def start_man_calc(self): # manual and calculated
self._init()
while ExitCtr.gen:
if DoFlag.update_frame:
Gen.screen.fill(Conf.WHITE) # Reset screen for fresh drawings
# Control robot
self.controller.manual_control()
if DoFlag.auto_calc:
self.controller.calculated_control()
# Update game state
Sprites.every.update()
Frames.update()
if DoFlag.update_frame:
# Update drawing if required
# Control loop intervals
self.clock.tick(Conf.FPS) # Comment out to remove fps limit
# Draw field borders
pygame.draw.rect(Gen.screen, Conf.BLACK, self.rect, 1)
# Draw everything and update the display
Sprites.every.draw(Gen.screen)
pygame.display.update()
self.exit()
def frame_step(self, action):
"""
param:
action --> tuple(
direction --> 0 (left), 1 (right)
angle --> 1 - 12 (0 to 180/angle_increment )
distance --> 0 to 60 (0 to 300/move_dist)
kick --> 0 (don't kick) or 1 (kick)
continue --> 0 (don't continue) or 1 (continue)
)
return:
x --> 0 to 600 (x coordinate)
y --> 0 to 400 (y coordinate)
# Ball relative conditions
ball_flag --> 0 (not seen) or 1 (seen)
ball_theta --> 0 to 360/angle_increment
ball_dist --> 0 to 600/move_dist
# Own goal relative conditions
own_goal_theta --> 0 to 360/angle_increment
own_goal_dist --> 0 to 600/move_dist
# Opponent goal conditions
opp_goal_theta --> 0 to 360/angle_increment
opp_goal_dist --> 0 to 600/move_dist
# Kick results given 0 or 1 for only one frame
is_kick_success --> 0 (null) or 2 (miss) or 1 (hit)
is_kick_accurate --> 0 (null) or 2 (bad miss) or 1 (near miss)
# State flags
is_kicking --> 0 (not kicking) or 1 (is kicking)
is_moving --> 0 (not moving) or 1 (is moving)
is_ball_moved -- > 0 (not moved recently) or 1 (moved recently)
is_goal_scored --> 2 (own goal scored) 0 (not scored) or 1 (scored)
time --> time since start (calculated based on frames)
"""
# print(type(action),action)
# # return
# Attempt to instantiate which will only be done if not done already
self._init()
if DoFlag.update_frame:
Gen.screen.fill(Conf.WHITE) # Reset screen for fresh drawings
NULL = 0
STATE1 = 1
STATE2 = 2
# Reset goal to not scored
self._goal_scored(reset=True)
# Get action commands
# print(type(action),action)
direction, theta, dist, kick, cont = list(action)
theta *= Conf.DIR_OFFSET
dist *= Conf.MOVE_DIST
if direction == 1:
direction = Conf.RIGHT
elif direction == 0:
direction = Conf.LEFT
else:
raise ValueError(
f"{direction} is not a valid option. Must be 0 or 1")
# Create return away
ret_val = np.zeros(fsr.NUM_VAL)
ret_val[fsr.ACT_DIR] = action[0]
ret_val[fsr.ACT_THETA] = action[1]
ret_val[fsr.ACT_DIST] = action[2]
ret_val[fsr.ACT_KICK] = action[3]
ret_val[fsr.ACT_CONT] = action[4]
# Get vector positions (relative positions)
to_ball_s, _, _ = self.controller.get_vec()
ball_dist, ball_theta = to_ball_s.as_polar()
if not cont:
# Validate data
if ret_val[fsr.ACT_THETA] > 360 / Conf.DIR_OFFSET:
print(f"Warning {ret_val[fsr.ACT_THETA]} out of range "
f"{360/Conf.DIR_OFFSET}")
if ret_val[fsr.ACT_DIST] > Conf.WIDTH / Conf.MOVE_DIST:
print(f"Warning {ret_val[fsr.ACT_DIST]} out of range "
f"{Conf.WIDTH/Conf.MOVE_DIST}")
self.net[Conf.DIRECTION] = direction
self.net[Conf.THETA] = theta * Conf.DIR_OFFSET
self.net[Conf.DIST] = dist * Conf.MOVE_DIST
self.net[Conf.KICK] = kick
# In case no kick was performed set to null value
ret_val[fsr.IS_KICK_ACCURATE] = ret_val[fsr.IS_KICK_SUCCESS] = NULL
if Frames.time() - Gen.last_kick_time < Conf.KICK_COOLDOWN:
ret_val[fsr.IS_KICKING] = 1
elif self.net[Conf.KICK] == 1:
is_kicked = self.robot.kick()
self.net[Conf.KICK] = False
Gen.last_kick_time = Frames.time()
# If within kick range
if is_kicked:
ret_val[fsr.IS_KICK_SUCCESS] = STATE1
else:
ret_val[fsr.IS_KICK_SUCCESS] = STATE2
elif self.net[Conf.THETA] > 0:
self.robot.move(self.net[Conf.DIRECTION])
self.net[Conf.THETA] -= Conf.DIR_OFFSET
elif self.net[Conf.DIST] > 0:
self.robot.move(Conf.FORWARD)
self.net[Conf.DIST] -= Conf.MOVE_DIST
# Update game state
Sprites.every.update()
Frames.update()
# Update drawing if required
if DoFlag.update_frame:
self.clock.tick(Conf.FPS) # Regulate FPS if desired
# Draw field borders
pygame.draw.rect(Gen.screen, Conf.BLACK, self.rect, 1)
# Draw everything and update the display
Sprites.every.draw(Gen.screen)
pygame.display.update()
# Update return Values
to_ball, to_goal, to_own_goal = self.controller.get_vec()
ret_val[fsr.BALL_DIST], ret_val[fsr.BALL_THETA] = to_ball.as_polar()
ret_val[fsr.OPP_GOAL_DIST], ret_val[fsr.OPP_GOAL_THETA] = (
to_goal.as_polar())
ret_val[fsr.OWN_GOAL_DIST], ret_val[fsr.OWN_GOAL_THETA] = (
to_own_goal.as_polar())
if self.robot.move_angle < -90 and ball_theta > 90: # Edge case
if self.robot.move_angle + 360 - ball_theta <= Conf.HALF_VIS_THETA:
ret_val[fsr.BALL_FLAG] = STATE1
elif self.robot.move_angle > 90 and ball_theta < -90: # Edge case
if ball_theta + 360 - self.robot.move_angle <= Conf.HALF_VIS_THETA:
ret_val[fsr.BALL_FLAG] = STATE1
elif abs(self.robot.move_angle - ball_theta) <= Conf.HALF_VIS_THETA:
# If within field of view
ret_val[fsr.BALL_FLAG] = STATE1
# If ball_start_pos != current_ball_pos then ball moving
if to_ball != to_ball_s:
ret_val[fsr.IS_BALL_MOVED] = STATE1
# If still has angle change or distance change then moving
if self.net[Conf.THETA] > 0 or self.net[Conf.DIST] > 0:
ret_val[fsr.IS_MOVING] = STATE1
# Check if goal scored this frame
if self.is_goal_scored:
if ( # If close to opponent goal then scored and accurate
self.ball.side == self.robot.side):
ret_val[fsr.IS_GOAL_SCORED] = STATE1
ret_val[fsr.IS_KICK_ACCURATE] = STATE1
else: # If not close to target then own goal
ret_val[fsr.IS_GOAL_SCORED] = STATE2
ret_val[fsr.IS_KICK_ACCURATE] = NULL
elif ( # if ball in wall bounce x location check next condition
# If ball is within range of y value
self.controller.goal_cen.y -
1 * self.controller.goal.rect.height <
self.balls[0].rect.centery < self.controller.goal_cen.y +
1 * self.controller.goal.rect.height):
if ( # If hit the wall close to the goal
self.ball.rect.centerx > self.ball_bounce_x
and self.robot.side == Conf.LEFT):
if not self.is_accurate_sent:
ret_val[fsr.IS_KICK_ACCURATE] = STATE1
self.is_accurate_sent = True
elif (self.ball.rect.centerx < self.ball_bounce_x
and self.robot.side == Conf.RIGHT):
if not self.is_accurate_sent:
ret_val[fsr.IS_KICK_ACCURATE] = STATE1
self.is_accurate_sent = True
else: # If not against respective wall accuracy was not sent
self.is_accurate_sent = False
else:
if (self.ball.rect.centerx > self.ball_bounce_x
and self.robot.side == Conf.LEFT):
if not self.is_accurate_sent:
ret_val[fsr.IS_KICK_ACCURATE] = STATE2
self.is_accurate_sent = True
elif (self.ball.rect.centerx < self.ball_bounce_x
and self.robot.side == Conf.RIGHT):
if not self.is_accurate_sent:
ret_val[fsr.IS_KICK_ACCURATE] = STATE2
self.is_accurate_sent = True
else:
self.is_accurate_sent = False
ret_val[fsr.X] = self.robot.rect.centerx
ret_val[fsr.Y] = self.robot.rect.centery
ret_val[fsr.TIME] = int(Frames.time())
return np.array(ret_val)