def resetBallClosest(self):
all_keys = ("midSpot", "topSpot", "botSpot")
available_keys = [
key for key in all_keys if not World.instance.space.point_query(
[
float(v)
for v in ScriptLoader.instance.object_map[key].position
],
0.0,
pymunk.ShapeFilter(mask=DYNAMIC_CATEGORY),
)
]
best_key = sorted([(
magnitude_sq([
a - b for a, b in zip(
ScriptLoader.instance.object_map["IR_BALL"].body.position,
ScriptLoader.instance.object_map[key].position,
)
]),
key,
) for key in (available_keys if available_keys else all_keys)])[0][1]
ScriptLoader.instance.object_map["IR_BALL"].body.position = [
float(v)
for v in ScriptLoader.instance.object_map[best_key].position
]
ScriptLoader.instance.object_map["IR_BALL"].body.velocity = (0.0, 0.0)
def tick(self, tick):
ball_pos = self.tracking_ball.position
sensor = ScriptLoader.instance.object_map[self.getPrefix() + 'light_up_2']
distance = np.sqrt(magnitude_sq(ball_pos - sensor.position))
vector = ball_pos - sensor.position
relative_bearing = np.arctan2(vector[1], vector[0]) - sensor.rotation
self.device_class._calc(relative_bearing, distance)
for x in range(5):
ScriptLoader.instance.object_map[self.getPrefix() + f'light_up_{x}'].visual.fill = (max(min(255 * self.device_class.value(x+1) / 9, 255), 0), 0, 0)
return False
def tick(self, tick):
# Make sure the water tower is in the tile, and has small velocity
if magnitude_sq(
self.waterTower.body.velocity) > self.MAX_WATER_VELOCITY_SQ:
# Bad! Infer which bot based on in the tile.
self.rescue.lackOfProgress(0)
return
pos1 = self.waterTower.position
pos2 = self.rescue.tiles[self.index]["all_elems"][0].position
if abs(pos1[0] - pos2[0]) > self.rescue.TILE_LENGTH / 2 or abs(
pos1[1] - pos2[1]) > self.rescue.TILE_LENGTH / 2:
# Bad! Infer which bot based on in the tile.
self.rescue.lackOfProgress(0)
def resetBallClosest(self):
all_keys = ("midSpot", "topSpot", "botSpot")
available_keys = [
key for key in all_keys if not World.instance.space.point_query(
ScriptLoader.instance.object_map[key].position, 0.0,
pymunk.ShapeFilter(mask=DYNAMIC_CATEGORY))
]
best_key = sorted([(
magnitude_sq(
ScriptLoader.instance.object_map["IR_BALL"].body.position -
ScriptLoader.instance.object_map[key].position),
key,
) for key in (available_keys if available_keys else all_keys)])[0][1]
ScriptLoader.instance.object_map[
"IR_BALL"].body.position = ScriptLoader.instance.object_map[
best_key].position
ScriptLoader.instance.object_map["IR_BALL"].body.velocity = np.array(
[0.0, 0.0])
def handleEvent(self, event):
super().handleEvent(event)
if (
event.type == EV3SIM_BOT_COMMAND and
event.command_type == CommandSystem.TYPE_CUSTOM and
isinstance(event.payload, str) and
event.payload.startswith("Position: ")
):
data = event.payload[10:]
lines = data.split(", ")
if len(lines) == 2 and lines[0].startswith("x: ") and lines[1].startswith("y: "):
x = float(lines[0][3:])
y = float(lines[1][3:])
if magnitude_sq([x - self.robot.position[0], y - self.robot.position[1]]) < 20:
ScriptLoader.instance.object_map["positionText"].text = f"{x}, {y}" + " - Correct!"
ScriptLoader.instance.object_map["positionBG"].fill = "#22aa22"
else:
ScriptLoader.instance.object_map["positionText"].text = f"{x}, {y}" + " - Wrong!"
ScriptLoader.instance.object_map["positionBG"].fill = "#aa2222"
def tick(self, tick):
super().tick(tick)
self.cur_tick = tick
for i in range(len(self.robots)):
self.bot_follows[i].body.position = [
float(v)
for v in local_space_to_world_space(
ScriptLoader.instance.robots[f"Robot-{i}"]._follow_collider_offset,
self.robots[i].body.angle,
(self.robots[i].body.position.x, self.robots[i].body.position.y),
)
]
# Ensure visual is not 1 frame behind.
self.bot_follows[i].position = np.array(self.bot_follows[i].body.position)
if self.current_follow is not None and not World.instance.paused:
distance = magnitude_sq(
self.bot_follows[i].position
- self._recurseObj(self.tiles[self.current_follow[0]]["follows"], self.current_follow[1:])
)
if distance > self.MAX_FOLLOW_DIST * self.MAX_FOLLOW_DIST and not self.roaming[i]:
self.lackOfProgress(i)
if self.roaming[i] and not World.instance.paused:
# Check we are still in the tile. Kinda bad.
if (
abs(self.bot_follows[i].position[0] - self.tiles[self.roam_tile[i]]["world_pos"][0])
> self.TILE_LENGTH / 2
or abs(self.bot_follows[i].position[1] - self.tiles[self.roam_tile[i]]["world_pos"][1])
> self.TILE_LENGTH / 2
) and magnitude_sq(
self.bot_follows[i].position
- self._recurseObj(self.tiles[self.roam_tile[i]]["follows"], self.roaming[i][1])
) > (
self.ROBOT_CENTRE_RADIUS + self.FOLLOW_POINT_RADIUS + 0.05
) * (
self.ROBOT_CENTRE_RADIUS + self.FOLLOW_POINT_RADIUS + 0.05
):
self.lackOfProgress(i)
if not World.instance.paused:
x = (self.bot_follows[i].position[0] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
y = (self.bot_follows[i].position[1] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
for tile in self.tiles:
tx = (tile["world_pos"][0] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
ty = (tile["world_pos"][1] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
if tx == x and ty == y:
if tile["type"] == "rescue" and self.modes[i] == self.MODE_FOLLOW:
self.modes[i] = self.MODE_RESCUE
# For reentry.
self.resetFollows()
self.current_follow = None
elif tile["type"] == "follow" and self.modes[i] == self.MODE_RESCUE:
self.modes[i] = self.MODE_FOLLOW
if self.can_scored_this_spawn:
self.scoreReEntry()
break
else:
self.lackOfProgress(i)
if not self.can_scored_this_spawn:
cx = (self.can_obj.position[0] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
cy = (self.can_obj.position[1] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
for tile in self.tiles:
tx = (tile["world_pos"][0] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
ty = (tile["world_pos"][1] + self.TILE_LENGTH / 2) // self.TILE_LENGTH
if tx == cx and ty == cy:
if tile["type"] != "rescue":
self.scoreCan()
rel_pos_x = self.can_obj.position[0] - tile["world_pos"][0]
rel_pos_y = self.can_obj.position[1] - tile["world_pos"][1]
sx = 1
sy = 1
if rel_pos_x < 0:
rel_pos_x = -rel_pos_x
sx = -1
if rel_pos_y < 0:
rel_pos_y = -rel_pos_y
sy = -1
if rel_pos_y < self.TILE_LENGTH / 3 and rel_pos_x < self.TILE_LENGTH / 3:
break
under, right, under_right = self._checkConnectingRescueTiles(tile["world_pos"], sx, sy)
if under_right and under and right:
# We can't be outside of the area.
break
if under:
if rel_pos_x < self.TILE_LENGTH / 3:
break
if right:
if rel_pos_y < self.TILE_LENGTH / 3:
break
self.scoreCan()
break
else:
self.scoreCan()
for i in range(len(self.tiles)):
if self.tiles[i]["type"] == "follow":
self.tiles[i]["checker"].tick(tick)
# UI Tick
if self._pressed:
ScriptLoader.instance.object_map["controlsReset"].visual.image_path = "ui/controls_reset_pressed.png"
else:
ScriptLoader.instance.object_map["controlsReset"].visual.image_path = "ui/controls_reset_released.png"
self.update_time()
def handleEvent(self, event):
if self.mode == self.MODE_NORMAL or self.mode == self.MODE_CAN_DRAGGING:
button_filter = lambda x: True
else:
button_filter = lambda x: False
super().handleEvent(event, button_filter=button_filter)
if self.mode == self.MODE_NORMAL:
if event.type == pygame.MOUSEMOTION:
self.current_mpos = event.pos
elif event.type == pygame.MOUSEBUTTONDOWN and event.button == 1:
world_mpos = utils.screenspace_to_worldspace(
self.current_mpos, self.customMap)
vec = [
self.can_obj.position[0] - world_mpos[0],
self.can_obj.position[1] - world_mpos[1],
]
d = magnitude_sq(vec)
if d <= pow(2.5, 2):
self.mode = self.MODE_CAN_DRAGGING
self.rel_pos = vec
return
if self.current_mpos[0] > self.side_width:
self.selectTile(self.toTilePos(self.current_mpos))
elif event.type == pygame.MOUSEWHEEL:
for attr, conv, inc in [
("rotation_entry", int, 90),
]:
if hasattr(self, attr):
rect = getattr(self, attr).get_relative_rect()
if (rect.left <= self.current_mpos[0] <= rect.right
and rect.top <= self.current_mpos[1] <=
rect.bottom):
try:
val = conv(getattr(self, attr).text)
val += event.y * inc
getattr(self, attr).set_text(str(val))
except:
pass
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_BACKSPACE or event.key == pygame.K_DELETE:
# Check that no entry is focused.
good = True
for attr in [
"rotation_entry",
]:
if hasattr(self, attr) and getattr(self,
attr).is_focused:
good = False
if good:
self.removeSelected()
elif self.mode == self.MODE_CAN_DRAGGING:
if event.type == pygame.MOUSEBUTTONUP and event.button == 1:
self.mode = self.MODE_NORMAL
return
elif event.type == pygame.MOUSEMOTION:
self.current_mpos = event.pos
world_mpos = utils.screenspace_to_worldspace(
self.current_mpos, self.customMap)
self.can_obj.position = [
self.rel_pos[0] + world_mpos[0],
self.rel_pos[1] + world_mpos[1],
]
self.previous_info["settings"]["rescue"][
"CAN_SPAWN_POSITION"] = [
float(self.can_obj.position[0] - self.tile_offset[0]),
float(self.can_obj.position[1] - self.tile_offset[1]),
]
