def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.shotspeed = int(self.constants['shotspeed'])
# {'shotspeed': '100', 'tankalive': 'alive', 'truepositive': '1', 'worldsize': '800', 'explodetime': '5', 'truenegative': '1', 'shotrange': '350', 'flagradius': '2.5', 'tankdead': 'dead', 'tankspeed': '25', 'shotradius': '0.5', 'tankangvel': '0.785398163397', 'linearaccel': '0.5', 'team': 'purple', 'tankradius': '4.32', 'angularaccel': '0.5', 'tankwidth': '2.8', 'tanklength': '6'}
# self.obstacles = self.bzrc.get_obstacles()
self.bases = self.bzrc.get_bases()
self.commands = []
self.mytanks = {
tank.callsign: tank
for tank in self.bzrc.get_mytanks()
}
self.othertanks = {
tank.callsign: tank
for tank in self.bzrc.get_othertanks()
}
self.setup_common_potential_fields()
self.kalmantanks = {
tank.callsign: KalmanTank(tank)
for tank in self.bzrc.get_othertanks()
}
self.lines = {}
fig = plt.figure()
axis = plt.axes(xlim=(-400, 400), ylim=(-400, 400))
for callsign, tank in self.othertanks.iteritems():
self.lines[callsign] = axis.plot([], [], lw=1)[0]
# add another line for the Kalman line
self.lines[callsign + "kalman"] = axis.plot([], [], lw=1)[0]
self.lines[callsign + "estimate"] = axis.plot([], [], lw=2)[0]
for callsign, tank in self.mytanks.iteritems():
self.mytanks[callsign].role = None
self.mytanks[callsign].field = None
self.mytanks[callsign].goal = None
self.get_mycolor()
for base in self.bases:
if base.color == self.color:
x = base.corner1_x + base.corner2_x + base.corner3_x + base.corner4_x
y = base.corner1_y + base.corner2_y + base.corner3_y + base.corner4_y
x = x / 4.0
y = y / 4.0
self.fields['base'] = GoalField(x, y, 15, 70, 0.15)
else:
continue
anim = animation.FuncAnimation(fig,
self.tick,
init_func=self.init_graph,
interval=1000 * FIXED_TIME_STEP,
blit=True)
plt.show()
def scout(self, tank):
no_points = False
# check to see if we've made it to our scout point
if tank.field != None and \
tank.field.x + self.vision_range > tank.x and tank.field.x - self.vision_range < tank.x and \
tank.field.y + self.vision_range > tank.y and tank.field.y - self.vision_range < tank.y:
print "Made it to the point"
tank.field = None
elif tank.field != None:
if self.grid[tank.field.y - 400][tank.field.x - 400] == 0 or \
self.grid[tank.field.y - 400][tank.field.x - 400] == 1:
print "Point is already discovered"
tank.field = None
# if we don't have a field, lets get one unless there are none to get
if tank.field == None:
if len(self.fields['scout_points']) > 0:
if tank.index == 0:
r = 0
elif tank.index == 1:
r = -1
else:
r = randint(0, len(self.fields['scout_points']) - 1)
point = self.fields['scout_points'][r]
print "Assigning point: %d,%d" % (point.x, point.y)
tank.field = GoalField(point.x, point.y, 25, 75, 0.15)
del self.fields['scout_points'][r]
else:
no_points = True
if no_points:
# we have searched all the base points, now we need to see where we haven't fulled searched
# check the grid to see if there are any non resolved points
# once we are out of unresolved points we are all good and can call it quits
self.vision_range = 50
print "explored all points"
print "grid %r " % self.grid.shape[0]
for i in range(0, self.grid.shape[0]):
for j in range(0, self.grid.shape[1]):
if tank.index == 0:
point = Point(j - 400, i - 400)
else:
point = Point(400 - j - 1, 400 - i - 1)
if self.grid[point.y + 400][point.x + 400] != 0 and \
self.grid[point.y + 400][point.x + 400] != 1:
self.fields['scout_points'].append(point)
break
if len(self.fields['scout_points']) == 0:
print "no uncertainty remains"
return
dx, dy = self.calculate_field(tank)
self.move_to_position(tank, dx + tank.x, dy + tank.y)
def setup_potential_fields(self):
self.fields['goal'] = []
n = 25
sx = 1
sy = 1
f = True
f2 = True
# if self.base_pos.x > 0.0:
# sx = -1
# elif self.base_pos.y > 0.0:
# f = False
# f2 = False
# sy = -1
# else:
# f = False
# f2 = False
for t in range(0, 12):
if t % 3 == 0:
x, y = 0, 0
if t % 3 == 1:
if f:
x, y = n * 3 * sx, n * sy
else:
x, y = n * sx, n * 3 * sy
if t % 3 == 2:
if f:
x, y = n * sx, n * 3 * sy
else:
x, y = n * 3 * sx, n * sy
f = not f
if t == 3 or t == 9:
if f2:
sy *= -1
else:
sx *= -1
if t == 6:
if f2:
sx *= -1
else:
sy *= -1
self.fields['goal'].append(
GoalField(x + self.base_pos.x, self.base_pos.y, 5, 30, 0.2))
def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
# self.obstacles = self.bzrc.get_obstacles()
self.bases = self.bzrc.get_bases()
self.commands = []
self.mytanks = [tank for tank in self.bzrc.get_mytanks()]
self.setup_common_potential_fields()
for idx, tank in enumerate(self.mytanks):
self.mytanks[idx].role = None
self.mytanks[idx].field = None
self.mytanks[idx].goal = None
self.get_mycolor()
for base in self.bases:
if base.color == self.color:
x = base.corner1_x + base.corner2_x + base.corner3_x + base.corner4_x
y = base.corner1_y + base.corner2_y + base.corner3_y + base.corner4_y
x = x / 4.0
y = y / 4.0
self.fields['base'] = GoalField(x, y, 15, 70, 0.15)
else:
continue
def setup_potential_fields(self):
self.fields['goal'] = []
for flag in self.flags:
self.fields['goal'].append(GoalField(flag.x, flag.y, 15, 70, 0.15))