def __init__(self, name, size):
self.name = name
self.ships = []
self.field_size = size
self.my_field = Field(size, is_enemy=False)
self.enemy_field = Field(size, is_enemy=True)
self.verbose = True
class FieldTests(unittest.TestCase):
def setUp(self):
self.__x = random.randint(2, 128)
self.__y = random.randint(2, 128)
self.__field = Field(self.__y, self.__x)
def test_zero(self):
self.assertFalse(Field(0, 0).is_correct(0, 0))
def test_size(self):
self.assertEqual(self.__field.x, self.__x)
self.assertEqual(self.__field.y, self.__y)
def test_basic(self):
n = random.random()
x = random.randint(0, self.__x - 1)
y = random.randint(0, self.__y - 1)
self.__field[y][x] = n
self.assertEqual(self.__field[y][x], n)
def test_border(self):
self.__field[0][0] = 0
self.__field[self.__y - 1][self.__x - 1] = 0
def test_method_is_correct(self):
x = random.randint(0, self.__x - 1)
y = random.randint(0, self.__y - 1)
self.assertTrue(self.__field.is_correct(0, 0))
self.assertTrue(self.__field.is_correct(y, x))
self.assertTrue(not self.__field.is_correct(-1, 0))
self.assertTrue(not self.__field.is_correct(0, -1))
self.assertTrue(not self.__field.is_correct(self.__y, 0))
self.assertTrue(not self.__field.is_correct(0, self.__x))
def __init__(self,name,type_byte_nr=1,length_byte_nr=1,length_compensation=0,type_=0,value=''):
Field.__init__(self, name, value)
self._type_byte_nr = type_byte_nr
self._length_byte_nr = length_byte_nr
self._type = type_
self._length_compensation = length_compensation
self._length = len(value) + length_compensation
def __init__(self, fdir, fname, parallel_run=None):
Raw = OpenFOAM_RawData(fdir, fname,
self.nperbin,
parallel_run=parallel_run)
Field.__init__(self, Raw)
self.axislabels = ['x','y','z']
self.plotfreq = self.Raw.Nave
def tick(self, time_diff):
"""Some time has passed; decide what to do next."""
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.mytanks = mytanks
self.flags = flags
# We only care about our enemy's flag
enemy_flag = None
for flag in self.flags:
# print("flag color: %s x: %f y: %f" % (flag.color, flag.x, flag.y))
if flag.color == self.enemy:
# print("enemy found, and it is %s" % flag.color)
enemy_flag = flag
# Flag is the goal, so it creates an attractive field
obstacles = self.bzrc.get_obstacles()
fields = self.repulsive_and_tangential_fields_from_obstacles(obstacles)
# fields = []
attractive_field = Field(enemy_flag.x, enemy_flag.y, 5, 300)
attractive_field.kind = 'attractive'
for tank in self.mytanks:
# print("tank angle is %f x is %f y is %f" % (tank.angle, tank.x, tank.y))
#if this tank has the flag, then its attractive field is the home base
if tank.flag == self.enemy:
attractive_field = Field((self.base.corner1_x + self.base.corner3_x) / 2.0, (self.base.corner1_y + self.base.corner3_y) / 2.0, 5, 300)
attractive_field.kind = 'attractive'
fields.append(attractive_field)
self.bzrc.angvel(tank.index, self.calculate_angvel(tank, fields))
#speed depends on how far away we are?
#just ignore that for now, see if it works.
self.bzrc.speed(tank.index, self.calculate_speed(tank, fields))
self.bzrc.shoot(tank.index)
def __init__(self, platforms):
"""Create a new delegator instance.
'platforms' is a set of all platforms to support
"""
super().__init__('luastructs', Platform.mappings['default'], None)
self.platforms = platforms
self.field_var = 'f.'
self.description = 'Lua C Structs'
self.dissectors = {self.platform.name: self}
self.var = create_lua_var('delegator')
self.table_var = create_lua_var('dissector_table')
self.id_table = create_lua_var('message_ids')
self.sizes_table = create_lua_var('dissector_sizes')
self.msg_var = create_lua_var('msg_node')
# Add fields, don't change sizes!
endian = Platform.big
self.add_field(Field('Version', 'uint8', 1, 0, endian))
values = {p.flag: p.name for name, p in self.platforms.items()}
field = Field('Flags', 'uint8', 1, 0, endian)
field.set_list_validation(values)
self.add_field(field)
self.add_field(Field('Message', 'uint16', 2, 0, endian))
self.add_field(Field('Message length', 'uint32', 4, 0, endian))
self.version, self.flags, self.msg_id, self.length = self.children
def generate_matrix(q, number_processes = 35):
field = Field(q)
two_powers = [2 ** (q - i) for i in xrange(q + 1)]
with Manager() as manager:
A = manager.dict() # where we store the row integers
amount = lambda : len(A) # I use this to print out how many rows we have generated periodically
def append(x):
if x in A:
return 0
A[x] = True
return 1
#append = lambda x : A.__setitem__(x, True)
is_new = lambda x : not A.__contains__(x) # to avoid duplicate entries
# we don't need the a = 0, b = q - 1 case because it requires setting the 0th column (0 * (q-1)) which has already been chosen
a = q - 1
# generate all the numerators quickly
numerators = [[field.add(field.multiply(a, t), c) for t in field.trace()] for c in field]
bs = range(q - 3) + [q - 1] # all the b values we need
_distribute(lambda bs : _make_and_start_process(bs, a, field, numerators, append, is_new, two_powers, amount), bs, number_processes)
# start all the processes and then wait for them to finish
# the keys of the dictionary represent the row integers for the problem
return A.keys()
def parseJsonPage(self, site, doc, listurl):
try:
doc = json.loads(doc, encoding=site.getCharset())
item = self.listRule.getEntryItem()
if item and item in doc:
data = doc[item]
else:
data = doc
urlParent = self.listRule.getContentUrl()
extrarules = self.listRule.extrarules
if isinstance(data, list) and urlParent:
for _data in data:
if urlParent in _data:
link = urlparse.urljoin(listurl, _data[urlParent])
guid = md5(link).hexdigest()
_item = Item({
"type" : self.seed_type,
"images" : []
})
#取出需要的key数据
for field_name, _rule, fetch_all, page_type in extrarules:
field = Field(name = field_name, rule=_rule)
if _rule in _data:
value = _data[_rule]
if is_image(value):
_item["images"].append(value)
field.value = value
_item[field["name"]] = field
if (link is not None):
_item['url'] = link
# get item guid
if self.guid_rule:
guid = self.getItemGUID(_item)
elif self.seed["dont_craw_content"]:
self.guid_rule = []
for f in _item.fields:
self.guid_rule.append(_item[f]["id"])
guid = self.getItemGUID(_item)
self.guid_rule = None
else:
self.guid_rule = "url"
guid = self.getItemGUID(_item)
self.guid_rule = None
self.items[guid] = _item
else:
if isinstance(self.items, dict):
self.items = [];
self.items.append(data)
except:
raise "Cant parse json file"
class Saver():
def __init__(self, balls=int(random.random() * 100), trail=" "):
self.field = Field(title="Term Saver")
self.balls = [Ball(x=int(random.random() * self.field.x-1)+1, y=int(random.random() * self.field.y-1)+1) for x in range(balls)]
self.speed = 0.009
self.trail = trail
return
def update(self):
for ball in self.balls:
hitWall = self.walled(ball)
if hitWall: # wall collision
ball.bounce(hitWall)
# ball collision
self.clearTrail(ball, self.trail, True)
ball.move()
self.field.write_at(item=ball.image, coords=ball.getPosition())
# clear the field randomly (.1% chance)
if random.choice(range(1000)) == 1:
self.field.clear()
self.field.deploy()
return
def walled(self, ball):
direction = []
if ball.x < 1:
direction.append('right')
elif ball.x >= self.field.x-1:
direction.append('left')
if ball.y < 1:
direction.append('down')
elif ball.y >= self.field.y-1:
direction.append('up')
if len(direction):
return ' '.join(direction)
return None
def run(self):
run = 1
while run:
c = self.field.display.getch()
if c == ord('q'):
run = 0
self.update()
time.sleep(self.speed)
self.field.destroy()
return
def clearTrail(self, obj, remains=" ", centered=False):
for i in range(len(obj.image)):
self.field.write_at(item=remains, coords=[obj.x+i, obj.y], centered=centered)
return
def frame_paint(self,dt):
"""Clear the current OpenGL context, calls actor's paint_all method
"""
if not self.paused:
self.gl_clear()
Field.paint()
if self.show_fps:
self.pcd.draw()
def __init__(self, settings, name, data, allowed_range=None):
"""Set the allowed range if specified."""
self.start = None
self.end = None
if allowed_range is not None:
self.start, self.end = allowed_range
Field.__init__(self, settings, name, data)
def __init__(self,fdir,rectype='bins'):
self.vField = Channelflow_vField(fdir)
self.strainField = Channelflow_strainField(fdir)
Field.__init__(self,self.vField.Raw)
self.inherit_parameters(self.strainField)
self.labels = ["mag"]
self.nperbin = 1
def __init__(self, settings, name, data, first_name_list=None):
"""Get a first name list if necessary and call parent constructor."""
if first_name_list:
first_name_list = settings.resolve_path(first_name_list)
with open(first_name_list, 'r') as f:
self._first_name_list = f.read().splitlines()
else:
self._first_name_list = []
Field.__init__(self, settings, name, data)
def __init__(self,fdir,rectype='bins'):
self.vField = Channelflow_vField(fdir)
Field.__init__(self,self.vField.Raw)
self.inherit_parameters(self.vField)
self.labels = ["dudx","dudy","dudz",
"dvdx","dvdy","dvdz",
"dwdx","dwdy","dwdz"]
self.nperbin = 9
def __init__(self):
"""
EXAMPLES::
sage: ContinuedFractionField()
Field of all continued fractions
"""
Field.__init__(self, self)
self._assign_names(('x'),normalize=False)
def __init__(self):
field = Field(2**255 - 19)
ed25519 = TwistedEdwardsCurve(-1, field.div(-121665, 121666), field)
base_point = (15112221349535400772501151409588531511454012693041857206046113283949847762202L,
46316835694926478169428394003475163141307993866256225615783033603165251855960L)
self.curve = ed25519
self.bp = base_point
def test_domain_centre(self):
cmin = (-18.5, 5, 0)
cmax = (10, 10, 10)
d = (0.1, 0.25, 2)
name = 'test_field'
f = Field(cmin, cmax, d, dim=2, name=name)
assert f.domain_centre() == (-4.25, 7.5, 5)
def create_enum_field():
"""Create a Protocol instance with some fields."""
proto, diss = dissector.Protocol.create_dissector('test')
field = Field('enum', 'int32', 4, 0, Platform.big)
field.set_list_validation(dict(enumerate('ABCDE')))
diss.add_field(field)
diss.push_modifiers()
yield diss.children[0]
dissector.Protocol.protocols = {}
del proto, diss
def tick(self,dt):
"""Calls the actors update_all method until time out
"""
if not self.paused:
self.chrono += dt
if self.chrono > DURATION:
exit()
Field.tick(dt)
else:
pass
def test_index2coord(self):
cmin = (-1, -4, 11)
cmax = (15, 10.1, 12.5)
d = (1, 0.1, 0.5)
name = 'test_field'
f = Field(cmin, cmax, d, dim=2, name=name)
assert f.index2coord((0, 0, 0)) == (-0.5, -3.95, 11.25)
assert f.index2coord((5, 10, 1)) == (4.5, -2.95, 11.75)
def _create_enum(self, name, enum):
"""Create a new enum field."""
if enum not in self.enums.keys():
raise ParseError('Unknown enum: %s' % enum)
type = self.map_type('enum')
size = self.size_of('enum')
alignment = self.alignment('enum')
field = Field(name, type, size, alignment, self.platform.endian)
field.set_list_validation(self.enums[enum])
return field
def generate_schematic(self, circuit_raw=None, circuit_id=None, options=None):
"""
Generate a schematic for the given raw circuit data.
circuit_raw: list-dict like [{"name":.. ,"type":.. , "conns":.. , "groups":..}, ..]
circuit_id: of the circuit as a tuple of strings ("foo", "bar")
options: a {} to set various config options, see __init__()
"""
# allow to pre-set target circuit as object-attr,
# instead of passing as argument
self.cur_circ = circuit_id or self.cur_circ
self.cur_circ_raw = circuit_raw or self.cur_circ_raw
# make sure both contain something useful
assert self.cur_circ
assert self.cur_circ_raw
# apply available OPTIONS here
options = self.options = options or {}
xsize = options.get("xsize") or 40
ysize = options.get("ysize") or 40
optimizer = "deterministic"
if "optimizer" in options:
optimizer = options["optimizer"]
try:
# max field size is critical...
# DETERMINISTIC -> can be biiig, makes no difference
# EVOLUTIONARY -> small approx 14x14 for 4block+bias
print "\n".join(str(x) for x in self.cur_circ_raw)
field = Field(self.cur_circ, xsize, ysize)
#if optimizer == "deterministic":
# o = Deterministic(field)
#elif optimizer == "evolution":
# o = GeneticAlgorithm(field)
#else:
# print "[ERR] Unknown optimizer!"
# sys.exit(1)
o = FakeOptimizer(field, self.cur_circ_raw)
field = o.run()
field.optimize_size()
self.plot(field)
return True
except (OptimizerError, FieldException) as e:
print "[-] failed to create schematic for circ {}".format(self.cur_circ)
print e.message
return False
return None # never reached
def shuffle_from_field(self, field):
f = Field(field.circuit_id, field.nx, field.ny)
blocks = field.get_blocks()
shuffle(blocks)
for blk in blocks:
ypos = choice(range(2, f.ny-4+1, 2))
if not f.add_in_row(ypos, blk):
raise FieldBlockCouldNotBePlaced((ypos, -1), blk)
return out
def create_lua_keywords_field():
"""Create a Protocol instance with some fields."""
proto, diss = dissector.Protocol.create_dissector('test')
field = Field('elseif', 'int32', 4, 0, Platform.big)
field.set_list_validation(dict(enumerate('VWXYZ')))
diss.add_field(field)
diss.add_field(Field('in', 'float', 4, 0, Platform.big))
diss.push_modifiers()
yield diss.children[0], diss.children[1]
dissector.Protocol.protocols = {}
del proto, diss
def setUp(self):
# Test with Ed25519
field = Field(2**255 - 19)
ed25519 = TwistedEdwardsCurve(-1, field.div(-121665, 121666), field)
base_point = (15112221349535400772501151409588531511454012693041857206046113283949847762202L,
46316835694926478169428394003475163141307993866256225615783033603165251855960L)
self.curve = ed25519
self.bp = base_point
self.bp_order = 2**252 + 27742317777372353535851937790883648493
def postsimilar(self,sessionuserid):
newf = []
for fld in self.fields:
f = Field(sessionuserid,fld.decoration,fld.label)
newf.append(f)
cPickle.dump(f, open(f.getid()+".obj",'wb'))
newp = Pagelet(sessionuserid,self.views,newf)
self.leaves.append(newp.getid())
cPickle.dump(self, open(self.getid()+".obj",'wb'))
cPickle.dump(self, open(newp.getid()+".obj",'wb'))
return newp
def __init__(self, fdir):
# Get mean velocity and density field
self.fdir = fdir
self.vField = Channelflow_vField(fdir)
Field.__init__(self,self.vField.Raw)
self.inherit_parameters(self.vField)
self.labels = ['uu','uv','uw',
'vu','vv','vw',
'wu','wv','ww']
self.nperbin = 9
def repulsive_and_tangential_fields_from_obstacles(self, obstacles):
fields = []
for obstacle in obstacles:
centroid = self.calculate_centroid(obstacle)
radius = self.calculate_radius_from_centroid(centroid, obstacle)
field = Field(centroid['x'], centroid['y'], radius, 100)
field.kind = 'repulsive'
fields.append(field)
tan_field = Field(centroid['x'], centroid['y'], radius, 100)
tan_field.kind = 'tangential'
fields.append(tan_field)
return fields
def test_random_coord(self):
cmin = (-18.5, 5, 0)
cmax = (10, 10, 10)
d = (0.1, 0.25, 2)
name = 'test_field'
f = Field(cmin, cmax, d, dim=2, name=name)
for j in range(500):
c = f.random_coord()
assert f.cmin[0] <= c[0] <= f.cmax[0]
assert f.cmin[1] <= c[1] <= f.cmax[1]
assert f.cmin[2] <= c[2] <= f.cmax[2]
def test_coord2index(self):
cmin = (-10, -5, 0)
cmax = (10, 5, 10)
d = (1, 5, 1)
name = 'test_field'
f = Field(cmin, cmax, d, dim=2, name=name)
assert f.coord2index((-10, -5, 0)) == (0, 0, 0)
assert f.n[0] == 20
assert f.coord2index((10, 5, 10)) == (19, 1, 9)
assert f.coord2index((0.0001, 0.0001, 5.0001)) == (10, 1, 5)
assert f.coord2index((-0.0001, -0.0001, 4.9999)) == (9, 0, 4)
def initializeFields(self):
self.fields = []
self.fields.append(
Field(name="Start",
isSpecial=True,
specialFunction=self.startField,
imagePath="res/start.png")) #Start
self.fields.append(
Field(name="Współczesne stosunki międzynarodowe",
color=(102, 51, 0),
financial=(12, 4, 6, 18, 50, 10))
) # 1.1 -financial cena,opłata bazowa,opłata 1 poziom,opłata 2 poziom,opłata 3 poziom,cena upgradu
self.fields.append(
Field(name="Szansa",
isSpecial=True,
specialFunction=self.chanceField,
imagePath="res/questionmark.png")) # Szansa
self.fields.append(
Field(name="Historia Filozofii",
color=(102, 51, 0),
financial=(12, 4, 12, 36, 90, 10))) # 1.2
self.fields.append(
Field(name="DUUUŻY grzyb",
isSpecial=True,
specialFunction=self.bigMushroom,
imagePath="res/bigmush.png")) # Grzyb duży
self.fields.append(
Field(name="Wstęp do informatyki",
color=(204, 229, 255),
financial=(20, 6, 18, 54, 110, 10))) # 2.1
self.fields.append(
Field(name="Szansa",
isSpecial=True,
specialFunction=self.chanceField,
imagePath="res/questionmark.png")) # Szansa
self.fields.append(
Field(name="Wstęp do programowania w języku Python",
color=(204, 229, 255),
financial=(20, 6, 18, 54, 110, 10))) # 2.2
self.fields.append(
Field(name="Wstęp do programowania w języku C",
color=(204, 229, 255),
financial=(24, 8, 20, 60, 120, 10))) # 2.3
self.fields.append(
Field(name="Naprawa komputera",
isSpecial=True,
specialFunction=self.prisonField,
imagePath="res/jail.png")) # Więzienie
self.fields.append(
Field(name="Kurs: Podstawowy warsztat informatyka",
color=(153, 0, 153),
financial=(28, 10, 30, 90, 150, 20))) # 3.1
self.fields.append(
Field(name="Praktyka zawodowa w Nokii",
isSpecial=True,
specialFunction=self.practiseField,
financial=(45, 30, 0, 0, 0, 0),
imagePath="res/nokia.png"))
self.fields.append(
Field(name="Komunikacja człowiek-komputer",
color=(153, 0, 153),
financial=(28, 10, 30, 90, 150, 20))) # 3.2
self.fields.append(
Field(name="Systemy wbudowane",
color=(153, 0, 153),
financial=(32, 12, 36, 100, 180, 20))) # 3.3
self.fields.append(
Field(name="Rozwój systemu zapisów",
color=(255, 128, 0),
financial=(36, 14, 40, 110, 190, 20))) #4.1
self.fields.append(
Field(name="Szansa",
isSpecial=True,
specialFunction=self.chanceField,
imagePath="res/questionmark.png")) # Szansa
self.fields.append(
Field(name="Kurs: Praktyczne aspekty sieci komputerowych",
color=(255, 128, 0),
financial=(36, 14, 40, 110, 190, 20))) # 4.2
self.fields.append(
Field(name="Kurs: WWW",
color=(225, 128, 0),
financial=(40, 16, 44, 120, 200, 20))) # 4.3
self.fields.append(
Field(name="Tramwaj",
isSpecial=True,
specialFunction=self.tramField,
imagePath="res/tram.png")) # Tramwaj
self.fields.append(
Field(name="Podstawy grafiki komputerowej",
color=(255, 0, 0),
financial=(44, 18, 50, 140, 210, 30))) # 5.1
self.fields.append(
Field(name="Szansa",
isSpecial=True,
specialFunction=self.chanceField,
imagePath="res/questionmark.png")) # Szansa
self.fields.append(
Field(name="Kurs programowania gier w silniku Unity3D",
color=(255, 0, 0),
financial=(44, 18, 50, 140, 210, 30))) # 5.2
self.fields.append(
Field(name="Artificial Intelligence for Games",
color=(255, 0, 0),
financial=(48, 20, 60, 150, 220, 30))) # 5.3
self.fields.append(
Field(name="Kurs języka Java",
color=(255, 255, 0),
financial=(52, 22, 66, 160, 230, 30))) # 6.1
self.fields.append(
Field(name="Kurs języka Rust",
color=(255, 255, 0),
financial=(52, 22, 66, 160, 230, 30))) # 6.2
self.fields.append(
Field(name="Praktyka zawodowa w Comarch",
isSpecial=True,
specialFunction=self.practiseField,
financial=(45, 30, 0, 0, 0, 0),
imagePath="res/comarch.png"))
self.fields.append(
Field(name="Języki programowania",
color=(255, 255, 0),
financial=(56, 24, 72, 170, 240, 30))) # 6.3
self.fields.append(
Field(name="Zepsułeś komputer",
isSpecial=True,
specialFunction=self.goToPrison,
imagePath="res/gotojail.png")) # Idź do więzienia
self.fields.append(
Field(name="Analiza numeryczna",
color=(0, 153, 0),
financial=(60, 26, 78, 190, 255, 40))) # 7.1
self.fields.append(
Field(name="Matematyka dyskretna",
color=(0, 153, 0),
financial=(60, 26, 78, 190, 255, 40))) # 7.2
self.fields.append(
Field(name="Szansa",
isSpecial=True,
specialFunction=self.chanceField,
imagePath="res/questionmark.png")) # Szansa
self.fields.append(
Field(name="Algebra",
color=(0, 153, 0),
financial=(64, 30, 90, 200, 280, 40))) # 7.3
self.fields.append(
Field(name="Szansa",
isSpecial=True,
specialFunction=self.chanceField,
imagePath="res/questionmark.png")) # Szansa
self.fields.append(
Field(name="Analiza matematyczna",
color=(3, 177, 252),
financial=(70, 35, 100, 220, 300, 40))) # 8.1
self.fields.append(
Field(name="Mały grzyb",
isSpecial=True,
specialFunction=self.littleMushroom,
imagePath="res/smallmush.png")) # Grzyb mały
self.fields.append(
Field(name="Logika dla informatyków",
color=(3, 177, 252),
financial=(80, 40, 120, 280, 400, 40))) # 8.1
def request_field(self) -> Field:
"""
Сервер запрашивает поле
:return: int[][]
"""
return Field.generate_random_field(self.client_id)
elif rotation == 2:
keys.append(keymap['rotate_right'])
keys.append(keymap['rotate_right'])
elif rotation == 3:
keys.append(keymap['rotate_left'])
# Then we move it all the way to the the left that we are guaranteed
# that it is at column 0. The main reason for doing this is that when
# the tetromino is rotated, the bottom-leftmost piece in the tetromino
# may not be in the 3rd column due to the way Tetris rotates the piece
# about a specific point. There are too many edge cases so instead of
# implementing tetromino rotation on the board, it's easier to just
# flush all the pieces to the left after orienting them.
for i in range(4):
keys.append(keymap['move_left'])
# Now we can move it back to the correct column. Since pyautogui's
# typewrite is instantaneous, we don't have to worry about the delay
# from moving it all the way to the left.
for i in range(column):
keys.append(keymap['move_right'])
keys.append(keymap['drop'])
return keys
if __name__ == '__main__':
f = Field()
f.drop(Tetromino.TTetromino(), 3)
opt = Optimizer.get_optimal_drop(f['tetromino_rotation'],
f['tetromino_column'],
Tetromino.ITetromino())
print(opt['field'])
class Foo(Model):
foo_field = Field('text')
class Solution:
# data structure : numpy 2D array
# [[x, y], --> alphabet a (index = 0) and x, y are floats
# [x, y], --> alphabet b (index = 1)
# .
# .
# .
# [x, y], --> alphabet z (index = 25)
# ]
num_alphabet = 32
field = Field()
# constructor
def __init__(self, seed=None):
# generate solution with seed list
if seed is not None:
self.positions = np.array(seed)
num_alphabet = len(seed)
# generate random solution
else:
# auxiliary random function which never returns 0
def rand_nonzero():
temp = np.random.rand()
while temp == 0.0:
temp = np.random.rand()
return temp
# random generate
self.positions = np.array([[
rand_nonzero() * CONFIG['keyboard_width'],
rand_nonzero() * CONFIG['keyboard_height']
] for i in range(Solution.num_alphabet)])
# calculate necessary values
# calculate area of polygon using showlace formula
def poly_area(x, y):
return 0.5 * np.abs(
np.dot(x, np.roll(y, 1)) - np.dot(y, np.roll(x, 1)))
# expand voronoi diagram for 4-directions
under = self.positions * np.array([1, -1])
right = self.positions * np.array([-1, 1]) + np.array(
[2 * CONFIG['keyboard_width'], 0])
upper = self.positions * np.array([1, -1]) + np.array(
[0, 2 * CONFIG['keyboard_height']])
left = self.positions * np.array([-1, 1])
points = np.concatenate((self.positions, under, right, upper, left),
axis=0)
# make voronoi diagram
vor = Voronoi(points)
# list of areas of each voronoi cells
areas = []
# list of rectangular areas of each voronoi cells
areas_rect = []
# list of central points of each voronoi cells
central_points = []
# list of number of fingers correponding to alphabets
which_finger = []
# list of coordinates of vertices of each voronoi regions
voronoi_edges = []
# for each cells from a to spacebar, calculate area of cells
for i in range(Solution.num_alphabet):
index_region = vor.point_region[i]
index_vertices = vor.regions[index_region]
# coordinate of each vertices
x_coord = []
y_coord = []
# calculate areas
for j in index_vertices:
x_coord.append(vor.vertices[j][0])
y_coord.append(vor.vertices[j][1])
areas.append(poly_area(x_coord, y_coord))
# calculate vertices of voronoi region
edge_vertices = []
for j in index_vertices:
edge_vertices.append(vor.vertices[j])
voronoi_edges.append(edge_vertices)
# calculate min and max of x, y coord
min_x = min(x_coord)
max_x = max(x_coord)
min_y = min(y_coord)
max_y = max(y_coord)
# calculate rectangular areas
rect_width = abs(max_x - min_x)
rect_height = abs(max_y - min_y)
areas_rect.append(rect_width * rect_height)
# calculate central point of each voronoi cells
cent_x = (min_x + max_x) / 2
cent_y = (min_y + max_y) / 2
central_points.append([cent_x, cent_y])
# calculate which finger will push the key
which_finger.append(Solution.field.which_finger([cent_x, cent_y]))
# add attributes
self.areas = areas
self.areas_rect = areas_rect
self.central_points = central_points
self.which_finger = which_finger
self.voronoi_edges = voronoi_edges
self.vor = vor
# get coordinate of key by name
# ex)
# sol.get_loc_by_name('a')
def get_loc_by_name(self, keyname):
return self.positions[ord(keyname) - 97]
# get coordinate of key
def get_loc(self, index):
return self.positions[index]
# plot voronoi diagram
def plot(self):
# labels for labeling points
labels = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
labels = 'qwertyuiop!asdfghjkl@#zxcvbnm$%^'
# plot
voronoi_plot_2d(self.vor, show_vertices=False, show_points=False)
colors = [
'#ffb3b3', '#ffd9b3', '#ffffb3', '#d9ffb3', '#b3ffff', '#b3d9ff',
'#b3b3ff', '#d9b3ff'
]
for i in range(Solution.num_alphabet):
index_region = self.vor.point_region[i]
index_vertices = self.vor.regions[index_region]
polygon = [self.vor.vertices[j] for j in index_vertices]
#plt.fill(*zip(*polygon), colors[self.which_finger[i]])
# draw points and labels
plt.scatter(self.positions[:, 0],
self.positions[:, 1],
s=10,
zorder=100)
for i, txt in enumerate(labels):
plt.annotate(txt,
(self.positions[:, 0][i], self.positions[:, 1][i]))
# config plt
plt.xlim(0, CONFIG['keyboard_width'])
plt.ylim(0, CONFIG['keyboard_height'])
plt.gca().set_aspect('equal', adjustable='box')
plt.show()
white = Field(10, 20)
for x in range(10):
for y in range(20):
white.set_pixel(x, y, [255, 255, 255])
bg = numpy.array(background.field)
fg = numpy.array(foreground.field)
multi = numpy.multiply(bg, fg)
multi = numpy.divide(multi, white.field)
combined = Field(10, 20)
combined.field = multi.astype(int).tolist()
return combined
if __name__ == "__main__":
back = Field(10, 20)
fore = Field(10, 20)
rainbowclock = Field(10, 20)
rgb_field_painter = RGB_Field_Painter()
clock = Clock(fore, Field(32, 8), rgb_field_painter, Led_Matrix_Painter())
COLORS = 60
r = rainbowcolors(COLORS)
currentrainbowstart = 0
while True:
currentrainbowstart += 1
currentrainbowstart %= COLORS - 20
for x in range(10):
for y in range(20):
back.set_pixel(x, y, r[y + currentrainbowstart])
clock.draw_clock([255, 255, 255])
from intcomp import IntComp
from intcomp import Status
from field import Field
from field import coord
filename = "11day-input.txt"
output_file = "output.txt"
if os.path.exists(output_file):
os.remove(output_file)
if len(sys.argv) > 1:
filename = sys.argv[1]
comp = IntComp(filename)
hull = Field()
status = Status.INPUT_REQUIRED
pos = coord(0, 0)
rot = 0 #0 = up, increasing clockwise
count = set()
# Day 11.2
hull.set_val(1, pos)
while status == Status.INPUT_REQUIRED:
paint = hull.get_val(pos)
outs = comp.execute_tape(paint)
status = outs[0]
def load_fields(self, fields):
for name, attr in fields.iteritems():
field = Field.get_field(attr['type'])
attr['name'] = name
self.fields[name] = field(attr)
#
# .. set index for begining & end of film
times, groups = run.getTimeGroups(time)
times.sort()
#
for index, time in enumerate(times) :
text = ['$N_e \mathrm{~@~} t = \mathrm{~}$'+'${:6.1f}$'.format(time)]
print('time : '+str(time)+' / '+str(times[-1]))
data = run.getN(time, 'a')
flux = run.getA(time, 'z', 'fftw')
filename = basename+str(index)
# .. load the data for image
im0 = Field(limit = limit,
data = data,
domain = domain,
shifts = shifts)
#
# .. load the data for contours
im1 = Field(limit = limit,
data = flux,
domain = domain,
stride = None,
section = None,
shifts = shifts,
labels = None)
#
# .. draw the plot
plo = Colp(coloraxis = im0.axis,
colordata = im0.data,
bounds = bounds,
def start_game(self):
while True:
print()
print("Chose the game mode: ")
print("[1] 1 Player vs Bot")
print("[2] 2 Players")
print()
command = input("Enter command: ")
if command.isdigit() and command == "1":
while True:
print("Enter size of grid (between 3 to 10): ")
print()
size = input("Enter size: ")
if size.isdigit() and 3 <= int(size) <= 10:
break
else:
print("Please enter correct size!")
field = Field(int(size))
player = Player("X")
bot = Bot("O")
checker = Checker(field.grid)
first_player = randint(0, 1)
if first_player == 0:
field.display()
not_finished = True
while not_finished:
y, x = player.make_move(field.grid)
field.fill_cell(player.symbol, x, y)
field.display()
flag = checker.do_win_the_game(player)
if flag:
print("You won the game!")
not_finished = False
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
if not flag:
y, x = bot.make_move(field.grid)
field.fill_cell(bot.symbol, x, y)
field.display()
flag = checker.do_win_the_game(bot)
if flag:
print("Bot won the game!")
break
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
else:
field.display()
not_finished = True
while not_finished:
y, x = bot.make_move(field.grid)
field.fill_cell(bot.symbol, x, y)
field.display()
flag = checker.do_win_the_game(bot)
if flag:
print("Bot won the game!")
not_finished = False
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
if not flag:
y, x = player.make_move(field.grid)
field.fill_cell(player.symbol, x, y)
field.display()
flag = checker.do_win_the_game(player)
if flag:
print("You won the game!")
break
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
elif command.isdigit() and command == "2":
while True:
print("Enter size of grid (between 3 to 10): ")
print()
size = input("Enter size: ")
if size.isdigit() and 3 <= int(size) <= 10:
break
else:
print("Please enter correct size!")
field = Field(int(size))
player_1 = Player("X")
player_2 = Player("O")
checker = Checker(field.grid)
first_player = randint(0, 1)
if first_player == 0:
field.display()
not_finished = True
while not_finished:
print("Player #1 turn:")
y, x = player_1.make_move(field.grid)
field.fill_cell(player_1.symbol, x, y)
flag = checker.do_win_the_game(player_1)
if flag:
print("Player #1 won the game!")
not_finished = False
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
if not flag:
print("Player #2 turn:")
y, x = player_2.make_move(field.grid)
field.fill_cell(player_2.symbol, x, y)
field.display()
flag = checker.do_win_the_game(player_2)
if flag:
print("Player #2 won the game!")
break
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
else:
field.display()
not_finished = True
while not_finished:
print("Player #2 turn:")
y, x = player_2.make_move(field.grid)
field.fill_cell(player_2.symbol, x, y)
field.display()
flag = checker.do_win_the_game(player_2)
if flag:
print("Player #2 won the game!")
not_finished = False
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
if not flag:
print("Player #1 turn:")
y, x = player_1.make_move(field.grid)
field.fill_cell(player_1.symbol, x, y)
field.display()
flag = checker.do_win_the_game(player_1)
if flag:
print("Player #1 won the game!")
break
no_empty = checker.no_empty_cell()
if no_empty:
print("It's a draw!")
break
else:
print("Please enter correct command!")
while True:
print()
print("Do you want to play again?")
print("[1] YES")
print("[2] EXIT")
command = input("Enter command: ")
if command.isdigit() and command == "1":
break
elif command == "2":
exit(1)
else:
print("Please enter correct command!")
__author__ = 'Thomas Scheinecker'
from field import Field
from base_entity import BaseEntity
fieldSize = eval(input('Field size: '))
entryPoint = eval(input('Entry point: '))
basePoint = eval(input('Base point: '))
path = eval(input('Path: '))
print(
"fieldSize: {fieldSize}; entryPoint {entryPoint}; basePoint; path {path}".
format(**locals()))
base = BaseEntity(100, 0, "BASE", "Your base", basePoint, 2, 3, 5, (2, 2))
print(base)
field = Field(path, fieldSize, entryPoint, base)
print(field)
def test_fieldtype_query_string_generation(self):
expected_query_string = '[field_name] text'
field = Field('text', name='field_name')
self.assertEqual(field.query_string, expected_query_string)
def interpose(ball_info, robot_info, control_target):
# ボールが動いていると判断するしきい値[m/s]
MOVE_BALL_VELOCITY_THRESHOLD = 0.5
# ロボットがボールを持っていると判断するしきい値[m]
DIST_ROBOT_TO_BALL_THRESHOLD = 0.2
# ゴールライン上ではなく一定距離[m]前を守るための変数
MARGIN_DIST_X = 0.1
# ゴールの位置(自陣のゴールのx座標は絶対負になる)
OUR_GOAL_POSE = Field.goal_pose('our', 'center')
OUR_GOAL_UPPER = Field.goal_pose('our', 'upper')
OUR_GOAL_LOWER = Field.goal_pose('our', 'lower')
# ボールの位置
ball_pose = ball_info.pose
# 敵のロボットの情報
robot_info_their = robot_info['their']
# 敵ロボットとボールの距離
dist = []
for their_info in robot_info_their:
if their_info.disappeared is False:
dist.append(tool.distance_2_poses(their_info.pose, ball_pose))
else:
dist.append(100)
# 一番近い敵ロボットのID
min_dist_id = dist.index(min(dist))
# 一番近い敵ロボットの座標
robot_pose = robot_info_their[min_dist_id].pose
# ボールの速度
ball_velocity_x = ball_info.velocity.x
ball_velocity_y = ball_info.velocity.y
ball_velocity = math.hypot(ball_velocity_x, ball_velocity_y)
# ボールの進む角度
angle_ball = math.atan2(ball_velocity_y, ball_velocity_x)
# ボールの進む変化量を計算（方向を考慮した単位量）
var_ball_velocity_x = math.cos(angle_ball)
var_ball_velocity_y = math.sin(angle_ball)
# ボールの次の予測位置を取得
ball_pose_next = Pose2D(ball_pose.x + var_ball_velocity_x,
ball_pose.y + var_ball_velocity_y, 0)
# 敵ロボットとボールの距離が近い場合は敵の向いている直線を使う
if dist[min_dist_id] < DIST_ROBOT_TO_BALL_THRESHOLD and robot_pose.x < 0:
slope = math.tan(robot_pose.theta)
intercept = robot_pose.y - slope * robot_pose.x
# ボールの速度がある場合かつ近づいてくる場合はボールの向かう直線を使う
elif MOVE_BALL_VELOCITY_THRESHOLD < ball_velocity and ball_velocity_x < 0:
slope, intercept = _get_line_parameters(ball_pose, ball_pose_next)
# その他はゴール中心とボールを結ぶ直線を使う
else:
slope, intercept = _get_line_parameters(ball_pose, OUR_GOAL_POSE)
# ゴーリの新しい座標
goalie_pose_x = OUR_GOAL_POSE.x + MARGIN_DIST_X
goalie_pose_y = slope * goalie_pose_x + intercept
# ゴールから飛び出さないようる上下限を設ける
if OUR_GOAL_UPPER.y < goalie_pose_y:
goalie_pose_y = OUR_GOAL_UPPER.y
elif goalie_pose_y < OUR_GOAL_LOWER.y:
goalie_pose_y = OUR_GOAL_LOWER.y
# ゴーリの新しい座標
new_goalie_pose = Pose2D(goalie_pose_x, goalie_pose_y, 0)
# ---------------------------------------------------------
remake_path = False
# pathが設定されてなければpathを新規作成
if control_target.path is None or len(control_target.path) == 0:
remake_path = True
# 現在のpathゴール姿勢と、新しいpathゴール姿勢を比較し、path再生成の必要を判断する
if remake_path is False:
current_goalie_pose = control_target.path[-1]
if not tool.is_close(current_goalie_pose, new_goalie_pose,
Pose2D(0.1, 0.1, math.radians(10))):
remake_path = True
# remake_path is Trueならpathを再生成する
# pathを再生成すると衝突回避用に作られた経路もリセットされる
if remake_path:
control_target.path = []
control_target.path.append(new_goalie_pose)
return control_target
F2.rowconfigure(i, weight=1)
F2.grid(sticky='NEWS')
return F2
def new(self):
self.field.generateNew()
self.drawField()
def drawField(self):
for (r, c), lab in self.field.get().items():
real_lab = str(lab)
if lab == 16:
real_lab = ""
B = tk.Button(self.cellFrame,
text=real_lab,
command=lambda x=(r, c): self.moveCell(x))
B.grid(row=r, column=c, sticky='NEWS')
self.cellFrame.grid(sticky='NEWS')
def moveCell(self, c):
self.field.move(c)
self.drawField()
if self.field.isWin():
mb.showinfo("Поздравление", "Вы победили!")
self.new()
f = Field()
app = Application(f)
app.mainloop()
def __init__(self, conf):
Field.__init__(self, conf)
for fieldConf in conf['fields']:
field = Helper.createField(fieldConf['type'], fieldConf)
self.fields.append(field)
def __init__(self, dictobj):
self.Typename = dictobj["Typename"]
self.FieldsAsDicts = dictobj["Fields"]
self.FieldsList = [
Field(dictionary) for dictionary in self.FieldsAsDicts
]
from field import Field from player import Player from render import create_image, render_map player = Player(6, 6, 3.14159 / 4, 3.14159 / 3) field = Field() # show image img = create_image(field, player) img.show() map = render_map(field, player) map.show()
def start():
print("Welcome to the game Battlefirst_ship")
name1 = input("Write the name of the first player: ")
name2 = input("Write the name of the second player: ")
player1 = Player(name1)
player2 = Player(name2)
def place_ship(field, length):
x = random.randint(1, 11)
y = random.randint(1, 11)
horizontal = random.choice([True, False])
return Ship((x, y), horizontal, length)
# first_ship_4 = Ship((1,1), True, 4)
# first_ship_3_1 = Ship((6,1), False, 3)
# first_ship_3_2 = Ship((2,3), True, 3)
# first_ship_2_1 = Ship((8,2), True, 2)
# first_ship_2_2 = Ship((2,5), False, 2)
# first_ship_2_3 = Ship((4,5), False, 2)
# first_ship_1_1 = Ship((3,8), True, 1)
# first_ship_1_2 = Ship((7,6), True, 1)
# first_ship_1_3 = Ship((8,8), True, 1)
# first_ship_1_4 = Ship((5,9), True, 1)
#
# second_ship_4 = Ship((7,7), False, 4)
# second_ship_3_1 = Ship((2,2), True, 3)
# second_ship_3_2 = Ship((8,5), True, 3)
# second_ship_2_1 = Ship((6,2), True, 2)
# second_ship_2_2 = Ship((9,1), False, 2)
# second_ship_2_3 = Ship((3,4), False, 2)
# second_ship_1_1 = Ship((3,7), True, 1)
# second_ship_1_2 = Ship((5,4), True, 1)
# second_ship_1_3 = Ship((2,9), True, 1)
# second_ship_1_4 = Ship((9,8), True, 1)
#
#
#
# first_ships = [first_ship_2_1, first_ship_2_2, first_ship_2_3, first_ship_3_1, first_ship_3_2, first_ship_4,
# first_ship_1_1, first_ship_1_2, first_ship_1_3, first_ship_1_4]
# second_ships = [second_ship_1_1, second_ship_1_2, second_ship_1_3, second_ship_1_4, second_ship_2_1, second_ship_2_2,
# second_ship_2_3, second_ship_3_1, second_ship_3_2, second_ship_4]
current_player = player1
field1 = Field([])
field2 = Field([])
def place_ship(field, length):
x = random.randint(1, 10)
y = random.randint(1, 10)
horizontal = random.choice([True, False])
ship = Ship((x, y), horizontal, length)
# print(ship.coords)
x_coords = []
y_coords = []
for (x_1, y_1) in ship.coords:
# print(x_1, y_1)
x_coords.append(x_1)
y_coords.append(y_1)
# print(x_coords)
for i in x_coords:
if i > 10:
return place_ship(field, length)
for j in y_coords:
if j > 10:
return place_ship(field, length)
for (x1, y1) in ship.coords:
# print("Hello", x1, y1)
if field.water[x1 - 1][y1 -
1] == "+" or field.water[x1 -
1][y1 -
1] == "*":
return place_ship(field, length)
field._Field__ships.append(ship)
field.set_ships()
place_ship(field1, 4)
place_ship(field1, 3)
place_ship(field1, 3)
place_ship(field1, 2)
place_ship(field1, 2)
place_ship(field1, 2)
place_ship(field1, 1)
place_ship(field1, 1)
place_ship(field1, 1)
place_ship(field1, 1)
place_ship(field2, 4)
place_ship(field2, 3)
place_ship(field2, 3)
place_ship(field2, 2)
place_ship(field2, 2)
place_ship(field2, 2)
place_ship(field2, 1)
place_ship(field2, 1)
place_ship(field2, 1)
place_ship(field2, 1)
def output1(name, field):
print("Field of player {}".format(name))
print(" a b c d e f g h i j".upper())
for digit, line in enumerate(field.water, 1):
print("{:<3}".format(digit) + " ".join(line).replace("*", "~"))
def hiden_output(name, field):
print("Field of player {}".format(name))
print(" a b c d e f g h i j".upper())
for digit, line in enumerate(field.field_without_ships(), 1):
print("{:<3}".format(digit) + " ".join(line))
running = True
while running:
if current_player == player1:
output1(name1, field1)
hiden_output(name2, field2)
hits_count = field2.combo
field2.shoot_at(player1.read_position())
current_hits = field2.combo
hiden_output(name2, field2)
else:
output1(name2, field2)
hiden_output(name1, field1)
hits_count = field1.combo
field1.shoot_at(player1.read_position())
current_hits = field1.combo
hiden_output(name1, field1)
if current_hits > hits_count:
current_player = current_player
else:
if input("Next player? (y/n): ") == "y":
if current_player == player1:
current_player = player2
else:
current_player = player1
print("\n\n===========================\n\n")
print("\n\n===========================\n\n")
if field1.combo == 20:
print("{} wins!".format(name2))
running = False
elif field2.combo == 20:
print("{} wins!".format(name1))
running = False
def start_game():
"""Запуск игры"""
game_start.play()
base, player, level_x, level_y = generate_level(load_level(map_name))
pygame.time.set_timer(pygame.USEREVENT, 2000)
enemy_shoot = pygame.USEREVENT + 0
spawn_enemies = pygame.USEREVENT + 1
random_rotate_enemies = pygame.USEREVENT + 2
spawn_bonus = pygame.USEREVENT + 3
bg_music_on = pygame.USEREVENT + 4
pygame.time.set_timer(enemy_shoot, 2000)
pygame.time.set_timer(spawn_enemies, 4000)
pygame.time.set_timer(random_rotate_enemies, 5000)
pygame.time.set_timer(spawn_bonus, 20000)
pygame.time.set_timer(bg_music_on, 4200, True)
spawn_enemy = SpawnEnemy(spawn_points)
field = Field(width, height)
field.render(player, screen)
last_shoot = 0
volume1 = 0.2
volume2 = 0.1
while True:
now = pygame.time.get_ticks()
for event in pygame.event.get():
if event.type == pygame.QUIT:
terminate()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
if now - last_shoot > player.shoot_delay:
last_shoot = now
x, y = player.get_position()
fire.play()
bullet = Bullet(x, y, player.last_direction, player)
elif event.key == 61:
volume1 += 0.1
volume2 += 0.1
for sound in sounds:
if sound != bg:
sound.set_volume(volume1)
else:
sound.set_volume(volume2)
elif event.key == 45:
volume1 -= 0.1
volume2 -= 0.1
for sound in sounds:
if sound != bg:
sound.set_volume(volume1)
else:
sound.set_volume(volume2)
elif event.type == enemy_shoot:
for enemy in enemies:
if not enemy.died:
x, y = enemy.get_position()
bullet = Bullet(x, y, enemy.last_direction, enemy)
else:
enemies.remove(enemy)
elif event.type == spawn_enemies:
spawn_enemy.spawn()
elif event.type == random_rotate_enemies:
for enemy in enemies:
enemy.collision = True
elif event.type == spawn_bonus:
if len(bonuses) != 0:
bonuses[0].kill()
bonuses.clear()
bonus = Bonus()
bonuses.append(bonus)
elif event.type == bg_music_on:
bg.play(-1)
statistic(player.hp, player.kills, player.damage, player.shoot_delay)
spawn_enemy.level_up()
all_sprites.draw(screen)
all_sprites.update()
pygame.display.flip()
clock.tick(FPS)
if now > 300000:
end_screen(True)
if player.died or not base.game:
player.freeze()
end_screen(False)
def _callback_geometry(self, msg):
Field.update(msg)
import keyboard
keyboard.is_pressed("a")
except:
print("no keyboard library or no sudo! Showing demo")
keyboard = None
HEIGHT = 480
WIDTH = 640
root = Tk()
root.geometry('{}x{}'.format(WIDTH, HEIGHT))
canvas = Canvas(root, width=WIDTH, height=HEIGHT)
canvas.pack(fill=BOTH)
player = Player(1.5, 1.5, 3.14159 / 4, 3.14159 / 3)
myMap = Field()
k = 0
while 1:
k += 1
if (keyboard):
#moving or exiting if some keys pressed
if is_pressed(keyboard.is_pressed("ESC")):
print(k)
sys.exit(-1)
if is_pressed('w'):
player.x -= 0.05 * cos(player.v_dir)
player.y -= 0.05 * sin(player.v_dir)
if is_pressed("s"):
player.x += 0.05 * cos(player.v_dir)
player.y += 0.05 * sin(player.v_dir)
if is_pressed("d"):
class Game:
def __init__(self, player_no=0):
self.field = Field()
self.queue = MinoQueue()
self.score = Score()
self.__holding = Holding()
self.layout = Layout(self.field, self.queue, self.score,
self.__holding, player_no)
self.mino = self.queue.get_next()
self.state = GameState.PLAYING
self.__reset_counter()
self.player_no = player_no
def update(self):
removed_lines = self.field.remove_complete_lines()
if len(removed_lines) > 0:
self.score.count_removed(removed_lines)
return
if self.__is_game_over():
pyxel.stop(0)
self.state = GameState.GAME_OVER
self.layout.reduce_drawable_line()
return
self.advance_counter -= self.reduce_count
if self.advance_counter <= 0:
self.__advance()
def draw(self):
self.layout.draw(self.mino)
def move(self, direction):
if self.mino.can_move(self.field, direction):
pyxel.play(1, 3)
self.mino.move(direction)
def rotate(self, direction):
if self.mino.can_rotate(self.field, direction):
pyxel.play(1, 5)
self.mino.rotate(direction)
def drop(self):
while self.mino.can_move(self.field, MoveDirection.DOWN):
self.mino.move(MoveDirection.DOWN)
self.__put_on()
def hold(self):
if self.__holding.can_hold():
self.mino = self.__holding.hold(self.mino)
if self.mino == None:
self.mino = self.queue.get_next()
def __is_game_over(self):
if not self.mino.is_initial_position(): return False
if self.mino.can_move(self.field, C.MoveDirection.DOWN): return False
return True
def __advance(self):
if self.mino.can_move(self.field, MoveDirection.DOWN):
self.mino.move(MoveDirection.DOWN)
self.__reset_counter()
else:
self.__put_on()
def __put_on(self):
self.field.store(self.mino.blocks, self.mino.position)
pyxel.play(1, 4)
self.mino = self.queue.get_next()
self.advance_counter += 1
self.__holding.unlock()
def __reset_counter(self):
self.advance_counter = C.ADVANCE_COUNTER
self.reduce_count = C.REDUCE_COUNT
class DummyModel(Model):
field_a = Field('text')
field_b = Field('text')
def __init__(self, ast):
# reset ids and lists of meta-classes: Field, Method, and Clazz
fields_reset()
methods_reset()
classes_reset()
self._frozen = False
# class declarations in this template
self._classes = [] # [ Clazz... ]
# event involved in this template
self._events = {} # [ event_kind0 : 0, ... ]
self._evt_annotated = False
# aux types for observer patterns
self._obs_auxs = {} # { Aux...1 : [ C1, D1 ], ... }
# aux types for accessor patterns
self._acc_auxs = [] # [ Aux...1, ... ]
# aux types for singleton pattern
self._sng_auxs = [] # [ Aux...1, ... ]
# primitive classes
cls_obj = Clazz(pkg=u"java.lang", name=C.J.OBJ)
cls_obj.sup = None # Object is the root
self._classes.append(cls_obj)
find_obs = lambda anno: anno.by_name(C.A.OBS)
annos = []
pkg = None
mods = []
events = []
for _ast in ast.getChildren():
tag = _ast.getText()
if tag in [C.T.CLS, C.T.ITF, C.T.ENUM]:
clazz = parse_class(_ast)
clazz.annos = annos
if pkg:
for cls in util.flatten_classes([clazz], "inners"):
cls.pkg = pkg
clazz.mods = mods
self._classes.append(clazz)
# collect event kinds
for cls in util.flatten_classes([clazz], "inners"):
# 1) class itself is sort of event
if cls.is_event:
events.append(repr(cls))
# 2) might be annotated with explicit event sorts
elif util.exists(find_obs, annos):
_anno = util.find(find_obs, annos)
events.extend(_anno.events)
self._evt_annotated = True
annos = []
pkg = None
mods = []
elif tag == C.T.ANNO:
annos.append(parse_anno(_ast))
elif tag == C.T.PKG:
p_node = util.mk_v_node_w_children(_ast.getChildren())
pkg = util.implode_id(p_node)
else: # modifiers
mods.append(tag)
## parsing done
## post manipulations go below
logging.debug("# class(es): {}".format(len(classes())))
logging.debug("# method(s): {}".format(len(methods())))
logging.debug("# field(s): {}".format(len(fields())))
self.consist()
# remove duplicates in events
events = util.rm_dup(events)
if events:
logging.debug("event(s) in the template: {}: {}".format(
len(events), events))
# numbering the event kinds
for i, event in enumerate(events):
self._events[event] = i
# if there exists java.util.EventObject (i.e., cmd == "gui")
# no additional class is required to represent events
evt_obj = class_lookup(C.GUI.EVT)
if evt_obj:
# artificial field to record subtype events' kinds
fld = Field(clazz=evt_obj,
mods=[C.mod.PB],
typ=C.J.i,
name=u"kind")
evt_obj.flds.append(fld)
else:
# if there exists android.os.Message (i.e., cmd == "android")
# no additional class is required, too
msg = class_lookup(C.ADR.MSG)
if msg:
pass
# o.w. introduce artificial class Event that implodes all event kinds
# class Event { int kind; E_kind$n$ evt$n$; }
elif events:
cls_e = merge_layer(u"Event", map(class_lookup, events))
cls_e.add_default_init()
self._classes.append(cls_e)
add_artifacts([u"Event"])
def center_back(my_pose, ball_info, control_target, my_role, defense_num):
# ゴール前ディフェンスは、ペナルティエリアに沿って守備を行う
# ボールとゴールを結ぶ直線と、ペナルティエリアのラインの交点を基準に移動
# ボールの位置によって、ライン左、ライン正面、ライン右のどのラインの前に移動するか変わる
# ペナルティエリアからどれだけ離れるか
MARGIN_LINE = 0.2
# 2台でディフェンスする時のお互いの距離
MARGIN_ROBOT = 0
# ライン左からライン正面に移動する時等に、
# 一時的にスピードアップするための数値
MARGIN_FOR_SPEED = 0.5
# ディフェンスが2台以上いる時はMARGIN_ROBOTを変更
if defense_num > 1:
if my_role == role.ROLE_ID["ROLE_CENTER_BACK_1"]:
MARGIN_ROBOT = 0.15
else:
MARGIN_ROBOT = -0.15
# ボール位置
ball_pose = ball_info.pose
# ボールの位置判定用フラグ
ball_is_center = False
ball_is_left = False
ball_is_right = False
# 自分の位置判定用フラグ
my_pose_is_left = False
my_pose_is_right = False
# 移動すべき場所判定用フラグ
target_is_center = False
target_is_left = False
target_is_right = False
# Field情報からペナルティエリアの情報を取得
# ペナルティエリアの左角
left_penalty_corner = Field.penalty_pose('our', 'upper_front')
# ペナルティエリアの右角
right_penalty_corner = Field.penalty_pose('our', 'lower_front')
# ペナルティエリアの左側のゴールラインとの交点
left_penalty_goalside = Field.penalty_pose('our', 'upper_back')
# ペナルティエリアの右側のゴールラインとの交点
right_penalty_goalside = Field.penalty_pose('our', 'lower_back')
# ゴールの中心
goal_center = Field.goal_pose('our', 'center')
# ゴール中心からペナルティエリア左角への角度
angle_to_left_penalty_corner = tool.get_angle(goal_center,
left_penalty_corner)
# ゴール中心からペナルティエリア右角への角度
angle_to_right_penalty_corner = tool.get_angle(goal_center,
right_penalty_corner)
# 自分からボールへの角度（ボールの方向を向くため）
angle_to_ball = tool.get_angle(my_pose, ball_pose)
# ゴールを背にした左角を中心とした座標軸へ変換
trans_left = tool.Trans(left_penalty_corner, angle_to_left_penalty_corner)
tr_left_ball_pose = trans_left.transform(ball_pose)
# ゴールを背にした右角を中心とした座標軸へ変換
trans_right = tool.Trans(right_penalty_corner,
angle_to_right_penalty_corner)
tr_right_ball_pose = trans_right.transform(ball_pose)
# ボールの位置を判定
if tr_left_ball_pose.y > 0:
ball_is_left = True
elif tr_right_ball_pose.y < 0:
ball_is_right = True
else:
ball_is_center = True
# ---------------------------------------------------------
# キックとドリブルはOFF
control_target.kick_power = 0.0
control_target.dribble_power = 0.0
# ボールは真ん中にある
if ball_is_center:
# ペナルティエリアの左角と右角の線分(正面の線)と、ゴール中心とボールの線分の交点
target_pose = tool.get_intersection(left_penalty_corner,
right_penalty_corner, goal_center,
ball_pose)
if target_pose is not None:
# ペナルティエリアに侵入しないように+MARGIN_LINE
target_pose.x += MARGIN_LINE
# ロボットが正面の線より後ろにいる
if my_pose.x < left_penalty_corner.x:
# ダッシュで正面に移動
target_pose.x += MARGIN_FOR_SPEED
# ペナルティエリアを沿って移動
if my_pose.y > 0:
target_pose.y = left_penalty_corner.y + MARGIN_LINE
else:
target_pose.y = right_penalty_corner.y - MARGIN_LINE
else:
target_pose.y += MARGIN_ROBOT
else:
target_pose = Pose2D()
# ボールは左側にある
elif ball_is_left:
# ペナルティエリアの左側の線分と、ゴール中心とボールの線分の交点
target_pose = tool.get_intersection(left_penalty_corner,
left_penalty_goalside, goal_center,
ball_pose)
if target_pose is not None:
# ペナルティエリアに侵入しないように+MARGIN_LINE
target_pose.y += MARGIN_LINE
# ロボットが左側にいない
if my_pose.y < left_penalty_corner.y:
# 左側にいないかつ後ろにいる場合は右側を沿う
if my_pose.x < left_penalty_corner.x and my_pose.y < 0:
target_pose.x = left_penalty_corner.x + MARGIN_FOR_SPEED
target_pose.y = right_penalty_corner.y - MARGIN_LINE
# 左側にダッシュで移動
else:
target_pose.x = left_penalty_corner.x + MARGIN_LINE
target_pose.y += MARGIN_FOR_SPEED
else:
target_pose.x -= MARGIN_ROBOT
else:
target_pose = Pose2D()
# ボールは右側にある
elif ball_is_right:
target_pose = tool.get_intersection(right_penalty_corner,
right_penalty_goalside,
goal_center, ball_pose)
if target_pose is not None:
# ペナルティエリアに侵入しないように-MARGIN_LINE
target_pose.y -= MARGIN_LINE
# ロボットが右側にいない
if my_pose.y > right_penalty_corner.y:
# 右側にいないかつ後ろにいる場合は左側を沿う
if my_pose.x < left_penalty_corner.x and my_pose.y > 0:
target_pose.x = left_penalty_corner.x + MARGIN_FOR_SPEED
target_pose.y = left_penalty_corner.y + MARGIN_LINE
# 右側にダッシュで移動
else:
target_pose.x = right_penalty_corner.x + MARGIN_LINE
target_pose.y -= MARGIN_FOR_SPEED
else:
target_pose.x += MARGIN_ROBOT
else:
target_pose = Pose2D()
# フィールドから出ないように
if target_pose.x < goal_center.x:
target_pose.x = goal_center.x
# 向きはボールの方向
target_pose.theta = angle_to_ball
control_target.path = []
control_target.path.append(target_pose)
return control_target
def get_action(self, referee, obstacle_avoidance, ball_info, robot_info=None, defense_num=0):
self._control_target.control_enable = True
remake_path = False # 経路再生成のフラグ TODO:remake_pathを活用する
avoid_obstacle = True # 障害物回避の経路追加フラグ
avoid_ball = False # ボール回避の経路追加フラグ
zone_enable = False
# パラメータ初期化
self._control_target.dribble_power = 0.0
self._control_target.kick_power = 0.0
if referee.can_move_robot is False or ball_info.disappeared:
# 移動禁止 or ボールの消失で制御を停止する
rospy.logdebug("HALT")
self._control_target, remake_path= normal.stop(self._control_target)
avoid_obstacle = False # 障害物回避しない
elif referee.is_inplay:
rospy.logdebug("IN-PLAY")
zone_enable = True
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
if tool.is_in_defense_area(ball_info.pose, 'our'):
self._control_target = offense.outside_shoot(
self._my_pose, ball_info, self._control_target)
else:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
if tool.is_in_defense_area(ball_info.pose, 'our'):
# ボールが自チームのディフェンスエリアにある場合は行動を変える
self._control_target = normal.move_to(
self._control_target, Pose2D(0,0,0), ball_info, look_ball=True)
elif tool.is_in_defense_area(ball_info.pose, 'their'):
# ボールが相手チームのディフェンスエリアにある場合は行動を変える
self._control_target = normal.keep_x(
self._control_target,
Field.penalty_pose('their', 'upper_front').x - 1.0,
ball_info)
else:
self._control_target = offense.inplay_shoot(
self._my_pose, ball_info, self._control_target)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info, zone_enable)
else:
if referee.referee_id == ref.REFEREE_ID["STOP"]:
rospy.logdebug("STOP")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target = offense.interpose(ball_info,
self._control_target, dist_from_target=0.7)
avoid_ball = True
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_KICKOFF_PREPARATION"]:
rospy.logdebug("OUR_KICKOFF_PREPARATION")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = offense.setplay_shoot(
self._my_pose, ball_info, self._control_target,
kick_enable=False)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_KICKOFF_START"]:
rospy.logdebug("OUR_KICKOFF_START")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = offense.setplay_shoot(
self._my_pose, ball_info, self._control_target,
kick_enable=True)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_PENALTY_PREPARATION"]:
rospy.logdebug("OUR_PENALTY_PREPARATION")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = offense.setplay_shoot(
self._my_pose, ball_info, self._control_target,
kick_enable=False)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_PENALTY_START"]:
rospy.logdebug("OUR_PENALTY_START")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = offense.setplay_shoot(
self._my_pose, ball_info, self._control_target,
kick_enable=True, penalty=True)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_DIRECT_FREE"]:
rospy.logdebug("OUR_DIRECT_FREE")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = offense.setplay_pass(
self._my_pose, ball_info, self._control_target,
Pose2D(Field.field('length')*0.25, 0, 0),
receive_enable=True, receiver_role_exist=Observer.role_is_exist(role.ROLE_ID["ROLE_ZONE_1"]),
robot_info=robot_info, direct=True)
elif self._my_role == role.ROLE_ID["ROLE_ZONE_1"]:
self._control_target = normal.move_to(
self._control_target, Pose2D(Field.field('length')*0.25,0,0), ball_info, look_ball=True)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_INDIRECT_FREE"]:
rospy.logdebug("OUR_INDIRECT_FREE")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = offense.setplay_pass(
self._my_pose, ball_info, self._control_target,
Pose2D(Field.field('length')*0.25, 0, 0),
receive_enable=True, receiver_role_exist=Observer.role_is_exist(role.ROLE_ID["ROLE_ZONE_1"]),
robot_info=robot_info)
elif self._my_role == role.ROLE_ID["ROLE_ZONE_1"]:
self._control_target = normal.move_to(
self._control_target, Pose2D(Field.field('length')*0.25,0,0), ball_info, look_ball=True)
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["OUR_TIMEOUT"]:
rospy.logdebug("OUR_TIMEOUT")
# 自チームのタイムアウトではロボットを停止させる
self._control_target, remake_path= normal.stop(self._control_target)
avoid_obstacle = False # 障害物回避しない
elif referee.referee_id == ref.REFEREE_ID["OUR_BALL_PLACEMENT"]:
rospy.logdebug("OUR_BALL_PLACEMENT")
replace_pose = referee.placement_position
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target, avoid_ball = ball_placement.basic_ball_placement(self._control_target, replace_pose, ball_info, robot_info, self._MY_ID, 'atk', [Field.field('length'), Field.field('width')])
elif self._my_role == role.ROLE_ID["ROLE_CENTER_BACK_1"]:
self._control_target, avoid_ball = ball_placement.basic_ball_placement(self._control_target, replace_pose, ball_info, robot_info, self._MY_ID, 'recv', [Field.field('length'), Field.field('width')])
else:
self._control_target, avoid_ball = ball_placement.avoid_ball_place_line(
self._my_pose, ball_info, replace_pose, self._control_target)
elif referee.referee_id == ref.REFEREE_ID["THEIR_KICKOFF_PREPARATION"] \
or referee.referee_id == ref.REFEREE_ID["THEIR_KICKOFF_START"]:
rospy.logdebug("THEIR_KICKOFF")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target = offense.interpose(ball_info,
self._control_target, dist_from_target=0.6)
avoid_ball = True
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["THEIR_PENALTY_PREPARATION"] \
or referee.referee_id == ref.REFEREE_ID["THEIR_PENALTY_START"]:
rospy.logdebug("THEIR_PENALTY")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
else:
self._control_target, remake_path = normal.make_line(
self._my_role, ball_info, self._control_target,
start_x=-Field.field("length")*0.5,
start_y=Field.field("width")*0.4,
add_x=0.4, add_y=0)
elif referee.referee_id == ref.REFEREE_ID["THEIR_DIRECT_FREE"]:
rospy.logdebug("THEIR_DIRECT")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target = offense.interpose(ball_info,
self._control_target, dist_from_target=0.6)
avoid_ball = True
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info,zone_enable=True)
elif referee.referee_id == ref.REFEREE_ID["THEIR_INDIRECT_FREE"]:
rospy.logdebug("THEIR_INDIRECT")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target = offense.interpose(ball_info,
self._control_target, dist_from_target=0.6)
avoid_ball = True
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info, zone_enable=True)
elif referee.referee_id == ref.REFEREE_ID["THEIR_TIMEOUT"]:
rospy.logdebug("THEIR_TIMEOUT")
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
self._control_target = offense.interpose(ball_info,
self._control_target, dist_from_target=0.6)
avoid_ball = True
else:
self._control_target = assign.assign(
self._my_role, ball_info, self._control_target,
self._my_pose, defense_num, robot_info)
elif referee.referee_id == ref.REFEREE_ID["THEIR_BALL_PLACEMENT"]:
rospy.logdebug("THEIR_BALL_PLACEMENT")
replace_pose = referee.placement_position
if self._my_role == role.ROLE_ID["ROLE_GOALIE"]:
self._control_target = goalie.interpose(
ball_info, robot_info, self._control_target)
avoid_obstacle = False # 障害物回避しない
# elif self._my_role == role.ROLE_ID["ROLE_ATTACKER"]:
# self._control_target = offense.interpose(ball_info,
# self._control_target, dist_from_target=0.6)
# avoid_ball = True
else:
self._control_target, avoid_ball = ball_placement.avoid_ball_place_line(
self._my_pose, ball_info, replace_pose, self._control_target,
force_avoid=True)
# self._control_target = assign.assign(
# self._my_role, ball_info, self._control_target,
# self._my_pose, defense_num, robot_info)
# 障害物回避の経路作成
if avoid_obstacle:
self._control_target.path = obstacle_avoidance.add_path(
self._control_target.path, self._my_pose, avoid_ball)
return self._control_target
import time
import traceback
import transforms3d
import random
import numpy as np
import csv
from scipy.spatial import ConvexHull
from types import SimpleNamespace
# start the webots supervisor
supervisor = Supervisor()
time_step = int(supervisor.getBasicTimeStep())
field = Field("kid")
children = supervisor.getRoot().getField('children')
children.importMFNodeFromString(-1, f'RobocupSoccerField {{ size "kid" }}')
children.importMFNodeFromString(
-1, f'DEF BALL RobocupSoccerBall {{ translation 0 0 0.1 size 1 }}')
children.importMFNodeFromString(
-1,
f'DEF PLAYER RoboCup_GankenKun {{translation -0.3 0 0.450 rotation 0 0 1 0 controller "play_motion" controllerArgs "./kick_motion0.csv"}}'
)
player = supervisor.getFromDef('PLAYER')
ball = supervisor.getFromDef('BALL')
player_translation = supervisor.getFromDef('PLAYER').getField('translation')
player_rotation = supervisor.getFromDef('PLAYER').getField('rotation')
player_controller = supervisor.getFromDef('PLAYER').getField('controller')
ball_translation = supervisor.getFromDef('BALL').getField('translation')
ball_rotation = supervisor.getFromDef('BALL').getField('rotation')
def main():
bewd = Monster(
"Blue-Eyes White Dragon", "This legendary dragon is a "
"powerful engine of destruction. Virtually invincible, very few have "
"faced this awesome creature and lived to tell the tale.", 8, 3000,
2500)
dm = Monster("Dark Magician", "The ultimate wizard in terms of attack and "
"defense.", 7, 2500, 2100)
rebd = Monster("Red-Eyes Black Dragon", "", 7, 2400, 2000)
bls = Monster("Black Luster Soldier", "", 8, 3000, 2500)
ss = Monster("Summoned Skull", "", 6, 2500, 1200)
dmg = Monster("Dark Magician Girl", "", 6, 2000, 1700)
fgd = Monster("Five Headed Dragon", "", 12, 5000, 5000)
cg = Monster("Celtic Guardian", "", 4, 1400, 1200)
cod = Monster("Curse of Dragon", "", 5, 2000, 1500)
gtfk = Monster("Gaia the Fierce Knight", "", 7, 2300, 2100)
obelisk = Monster("Obelisk the Tormentor", "", 12, 4000, 4000)
slifer = Monster("Slifer the Sky Dragon", "", 12, 4000, 4000)
ra = Monster("The Winged Dragon of Ra", "", 12, 4000, 4000)
kuriboh = Monster("Kuriboh", "", 1, 300, 200)
cardlist = [
bewd, dm, rebd, bls, ss, dmg, fgd, cg, cod, gtfk, obelisk, slifer, ra,
kuriboh
]
deck_list1 = DeckList()
for monster in cardlist:
for i in range(3):
deck_list1.add_card(monster)
deck_list2 = DeckList()
for monster in cardlist:
for i in range(3):
deck_list2.add_card(monster)
# These variables initialize the classes need to set up the Duel.
deck1 = Deck(deck_list1)
deck2 = Deck(deck_list2)
hand1 = []
hand2 = []
field1 = Field()
field2 = Field()
gy1 = []
gy2 = []
lp1 = 8000
lp2 = 8000
turn_count = 0
phase = "DP"
turn_player_idx = 0
player1 = Player(1, hand1, gy1, deck1, field1, lp1)
player2 = Player(2, hand2, gy2, deck2, field2, lp2)
players = [player1, player2]
winner = None
# These functions start the Duel using the variables defined above.
# Both decks are shuffled and both players draw 5 cards.
deck1.shuffle()
deck2.shuffle()
player1.draw(5)
player2.draw(5)
print("DUEL START")
# This while loop contols the actions that the players can take in the
# Duel. It will not close until the Duel is over (i.e. a Player's
# LifePoints hit 0, a Player can't draw any more cards, etc...)
while player1.get_lp() > 0 and player2.get_lp() > 0 and not winner:
# This section prints out the visualtion of the current state of
# of the Duel (i.e. Turn Count, Each Player's Hand, Field, LP, etc...)
print("\n\n=====================================================")
print("TURN: {}".format(turn_count + 1))
turn_player = players[turn_player_idx]
opposite_player_idx = abs(turn_player_idx - 1)
opposite_player = players[abs(turn_player_idx - 1)]
# This section handles the logic of the Draw Phase.
# If the player can draw a card, they draw it. If not the game is over
# and the opponent wins. Also, in this phase all action locks are
# reset. (i.e. Monsters not being able to Attack or change their
# Positions)
phase = "DP"
if turn_player.can_draw():
print("Player {player_id_1} draws a card".format(
player_id_1=turn_player.get_id()))
turn_player.draw(1)
else:
print("Player {player_id_1} cannot draw.".format(
player_id_1=turn_player.get_id(),
player_id_2=opposite_player.get_id()))
winner = opposite_player.get_id()
for monster in turn_player.get_field().monster_zones:
if monster != None:
monster.unlock_attack()
monster.unlock_position()
turn_player.set_can_summon(True)
# This section adds the intial actions the Player can take during
# the Main Phase. After choosing from the selections the user enters
# the actions while loop and choose from those choices until their
# turn is over.
phase = "MP"
possible_moves = []
if turn_player.get_can_summon():
possible_moves.append("Summon")
possible_moves.append("Set")
if turn_player.can_change_pos():
possible_moves.append("Change Battle Position")
if turn_player.can_battle() and turn_count > 0:
possible_moves.append("Go to Battle Phase")
possible_moves.append("End Turn")
# This loop tells the Player what actions they can currently take.
# It uses an input prompt so the Player can select an action.
while possible_moves:
print("OPPONENT'S FIELD:")
print("{} LP".format(opposite_player.get_lp()))
print("HAND: {}".format(["x"] * len(opposite_player.get_hand())))
print("DECK: {}".format(len(opposite_player.get_deck())))
print(opposite_player.get_field().hidden())
print("YOUR FIELD:")
print("{} LP".format(turn_player.get_lp()))
print("DECK: {}".format(len(turn_player.get_deck())))
print(turn_player.get_field())
print("HAND: {}".format(turn_player.get_hand()))
print("You can do the following moves:")
for i in range(len(possible_moves)):
print("[{idx}] {action}".format(idx=i,
action=possible_moves[i]))
choice = try_int_input("What would you like to do: ")
while choice >= len(possible_moves) or choice < 0:
choice = try_int_input("Please enter a valid choice: ")
# This section handles the logic for actions the Player can take
# during their Main Phase.
# Summon: If able, summon a monster from your hand in Face-up
# Attack Position.
# Set: If able, set a monster from your hand in Face-down Defense
# Position.
# Change Battle Position: If able, change the Position of a
# monster you control. (i.e. Attack to Defense, Face-down Defense
# to Face-up Attack, etc...)
# Go to Battle Phase: Go to Battle Phase.
if (possible_moves[choice] == "Summon"
or possible_moves[choice] == "Set"):
possible_monsters = []
possible_monsters = turn_player.get_hand()
for i in range(len(possible_monsters)):
print("[{idx}] {monster} "
"[{attack} ATK / {defense} DEF]".format(
idx=i,
monster=possible_monsters[i].get_name(),
attack=possible_monsters[i].get_atk(),
defense=possible_monsters[i].get_def()))
monster_choice = try_int_input(
"Which card would you like to {}: ".format(
possible_moves[choice]))
while (monster_choice >= len(possible_monsters)
or monster_choice < 0):
monster_choice = try_int_input(
"Please enter a valid choice: ")
open_idx = turn_player.get_field().get_open_zones()[0]
summon_monster = turn_player.get_hand().pop(monster_choice)
if possible_moves[choice] == "Summon":
turn_player.get_field().summon(summon_monster, open_idx)
turn_player.set_can_summon(False)
print("{monster} has been Summoned".format(
monster=summon_monster.get_name()))
if possible_moves[choice] == "Set":
turn_player.get_field().set(summon_monster, open_idx)
turn_player.set_can_summon(False)
print("{monster} has been Set".format(
monster=summon_monster.get_name()))
elif possible_moves[choice] == "Change Battle Position":
possible_monsters = []
possible_monsters = turn_player.get_field()\
.get_can_change_pos()
monster_zones = turn_player.get_field().monster_zones
for i in range(len(possible_monsters)):
print("[{idx}] {monster} [{attack} ATK / {defense} DEF]"\
.format(
idx=i,
monster=monster_zones[possible_monsters[i]]\
.get_name(),
attack=monster_zones[possible_monsters[i]]\
.get_atk(),
defense=monster_zones[possible_monsters[i]]\
.get_def()))
monster_choice = try_int_input(
"Which card would you like to change position: ")
while (monster_choice >= len(possible_monsters)
or monster_choice < 0):
monster_choice = try_int_input(
"Please enter a valid choice: ")
pos_change_monster = \
monster_zones[possible_monsters[monster_choice]]
pos_change_monster.change_pos()
elif possible_moves[choice] == "Go to Battle Phase":
phase = "BP"
# This section handles the logic for actions the Player can take
# during their Battle Phase.
# Attack: If able, the Player's monster can either attack the
# opponent's monster or the opponent directly if they have no
# monsters.
elif possible_moves[choice] == "Attack":
possible_monsters = []
possible_monsters = turn_player.get_field().get_can_attack()
monster_zones = turn_player.get_field().monster_zones
for i in range(len(possible_monsters)):
print("[{idx}] {monster} {stat} {pos}".format(
idx=i,
monster=monster_zones[possible_monsters[i]].get_name(),
stat=monster_zones[possible_monsters[i]].get_stat(),
pos=monster_zones[
possible_monsters[i]].get_position()))
monster_choice = try_int_input(
"Which card would you like to attack with: ")
while (monster_choice >= len(possible_monsters)
or monster_choice < 0):
monster_choice = try_int_input(
"Please enter a valid choice: ")
attacker = monster_zones[possible_monsters[monster_choice]]
attacker_idx = possible_monsters[monster_choice]
possible_targets = []
possible_targets = opposite_player.get_field().get_monsters()
opp_monster_zones = opposite_player.get_field().monster_zones
if len(possible_targets):
for i in range(len(possible_targets)):
print("[{idx}] {monster} {stat} {pos}".format(
idx=i,
monster=(
"???" if opp_monster_zones[possible_targets[i]]\
.get_is_set()
else opp_monster_zones[possible_targets[i]]\
.get_name()
),
stat=(
"SET" if opp_monster_zones[possible_targets[i]]\
.get_is_set()
else opp_monster_zones[possible_targets[i]]\
.get_stat()
),
pos=(
opp_monster_zones[possible_targets[i]].\
get_position()
)
))
target_choice = try_int_input(
"Which card would you like to attack: ")
while (target_choice >= len(possible_targets)
or target_choice < 0):
target_choice = try_int_input(
"Please enter a valid choice: ")
target = opp_monster_zones[possible_targets[target_choice]]
target_idx = possible_targets[target_choice]
battle_result = battle(attacker, target)
print(
"{attacker} [{attacker_stat} ATTACK] "
"ATTACKS {target} [{target_stat} {target_pos}]"\
.format(
attacker=attacker.get_name(),
attacker_stat=attacker.get_atk(),
target=target.get_name(),
target_stat=target.get_stat(),
target_pos=target.get_position()
)
)
# The following sections handle the logic of battle and
# its result. Depending on the result of battle a monster
# may be destroyed, LifePoints may be lost, etc...
# This section handles the logic for the battle scenario
# in which the attacker wins against an Attack Position
# target.
if battle_result[0] and battle_result[1] > 0:
print(
"{attacker} WINS. {target} DESTROYED"\
.format(
attacker=attacker.get_name(),
target=target.get_name()
)
)
opposite_player.get_gy().append(opposite_player\
.get_field()\
.remove(attacker_idx)
)
opposite_player.change_lp(-1 * battle_result[1])
attacker.lock_attack()
# This section handles the logic for the battle scenario
# in which the attacker loses against an Attack Position
# target.
elif battle_result[0] and battle_result[1] < 0:
print(
"{target} WINS. {attacker} DESTROYED"\
.format(
attacker=attacker.get_name(),
target=target.get_name()
)
)
turn_player.get_gy().append(turn_player.get_field()\
.remove(target_idx)
)
turn_player.change_lp(battle_result[1])
# This section handles the logic for the battle scenario
# in which the attacker ties with an Attack Position
# target.
elif battle_result[0] and battle_result[1] == 0:
print(
"BATTLE TIE. {attacker} and {target} DESTROYED"\
.format(
attacker=attacker.get_name(),
target=target.get_name()
)
)
turn_player.get_gy().append(turn_player.get_field()\
.remove(attacker_idx)
)
opposite_player.get_gy().append(opposite_player\
.get_field()\
.remove(target_idx)
)
# This section handles the logic for the battle scenario
# in which the attacker loses to a Defense Position
# target.
elif not battle_result[0] and battle_result[1] < 0:
print(
"{attacker} LOSES. {target} NOT DESTROYED"\
.format(
attacker=attacker.get_name(),
target=target.get_name()
)
)
turn_player.change_lp(battle_result[1])
attacker.lock_attack()
if target.get_is_set():
target.flip()
# This section handles the logic for the battle scenario
# in which the attacker wins against a Defense Position
# target.
elif not battle_result[0] and battle_result[1] > 0:
print(
"{attacker} WINS. {target} DESTROYED"\
.format(
attacker=attacker.get_name(),
target=target.get_name()
)
)
opposite_player.get_gy().append(opposite_player\
.get_field()\
.remove(target_idx)
)
attacker.lock_attack()
# This section handles the logic for the battle scenario
# in which the attacker ties with a Defense Position
# target.
else:
print("NO MONSTERS DESTROYED")
if target.get_is_set():
target.flip()
attacker.lock_attack()
else:
# This section handles the logic for the battle scenario
# in which the opponent has no monsters and the attacker
# attacks directly.
print(
"{attacker} attacks Player {player} directly"\
.format(
attacker=attacker.get_name(),
player=opposite_player.get_id()
)
)
damage = -1 * attacker.get_atk()
opposite_player.change_lp(damage)
attacker.lock_attack()
# This section checks if either Players' LifePoints are 0
# after battle. If one of the Players' LifePoints is 0 the
# Duel ends and the other Player wins.
if turn_player.get_lp() <= 0:
turn_player.set_lp(0)
winner = opposite_player.get_id()
break
elif opposite_player.get_lp() <= 0:
opposite_player.set_lp(0)
winner = turn_player.get_id()
break
# This section handles the logic for actions the Player can take
# at any Phase in the Duel.
# End Turn: Go to End Phase and start opponent's turn.
elif possible_moves[choice] == "End Turn":
phase = "EP"
# This section clears the Player's possible actions and then adds
# new possible actions based on the game state.
# i.e. Game Phase, Turn Count, actions already taken, etc...
possible_moves = []
if phase == "MP":
if turn_player.get_can_summon():
possible_moves.append("Summon")
possible_moves.append("Set")
if turn_player.can_change_pos():
possible_moves.append("Change Battle Position")
if turn_player.can_battle() and turn_count > 0:
possible_moves.append("Go to Battle Phase")
possible_moves.append("End Turn")
elif phase == "BP":
if turn_player.can_battle():
possible_moves.append("Attack")
possible_moves.append("End Turn")
elif phase == "EP":
# This section handles the logic of the End Phase.
# If players have more than 6 cards they must discard down to
# 6. The turn count is incremented and then the turn player
# is changed the opposite player.
while len(turn_player.get_hand()) > 6:
current_hand = turn_player.get_hand()
for i in range(len(current_hand)):
print(
"[{idx}] {card} [{attack} ATK / {defense} DEF]"\
.format(
idx=i,
card=current_hand[i].get_name(),
attack=current_hand[i].get_atk(),
defense=current_hand[i].get_def()
)
)
choice = try_int_input(
"Too many cards in your hand. You have {}, you can "
"only have up to 6. Which card will you discard: ".\
format(len(current_hand))
)
while choice > len(current_hand) or choice < 0:
choice = try_int_input("Please enter a valid choice: ")
current_hand.pop(choice)
turn_count += 1
turn_player_idx = opposite_player_idx
else:
print("You shouldn't be here.")
# After the Duel loop ends, the name of the winner is printed.
print("PLAYER {} WINS!".format(winner))
def defense_zone(my_pose, ball_info, control_target, my_role, defense_num,
their_robot_info, zone_enable):
# ゴールディフェンスに割り当てる台数
GOAL_DEFENSE_NUM = 2
# 現在のディフェンス数 - ゴールディフェンス数 = ゾーンディフェンスに割り当てられる台数
ZONE_DEFENSE_NUM = defense_num - GOAL_DEFENSE_NUM
# ゾーンディフェンスが始まるROLE_ID
ZONE_START_ROLE_ID = role.ROLE_ID["ROLE_ZONE_1"]
# ゾーンオフェンス用の待機場所
ZONE_OFFENCE_POSE = Pose2D(Field.field('length') * 0.25, 0, 0)
# センターライン用のマージン
MARGIN_CENTER = 0.6
# ちょっと前進用のマージン
MARGIN_LITTLE_FORWARD = 1.0
# ドリブルパワー
DRIBBLE_POWER = 0.6
# ボール位置
ball_pose = ball_info.pose
# Field情報からペナルティエリアの情報を取得
# フィールド幅
field_width = Field.field('width')
# フィールド幅の半分
half_field_width = float(field_width) / 2
# フィールド幅の1/4
quarter_field_width = float(field_width) / 4
# フィールド長さ
field_length = Field.field('length')
# フィールド長さの1/4 → 自陣側の長さの半分
half_our_field_length = -float(field_length) / 4
# ゴール中心
goal_center = Field.goal_pose('our', 'center')
# ペナルティエリアの角
left_penalty_corner = Field.penalty_pose('our', 'upper_front')
right_penalty_corner = Field.penalty_pose('our', 'lower_front')
# 自分からボールへの角度（ボールの方向を向くため）
angle_to_ball = tool.get_angle(my_pose, ball_pose)
# ゴール中心からボールへの角度
angle_to_ball_from_goal = tool.get_angle(goal_center, ball_pose)
# ゾーンディフェンス用のID
zone_id = None
# 移動目標点の初期化
target_pose = Pose2D()
# ---------------------------------------------------------
# キックとドリブルはOFF
control_target.kick_power = 0.0
control_target.dribble_power = 0.0
# ゾーンオフェンス判定用フラグ
my_role_is_offence = False
# ボールが相手フィールドにあるとき
# ゾーンから1台ゾーンオフェンスに出す
# 相手キックオフ時などに前に出ないように
# マージンを持って相手フィールド側かを判断している
if ZONE_DEFENSE_NUM > 1 and ball_pose.x > MARGIN_CENTER:
# 1台ディフェンスが減る
ZONE_DEFENSE_NUM -= 1
# ゾーンディフェンスが始まるROLE_IDをずらす
ZONE_START_ROLE_ID = role.ROLE_ID["ROLE_ZONE_2"]
# ROLE_ZONE_1をゾーンオフェンスとして出す
if my_role is role.ROLE_ID["ROLE_ZONE_1"]:
my_role_is_offence = True
# 私はゾーンオフェンスです
if my_role_is_offence:
zone_id = 0
target_pose = ZONE_OFFENCE_POSE
# 基本的にアタッカーがボールを取りに行くので
# ボールが無い方向に移動してこぼれ球が取れるようにする
if ball_pose.y > 0:
target_pose.y = -quarter_field_width
else:
target_pose.y = quarter_field_width
# ボールを向く
target_pose.theta = angle_to_ball
# ゾーンオフェンス以外
if ZONE_DEFENSE_NUM > 0 and not my_role_is_offence:
step = float(field_width) / (ZONE_DEFENSE_NUM * 2)
# ゾーンディフェンスの数でフィールド幅を等分した配列を作る
split_field = [
i * step - half_field_width
for i in range(0, (ZONE_DEFENSE_NUM * 2 + 1))
]
# ゾーンディフェンスの数でフィールド幅を等分した時の
# それぞれのゾーンの中心の配列を作る
split_field_center = [i * step - half_field_width for i in range(0,(ZONE_DEFENSE_NUM * 2)) \
if i % 2 != 0]
# 参照エラー対策のtry
try:
# ゾーンIDの計算
# ロボットが8台生きていてゾーンオフェンスがいなければ
# ゾーンIDは0~3
zone_id = my_role - ZONE_START_ROLE_ID
# ゾーンの中心を目標位置とする
target_pose.y = split_field_center[zone_id]
# 自分のゾーンに入っている敵チェック
# their_robot_infoのposeを抜き出してそれぞれチェック
# 敵が自陣側にいる、かつ、自分のゾーンの幅の中にいる、を確認
# 当てはまらない場合配列は空っぽ
invader_pose = [i.pose for i in their_robot_info \
if split_field[zone_id * 2] < i.pose.y < split_field[(zone_id + 1) * 2] and \
i.pose.x < 0]
# ボールが自分のゾーンの中に入っている, かつzone_enable
if(zone_enable and \
ball_pose.x < 0 and \
split_field[zone_id * 2] < ball_pose.y < split_field[(zone_id + 1) * 2]):
trans = tool.Trans(ball_pose, angle_to_ball_from_goal)
target_pose = trans.inverted_transform(Pose2D(-0.9, 0, 0))
# 自分のゾーンにボールはないけど敵がいる場合は割り込む
elif zone_enable and invader_pose != []:
# 敵とボールの間に割り込む
angle_to_ball_from_invader = tool.get_angle(
invader_pose[0], ball_pose)
trans = tool.Trans(invader_pose[0], angle_to_ball_from_invader)
target_pose = trans.inverted_transform(Pose2D(0.5, 0, 0))
else:
# ボールが敵陣の時はディフェンスちょっと前進
if ball_pose.x > MARGIN_CENTER:
target_pose.x = half_our_field_length + MARGIN_LITTLE_FORWARD
else:
target_pose.x = half_our_field_length
except IndexError:
target_pose = my_pose
target_pose.theta = angle_to_ball
# ボールが来てたらボールを受け取る
if zone_id != None:
receive_ball_result, receive_target_pose = defense.update_receive_ball(
ball_info, my_pose, zone_id)
if receive_ball_result:
# ドリブラー回す
control_target.dribble_power = DRIBBLE_POWER
target_pose = receive_target_pose
else:
# ボールに近づいてたら離れる
target_pose = defense.get_avoid_ball_pose(ball_pose, target_pose)
# ペナルティエリアには入らない
if((left_penalty_corner.y + 0.2 > target_pose.y > right_penalty_corner.y - 0.2) and \
target_pose.x < left_penalty_corner.x + 0.3):
target_pose.x = half_our_field_length
control_target.path = []
control_target.path.append(target_pose)
return control_target
h, w, _ = array.shape
array = np.flip(array, 0)
img = pyglet.image.ImageData(width=w,
height=h,
format="RGB",
data=bytes(array))
text = img.get_texture()
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER,
gl.GL_NEAREST)
text.width = int(size[0])
text.height = int(size[1])
return text
t = Template('GLIDER', figures.gliderDiagonalNE)
f = Field((160, 90))
f.fillRandom()
f.placeTemplate(t, (2, 2))
def update(dt):
f.update()
g = GUI(f)
pyglet.clock.schedule_interval(update, 1.0 / 100.0)
g.run()
#-------
#-------
#--#----
