f.addGoal(370,0) # green flag f.addObstacle(-100,-100) ''' f.setupMap4Ls() #f.setupMapRotatedBoxes() #f.calculateFields() f.fastCalculate() print f.getFast(297, 50), f.getFast(300, 50), f.getFast(303, 50) print f.getFast(-297, 50), f.getFast(-300, 50), f.getFast(-303, 50) f.drawFast(True, True, True) f.goToHome(True) print f.getFast(297, 50), f.getFast(300, 50), f.getFast(303, 50) print f.getFast(-297, 50), f.getFast(-300, 50), f.getFast(-303, 50) f.drawFast(True, True, True) # #f.setupMapRotatedBoxes() #f.fastCalculate() #f.drawFast(True, True, True) #print f.queryPosition(0, 100) #f.visualize(True, True, True) # all fields #f.visualize(True, False, False) # attractive only #f.visualize(False, True, False) # repulsive only #f.visualize(False, False, True) # tangential only
class Agent(object):
def __init__(self, bzrc):
self.bzrc = bzrc
self.field = Field(-400, 400, -400, 400)
self.field.setupMap4Ls()
#self.field.setupMapRotatedBoxes()
self.field.fastCalculate()
self.constants = self.bzrc.get_constants()
self.commands = []
self.prevError = defaultdict(list)
self.vizualize = True
self.gotFlag = False
self.prevLocation = [0, 0]
self.stuckTimer = time.time()
self.stuck = False
def tickAll(self, step):
'''Some time has passed; decide what to do next'''
# Get information from the BZRC server
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.mytanks = mytanks
self.othertanks = othertanks
self.flags = flags
self.shots = shots
self.enemies = [tank for tank in othertanks if tank.color !=
self.constants['team']]
# Reset my set of commands (we don't want to run old commands)
self.commands = []
# Check to see if the flag has been captured
for bot in mytanks:
if not self.gotFlag and bot.flag is not '-':
self.gotFlag = True
self.flipFieldToHome()
if self.gotFlag and bot.flag is '-':
self.gotFlag = False
self.flipFieldToEnemy()
# Decide what to do with each of my tanks
if (time.time() - self.stuckTimer) > 3:
if bot.x == self.prevLocation[0] and bot.y == self.prevLocation[1]:
print 'stuck'
self.stuck = True
else:
self.stuck = False
self.prevLocation = [bot.x, bot.y]
self.stuckTimer = time.time()
if self.stuck:
command = Command(bot.index, 1, 1, True)
self.commands.append(command)
else:
for bot in mytanks:
values = self.calculatePD(bot, step)
command = Command(bot.index, values[0], values[1], True)
self.commands.append(command)
# Send the commands to the server
results = self.bzrc.do_commands(self.commands)
def tickOne(self, step):
'''Some time has passed; decide what to do next'''
# Get information from the BZRC server
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.mytanks = mytanks
self.othertanks = othertanks
self.flags = flags
self.shots = shots
self.enemies = [tank for tank in othertanks if tank.color !=
self.constants['team']]
# Reset my set of commands (we don't want to run old commands)
self.commands = []
# Visualize potential field
if self.vizualize:
self.field.drawFast(True, True, True)
self.vizualize = False
print 'Done with visualization'
# Which tank do you want to control
bot = mytanks[0]
#print bot.flag
# Check to see if the flag has been captured
if not self.gotFlag and bot.flag is not '-':
print 'set home'
self.gotFlag = True
self.flipFieldToHome()
if self.gotFlag and bot.flag is '-':
self.gotFlag = False
self.flipFieldToEnemy()
# Decide what to do with one tank of my tanks
values = self.calculatePD(bot, step)
if (time.time() - self.stuckTimer) > 3:
if bot.x == self.prevLocation[0] and bot.y == self.prevLocation[1]:
print 'stuck'
self.stuck = True
else:
self.stuck = False
self.prevLocation = [bot.x, bot.y]
self.stuckTimer = time.time()
if self.stuck:
command = Command(bot.index, 1, 1, True)
self.commands.append(command)
else:
command = Command(bot.index, values[0], values[1], True)
self.commands.append(command)
# Send the commands to the server
results = self.bzrc.do_commands(self.commands)
def calculatePD(self, bot, step):
# Get the potential field magnitudes in the x and y at the current position
pf = self.field.getFast(bot.x, bot.y)
# Tune these or set to zero to manipulate the PD controller
kProportion = .5
kDerivative = .002
# Calculate values used in the PD controller formula
angleReference = numpy.arctan2(pf[1], pf[0])
angle = angleReference - bot.angle
errorAtStep = numpy.arctan2(math.sin(angle),math.cos(angle))
errorPrevStep = 0.0 # Previous error is zero if this is the first calculation.
# Update the previous error to the last saved error if there is one
if bot.index in self.prevError:
errorPrevStep = self.prevError[bot.index]
# This is the PD formula
angularAtStep = (kProportion * errorAtStep) + (kDerivative * ((errorAtStep - errorPrevStep) / step))
#print angularAtStep
if angularAtStep > 1:
angularAtStep = 1
if angularAtStep < -1:
angularAtStep = -1
#print errorAtStep, angularAtStep, pf
# Calculates the speed based off the magnitude of the potential field vector
speedAtStep = 1 - .7 * math.fabs(angularAtStep) #math.sqrt(pf[0]**2 + pf[1]**2)
#print speedAtStep
# Save the new error to use in the next iteration
self.prevError[bot.index] = errorAtStep
return [speedAtStep, angularAtStep]
def flipFieldToHome(self):
self.field.goToHome(True)
#self.field.drawFast(True, True, True)
def flipFieldToEnemy(self):
self.field.goToHome(False)