class Simulator(object):
objects = []
robots = []
images = {}
# Options and arguments
headless = False
vision = None
pitch = None
ai = []
robot1 = None
robot2 = None
def __init__(self, **kwargs):
logging.debug("Simulator started with the arguments:")
for k, v in kwargs.items():
self.__setattr__(k, v)
logging.debug("\t%s = %s", k, v)
def initVision(self):
if self.vision:
logging.info("Starting simulator vision bridge")
world = self.world
if not self.real_world:
# Vision must always use the real World
world = common.world.World(self.colour)
self.vision = Vision(simulator=self, world=world)
self.visionFile = tempfile.mktemp(suffix='.bmp')
def drawEnts(self):
if self.pitch:
bg = self.pitch.get()
self.screen.blit(bg, (0, 0))
self.sprites.draw(self.screen)
if self.vision:
pygame.image.save(self.screen, self.visionFile)
self.vision.processFrame()
# Update overlay after we've passed the "raw image" to vision
self.screen.blit(self.overlay, (0, 0))
# Make the overlay "blank" again. Should be completely
# transparent but I don't know how to do that
self.overlay.fill((130, 130, 130, 255))
if not self.headless:
pygame.display.flip()
def initScreen(self):
logging.debug("Creating simulator screen")
if self.headless:
self.screen = pygame.Surface(World.Resolution)
else:
pygame.display.set_mode(World.Resolution)
pygame.display.set_caption('SDP 9 Simulator')
self.screen = pygame.display.get_surface()
self.overlay = pygame.Surface(World.Resolution)
self.overlay.convert_alpha()
self.overlay.set_alpha(100)
def makeObjects(self):
logging.debug("Creating game objects")
colours = ('blue', 'yellow')
if random() < 0.5:
col1, col2 = colours
else:
col2, col1 = colours
logging.info("Robot 1 is %s. Robot 2 is %s", col1, col2)
self.makeRobot(World.LeftStartPos, col1, 0, self.robot1[0])
self.makeRobot(World.RightStartPos, col2, -pi, self.robot2[0])
# Only make a real ball when there are two simulated robots
if len(self.robots) == 2:
pos = World.Pitch.center
logging.info("Creating a ball at %s", pos2string(pos))
self.makeBall(pos)
else:
logging.info("Not making a simulated ball with real robots")
self.sprites = pygame.sprite.RenderPlain(self.objects)
def setRobotAI(self, robot, ai):
# TODO: just delete the image and reclassify the robot as a
# real robot
#del robot
pass
def initAI(self):
logging.debug("Initialising AI")
ai1, real1 = self.robot1
ai2, real2 = self.robot2
if ai1 and real1:
real_interface = RealRobotInterface()
#meta_interface = MetaInterface(real_interface, self.robots[0])
ai = ai1(self.world, real_interface)
self.ai.append(ai)
robotSprite = self.robots[0]
#self.robots[0] = ai
#del robotSprite
self.setRobotAI(self.robots[0], ai)
logging.debug("AI 1 started in the real world")
elif ai1:
self.ai.append(ai1(self.world, self.robots[0]))
logging.debug("AI 1 started in the simulated world")
else:
logging.debug("No AI 1 present")
if ai2 and real2:
# TODO: reverse sides here
ai = ai2(self.world, RealRobotInterface())
self.ai.append(ai)
robotSprite = self.robots[0]
self.robots[1] = ai
#del robotSprite
self.setRobotAI(self.robots[1], ai)
logging.debug("AI 2 started in the real world")
elif ai2:
self.ai.append(ai2(self.world, self.robots[1]))
logging.debug("AI 2 started in the simulated world")
else:
logging.debug("No AI 2 present")
def runAI(self):
#logging.debug("Running AI players")
for ai in self.ai:
ai.run()
def run(self):
pygame.init()
self.clock = pygame.time.Clock()
self.initVision()
self.initScreen()
self.loadImages()
self.makeObjects()
self.world.assignSides()
self.initAI()
self.initInput()
# by initialising the input after the AI, we can control even
# AI robots with keyboard
self.drawEnts()
while True:
self.handleInput()
self.clock.tick(25)
self.drawEnts()
self.sprites.update()
self.runAI()
def initInput(self):
self.input = Input(self, self.robots[0], self.robots[1])
def handleInput(self):
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(0)
else:
#logging.debug("Got input event: %s", event)
self.input.robotInput(event)
def makeRobot(self, pos, colour, angle, ai):
ent = Robot(self, pos, self.images[colour], angle)
ent.side = colour
self.world.ents[colour] = ent
self.robots.append(ent)
self.addEnt(ent)
def makeBall(self, pos):
ent = Ball(self, pos, self.images['ball'])
#ent.v += [1, 7]
self.world.ents['ball'] = ent
self.addEnt(ent)
def addEnt(self, ent):
self.objects.append(ent)
def loadImages(self):
logging.debug("Loading images")
for name in World.image_names.keys():
self.images[name] = pygame.image.load(World.image_names[name])
class Simulator(object):
objects=[]
robots=[]
images={}
# Options and arguments
headless=False
vision=None
pitch=None
ai=[]
robot1=None
robot2=None
def __init__(self, **kwargs):
logging.debug("Simulator started with the arguments:")
for k, v in kwargs.items():
self.__setattr__(k, v)
logging.debug("\t%s = %s", k, v)
def initVision(self):
if self.vision:
logging.info("Starting simulator vision bridge")
world = self.world
if not self.real_world:
# Vision must always use the real World
world = common.world.World(self.colour)
self.vision = Vision(simulator=self, world=world)
self.visionFile = tempfile.mktemp(suffix='.bmp')
def drawEnts(self):
if self.pitch:
bg = self.pitch.get()
self.screen.blit(bg, (0,0))
self.sprites.draw(self.screen)
if self.vision:
pygame.image.save(self.screen, self.visionFile)
self.vision.processFrame()
# Update overlay after we've passed the "raw image" to vision
self.screen.blit(self.overlay, (0,0))
# Make the overlay "blank" again. Should be completely
# transparent but I don't know how to do that
self.overlay.fill( (130,130,130,255))
if not self.headless:
pygame.display.flip()
def initScreen(self):
logging.debug("Creating simulator screen")
if self.headless:
self.screen = pygame.Surface(World.Resolution)
else:
pygame.display.set_mode(World.Resolution)
pygame.display.set_caption('SDP 9 Simulator')
self.screen = pygame.display.get_surface()
self.overlay = pygame.Surface(World.Resolution)
self.overlay.convert_alpha()
self.overlay.set_alpha(100)
def makeObjects(self):
logging.debug("Creating game objects")
colours = ('blue', 'yellow')
if random() < 0.5:
col1, col2 = colours
else:
col2, col1 = colours
logging.info("Robot 1 is %s. Robot 2 is %s", col1, col2)
self.makeRobot(World.LeftStartPos, col1, 0, self.robot1[0])
self.makeRobot(World.RightStartPos, col2, -pi, self.robot2[0])
# Only make a real ball when there are two simulated robots
if len(self.robots) == 2:
pos = World.Pitch.center
logging.info("Creating a ball at %s", pos2string(pos))
self.makeBall(pos)
else:
logging.info("Not making a simulated ball with real robots")
self.sprites = pygame.sprite.RenderPlain(self.objects)
def setRobotAI(self, robot, ai):
# TODO: just delete the image and reclassify the robot as a
# real robot
#del robot
pass
def initAI(self):
logging.debug("Initialising AI")
ai1, real1 = self.robot1
ai2, real2 = self.robot2
if ai1 and real1:
real_interface = RealRobotInterface()
#meta_interface = MetaInterface(real_interface, self.robots[0])
ai = ai1(self.world, real_interface)
self.ai.append(ai)
robotSprite = self.robots[0]
#self.robots[0] = ai
#del robotSprite
self.setRobotAI(self.robots[0], ai)
logging.debug("AI 1 started in the real world")
elif ai1:
self.ai.append( ai1(self.world, self.robots[0]) )
logging.debug("AI 1 started in the simulated world")
else:
logging.debug("No AI 1 present")
if ai2 and real2:
# TODO: reverse sides here
ai = ai2(self.world, RealRobotInterface())
self.ai.append(ai)
robotSprite = self.robots[0]
self.robots[1] = ai
#del robotSprite
self.setRobotAI(self.robots[1], ai)
logging.debug("AI 2 started in the real world")
elif ai2:
self.ai.append( ai2(self.world, self.robots[1]) )
logging.debug("AI 2 started in the simulated world")
else:
logging.debug("No AI 2 present")
def runAI(self):
#logging.debug("Running AI players")
for ai in self.ai:
ai.run()
def run(self):
pygame.init()
self.clock = pygame.time.Clock()
self.initVision()
self.initScreen()
self.loadImages()
self.makeObjects()
self.world.assignSides()
self.initAI()
self.initInput()
# by initialising the input after the AI, we can control even
# AI robots with keyboard
self.drawEnts()
while True:
self.handleInput()
self.clock.tick(25)
self.drawEnts()
self.sprites.update()
self.runAI()
def initInput(self):
self.input = Input(self, self.robots[0], self.robots[1])
def handleInput(self):
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(0)
else:
#logging.debug("Got input event: %s", event)
self.input.robotInput(event)
def makeRobot(self, pos, colour, angle, ai):
ent = Robot(self, pos, self.images[colour], angle)
ent.side = colour
self.world.ents[colour] = ent
self.robots.append(ent)
self.addEnt(ent)
def makeBall(self, pos):
ent = Ball(self, pos, self.images['ball'])
#ent.v += [1, 7]
self.world.ents['ball'] = ent
self.addEnt(ent)
def addEnt(self, ent):
self.objects.append(ent)
def loadImages(self):
logging.debug("Loading images")
for name in World.image_names.keys():
self.images[name] = pygame.image.load(World.image_names[name])
