_point = [
carla.Location(x=14.905815, y=-135.747452, z=0.000000),
carla.Location(x=14.631096, y=-205.746918, z=0.000000),
carla.Location(x=172.745468, y=-364.531799, z=0.000000),
carla.Location(x=232.962860, y=-364.149139, z=0.000000),
carla.Location(x=382.441040, y=-212.488907, z=0.000000),
carla.Location(x=376.542816, y=-10.352980, z=0.000000)
]
self.world.debug.draw_string(carla.Location(x=14.905815,
y=-135.747452,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
self.world.debug.draw_string(carla.Location(x=14.631096,
y=-205.746918,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
# ---------------------------#
self.world.debug.draw_string(carla.Location(x=172.745468,
y=-364.531799,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
self.world.debug.draw_string(carla.Location(x=232.962860,
y=-364.149139,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
# ---------------------------#
self.world.debug.draw_string(carla.Location(x=376.542816,
y=-10.352980,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
self.world.debug.draw_string(carla.Location(x=382.441040,
y=-212.488907,
z=0.000000),
'o',
draw_shadow=True,
color=carla.Color(r=0, g=255, b=0),
life_time=9999)
lane_distance_between_points = []
for i in range(len(self.lane_finished_point)):
lane_distance_between_points.append(
(self.lane_start_point[i].x -
self.lane_finished_point[i].x)**2 +
(self.lane_start_point[i].y -
self.lane_finished_point[i].y)**2 +
(self.lane_start_point[i].z -
self.lane_finished_point[i].z)**2)
epoch_init = 0
# if(os.path.exists(PATH)):
# print("저장된 가중치 불러옴")
# checkpoint = torch.load(PATH)
#
# self.agent.model.load_state_dict(checkpoint['model_state_dict'])
# device = torch.device('cuda')
# self.agent.model.to(device)
# self.agent.optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
# self.agent.buffer = checkpoint['memorybuffer']
# epoch_init = checkpoint['epoch']
# self.agent.buffer.load_state_dict(self.save_dir['memorybuffer'])
# self.is_first_time = False
# controller = VehicleControl(self, True)
# self.player.apply_control(carla.Vehicle
# Control(throttle=1.0, steer=0.0, brake=0.0))
# vehicles = self.world.get_actors().filter('vehicle.*')
# for i in vehicles:
# print(i.id)
try:
n_iters = 150
is_error = 0
for epoch in range(epoch_init, n_iters):
# cnt = 0
first_time_print = True
[state, x_static] = self.get_next_state() #초기 상태 s0 초기화
while (True):
if Keyboardcontrol.parse_events(client, self, clock):
return
self.camera_rgb.render(display)
self.hud.render(display)
pygame.display.flip()
self.spectator.set_transform(
carla.Transform(
self.player.get_transform().location +
carla.Location(z=100), carla.Rotation(pitch=-90)))
## Get max lane ##
if self.section < len(lane_distance_between_points):
self.lane_distance_between_start = (
(self.player.get_transform().location.x -
self.lane_start_point[self.section].x)**2 +
(self.player.get_transform().location.y -
self.lane_start_point[self.section].y)**2)
self.lane_distance_between_end = (
(self.player.get_transform().location.x -
self.lane_finished_point[self.section].x)**2 +
(self.player.get_transform().location.y -
self.lane_finished_point[self.section].y)**2)
# print("self.lane_distance_between_start : ",self.lane_distance_between_start,"self.lane_distance_between_end :",self.lane_distance_between_end, "lane_distance_between_points[self.section]",lane_distance_between_points[self.section],"self.section :", self.section)
if max(lane_distance_between_points[self.section], self.lane_distance_between_start,
self.lane_distance_between_end) == \
lane_distance_between_points[self.section]:
self.max_Lane_num = 3
# world.debug.draw_string(self.player.get_transform().location, 'o', draw_shadow = True,
# color = carla.Color(r=255, g=255, b=0), life_time = 999)
elif max(lane_distance_between_points[self.section], self.lane_distance_between_start,
self.lane_distance_between_end) == \
self.lane_distance_between_start and self.max_Lane_num == 3:
self.section += 1
self.max_Lane_num = 4
if self.section >= len(lane_distance_between_points
): # when, section_num = 3
self.section = 0
## finished get max lane ##
##visualize when, max lane ==3 ##
if self.max_Lane_num == 3:
self.world.debug.draw_string(
self.waypoint.transform.location,
'o',
draw_shadow=True,
color=carla.Color(r=255, g=255, b=255),
life_time=9999)
# [self.extra_list, self.extra_dl_list] = self.agent.search_extra_in_ROI(self.extra_list,self.player,self.extra_dl_list)
## finished to visualize ##
if self.agent.is_training:
##dqn 과정##
# 가중치 초기화 (pytroch 내부)
# 입실론-그리디 행동 탐색 (act function)
# 메모리 버퍼에 MDP 튜플 얻기 ㅡ (step function)
# 메모리 버퍼에 MDP 튜플 저장 ㅡ
# optimal Q 추정 ㅡ (learning function)
# Loss 계산 ㅡ
# 가중치 업데이트 ㅡ
if epoch % 10 == 0:
# [w, b] = self.agent.model.parameters() # unpack parameters
self.save_dir = torch.save(
{
'epoch':
epoch,
'model_state_dict':
self.agent.model.state_dict(),
'optimizer_state_dict':
self.agent.optimizer.state_dict(),
'memorybuffer':
self.agent.buffer
}, PATH)
# print(clock.get_fps())
# if time.time() - self.simul_time >10 and clock.get_fps() < 15:
# self.restart()
# time.sleep(3)
# continue
if self.decision is not None:
[next_state, next_x_static] = self.get_next_state()
sample = [
state, x_static, self.decision, reward,
next_state, next_x_static, done
]
self.agent.buffer.append(sample)
# print("befor act")
self.decision = self.agent.act(state, x_static)
# print("after act")
# print(decision)
# if self.decision ==1 and self.max_Lane_num==self.ego_Lane:
# print( " ")
# print("befroe safte check/ 판단 :", self.decision, "최대 차선 :", self.max_Lane_num, "ego lane :",self.ego_Lane)
self.decision = self.safety_check(self.decision)
# print("판단 :", self.decision, "최대 차선 :", self.max_Lane_num, "ego lane :",self.ego_Lane)
# print("before")
is_error = self.controller.apply_control(self.decision)
# print("after")
# print("extra_controller 개수 :", len(self.extra_controller_list))
# for i in range(len(self.extra_controller_list)):
# self.extra_controller_list[i].apply_control()
# print("before step")
[state, x_static, decision, reward, __, _,
done] = self.step(self.decision)
# print("after step")
if done:
print("epsilon :", self.agent.epsilon)
print("epoch : ", epoch, "누적 보상 : ",
self.accumulated_reward)
writer.add_scalar('누적 보상 ',
self.accumulated_reward, epoch)
if len(self.agent.buffer.size()
) > self.agent.batch_size:
# print("start learning")
for i in range(300):
self.agent.learning()
# print("finished learning")
client.set_timeout(10)
self.restart()
break
else:
self.agent.act(state, x_static)
clock.tick(40)
self.hud.tick(self, clock)
finally:
print('\ndestroying %d vehicles' % len(self.extra_list))
# client.apply_batch([carla.command.DestroyActor(x) for x in self.extra_list])
print('destroying actors.')
# client.apply_batch([carla.command.DestroyActors(x.id) for x in self.actor_list])
# client.apply_batch([carla.command.DestroyActors(x.id) for x in self.extra_list])
for actor in self.actor_list:
# print("finally 에서 actor 제거 :", self.actor_list)
if actor.is_alive:
actor.destroy()
for extra in self.extra_list:
# print("finally 에서 actor 제거 :", self.extra_list)
if extra.is_alive:
extra.destroy()
# pygame.quit()
print('done.')
def __init__(self):
"""
Main game class initialization. All other class references point to this class as "game"
"""
# window setup
pygame.display.set_caption('Necromonster')
pygame.display.set_icon(
pygame.image.load(os.path.join('rec', 'misc', 'icon.png')))
self.main_path = os.getcwd()
# initiate the clock and screen object
self.clock = pygame.time.Clock()
self.FPS = 50
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.center_point = [470, 350]
self.screen = pygame.display.set_mode(self.screen_res,
pygame.HWSURFACE, 32)
#DEBUG values
self.DEBUG = 1
self.RECT_DEBUG = 0
self.angle = 0
#Init and assign custom game class(es)
self.EntityHandler = EntityHandler(self)
self.ParticleManager = ParticleManager(self)
self.Scheduler = Schedule(self)
self.Entity = Entity
self.Projectile = Projectile
self.Monster = Monster
self.NPC = NPC
self.NPCText = NPCText
self.Item = Item
self.Inventory = Invent
self.Invent = self.Inventory(self)
self.Weapon = Weapon
self.Garment = Garment
self.Player = Player(self)
self.HUD = HUD(self)
# Init entity manager vars
self.entities = []
self.shadows = []
# load fonts, create font list
# do not use pygame.font.SysFont!
self.text_list = []
self.default_font = pygame.font.Font(
os.path.join('rec', 'font', 'freesansbold.ttf'), 15)
self.speak_font = pygame.font.Font(
os.path.join('rec', 'font', 'freesansbold.ttf'), 30)
# load the map that player is on
self.INSIDE = 0
self.blit_list = mapLoader.load('home', self)
# spawn initial map items/entities
self.Item(self, 'Mythril', [350, 400], world=1)
self.NPC(self, "blacksmith", [400, 400], 100, 'still')
for i in xrange(4):
self.Monster(self, 'chicken', [200 + (i * 50), 650], 1, 'neutral')
self.Monster(self, "goop", [100, 100], 1, 'aggressive')
# begin main game loop
while 1:
self.Loop()
class Necro():
def __init__(self):
"""
Main game class initialization. All other class references point to this class as "game"
"""
# window setup
pygame.display.set_caption('Necromonster')
pygame.display.set_icon(
pygame.image.load(os.path.join('rec', 'misc', 'icon.png')))
self.main_path = os.getcwd()
# initiate the clock and screen object
self.clock = pygame.time.Clock()
self.FPS = 50
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.center_point = [470, 350]
self.screen = pygame.display.set_mode(self.screen_res,
pygame.HWSURFACE, 32)
#DEBUG values
self.DEBUG = 1
self.RECT_DEBUG = 0
self.angle = 0
#Init and assign custom game class(es)
self.EntityHandler = EntityHandler(self)
self.ParticleManager = ParticleManager(self)
self.Scheduler = Schedule(self)
self.Entity = Entity
self.Projectile = Projectile
self.Monster = Monster
self.NPC = NPC
self.NPCText = NPCText
self.Item = Item
self.Inventory = Invent
self.Invent = self.Inventory(self)
self.Weapon = Weapon
self.Garment = Garment
self.Player = Player(self)
self.HUD = HUD(self)
# Init entity manager vars
self.entities = []
self.shadows = []
# load fonts, create font list
# do not use pygame.font.SysFont!
self.text_list = []
self.default_font = pygame.font.Font(
os.path.join('rec', 'font', 'freesansbold.ttf'), 15)
self.speak_font = pygame.font.Font(
os.path.join('rec', 'font', 'freesansbold.ttf'), 30)
# load the map that player is on
self.INSIDE = 0
self.blit_list = mapLoader.load('home', self)
# spawn initial map items/entities
self.Item(self, 'Mythril', [350, 400], world=1)
self.NPC(self, "blacksmith", [400, 400], 100, 'still')
for i in xrange(4):
self.Monster(self, 'chicken', [200 + (i * 50), 650], 1, 'neutral')
self.Monster(self, "goop", [100, 100], 1, 'aggressive')
# begin main game loop
while 1:
self.Loop()
def Loop(self):
"""
Main loop of the game. Calls tick, draw, and event processing
functions. Tick and draw are only called every 20 milliseconds
"""
self.eventLoop()
self.Tick()
self.Draw()
pygame.display.update()
def eventLoop(self):
"""
Uses pygame event handling to process keypresses and mouse clicks.
Used for chat, interacting with objects, and inventory management
"""
for event in pygame.event.get():
event # prevents exit button freeze up
if event.type == QUIT:
pygame.quit()
sys.exit()
elif event.type == KEYDOWN:
# toggle chat bar active
if not self.HUD.chat_active:
if event.key == K_e:
self.Invent.toggleView()
if event.key == K_t:
#activate the chat bar
self.HUD.chat_message = ''
self.HUD.chat_active = 1
self.Player.can_move = 0
return 0
# process chat messages. Remove or add characters while chat box is open
if event.key == K_ESCAPE or event.key == K_RETURN:
self.HUD.processCommand(self.HUD.chat_message)
self.HUD.chat_active = 0
self.Player.can_move = 1
self.HUD.chat_message = ''
elif event.key == K_BACKSPACE:
self.HUD.chat_message = self.HUD.chat_message[:-1]
elif event.key <= 255:
char = chr(event.key)
if self.keys_pressed[K_LSHIFT] or self.keys_pressed[
K_RSHIFT]:
char = char.upper()
self.HUD.chat_message += char
# interaction with entities on space bar press
if event.key == K_SPACE:
for monster in self.EntityHandler.monsters:
if monster.NPC:
if monster.isPlayerClose(
75) and monster.interacting == False:
monster.interacting = True
elif not monster.isPlayerClose(
75) or monster.interacting == True:
monster.interacting = False
self.HUD.delPrompt()
# inventory management, checks for item throws, and placement in slots.
elif event.type == MOUSEBUTTONDOWN:
self.Invent.last_click = pygame.mouse.get_pos()
if self.Invent.in_hand:
self.Invent.testThrow(self.Invent.last_click)
if self.Invent.shown:
self.Invent.inventClick(self.Invent.last_click)
elif pygame.mouse.get_pressed()[0]:
self.Player.attack(pygame.mouse.get_pos())
def Tick(self):
"""
Updates all game math and entity states. No drawing is done.
"""
ttime = self.clock.tick(self.FPS)
self.keys_pressed = pygame.key.get_pressed()
if self.keys_pressed[K_EQUALS]:
self.HUD.daytime_start -= 3
if self.keys_pressed[K_MINUS]:
self.HUD.daytime_start += 3
self.Scheduler.update()
self.EntityHandler.updateAll(ttime)
self.Invent.update()
self.HUD.updateDay()
for index, text in enumerate(self.text_list):
if text[2]:
raise DeprecationWarning
self.last_tick = pygame.time.get_ticks()
def off(self, coords):
"""
Offsets image coordinates to appear correct from the view of the player.
Should be called on all surface coordinates before blitting.
"""
newx = coords[0] - self.Player.player_r.x + 450
newy = coords[1] - self.Player.player_r.y + 325
return [newx, newy]
def unoff(self, coords):
"""
Removes the offset created by the off() function.
"""
newx = coords[0] + self.Player.player_r.x - 450
newy = coords[1] + self.Player.player_r.y - 325
return [newx, newy]
def getCenterBlit(self, surface, pos):
pos[0] = pos[0] + surface.get_width() / 2
pos[1] = pos[1] + surface.get_height() / 2
return pos
def rotopoint(self, surface, angle, pos):
size = surface.get_size()
if pos[0] > size[0] / 2 or pos[1] > size[1] / 2:
print 'BIG ASS HONKEY'
new_surf_size = [(size[0] - pos[0]) * 2, (size[1] - pos[1]) * 2]
new_surf_blit_pos = [
new_surf_size[0] - size[0], new_surf_size[1] - size[1]
]
new_surf = pygame.Surface(new_surf_size, pygame.SRCALPHA, 32)
new_surf.blit(surface, new_surf_blit_pos)
return pygame.transform.rotate(new_surf, angle)
def testrot(self, image, angle):
loc = image.get_rect().center
new_rot = pygame.transform.rotate(image, angle)
new_rot.get_rect(center=loc)
return new_rot, new_rot.get_rect()
def Draw(self):
"""
Completes all blitting to the screend object, includes HUD updates.
"""
tile_width = self.tile[1][0]
tile_height = self.tile[1][1]
tile_extrax = self.Player.player_r.x % tile_width
tile_extray = self.Player.player_r.y % tile_height
y = 0
for i in xrange(self.screen_res[1] / tile_height + 3):
for i in xrange(self.screen_res[0] / tile_width + 3):
self.screen.blit(self.tile[0], [
i * tile_width - tile_width - tile_extrax,
y - tile_height - tile_extray
])
y += self.tile[1][1]
if self.shadows:
for s in self.shadows:
s.update(self.screen)
for surf in self.blit_list:
if 'player' in surf:
self.EntityHandler.blitAll()
else:
self.screen.blit(surf[0], self.off(surf[1]))
for text in self.text_list:
self.screen.blit(text[0], text[1])
if self.Invent.shown:
self.Invent.draw()
if self.DEBUG:
self.screen.blit(
self.default_font.render(str(round(self.clock.get_fps())),
True, (255, 255, 255)), [0, 0])
self.screen.blit(
self.default_font.render(
str('%s, %s' %
(self.Player.player_r.x, self.Player.player_r.y)),
True, (255, 255, 255)), [0, 12])
self.screen.blit(
self.default_font.render(str(pygame.mouse.get_pos()), True,
(255, 255, 255)), [0, 24])
if self.RECT_DEBUG:
ps = pygame.Surface(self.Player.player_dims)
ps.fill([255, 0, 0])
self.screen.blit(
ps, self.off([self.Player.player_r.x, self.Player.player_r.y]))
#Draws player and head text if it exists
if self.Player.head_drawn:
if self.Player.head_drawn[3]:
self.screen.blit(self.Player.head_drawn[0],
self.Player.head_drawn[1])
else:
self.Player.game.screen.blit(
self.Player.head_drawn[0],
self.off(self.Player.head_drawn[1]))
self.ParticleManager.update()
if self.Player.map_change:
self.HUD.updateMapTrans()
self.HUD.blitHUD()
def core_game_loop(DISPLAYSURF, DISPLAYWIDTH, DISPLAYHEIGHT):
ranlevel = randint(1, 2)
if ranlevel == 1:
lvl_type_choice = "t"
if ranlevel == 2:
lvl_type_choice = "f"
if lvl_type_choice == "t":
t_or_f_level = 1
scroll_speed = 140
if lvl_type_choice == "f":
t_or_f_level = 2
scroll_speed = 210
tile_list = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
minion_list = []
striker_list = []
turret_list = []
player_list = []
minion_kill_list = []
striker_kill_list = []
turret_kill_list = []
player_kill_list = []
wait_control = 0
calc_control = 1
level_end_in = LEVEL_LENGTH_CONTROL * 60
tile_make_in = 0
minion_make_in = 0
striker_make_in = 0
turret_make_in = 0
asteroid_make_in = 0
minion_make_in_max = 5 * 60
striker_make_in_max = 3 * 60
turret_make_in_max = 4 * 60
minions_killed = 0
strikers_killed = 0
turrets_killed = 0
asteroids_killed = 0
if lvl_type_choice == "t":
tile_make_in_max = 60
tile_list_clear_max = 600
pcmaxhp = 150
pccurhp = 150
if lvl_type_choice == "f":
tile_make_in_max = 43
tile_list_clear_max = 430
## For some reason this is the number needed to make the tiles line up.
pcmaxhp = 80
pccurhp = 80
tile_num = 11
print(lvl_type_choice)
start_tile1 = tileFactory(scroll_speed, t_or_f_level, 1, 0)
start_tile2 = tileFactory(scroll_speed, t_or_f_level, 1, 140)
start_tile3 = tileFactory(scroll_speed, t_or_f_level, 1, 280)
start_tile4 = tileFactory(scroll_speed, t_or_f_level, 1, 420)
start_tile5 = tileFactory(scroll_speed, t_or_f_level, 1, 560)
start_tile6 = tileFactory(scroll_speed, t_or_f_level, 1, 700)
start_tile7 = tileFactory(scroll_speed, t_or_f_level, 1, 840)
start_tile8 = tileFactory(scroll_speed, t_or_f_level, 1, 980)
start_tile9 = tileFactory(scroll_speed, t_or_f_level, 1, 1120)
start_tile10 = tileFactory(scroll_speed, t_or_f_level, 1, 1260)
past_row = 1
prev_row = 1
cur_row = 1
if t_or_f_level == 1:
temp_row = tile_gen_tank(past_row, prev_row, cur_row)
if t_or_f_level == 2:
temp_row = tile_gen_fight(past_row, prev_row, cur_row)
cur_row = temp_row
start_tile11 = tileFactory(scroll_speed, t_or_f_level, temp_row)
tile_list[0] = start_tile1
tile_list[1] = start_tile2
tile_list[2] = start_tile3
tile_list[3] = start_tile4
tile_list[4] = start_tile5
tile_list[5] = start_tile6
tile_list[6] = start_tile7
tile_list[7] = start_tile8
tile_list[8] = start_tile9
tile_list[9] = start_tile10
tile_list[10] = start_tile11
timer_font = pygame.font.Font("Fixedsys.ttf", 30)
HUD_display = HUD(DISPLAYSURF, DISPLAYWIDTH, DISPLAYHEIGHT, timer_font,
pcmaxhp)
great_asteroid = asteroidTestClass(
(randint(8, 12) * 300, randint(70, 440)), DISPLAYHEIGHT)
while True:
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()
sys.exit()
if wait_control == 0 or wait_control == 1:
wait_amount = 17
wait_control += 1
else:
wait_amount = 16
wait_control = 0
if calc_control == 1 or calc_control == 2 or calc_control == 3:
wait_amount = wait_amount - 4
if calc_control == 4:
wait_amount = wait_amount - 3
if calc_control == 5:
wait_amount = wait_amount - 3
calc_control = 0
pygame.time.wait(wait_amount)
calc_control += 1
if tile_make_in == tile_make_in_max:
if level_end_in <= 600 and lvl_type_choice == "t":
tile_list.append(0)
tile_list[tile_num] = tileFactory(scroll_speed, t_or_f_level,
1)
temp_list = []
for index in range(len(tile_list) - 1):
temp_list.append(tile_list[index + 1])
tile_list = temp_list
tile_make_in = 0
## Tells the loop to generate tiles only on row 1 as the level will
## end in ten seconds.
elif level_end_in > 600:
if t_or_f_level == 1:
temp_row = tile_gen_tank(past_row, prev_row, cur_row)
if t_or_f_level == 2:
temp_row = tile_gen_fight(past_row, prev_row, cur_row)
past_row = prev_row
prev_row = cur_row
cur_row = temp_row
tile_list.append(0)
tile_list[tile_num] = tileFactory(scroll_speed, t_or_f_level,
temp_row)
temp_list = []
for index in range(len(tile_list) - 1):
temp_list.append(tile_list[index + 1])
## Change "index + 1" into "len(tile_list) - 1" for a
## hilarious bug.
tile_list = temp_list
tile_make_in = 0
if turret_make_in >= turret_make_in_max and level_end_in > 600:
turret_gen(turret_list, turret_kill_list, temp_row,
t_or_f_level)
turret_make_in = 0
elif level_end_in <= 600 and lvl_type_choice == "f":
temp_list = []
for index in range(len(tile_list) - 1):
temp_list.append(tile_list[index + 1])
## Tells the loop to stop generating tiles if it's a fighter level,
## since the level will end in ten seconds.
if minion_make_in == minion_make_in_max and level_end_in > 600:
minion_gen(minion_list, minion_kill_list, DISPLAYWIDTH,
DISPLAYHEIGHT)
minion_make_in = 0
if striker_make_in == striker_make_in_max and level_end_in > 600:
striker_gen(striker_list, striker_kill_list, DISPLAYWIDTH,
DISPLAYHEIGHT)
striker_make_in = 0
## Generate enemies here and supply classes with their indicies.
tile_make_in += 1
minion_make_in += 1
striker_make_in += 1
turret_make_in += 1
level_end_in -= 1
if len(minion_list) > 0:
for x in range(len(minion_list)):
minion_list[x].index_update(x)
minion_list[x].pos_change()
if len(striker_list) > 0:
for x in range(len(striker_list)):
striker_list[x].index_update(x)
striker_list[x].pos_change()
if len(turret_list) > 0:
for x in range(len(turret_list)):
turret_list[x].index_update(x)
turret_list[x].pos_change()
great_asteroid.pos_change()
## check for collision and enemy death here
if len(minion_kill_list) > 0:
for index in minion_kill_list:
DISPLAYSURF.blit(minion_list[index].MINSURF,
(DISPLAYWIDTH + 1, DISPLAYHEIGHT + 1))
minion_list[index] = 0
minion_kill_list = []
if len(striker_kill_list) > 0:
for index in striker_kill_list:
DISPLAYSURF.blit(striker_list[index].STRISURF,
(DISPLAYWIDTH + 1, DISPLAYHEIGHT + 1))
striker_list[index] = 0
striker_kill_list = []
if len(turret_kill_list) > 0:
for index in turret_kill_list:
DISPLAYSURF.blit(turret_list[index].TURSURF,
(DISPLAYWIDTH + 1, DISPLAYHEIGHT + 1))
turret_list[index] = 0
turret_kill_list = []
## Removes a sprite class from their sprite list at the index stored in
## their kill list (which should always be accurate at this point) and
## replaces it with a 0. (Does not directly remove them from the list
## as that would make the rest of the indicies in the kill list
## inaccurate due to list length being changed.)
##
## The DISPLAYSURF.blit is strictly for moving them offscreen first
## so they don't remain and interact with other entites. Will not work
## at this moment.
## for minion in minion_list:
## minion.update()
## for striker in striker_list:
## striker.update()
## for turret in turret_list:
## turret.update()
if 0 in minion_list:
temp_list = []
for x in range(len(minion_list)):
if not minion_list[x] == 0:
temp_list.append(minion_list[x])
minion_list = temp_list
for x in range(len(minion_list)):
minion_list[x].index_update(x)
if 0 in striker_list:
temp_list = []
for x in range(len(striker_list)):
if not striker_list[x] == 0:
temp_list.append(striker_list[x])
striker_list = temp_list
for x in range(len(striker_list)):
striker_list[x].index_update(x)
if 0 in turret_list:
temp_list = []
for x in range(len(turret_list)):
if not turret_list[x] == 0:
temp_list.append(turret_list[x])
turret_list = temp_list
for x in range(len(turret_list)):
turret_list[x].index_update(x)
for tile in tile_list:
tile.pos_change()
DISPLAYSURF.fill(BLACK)
for tile in tile_list:
DISPLAYSURF.blit(tile.TILESURF, tile.pos)
for minion in minion_list:
DISPLAYSURF.blit(minion.MINSURF, minion.pos)
for striker in striker_list:
DISPLAYSURF.blit(striker.STRISURF, striker.pos)
for turret in turret_list:
DISPLAYSURF.blit(turret.TURSURF, turret.pos)
DISPLAYSURF.blit(great_asteroid.ASTSURF, great_asteroid.pos)
HUD_display.timer_display(level_end_in)
HUD_display.health_display(pccurhp)
if level_end_in % 60 == 0:
if pccurhp > 0:
pccurhp -= 1
if level_end_in == 0:
level_end(DISPLAYSURF, DISPLAYWIDTH, DISPLAYHEIGHT, tile_list,
lvl_type_choice, minions_killed, strikers_killed,
turrets_killed, asteroids_killed)
pygame.display.update()
class Necro():
def __init__(self):
#window setup
pygame.display.set_caption('Necromonster')
pygame.display.set_icon(pygame.image.load(os.path.join('rec', 'misc', 'icon.png')))
self.main_path = os.getcwd()
# initiate the clock and screen
self.clock = pygame.time.Clock()
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.center_point = [470., 350.]
self.screen = pygame.display.set_mode(self.screen_res, pygame.HWSURFACE, 32)
#DEBUG values
self.DEBUG = 1
self.RECT_DEBUG = 0
#Init custom game classe(s)
self.EntityHandler = EntityHandler(self)
self.Scheduler = Schedule(self)
self.Projectile = Projectile
self.Monster = Monster
self.Item = Item
self.Invent = Invent(self)
self.Weapon = Weapon
self.Garment = Garment
self.Player = Player(self)
self.HUD = HUD(self)
# Init entity manager vars
self.entities = []
# load fonts, create font list
self.text_list = []
self.default_font = pygame.font.SysFont(None, 20)
# get the map that you are on
self.blit_list = mapLoader.load('home', self)
self.Item(self, 'Mythril', [350, 400], world=1)
while 1:
self.Loop()
def Loop(self):
# main game loop
self.eventLoop()
if pygame.time.get_ticks() - self.last_tick > 20:
self.Tick()
self.Draw()
pygame.display.update()
def eventLoop(self):
# the main event loop, detects keypresses
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()
sys.exit()
elif event.type == KEYDOWN:
if not self.HUD.chat_active:
if event.key == K_e:
self.Invent.toggleView()
if event.key == K_t:
#activate the chat bar
self.HUD.chat_message = ''
self.HUD.chat_active = 1
self.Player.can_move = 0
return 0
if event.key == K_ESCAPE or event.key == K_RETURN:
message = self.HUD.chat_message.split()
if len(message) >1:
if len(message) > 2:
self.HUD.command(message[0], message[1], message[2])
else:
self.HUD.command(message[0], message[1])
self.HUD.chat_active = 0
self.Player.can_move = 1
self.HUD.chat_message = ''
elif event.key == K_BACKSPACE:
self.HUD.chat_message = self.HUD.chat_message[:-1]
elif event.key <= 255:
char = chr(event.key)
if self.keys_pressed[K_LSHIFT] or self.keys_pressed[K_RSHIFT]:
char = char.upper()
self.HUD.chat_message += char
elif event.type == MOUSEBUTTONDOWN:
if self.Invent.in_hand:
self.Invent.testThrow(pygame.mouse.get_pos())
if self.Invent.shown:
self.Invent.inventClick(pygame.mouse.get_pos())
elif pygame.mouse.get_pressed()[0]:
self.Player.attack(pygame.mouse.get_pos())
def Tick(self):
# updates to player location and animation frame
ttime = self.clock.tick()
self.keys_pressed = pygame.key.get_pressed()
self.Scheduler.update()
self.EntityHandler.updateAll(ttime)
self.Invent.update()
for index, text in enumerate(self.text_list):
if text[2]:
raise DeprecationWarning
self.last_tick = pygame.time.get_ticks()
def off(self, coords):
newx = coords[0] - self.Player.player_r.x + 450
newy = coords[1] - self.Player.player_r.y + 325
return [newx, newy]
def Draw(self):
#Responsible for calling all functions that draw to the screen
tile_width = self.tile[1][0]
tile_height = self.tile[1][1]
tile_extrax = self.Player.player_r.x % tile_width
tile_extray = self.Player.player_r.y % tile_height
y = 0
for i in xrange(self.screen_res[1] / tile_height + 3):
for i in xrange(self.screen_res[0] / tile_width + 3):
self.screen.blit(self.tile[0], [i * tile_width - tile_width - tile_extrax, y - tile_height - tile_extray])
y += self.tile[1][1]
for surf in self.blit_list:
if 'player' in surf:
self.EntityHandler.blitAll()
else:
self.screen.blit(surf[0], self.off(surf[1]))
for text in self.text_list:
self.screen.blit(text[0], text[1])
if self.Invent.shown:
self.Invent.draw()
if self.DEBUG:
self.screen.blit(self.default_font.render(str(round(self.clock.get_fps())), True, (255, 255, 255)), [0, 0])
self.screen.blit(self.default_font.render(str('%s, %s' % (self.Player.player_r.x, self.Player.player_r.y)), True, (255, 255, 255)), [0, 12])
self.screen.blit(self.default_font.render(str(pygame.mouse.get_pos()), True, (255, 255, 255)), [0, 24])
if self.RECT_DEBUG:
ps = pygame.Surface(self.Player.player_dims)
ps.fill([255, 0, 0])
self.screen.blit(ps, self.off([self.Player.player_r.x, self.Player.player_r.y]))
self.HUD.blitHUD()
class Necro():
def __init__(self):
#window setup
pygame.display.set_caption('Necromonster')
path = ['rec', 'misc', 'icon.png']
os.path.sep.join(path)
pygame.display.set_icon(pygame.image.load(os.path.sep.join(path)))
#pygame.display.set_icon(pygame.image.load('rec\\misc\\icon.png'))
self.main_path = os.getcwd()
# initiate the clock and screen
self.clock = pygame.time.Clock()
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.screen = pygame.display.set_mode(self.screen_res, pygame.HWSURFACE, 32)
self.DEBUG = 1
#Init custom game classes
self.Player = Player(self)
self.Monsters = Monster(self)
self.ItemHandler = Item(self)
self.Invent = Invent(self)
self.HUD = HUD(self)
# load fonts, create font list
self.text_list = []
self.default_font = pygame.font.SysFont(None, 20)
# get the map that you are on
self.blit_list = mapLoader.load('home', self)
self.Monsters.create('goop', [300, 300], 2, 'neutral')
while 1:
self.Loop()
def Loop(self):
# main game loop
self.eventLoop()
if pygame.time.get_ticks() - self.last_tick > 20:
self.Tick()
self.Draw()
pygame.display.update()
def eventLoop(self):
# the main event loop, detects keypresses
for event in pygame.event.get():
if event.type == QUIT:
sys.exit()
elif event.type == KEYDOWN:
if event.key == K_e:
self.Invent.toggleView()
elif event.type == MOUSEBUTTONDOWN:
if self.Invent.in_hand:
self.Invent.testThrow(pygame.mouse.get_pos())
if self.Invent.shown:
self.Invent.inventClick(pygame.mouse.get_pos())
def Tick(self):
# updates to player location and animation frame
self.keys_pressed = pygame.key.get_pressed()
self.clock.tick()
self.Player.update()
self.Monsters.update()
self.ItemHandler.update()
self.Invent.update()
for index, text in enumerate(self.text_list):
if text[2] < time():
self.text_list.pop(index)
self.last_tick = pygame.time.get_ticks()
def off(self, coords):
newx = coords[0] - self.Player.player_r.x + 450
newy = coords[1] - self.Player.player_r.y + 325
return [newx, newy]
def Draw(self):
#Responsible for calling all functions that draw to the screen
tile_width = self.tile[1][0]
tile_height = self.tile[1][1]
tile_extrax = self.Player.player_r.x % tile_width
tile_extray = self.Player.player_r.y % tile_height
y = 0
for i in xrange(self.screen_res[1] / tile_height + 3):
for i in xrange(self.screen_res[0] / tile_width + 3):
self.screen.blit(self.tile[0], [i * tile_width - tile_width - tile_extrax, y - tile_height - tile_extray])
y += self.tile[1][1]
for surf in self.blit_list:
if 'player' in surf:
self.Player.blitPlayer()
self.Monsters.blitMonsters()
else:
self.screen.blit(surf[0], self.off(surf[1]))
for text in self.text_list:
self.screen.blit(text[0], text[1])
self.ItemHandler.blitItems()
if self.Invent.shown:
self.Invent.draw()
if self.DEBUG:
self.screen.blit(self.default_font.render(str(round(self.clock.get_fps())), True, (255, 255, 255)), [0, 0])
self.screen.blit(self.default_font.render(str('%s, %s' % (self.Player.player_r.x, self.Player.player_r.y)), True, (255, 255, 255)), [0, 12])
self.screen.blit(self.default_font.render(str(pygame.mouse.get_pos()), True, (255, 255, 255)), [0, 24])
self.HUD.blitHUD()
#Ejemplo de como usar HUD en otro script
import time
from HUD import HUD
HUD.thread_start()
def run_app():
while HUD.execution_thread.is_alive():
#Actualizo la hora cada 0.1 seg
t = time.localtime()
#time_formated = f"{t.tm_year}/{t.tm_mon}/{t.tm_mday} - {t.tm_hour}:{t.tm_min}:{t.tm_sec}"
time_formated = {
"año": t.tm_year,
"mes": t.tm_mon,
"dia": t.tm_mday,
"hora": t.tm_hour,
"min": t.tm_min,
"sec": t.tm_sec
}
print(time_formated)
HUD.update_label(time_formated)
#Actualizo el texto:
#Para darle color a una linea debo agregar la key f"{key_origina}_color"
time_formated = {
"año": t.tm_year,
"mes": t.tm_mon,
"dia": t.tm_mday,
"hora": t.tm_hour,
"min": t.tm_min,
"sec": t.tm_sec,
"año_color": "green",
class Map:
def __init__(self, width, height):
self.windowWidth = width
self.windowHeight = height
self.widthNumber = 0
self.heightNumber = 0
self.map = [] # Contains all the cells that make up the map
self.path = [
] # Ordered list of cells that make up the path for the enemies
self.walls = [] # List containing all the cells that make up the walls
self.enemies = [] # List of all enemies currently on the field
self.level = 0 # Incrementing level variable, increases difficulty
self.towers = [] # List of all towers currently on the map
self.bullets = [] # List of all bullets
self.start = 0
self.end = 0
self.startCell = None
self.endCell = None
self.hud = HUD(width, height)
def createEnemy(self):
enemy1 = Enemy(0, 0, self.path)
self.enemies.append(enemy1)
def createTower(self, cell, id):
if (cell.id is 1):
# The cell is a wall so create the tower
tower1 = Tower(cell, id)
self.towers.append(tower1)
else:
# The cell is not a tower, so don't create it
print("Error: Can only build towers on a wall")
# Generate a map of cells
# widthNo - the number of cells in width
# height - the number of cells in height
# fills self.map and self.path
def generateMap(self, widthNo, heightNo):
# Create random start and end points
self.widthNumber = widthNo
self.heightNumber = heightNo
bottomBarHeight = 100
cellWidth = round(self.windowWidth / widthNo)
cellHeight = round((self.windowHeight - bottomBarHeight) / heightNo)
# Create a map of wall cells
for i in range(0, heightNo):
for j in range(0, widthNo):
color = [0, 0, 0] # HSV Array containing the cell color
randomInt = random.randint(1, 30)
color[0] = randomInt
color[1] = randomInt
color[2] = randomInt
newCell = Cell(j * cellWidth, i * cellHeight, cellWidth,
cellHeight, 0, color)
# find all the neighbors of the cell
self.map.append(newCell)
self.findNeighbors()
# Defining the start and end cells
# Start cell, top left quarter of map
# End cell, bottom right quarter of map
self.start = [
random.randint(0, round(widthNo / 4)),
random.randint(0, round(heightNo / 4))
]
self.end = [
random.randint(round(3 * widthNo / 4), widthNo),
random.randint(round(3 * heightNo / 4), heightNo)
]
# print("This is start: " + str(self.start))
# print("This is end: " + str(self.end))
startPosition = [
self.start[0] * self.map[0].width,
self.start[1] * self.map[0].height
]
self.startCell = self.findCursorCell(startPosition)
endPosition = [
self.end[0] * self.map[0].width, self.end[1] * self.map[0].height
]
self.endCell = self.findCursorCell(endPosition)
# Debugging print statement in order to print out the current map
# self.printArrayCellContents()
# Create a path from the start to the end, make the path a little interesting
def generatePath(self, widthNo, heightNo):
path = [] # contains all the cells that make up the path
# Create multiple different waypoints and connect them with paths
# Waypoint for the top right quarter
waypoint1 = [
random.randint(round(widthNo / 4), round(3 * widthNo / 4)),
random.randint(0, round(heightNo / 2))
]
# Waypoint for the bottom left corner
waypoint2 = [
random.randint(0, round(widthNo / 2)),
random.randint(round(heightNo / 4), round(3 * heightNo / 4))
]
way1Position = [
waypoint1[0] * self.map[0].width, waypoint1[1] * self.map[0].height
]
self.waypoint1Cell = self.findCursorCell(way1Position)
way2Position = [
waypoint2[0] * self.map[0].width, waypoint2[1] * self.map[0].height
]
self.waypoint2Cell = self.findCursorCell(way2Position)
self.waypoint1Cell.id = 2
self.waypoint2Cell.id = 2
self.waypoint1Cell.redoColor()
self.waypoint2Cell.redoColor()
path1 = self.greedyBFS(self.startCell, self.waypoint1Cell)
path2 = self.greedyBFS(self.waypoint1Cell, self.waypoint2Cell)
path3 = self.greedyBFS(self.waypoint2Cell, self.endCell)
for cell in path1:
path.append(cell)
for cell in path2:
path.append(cell)
for cell in path3:
path.append(cell)
# Find the corresponding waypoint cells
for cell in path:
# Update the cell ids in the path
cell.id = 2
cell.redoColor()
self.path = path
self.generateWall()
self.createEnemy()
self.createTower(self.walls[0], 0)
def greedyBFS(self, startCell, endCell):
evaluated = []
# HEAP
# stores tuples
# FIRST - fCost of the cell
# SECOND - cell itself
notEvaluated = [] # Keep this as a heap with heapify
notEvaluatedCheck = [
] # Array to make sure everything stays on the same page
# Dictionary containing the path
previousCells = []
# Calculate the euclidian distance to the cell
startFCost = startCell.calcDistance(endCell)
heapq.heappush(notEvaluated, (startFCost, startCell))
notEvaluatedCheck.append(startCell)
while not len(notEvaluatedCheck) <= 0:
heapq.heapify(notEvaluated)
currentCell = heapq.heappop(notEvaluated)[1]
notEvaluatedCheck.remove(currentCell)
if currentCell.isSameLocation(endCell):
# print("Found a path")
return previousCells
# print("Iterated")
evaluated.append(currentCell)
previousCells.append(currentCell)
for neighbor in currentCell.neighbors:
if neighbor in evaluated or neighbor is None:
continue
if not notEvaluatedCheck.__contains__(neighbor):
neighborFCost = neighbor.calcDistance(endCell)
heapq.heappush(notEvaluated, (neighborFCost, neighbor))
notEvaluatedCheck.append(neighbor)
# print("Neighbor added" + str(len(notEvaluatedCheck)))
print("\n\nPATH NOT FOUND\n\n")
def printArrayCellContents(self):
for cell in self.map:
print("X: " + str(cell.x))
print("Y: " + str(cell.y))
print("width: " + str(cell.width))
print("height: " + str(cell.height))
print("id: " + str(cell.id))
print("color: " + str(cell.color))
# find all the neighbors of a cell
# cell - the cell of which the neighbors need to be found
# @return - an array of all the neighbors
def findNeighbors(self):
map = self.map
for i in range(0, len(map)):
neighbors = []
# Check the upper
if i - self.widthNumber > 0:
neighbors.append(map[i - self.widthNumber])
else:
neighbors.append(None)
# Check the lower
if i + self.widthNumber < (self.widthNumber * self.heightNumber):
neighbors.append(map[i + self.widthNumber])
else:
neighbors.append(None)
# Check the left
if ((i) % self.widthNumber) is not 0 and i - 1 > 0:
neighbors.append(map[i - 1])
else:
neighbors.append(None)
# Check the right
if i + 1 < (self.widthNumber * self.heightNumber) and (
(i + 1) % self.widthNumber) is not 0:
neighbors.append(map[i + 1])
else:
neighbors.append(None)
map[i].neighbors = neighbors
# Designate a certain number of empty cells along the path as walls which can house buildings
def generateWall(self):
numberPath = []
self.walls = []
for cell in self.path:
numberOfWalls = random.randint(0,
2) # Create between 0 and 2 walls
numberPath.append(numberOfWalls)
for i in range(0, len(self.path)):
cell = self.path[i]
neighbors = cell.neighbors
limitWalls = numberPath[i]
currentWalls = 0
for i in range(0, len(neighbors)):
neighborCell = neighbors[i]
if limitWalls <= currentWalls:
if neighborCell is not None and not neighborCell.id is 2:
neighborCell.id = 1
neighborCell.redoColor()
self.walls.append(neighborCell)
currentWalls = currentWalls + 1
# Update each enemy position based on where it is in the path
def update(self, screen, deltaT):
# Draw the hud on the screen
self.hud.drawHUD(screen)
for tower in self.towers:
tower.drawTower(screen)
# Update the tower and bullets
tower.updateTower(screen, self.enemies, self.path,
self.windowWidth, self.windowHeight, deltaT)
for enemy in self.enemies:
enemy.updatePosition()
enemy.drawEnemy(screen)
if enemy.goalReached:
# The enemy has arrived at the goal
self.enemies.remove(enemy)
self.hud.baseHealth -= 1
# Find the closest cell based on a position entered
def findCursorCell(self, position):
maxDistance = 1000000000
xCur = position[0] - (self.windowWidth / self.widthNumber) / 2
yCur = position[1] - (self.windowHeight / self.heightNumber) / 2
closestCell = self.map[0]
for i in range(0, len(self.map)):
cell = self.map[i]
x = (cell.x)
y = (cell.y)
# print("Mouse x: " + str(xCur))
# print("Mouse x: " + str(yCur))
# print("Cell x: " + str(x))
# print("Cell y: " + str(y))
distance = math.sqrt((x - xCur)**2 + (y - yCur)**2)
# print("Distance: " + str(distance))
if (distance <= maxDistance):
# print("Mouse x: " + str(xCur))
# print("Mouse x: " + str(yCur))
# print("Cell x: " + str(x))
# print("Cell y: " + str(y))
# print("distance: " + str(distance))
maxDistance = distance
closestCell = cell
return closestCell
class Necro():
def __init__(self):
"""
Main game class initialization. All other class references point to this class as "game"
"""
# window setup
pygame.display.set_caption('Necromonster')
pygame.display.set_icon(pygame.image.load(os.path.join('rec', 'misc', 'icon.png')))
self.main_path = os.getcwd()
# initiate the clock and screen object
self.clock = pygame.time.Clock()
self.FPS = 50
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.center_point = [470, 350]
self.screen = pygame.display.set_mode(self.screen_res, pygame.HWSURFACE, 32)
#DEBUG values
self.DEBUG = 1
self.RECT_DEBUG = 0
self.angle = 0
#Init and assign custom game class(es)
self.EntityHandler = EntityHandler(self)
self.ParticleManager = ParticleManager(self)
self.Scheduler = Schedule(self)
self.Entity = Entity
self.Projectile = Projectile
self.Monster = Monster
self.NPC = NPC
self.NPCText = NPCText
self.Item = Item
self.Inventory = Invent
self.Invent = self.Inventory(self)
self.Weapon = Weapon
self.Garment = Garment
self.Player = Player(self)
self.HUD = HUD(self)
# Init entity manager vars
self.entities = []
self.shadows = []
# load fonts, create font list
# do not use pygame.font.SysFont!
self.text_list = []
self.default_font = pygame.font.Font(os.path.join('rec', 'font', 'freesansbold.ttf'), 15)
self.speak_font = pygame.font.Font(os.path.join('rec', 'font', 'freesansbold.ttf'), 30)
# load the map that player is on
self.INSIDE = 0
self.blit_list = mapLoader.load('home', self)
# spawn initial map items/entities
self.Item(self, 'Mythril', [350, 400], world=1)
self.NPC(self, "blacksmith", [400, 400], 100, 'still')
for i in xrange(4):
self.Monster(self, 'chicken', [200+(i*50),650], 1, 'neutral')
self.Monster(self, "goop", [100, 100], 1, 'aggressive')
# begin main game loop
while 1:
self.Loop()
def Loop(self):
"""
Main loop of the game. Calls tick, draw, and event processing
functions. Tick and draw are only called every 20 milliseconds
"""
self.eventLoop()
self.Tick()
self.Draw()
pygame.display.update()
def eventLoop(self):
"""
Uses pygame event handling to process keypresses and mouse clicks.
Used for chat, interacting with objects, and inventory management
"""
for event in pygame.event.get():
event # prevents exit button freeze up
if event.type == QUIT:
pygame.quit()
sys.exit()
elif event.type == KEYDOWN:
# toggle chat bar active
if not self.HUD.chat_active:
if event.key == K_e:
self.Invent.toggleView()
if event.key == K_t:
#activate the chat bar
self.HUD.chat_message = ''
self.HUD.chat_active = 1
self.Player.can_move = 0
return 0
# process chat messages. Remove or add characters while chat box is open
if event.key == K_ESCAPE or event.key == K_RETURN:
self.HUD.processCommand(self.HUD.chat_message)
self.HUD.chat_active = 0
self.Player.can_move = 1
self.HUD.chat_message = ''
elif event.key == K_BACKSPACE:
self.HUD.chat_message = self.HUD.chat_message[:-1]
elif event.key <= 255:
char = chr(event.key)
if self.keys_pressed[K_LSHIFT] or self.keys_pressed[K_RSHIFT]:
char = char.upper()
self.HUD.chat_message += char
# interaction with entities on space bar press
if event.key == K_SPACE:
for monster in self.EntityHandler.monsters:
if monster.NPC:
if monster.isPlayerClose(75) and monster.interacting == False:
monster.interacting = True
elif not monster.isPlayerClose(75) or monster.interacting == True:
monster.interacting = False
self.HUD.delPrompt()
# inventory management, checks for item throws, and placement in slots.
elif event.type == MOUSEBUTTONDOWN:
self.Invent.last_click = pygame.mouse.get_pos()
if self.Invent.in_hand:
self.Invent.testThrow(self.Invent.last_click)
if self.Invent.shown:
self.Invent.inventClick(self.Invent.last_click)
elif pygame.mouse.get_pressed()[0]:
self.Player.attack(pygame.mouse.get_pos())
def Tick(self):
"""
Updates all game math and entity states. No drawing is done.
"""
ttime = self.clock.tick(self.FPS)
self.keys_pressed = pygame.key.get_pressed()
if self.keys_pressed[K_EQUALS]:
self.HUD.daytime_start -= 3
if self.keys_pressed[K_MINUS]:
self.HUD.daytime_start += 3
self.Scheduler.update()
self.EntityHandler.updateAll(ttime)
self.Invent.update()
self.HUD.updateDay()
for index, text in enumerate(self.text_list):
if text[2]:
raise DeprecationWarning
self.last_tick = pygame.time.get_ticks()
def off(self, coords):
"""
Offsets image coordinates to appear correct from the view of the player.
Should be called on all surface coordinates before blitting.
"""
newx = coords[0] - self.Player.player_r.x + 450
newy = coords[1] - self.Player.player_r.y + 325
return [newx, newy]
def unoff(self, coords):
"""
Removes the offset created by the off() function.
"""
newx = coords[0] + self.Player.player_r.x - 450
newy = coords[1] + self.Player.player_r.y - 325
return [newx, newy]
def getCenterBlit(self, surface, pos):
pos[0] = pos[0] + surface.get_width() / 2
pos[1] = pos[1] + surface.get_height() / 2
return pos
def rotopoint(self, surface, angle, pos):
size = surface.get_size()
if pos[0] > size[0]/2 or pos[1] > size[1]/2:
print 'BIG ASS HONKEY'
new_surf_size = [(size[0] - pos[0])*2, (size[1] - pos[1])*2]
new_surf_blit_pos = [new_surf_size[0] - size[0], new_surf_size[1] - size[1]]
new_surf = pygame.Surface(new_surf_size, pygame.SRCALPHA, 32)
new_surf.blit(surface, new_surf_blit_pos)
return pygame.transform.rotate(new_surf, angle)
def testrot(self, image, angle):
loc = image.get_rect().center
new_rot = pygame.transform.rotate(image, angle)
new_rot.get_rect(center=loc)
return new_rot, new_rot.get_rect()
def Draw(self):
"""
Completes all blitting to the screend object, includes HUD updates.
"""
tile_width = self.tile[1][0]
tile_height = self.tile[1][1]
tile_extrax = self.Player.player_r.x % tile_width
tile_extray = self.Player.player_r.y % tile_height
y = 0
for i in xrange(self.screen_res[1] / tile_height + 3):
for i in xrange(self.screen_res[0] / tile_width + 3):
self.screen.blit(self.tile[0], [i * tile_width - tile_width - tile_extrax, y - tile_height - tile_extray])
y += self.tile[1][1]
if self.shadows:
for s in self.shadows:
s.update(self.screen)
for surf in self.blit_list:
if 'player' in surf:
self.EntityHandler.blitAll()
else:
self.screen.blit(surf[0], self.off(surf[1]))
for text in self.text_list:
self.screen.blit(text[0], text[1])
if self.Invent.shown:
self.Invent.draw()
if self.DEBUG:
self.screen.blit(self.default_font.render(str(round(self.clock.get_fps())), True, (255, 255, 255)), [0, 0])
self.screen.blit(self.default_font.render(str('%s, %s' % (self.Player.player_r.x, self.Player.player_r.y)), True, (255, 255, 255)), [0, 12])
self.screen.blit(self.default_font.render(str(pygame.mouse.get_pos()), True, (255, 255, 255)), [0, 24])
if self.RECT_DEBUG:
ps = pygame.Surface(self.Player.player_dims)
ps.fill([255, 0, 0])
self.screen.blit(ps, self.off([self.Player.player_r.x, self.Player.player_r.y]))
#Draws player and head text if it exists
if self.Player.head_drawn:
if self.Player.head_drawn[3]:
self.screen.blit(self.Player.head_drawn[0], self.Player.head_drawn[1])
else:
self.Player.game.screen.blit(self.Player.head_drawn[0], self.off(self.Player.head_drawn[1]))
self.ParticleManager.update()
if self.Player.map_change:
self.HUD.updateMapTrans()
self.HUD.blitHUD()
'''
Created on 31 Jul 2014
@author: matt
'''
from multiprocessing import Process, Queue
from HUD import HUD
if __name__ == '__main__':
Q = Queue(100)
Q.put_nowait(("roll", 30))
Q.put_nowait(("pitch", 5))
hud = HUD(simulate=False, master=True, update_queue=Q)
hud.run_hud()
def __init__(self):
"""
Main game class initialization. All other class references point to this class as "game"
"""
# window setup
pygame.display.set_caption('Necromonster')
pygame.display.set_icon(pygame.image.load(os.path.join('rec', 'misc', 'icon.png')))
self.main_path = os.getcwd()
# initiate the clock and screen object
self.clock = pygame.time.Clock()
self.FPS = 50
self.last_tick = pygame.time.get_ticks()
self.screen_res = [900, 650]
self.center_point = [470, 350]
self.screen = pygame.display.set_mode(self.screen_res, pygame.HWSURFACE, 32)
#DEBUG values
self.DEBUG = 1
self.RECT_DEBUG = 0
self.angle = 0
#Init and assign custom game class(es)
self.EntityHandler = EntityHandler(self)
self.ParticleManager = ParticleManager(self)
self.Scheduler = Schedule(self)
self.Entity = Entity
self.Projectile = Projectile
self.Monster = Monster
self.NPC = NPC
self.NPCText = NPCText
self.Item = Item
self.Inventory = Invent
self.Invent = self.Inventory(self)
self.Weapon = Weapon
self.Garment = Garment
self.Player = Player(self)
self.HUD = HUD(self)
# Init entity manager vars
self.entities = []
self.shadows = []
# load fonts, create font list
# do not use pygame.font.SysFont!
self.text_list = []
self.default_font = pygame.font.Font(os.path.join('rec', 'font', 'freesansbold.ttf'), 15)
self.speak_font = pygame.font.Font(os.path.join('rec', 'font', 'freesansbold.ttf'), 30)
# load the map that player is on
self.INSIDE = 0
self.blit_list = mapLoader.load('home', self)
# spawn initial map items/entities
self.Item(self, 'Mythril', [350, 400], world=1)
self.NPC(self, "blacksmith", [400, 400], 100, 'still')
for i in xrange(4):
self.Monster(self, 'chicken', [200+(i*50),650], 1, 'neutral')
self.Monster(self, "goop", [100, 100], 1, 'aggressive')
# begin main game loop
while 1:
self.Loop()
class MainScreen(Screen):
"""
The screen where all of the action takes place.
It consists of a viewport and a HUD
#Attributes:
@param viewport: A window into the active world.
@type viewport: L{Viewport}
@param hud: The HUD displays information to the player. It does not contain
a debug menu, but does contain resource counts, menus, etc...
@type hud: L{HUD}
@param clientID: identifying string or number given by the server
when a client is created
"""
def __init__(self,clientID):
Screen.__init__(self)
self.viewport = None
self.hud = None
self.clientID = clientID
def setClientID(self,clientID):
self.clientID = clientID
self.viewport.setClientID(clientID)
self.hud.setClientID(clientID)
def TEST_createViewport(self,world,manager):
scrollLoc = (0,0)
viewportPos = (0,0)
viewportSize = (1024,768)
testViewport = Viewport(world,manager,scrollLoc,viewportPos,viewportSize,self.clientID)
self.viewport = testViewport
self.hud=HUD(manager,self.clientID)
self.viewport.hud=self.hud
self.hud.viewport=self.viewport
def draw(self,displaySurface,size):
self.viewport.draw(displaySurface)
self.hud.draw(displaySurface)
def processMouseMovedEvent(self,event):
self.viewport.mouseMoved(event)
def processMouseClickEvent(self,event):
self.viewport.clickEvent(event)
def processDragBeganEvent(self,event):
self.viewport.startDrag(event)
def processDragEvent(self,event):
self.viewport.continueDrag(event)
def processDragCompletedEvent(self,event):
self.viewport.completeDrag(event)
def processAddDragCompletedEvent(self,event):
self.viewport.completeDrag(event)
def processNumberKeyPressEvent(self,event):
if event.state == Event.KeyLocals.UP:
if event.comboKeys['ctrl']:
self.viewport.setQuickSelect(event)
else:
self.viewport.getQuickSelect(event)
def processCompleteActionEvent(self,event):
self.viewport.completeActionEvent(event)
def processInitiateActionEvent(self,event):
self.viewport.initiateActionEvent(event)
def processUpdateEvent(self,event):
self.viewport.processUpdateEvent(event)
self.hud.processUpdateEvent(event)
def processGameOverEvent(self,event):
self.viewport.setGameOver()
def changeWorld(self,world):
self.viewport.changeWorld(world)
class SpecificWorker(GenericWorker):
logger_signal = Signal(str, str, str)
def __init__(self, proxy_map, startup_check=False):
super(SpecificWorker, self).__init__(proxy_map)
self.width = 1280
self.height = 720
pygame.init()
pygame.font.init()
self.display = pygame.display.set_mode(
(self.width, self.height), pygame.HWSURFACE | pygame.DOUBLEBUF)
self.camera_manager = CameraManager(self.width, self.height)
self.gnss_sensor = GNSSSensor()
self.imu_sensor = IMUSensor()
self.hud = HUD(self.width, self.height, self.gnss_sensor,
self.imu_sensor)
self.controller = None
self.clock = pygame.time.Clock()
data_to_save = {
'control': [
'Time', 'Throttle', 'Steer', 'Brake', 'Gear', 'Handbrake',
'Reverse', 'Manualgear'
],
'communication': ['Time', 'CommunicationTime']
}
self.logger = Logger(self.melexlogger_proxy, 'carlaRemoteControl',
data_to_save)
self.logger_signal.connect(self.logger.publish_to_logger)
self.Period = 0
self.previousLat = None
self.previousLong = None
self.currentLat = None
self.currentLong = None
if startup_check:
self.startup_check()
else:
self.timer.timeout.connect(self.compute)
self.timer.start(self.Period)
def __del__(self):
print('SpecificWorker destructor')
def setParams(self, params):
try:
wheel_config = params["wheel"]
self.controller = DualControl(self.camera_manager, self.hud,
wheel_config,
self.carlavehiclecontrol_proxy)
except:
traceback.print_exc()
print("Error reading config params")
return True
@QtCore.Slot()
def compute(self):
if not self.previousLat and not self.previousLong:
self.previousLat = self.gnss_sensor.latitude
self.previousLong = self.gnss_sensor.longitude
self.clock.tick_busy_loop(60)
if self.controller and self.controller.parse_events(self.clock):
exit(-1)
if self.controller.car_moved():
control, elapsed_time = self.controller.publish_vehicle_control()
control_array = [
control.throttle, control.steer, control.brake, control.gear,
control.handbrake, control.reverse, control.manualgear
]
data = ';'.join(map(str, control_array))
self.logger_signal.emit('control', 'compute', data)
self.logger_signal.emit('communication', 'compute',
str(elapsed_time))
self.hud.tick(self, self.clock, control)
self.currentLat = self.gnss_sensor.latitude
self.currentLong = self.gnss_sensor.longitude
if self.currentLong != self.previousLong or self.currentLat != self.currentLat:
print("\n CURRENT POS VEHICLE -> LAT: {} , LONG: {}".format(
self.currentLat, self.currentLong))
self.previousLat = self.currentLat
self.previousLong = self.currentLong
self.camera_manager.render(self.display)
self.hud.render(self.display)
pygame.display.flip()
return True
def startup_check(self):
QTimer.singleShot(200, QApplication.instance().quit)
# =============== Methods for Component SubscribesTo ================
# ===================================================================
#
# SUBSCRIPTION to pushRGBD method from CameraRGBDSimplePub interface
#
def CarCameraRGBD_pushRGBD(self, im, dep):
self.camera_manager.images_received[im.cameraID] = im
#
# SUBSCRIPTION to updateSensorGNSS method from CarlaSensors interface
#
def CarlaSensors_updateSensorGNSS(self, gnssData):
self.gnss_sensor.update(gnssData.latitude, gnssData.longitude,
gnssData.altitude, gnssData.frame,
gnssData.timestamp)
#
# SUBSCRIPTION to updateSensorIMU method from CarlaSensors interface
#
def CarlaSensors_updateSensorIMU(self, imuData):
self.imu_sensor.update(imuData.accelerometer, imuData.gyroscope,
imuData.compass, imuData.frame,
imuData.timestamp)
def run(self):
"""
Runs the game.
@return: Exit status. Signals what screen comes next.
"""
self.music.fadeout(1000)
self.music.load(self.music.game)
self.music.play(-1)
pygame.mouse.set_visible(False)
self.background = pygame.Surface(self.screen.get_size())
self.background.fill((0, 0, 0))
self.screen.blit(self.background, (0, 0))
# Game objects.
cursor = Reticule(self.screen)
player = Player(self.screen, self.DEBUG)
playerSonar = PlayerSonar(self.screen, player)
self.sonarList.add(playerSonar)
gun = GunHandler(self.screen, player, self.sfx, self.DEBUG)
hud = HUD(self.screen, player, self.clock, gun)
playerHealth = PlayerHealth(self.screen, player)
# Sprite Lists.
self.playerList.add(player)
self.hudList.add(playerHealth)
self.hudList.add(cursor)
self.hudList.add(hud)
# Main game loop.
while (player.health > 0):
self.clock.tick(self.FPS)
self.addEnemies(player)
pygame.time.wait(5)
for event in pygame.event.get():
# Close the window.
if event.type == pygame.QUIT:
pygame.quit()
sys.exit(0)
# Keyboard input.
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
pygame.quit()
sys.exit(0)
elif event.key == pygame.K_1:
gun.setGun(gun.k_pistol)
elif event.key == pygame.K_2:
gun.setGun(gun.k_shotgun)
elif event.key == pygame.K_3:
gun.setGun(gun.k_smg)
pygame.event.clear()
# Mouse Button Press.
self.handleMouse(player, gun)
# Update Sprite Lists.
self.handleCollisions(player)
self.handleSonar(player)
self.updateScreen()
if not self.DEBUG:
self.addScore(player.score)
return 2
def __init__(self, size):
self.hud = HUD(size)