def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings)
self.addSettingsArgs(edges.StackableSettings)
self.buildArgParser(x=100, y=300)
self.argparser.add_argument("--canheight",
action="store",
type=int,
default=50,
help="Height of the paintcans")
self.argparser.add_argument("--candiameter",
action="store",
type=int,
default=30,
help="Diameter of the paintcans")
self.argparser.add_argument("--minspace",
action="store",
type=int,
default=10,
help="Minimum space between the paintcans")
self.argparser.add_argument(
"--hexpattern",
action="store",
type=boolarg,
default=False,
help="Use hexagonal arrangement for the holes instead of orthogonal"
)
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings,
space=3,
finger=3,
surroundingspaces=1)
self.buildArgParser(sx="25*3",
sy="60*4",
sh="5:25:10",
bottom_edge="h")
self.argparser.add_argument(
"--holes",
action="store",
type=int,
default=3,
help="Number of holes for each size",
)
self.argparser.add_argument(
"--firsthole",
action="store",
type=float,
default=1.0,
help="Smallest hole",
)
self.argparser.add_argument(
"--holeincrement",
action="store",
type=float,
default=.5,
help="increment between holes",
)
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings)
self.buildArgParser(sx="25*3", sy="60*4", h=60)
self.argparser.add_argument(
"--holes",
action="store",
type=int,
default=3,
help="Number of holes for each size",
)
self.argparser.add_argument(
"--firsthole",
action="store",
type=float,
default=1.0,
help="Smallest hole",
)
self.argparser.add_argument(
"--holeincrement",
action="store",
type=float,
default=.5,
help="increment between holes",
)
def __init__(self):
Boxes.__init__(self)
self.buildArgParser("x", "y", "h")
self.argparser.add_argument(
"--design",
action="store",
type=str,
default="automatic",
choices=("automatic", "widebox", "tuckbox"),
help="different design for paper consumption optimization. The tuckbox also has locking cut for its lid.",
)
self.argparser.add_argument(
"--lid_heigth",
type=float,
default=15,
help="Height of the lid (part which goes inside the box)",
)
self.argparser.add_argument(
"--lid_radius",
type=float,
default=7,
help="Angle, in radius, of the round corner of the lid",
)
self.argparser.add_argument(
"--lid_sides",
type=float,
default=20,
help="Width of the two sides upon which goes the lid",
)
self.argparser.add_argument(
"--margin",
type=float,
default=0,
help="Margin for the glued sides",
)
self.argparser.add_argument(
"--mark_length",
type=float,
default=1.5,
help="Length of the folding outside mark",
)
self.argparser.add_argument(
"--tab_angle_rad",
type=float,
default=math.atan(2 / 25),
help="Angle (in radian) of the sides which are to be glued inside the box",
)
self.argparser.add_argument(
"--finger_hole_diameter",
type=float,
default=15,
help="Diameter of the hole to help catch the lid",
)
def __init__(self,
database_dir='database',
selected_box_color=(225, 0, 0),
unselected_box_color=(0, 255, 0),
rate=2):
Boxes.__init__(self, rate)
self.selected_box = 0
self.set_select_box = 0
self.selected_box_color = selected_box_color
self.unselected_box_color = unselected_box_color
self.database_dir = database_dir
self.set_image(None)
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings)
self.buildArgParser(h=30)
self.argparser.add_argument(
"--cardwidth", action="store", type=float, default=65,
help="Width of the cards")
self.argparser.add_argument(
"--cardheight", action="store", type=float, default=90,
help="Height of the cards")
self.argparser.add_argument(
"--num", action="store", type=int, default=2,
help="number of compartments")
def __init__(self):
Boxes.__init__(self)
self.argparser.add_argument(
"--phone_height",
type=float,
default=142,
help="Height of the phone.",
)
self.argparser.add_argument(
"--phone_width",
type=float,
default=73,
help="Width of the phone.",
)
self.argparser.add_argument(
"--phone_depth",
type=float,
default=11,
help=("Depth of the phone. Used by the bottom support holding the "
"phone, and the side tabs depth as well. Should be at least "
"your material thickness for assembly reasons."),
)
self.argparser.add_argument(
"--angle",
type=float,
default=25,
help="angle at which the phone stands, in degrees. 0° is vertical.",
)
self.argparser.add_argument(
"--bottom_margin",
type=float,
default=30,
help="Height of the support below the phone",
)
self.argparser.add_argument(
"--tab_size",
type=float,
default=76,
help="Length of the tabs holding the phone",
)
self.argparser.add_argument(
"--bottom_support_spacing",
type=float,
default=16,
help=(
"Spacing between the two bottom support. Choose a value big "
"enough for the charging cable, without getting in the way of "
"other ports."),
)
self.addSettingsArgs(edges.FingerJointSettings)
def __init__(self):
Boxes.__init__(self)
self.buildArgParser(x=250, y=154, h=120)
self.argparser.add_argument(
"--cornerradius", action="store", type=int, default=30,
help="Radius of the corners")
self.argparser.add_argument(
"--handleheight", action="store", type=int, default=150,
help="Height of the handle")
self.argparser.add_argument(
"--handlewidth", action="store", type=int, default=120,
help="Width of the handle")
def __init__(self):
Boxes.__init__(self)
self.buildArgParser("x", "y", "h")
self.argparser.add_argument(
"--lid_heigth",
type=float,
default=15,
help="Height of the lid (part which goes inside the box)",
)
self.argparser.add_argument(
"--lid_radius",
type=float,
default=7,
help="Angle, in radius, of the round corner of the lid",
)
self.argparser.add_argument(
"--lid_sides",
type=float,
default=20,
help="Width of the two sides upon which goes the lid",
)
self.argparser.add_argument(
"--margin",
type=float,
default=0.5,
help="Space between the two folded sides to glue",
)
self.argparser.add_argument(
"--mark_length",
type=float,
default=1.5,
help="Length of the folding outside mark",
)
self.argparser.add_argument(
"--tab_angle_rad",
type=float,
default=math.atan(2 / 25),
help=
"Angle (in radian) of the sides which are to be glued inside the box",
)
self.argparser.add_argument(
"--finger_hole_diameter",
type=float,
default=15,
help="Diameter of the hole to help catch the lid",
)
def __init__(self):
Boxes.__init__(self)
self.buildArgParser(x=250, y=154, h=120)
self.argparser.add_argument("--cornerradius",
action="store",
type=int,
default=30,
help="Radius of the corners")
self.argparser.add_argument("--handleheight",
action="store",
type=int,
default=150,
help="Height of the handle")
self.argparser.add_argument("--handlewidth",
action="store",
type=int,
default=120,
help="Width of the handle")
def __init__(self):
Boxes.__init__(self)
self.argparser.add_argument(
"--columns",
type=int,
default=4,
help="Number of columns of capsules.",
)
self.argparser.add_argument(
"--rows",
type=int,
default=5,
help="Number of capsules by columns.",
)
self.argparser.add_argument(
"--backplate",
type=boolarg,
default=True,
help="True if a backplate should be generated.",
)
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings)
self.addSettingsArgs(edges.StackableSettings)
self.buildArgParser(x=100, y=300)
self.argparser.add_argument(
"--canheight", action="store", type=int, default=50,
help="Height of the paintcans")
self.argparser.add_argument(
"--candiameter", action="store", type=int, default=30,
help="Diameter of the paintcans")
self.argparser.add_argument(
"--minspace", action="store", type=int, default=10,
help="Minimum space between the paintcans")
self.argparser.add_argument(
"--hexpattern", action="store", type=boolarg, default=False,
help="Use hexagonal arrangement for the holes instead of orthogonal")
def createBoxes():
for player in playerL:
boxes = Boxes(player)
bs.append(boxes)
def create_box_game(self):
boxes = Boxes()
boxes.run()
def create_box_game(self):
boxes = Boxes()
boxes.run()
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings)
self.addSettingsArgs(edges.StackableSettings)
self.buildArgParser(x=56, y=85)
# count
self.argparser.add_argument(
"--sbcs", action="store", type=int, default=5,
help="how many slots for sbcs",
)
# spaces
self.argparser.add_argument(
"--clearance-x", action="store", type=int, default=3,
help="clearance for the board in the box (x) in mm"
)
self.argparser.add_argument(
"--clearance-y", action="store", type=int, default=3,
help="clearance for the board in the box (y) in mm"
)
self.argparser.add_argument(
"--clearance-z", action="store", type=int, default=28,
help="SBC Clearance in mm",
)
# mounting holes
self.argparser.add_argument(
"--hole-dist-edge", action="store", type=decimal.Decimal, default=3.5,
help="hole distance from edge in mm"
)
self.argparser.add_argument(
"--hole-grid-dimension-x", action="store", type=int, default=58,
help="width of x hole area"
)
self.argparser.add_argument(
"--hole-grid-dimension-y", action="store", type=int, default=49,
help="width of y hole area"
)
self.argparser.add_argument(
"--hole-diameter", action="store", type=decimal.Decimal, default=2.75,
help="hole diameters"
)
# i/o holes
self.argparser.add_argument(
"--netusb-z", action="store", type=int, default=18,
help="height of the net/usb hole mm"
)
self.argparser.add_argument(
"--netusb-x", action="store", type=int, default=53,
help="width of the net/usb hole in mm"
)
# features
self.argparser.add_argument(
"--stable", action='store', type=boolarg, default=False,
help="draw some holes to put a 1/4\" dowel through at the base and top"
)
self.argparser.add_argument(
"--switch", action='store', type=boolarg, default=False,
help="adds an additional vertical segment to hold the switch in place, works best w/ --stable"
)
# TODO flesh this idea out better
self.argparser.add_argument(
"--fan", action='store', type=int, required=False,
help="ensure that the x width is at least this much and as well, draw a snug holder for a fan someplace"
)
type='prod',
roles=['my_network'],
site=SITE)
conf.add_network_conf(network)\
.add_machine(roles=['collector', 'front', 'working'],
cluster=CLUSTER,
nodes=1,
primary_network=network)\
.finalize()
SEED = 6
NB_QUERY = 1500
NB_CRASHES = 3
EXPORT_TRACES_FILE = Path(f'../../results/result_failures_3_s{SEED}.json')
boxes = Boxes(depth=3, arity=2, kind=BoxesType.WORST)
boxes.print()
longestTimeOfLongest = boxes.getMaxTime()
logging.debug(f"Longest possible task takes {longestTimeOfLongest}ms.")
seed(SEED)
provider = G5k(conf)
roles, networks = provider.init()
roles = discover_networks(roles, networks)
priors = [__python3__, __default_python3__, __docker__]
with play_on(pattern_hosts='all', roles=roles, priors=priors) as p:
p.pip(display_name='Installing python-docker…', name='docker')
## #A deploy jaeger, for now, we set up with all in one
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings, surroundingspaces=1.0)
site=SITE)
conf.add_network_conf(network)\
.add_machine(roles=['collector', 'front', 'working'],
cluster=CLUSTER,
nodes=1,
primary_network=network)\
.finalize()
SEED = 5
NB_QUERY = 1500
FAIRNESS = 0.2
EXPORT_TRACES_FILE = Path(f'../../results/result_fairness_1b_s{SEED}.json')
boxes = Boxes(depth=3, arity=2, kind=BoxesType.WORST)
boxes.print()
longestTimeOfLongest = boxes.getMaxTime()
logging.debug(f"Longest possible task takes {longestTimeOfLongest}ms.")
seed(SEED)
provider = G5k(conf)
roles, networks = provider.init()
roles = discover_networks(roles, networks)
priors = [__python3__, __default_python3__, __docker__]
def __init__(self):
Boxes.__init__(self)
self.addSettingsArgs(edges.FingerJointSettings)
self.addSettingsArgs(edges.StackableSettings)
self.buildArgParser(x=56, y=85)
# count
self.argparser.add_argument(
"--sbcs",
action="store",
type=int,
default=5,
help="how many slots for sbcs",
)
# spaces
self.argparser.add_argument(
"--clearance_x",
action="store",
type=int,
default=3,
help="clearance for the board in the box (x) in mm")
self.argparser.add_argument(
"--clearance_y",
action="store",
type=int,
default=3,
help="clearance for the board in the box (y) in mm")
self.argparser.add_argument(
"--clearance_z",
action="store",
type=int,
default=28,
help="SBC Clearance in mm",
)
# mounting holes
self.argparser.add_argument("--hole_dist_edge",
action="store",
type=float,
default=3.5,
help="hole distance from edge in mm")
self.argparser.add_argument("--hole_grid_dimension_x",
action="store",
type=int,
default=58,
help="width of x hole area")
self.argparser.add_argument("--hole_grid_dimension_y",
action="store",
type=int,
default=49,
help="width of y hole area")
self.argparser.add_argument("--hole_diameter",
action="store",
type=float,
default=2.75,
help="hole diameters")
# i/o holes
self.argparser.add_argument("--netusb_z",
action="store",
type=int,
default=18,
help="height of the net/usb hole mm")
self.argparser.add_argument("--netusb_x",
action="store",
type=int,
default=53,
help="width of the net/usb hole in mm")
# features
self.argparser.add_argument(
"--stable",
action='store',
type=boolarg,
default=False,
help=
"draw some holes to put a 1/4\" dowel through at the base and top")
self.argparser.add_argument(
"--switch",
action='store',
type=boolarg,
default=False,
help=
"adds an additional vertical segment to hold the switch in place, works best w/ --stable"
)
def __init__(self):
Boxes.__init__(self)
self.buildArgParser("sx", "sy", "h", "outside")
self.argparser.add_argument("--slot_depth",
type=float,
default=20,
help="depth of the slot in mm")
self.argparser.add_argument(
"--slot_angle",
type=float,
default=0,
help=
"angle at which slots are generated, in degrees. 0° is vertical.",
)
self.argparser.add_argument(
"--slot_radius",
type=float,
default=2,
help="radius of the slot entrance in mm",
)
self.argparser.add_argument(
"--slot_extra_slack",
type=float,
default=0.2,
help=
"extra slack (in addition to thickness and kerf) for slot width to help insert dividers",
)
self.argparser.add_argument(
"--divider_bottom_margin",
type=float,
default=0,
help="margin between box's bottom and divider's",
)
self.argparser.add_argument(
"--divider_upper_notch_radius",
type=float,
default=1,
help="divider's notch's upper radius",
)
self.argparser.add_argument(
"--divider_lower_notch_radius",
type=float,
default=8,
help="divider's notch's lower radius",
)
self.argparser.add_argument(
"--divider_notch_depth",
type=float,
default=15,
help="divider's notch's depth",
)
self.argparser.add_argument(
"--left_wall",
type=boolarg,
default=True,
help="generate wall on the left side",
)
self.argparser.add_argument(
"--right_wall",
type=boolarg,
default=True,
help="generate wall on the right side",
)
def process(q, cmd_thread):
# 初始化
pygame.init()
updated_frame = False # update a frame
settings = Settings("data\program_settings.json")
screen = pygame.display.set_mode(
(32 * settings.screen_scale + 2 * settings.screen_offset,
28 * settings.screen_scale + 2 * settings.screen_offset))
sbd = ScoreBoard("data\hiscore.csv")
passwd = Password(settings, screen)
tfunc.print_welcome()
team_flights = Group()
enemy_flights = Group()
team1 = TeamFlight([0.8, 0.8], [3.5, 0.5], [1.5, 1.5], [1.5, 26], settings,
screen)
team1.print_info()
team_flights.add(team1)
team2 = TeamFlight([0.8, 0.8], [5.5, 0.5], [5.5, 1.5], [5.5, 26], settings,
screen)
team2.print_info()
team_flights.add(team2)
team3 = TeamFlight([0.8, 0.8], [9.5, 0.5], [9.5, 1.5], [9.5, 26], settings,
screen)
team3.print_info()
team_flights.add(team3)
team4 = TeamFlight([0.8, 0.8], [11.5, 0.5], [13.5, 1.5], [13.5, 26],
settings, screen)
team4.print_info()
team_flights.add(team4)
enemy1 = EnemyFlight([0.8, 0.8], [2, 10],
settings,
screen,
rotate_angle=math.pi / 100)
enemy1.set_velocity([0, -0.11])
enemy1.print_info()
enemy_flights.add(enemy1)
enemy2 = EnemyFlight([0.8, 0.8], [13, 10],
settings,
screen,
rotate_angle=math.pi / 100)
enemy2.set_velocity([0, 0.11])
enemy2.print_info()
enemy_flights.add(enemy2)
enemy3 = EnemyFlight([0.8, 0.8], [2, 18],
settings,
screen,
rotate_angle=math.pi / 100)
enemy3.set_velocity([0, -0.11])
enemy3.print_info()
enemy_flights.add(enemy3)
enemy4 = EnemyFlight([0.8, 0.8], [13, 18],
settings,
screen,
rotate_angle=math.pi / 100)
enemy4.set_velocity([0, 0.11])
enemy4.print_info()
enemy_flights.add(enemy4)
person = Person([0.8, 0.8], [7.5, 0.9], settings, screen)
boxes = Boxes(settings, screen)
pygame.display.set_caption("Explore Reactor Room")
tfunc.update_screen(settings, screen, team_flights, enemy_flights, person,
boxes, passwd, sbd)
follow_status = False
while True:
start_time = time.time()
period_timeout = True
if settings.reset_request: # game reset
settings.reset_request = False
settings.paused = False
settings.init_game_args()
if settings.game_mode != 0: # set enemy mode according to game mode
settings.enemy_status = settings.game_mode + 3
person.reinit([0.8, 0.8], [7.5, 0.9])
boxes.reinit()
team1.reinit([0.8, 0.8], [3.5, 0.5], [1.5, 1.5], [1.5, 26])
team2.reinit([0.8, 0.8], [5.5, 0.5], [5.5, 1.5], [5.5, 26])
team3.reinit([0.8, 0.8], [9.5, 0.5], [9.5, 1.5], [9.5, 26])
team4.reinit([0.8, 0.8], [11.5, 0.5], [13.5, 1.5], [13.5, 26])
enemy1.reinit([0.8, 0.8], [2, 10], rotate_angle=math.pi / 100)
enemy1.set_velocity([0, -0.11])
enemy2.reinit([0.8, 0.8], [13, 10], rotate_angle=math.pi / 100)
enemy2.set_velocity([0, 0.11])
enemy3.reinit([0.8, 0.8], [2, 18], rotate_angle=math.pi / 100)
enemy3.set_velocity([0, -0.11])
enemy4.reinit([0.8, 0.8], [13, 18], rotate_angle=math.pi / 100)
enemy4.set_velocity([0, 0.11])
settings.enemy_status_changed = True
passwd.generate_passwd()
if settings.run_active and not settings.paused:
# 帧开始，执行每一帧的预处理
settings.timer = settings.timer + settings.time_period # 计算时间
if settings.clock_1 > 0: # 计算clock1时间
settings.clock_1 -= 1
else:
settings.clock_1 = 30
settings.change_font_color()
n_flights = len(team_flights.sprites()) + len(
enemy_flights.sprites()) #包含自己一共的飞机数
p_all = [[0, 0] for i in range(n_flights)]
p_all_direction = [0 for i in range(n_flights)]
index = 0
for team in team_flights.sprites():
p_all[index] = team.get_info()[0]
p_all_direction[index] = 0
index = index + 1
for enemy in enemy_flights.sprites():
p_all[index] = enemy.get_info()[0]
p_all_direction[index] = enemy.get_direction()
index = index + 1
# 更新其它状态
person.move()
boxes.update_info(settings, person)
settings.all_open = boxes.all_open()
if settings.all_open and person.get_info(
)[0][1] <= 0.5 and not settings.failed:
settings.complete = True
elif (settings.timer > 480 or person.get_hp_info()[0] <= 0
or settings.out_times * settings.time_period >= 10.0
) and not settings.complete:
settings.failed = True
if settings.complete and settings.game_mode != 0 and not settings.hiscore_recorded:
settings.hiscore_recorded = True
sbd.set_new_hiscore(settings.game_mode - 1,
settings.complete_time) # set hiscore
sbd.write_hiscore()
# 敌方无人机行动
if settings.enemy_status == 0: # 敌方无人机悬停
for enemy in enemy_flights.sprites():
enemy.set_velocity([0, 0])
enemy.move()
if settings.enemy_status_changed:
enemy.set_attack_args(2.4, 5.0)
enemy.attack(person, boxes)
elif settings.enemy_status == 1: # 敌方无人机直线运动
for enemy in enemy_flights.sprites():
enemy.move()
if settings.enemy_status_changed:
enemy.set_attack_args(2.4, 5.0)
enemy.attack(person, boxes)
elif settings.enemy_status == 2: # 敌方无人机圆周运动
for enemy in enemy_flights.sprites():
enemy.move_circle()
if settings.enemy_status_changed:
enemy.set_attack_args(2.4, 5.0)
enemy.attack(person, boxes)
elif settings.enemy_status == 3: # 敌方无人机逼近己方无人机
for enemy, team in zip(enemy_flights.sprites(),
team_flights.sprites()):
team_p_flight = team.get_info()[0]
enemy_p_flight = enemy.get_info()[0]
team_p_flight = [
team_p_flight[0] + random.random() * 4 - 2,
team_p_flight[1] + 1.5 + random.random() * 4 - 2
]
[vx, vy] = apf.compute_next_step(settings,
enemy_p_flight,
team_p_flight, [],
0, [],
is_team=False)
enemy.set_max_v(
settings.enemy_mission_args[1][3]) # medium velocity
enemy.set_velocity([vx / 1.5, vy / 1.5])
enemy.move()
if settings.enemy_status_changed:
enemy.set_attack_args(2.4, 5.0)
enemy.attack(person, boxes)
elif settings.enemy_status >= 4 and settings.enemy_status <= 6: # 执行任务状态
difficulty = settings.enemy_status - 4 # 0:简单 1:中等 2:困难
enemy_mission_args = settings.enemy_mission_args[difficulty]
is_first = True
flight_index = 0
p_offset = [[0, enemy_mission_args[6]],
[enemy_mission_args[6], 0],
[-enemy_mission_args[6], 0],
[0, -enemy_mission_args[6]]]
if boxes.is_in_protect_box(
person.get_info()[0]): # 在保护区域内，一架逼近人，三架逼近己方无人机
for enemy, team in zip(enemy_flights.sprites(),
team_flights.sprites()):
if is_first:
is_first = False
person_p_flight = person.get_info()[0]
enemy_p_flight = enemy.get_info()[0]
person_p_flight = [
person_p_flight[0] + random.random() * 4 - 2,
person_p_flight[1] + 2 +
random.random() * 2 * enemy_mission_args[1] -
enemy_mission_args[1]
]
[vx, vy] = apf.compute_next_step(settings,
enemy_p_flight,
person_p_flight,
[],
0, [],
is_team=False)
else:
team_p_flight = team.get_info()[0]
enemy_p_flight = enemy.get_info()[0]
team_p_flight = [
team_p_flight[0] + random.random() * 4 - 2,
team_p_flight[1] + 1.5 +
random.random() * 2 * enemy_mission_args[1] -
enemy_mission_args[1]
]
[vx, vy] = apf.compute_next_step(settings,
enemy_p_flight,
team_p_flight, [],
0, [],
is_team=False)
enemy.set_max_v(enemy_mission_args[3])
enemy.set_velocity([
vx * enemy_mission_args[0],
vy * enemy_mission_args[0]
])
enemy.move()
if settings.enemy_status_changed:
enemy.set_attack_args(enemy_mission_args[4],
enemy_mission_args[5])
enemy.attack(person, boxes)
else: # 在保护区域外，四架逼近人
for enemy, team in zip(enemy_flights.sprites(),
team_flights.sprites()):
person_p_flight = person.get_info()[0]
enemy_p_flight = enemy.get_info()[0]
person_p_flight = [
person_p_flight[0] + p_offset[flight_index][0] +
random.random() * 2 * enemy_mission_args[2] -
enemy_mission_args[2],
person_p_flight[1] + p_offset[flight_index][1] +
random.random() * 2 * enemy_mission_args[2] -
enemy_mission_args[2]
]
flight_index = flight_index + 1
[vx, vy] = apf.compute_next_step(settings,
enemy_p_flight,
person_p_flight, [],
0, [],
is_team=False)
enemy.set_max_v(enemy_mission_args[3])
enemy.set_velocity([
vx * enemy_mission_args[0],
vy * enemy_mission_args[0]
])
enemy.move()
if settings.enemy_status_changed:
enemy.set_attack_args(enemy_mission_args[4],
enemy_mission_args[5])
enemy.attack(person, boxes)
settings.enemy_status_changed = False
# 己方无人机行动
all_reach_final_goal = True # 假定都达到了密码箱位置(final pos)
if follow_status:
# 跟随主飞机模式
is_first = True
index = 0
for team in team_flights.sprites():
if not team.reach_final_goal():
all_reach_final_goal = False
if is_first:
is_first = False
p_flight = team.get_info()[0]
if p_flight[1] >= 26.1: #达成目标，恢复原队形
follow_status = False
p_goal = [1.5, 26]
team.set_goal(p_goal)
continue
p_leader = p_flight
p_goal = [tcmd_temp_line, 27.1]
team.set_goal(p_goal)
else:
if not follow_status: #恢复现场
p_goal[0] = p_goal[0] + 4
team.set_goal(p_goal)
continue
p_flight = team.get_info()[0]
team.set_goal([p_leader[0], p_leader[1] - index])
index = index + tcmd_follow_length
p_goal = team.get_goal()
[vx, vy] = apf.compute_next_step(settings,
p_flight,
p_goal,
p_all,
n_flights,
p_all_direction,
is_team=True)
[vx, vy] = [
vx + random.random() * 0.02 - 0.01,
vy + random.random() * 0.01 - 0.005
] # 速度扰动
team.set_velocity([vx, vy])
team.move()
team.heal(person, boxes)
else:
# 独立模式
for team in team_flights.sprites():
if not team.reach_final_goal():
all_reach_final_goal = False
p_flight = team.get_info()[0]
p_goal = team.get_goal()
[vx, vy] = apf.compute_next_step(settings,
p_flight,
p_goal,
p_all,
n_flights,
p_all_direction,
is_team=True)
[vx, vy] = [
vx + random.random() * 0.02 - 0.01,
vy + random.random() * 0.01 - 0.005
] # 速度扰动
team.set_velocity([vx, vy])
team.move()
team.heal(person, boxes)
if not settings.crack_qrcode:
boxes.crack(all_reach_final_goal) # 全部到达目的地，破译密码
# 获取终端指令
if not q.empty():
try:
[cmd_content, cmd_args] = q.get().split(' ', 1)
if cmd_content == "thenextcontentisthepassword":
# 玩家输入密码
try:
tcmd_passwd = cmd_args
if passwd.check_passwd(tcmd_passwd):
print("[Boxes] Password correct.")
settings.get_key = True
else:
print("[Boxes] Password error, try again.")
except:
print("[Boxes] Password input error.")
elif cmd_content == "y":
# 更改己方飞机目标点（Y轴平齐）策略
try:
[cmd_arg_1, cmd_arg_2] = cmd_args.split(' ')
new_goal = float(cmd_arg_1)
interval = float(cmd_arg_2)
except:
new_goal = float(cmd_args)
interval = 4.0
x_offset = 7.5 - interval * 1.5
print(
"[Team] Move team flights to Y-line %.3f m with interval %.3f m ."
% (new_goal, interval))
for team in team_flights.sprites():
team.set_goal([x_offset, new_goal])
x_offset += interval
elif cmd_content == "f":
# 跟随主飞机运动策略
[cmd_arg_1, cmd_arg_2] = cmd_args.split(' ')
tcmd_temp_line = float(cmd_arg_1)
tcmd_follow_length = float(cmd_arg_2)
print(
"[Team] Follow the leader team flight with X-line %.3f m and interval %.3f m ."
% (tcmd_temp_line, tcmd_follow_length))
follow_status = True
elif cmd_content == "s":
# 即刻在前方悬停策略
follow_status = False
ahead_length = float(cmd_args)
print("[Team] Hover at %.3f m ahead ." %
(ahead_length))
for team in team_flights.sprites():
temp_goal = team.get_info()[0]
team.set_goal(
[temp_goal[0], temp_goal[1] + ahead_length])
else:
print("[Team] Unknown command.")
except:
print("[Team] Command error.")
if settings.crack_qrcode and not settings.get_key:
cmd_thread.input_passwd_request() # input the password in tcmd
tfunc.update_screen(settings, screen, team_flights, enemy_flights,
person, boxes, passwd, sbd)
# Watch update frame time (for test)
#if updated_frame:
# updated_frame = False
# print("Update time: %.3fs" % (time.time() - start_time))
# 等待更新时间
while period_timeout:
tfunc.check_events(settings, screen, cmd_thread, team_flights,
enemy_flights, person, sbd)
if time.time() - start_time >= 0.04:
period_timeout = False
updated_frame = True
