def caughtPrey(self, coordinate, distance): message = "caught! " + str(coordinate) ai.talk(message) if distance <= 100: self.caughtPreyFlag = True else: # get last two messages sent lastMessage = self.MessageBuffer[-1] secLastMessage = self.MessageBuffer[-2] # flags for later caught1 = False caught2 = False split1 = lastMessage.split(" ") split2 = secLastMessage.split(" ") sender1 = "" sender2 = "" if "[" in split1[-1]: sender1 = split1[-1][1:-1] if "[" in split2[-1]: sender2 = split2[-1][1:-1] if sender1 != "" and sender2 != "" and sender1 != sender2: if split1[0] == "caught!" and split2[0] == "caught!": self.fitness = self.fitness + 100 with open('fitness.txt', 'a') as inFile: outString = str(self.fitness) + "\n" inFile.write(outString) ai.quitAI()
def __init__(self, target=None): self.name = "fire" if target is None: print("Fire: Target not specified!!") ai.quitAI() sys.exit(1) else: self.target = target if ai.selfShield(): ai.shield()
def __init__(self, position=None): print("MoveAt: Initialising move at") if position is None: print("MoveAt: Target not specified!!") ai.quitAI() sys.exit(0) else: self.position = position self.setGains() self.done = False
def __init__(self, idE=None, gain=FIRE_GAIN): if idE is None: print("FireEnemy: No enemy selected! Exiting now.") ai.quitAI() sys.exit(1) print("Open fire to:", ai.enemyNameId(idE)) if ai.selfShield(): ai.shield() self.idE = idE self.K = gain
def __init__(self, position=None): print("MoveAt: Initialising move at") if position is None: print("MoveAt: Target not specified!!") ai.quitAI() sys.exit(0) else: self.position = position self.setGains() self.done = False
def __init__(self, idE=None, gain=FIRE_GAIN): if idE is None: print("FireEnemy: No enemy selected! Exiting now.") ai.quitAI() sys.exit(1) print("Open fire to:", ai.enemyNameId(idE)) if ai.selfShield(): ai.shield() self.idE = idE self.K = gain
def __init__(self, target=None): self.name = "fire" if target is None: print("Fire: Target not specified!!") ai.quitAI() sys.exit(1) else: self.target = target if ai.selfShield(): ai.shield()
def checkMessage(self, message): splitMessage = message.split(" ") # Checks if message is sent by one of the predators if "[" in splitMessage[-1]: sender = splitMessage[-1][1:-1] # Checks if message wasn't sent by itself if sender != self.name: # Another grid coordinate checked if splitMessage[0] == "checked!": coordinate = eval(message[message.find("(") + 1:message.find(")")]) self.markSpotChecked(coordinate, "not me") self.checkSearchComplete() # Checking sector of grid elif splitMessage[0] == "checking!": coordinate = eval(message[message.find("(") + 1:message.find(")")]) self.setChecking(coordinate) # Grid sweep complete - restart sweep elif splitMessage[0] == "clear!": self.checkSearchComplete() # Parter found enemy elif splitMessage[0] == "***" or splitMessage[0] == "caught!": coordinate = eval(message[message.find("(") + 1:message.find(")")]) self.parterFoundPreyFlag = True self.preyLocation = coordinate # Partner lost enemy elif splitMessage[0] == "---": self.parterFoundPreyFlag = False elif splitMessage[0] == "preyid": self.preyID = int(splitMessage[1]) elif splitMessage[0] == "quit!": with open('fitness.txt', 'a') as inFile: outString = str(self.fitness) + "\n" inFile.write(outString) ai.quitAI() self.MessageBuffer.append(message)
def AI_loop(): if ai.selfAlive(): global loopCount, lastLoop con.act() loopCount+=1 con.dummyCode() DataMinerBD.updateInputs() DataMinerBD.updateOutputs() DataMinerBD.savePair() if loopCount % 100 == 0: print(loopCount) if loopCount > 1000: DataMinerBD.writeData() ai.quitAI() lastLoop = 1 else: if lastLoop == 1: DataMinerBD.writeDeath() lastLoop = 0
def AI_loop(self): # Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) if self.quitFlag == True: with open('fitness.txt', 'a') as inFile: outString = str(self.fitness) + "\n" inFile.write(outString) ai.quitAI() if ai.selfAlive() == 0 or self.frames > 3000: self.foundPreyFlag = False self.parterFoundPreyFlag = False self.checking = False if self.foundPreyFlag == True and self.parterFoundPreyFlag == True: self.fitness = self.fitness + 2 #-------------------- Set variables --------------------# heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500, heading) leftWall = ai.wallFeeler(500, heading + 45) rightWall = ai.wallFeeler(500, heading - 45) leftWallStraight = ai.wallFeeler(500, heading + 90) rightWallStraight = ai.wallFeeler(500, heading - 90) leftBack = ai.wallFeeler(500, heading + 135) rightBack = ai.wallFeeler(500, heading - 135) backWall = ai.wallFeeler(500, heading - 180) trackWall = ai.wallFeeler(500, tracking) R = (heading - 90) % 360 L = (heading + 90) % 360 aim = ai.aimdir(0) bullet = ai.shotAlert(0) speed = ai.selfSpeed() x = ai.selfX() y = ai.selfY() enemyX = -1 enemyY = -1 enemyTeam = -1 if self.preyID != -1: enemyX = ai.screenEnemyXId(self.preyID) enemyY = ai.screenEnemyYId(self.preyID) enemyTeam = ai.enemyTeamId(self.preyID) else: enemyX = ai.screenEnemyXId(ai.closestShipId()) enemyY = ai.screenEnemyYId(ai.closestShipId()) enemyTeam = ai.enemyTeamId(ai.closestShipId()) myTeam = ai.selfTeam() coordinate = self.grid[self.counter][1] message = ai.scanMsg(0) # Continually check messages if message != self.MessageBuffer[-1]: self.checkMessage(message) # Check if enemy is on screen # If it is: broadcast location of enemy if enemyX != -1 and enemyY != -1 and enemyTeam != 2: coordinate = (enemyX, enemyY) self.foundPreyFlag = True self.foundPrey(coordinate) self.fitness += 1 elif self.foundPreyFlag == True: self.foundPreyFlag = False ai.talk("--- " + "Lost prey!") if self.parterFoundPreyFlag == True: coordinate = self.preyLocation # Calculate most efficient way to turn to get where we want to targetX = coordinate[0] targetY = coordinate[1] toTurn = self.angleToPoint(x, y, targetX, targetY, heading) distance = self.distance(x, targetX, y, targetY) if self.checking == False and self.foundPreyFlag == False: ai.talk("checking! " + str(coordinate)) self.checking = True # If speed is too fast, turn around and thrust to negate velocity if speed > self.gene0: turning = ai.angleDiff(heading, tracking) if abs(turning) > self.gene1 and abs(turning) <= self.gene2: ai.turnLeft(0) ai.turnRight(0) if self.frames % self.gene3 == 0: ai.thrust(1) elif turning <= self.gene4 and turning > self.gene5: ai.turnRight(1) else: ai.turnLeft(1) if self.foundPreyFlag == True and distance <= 150: self.caughtPrey(coordinate, distance) else: #-------------------- Go to coordinate / enemy --------------------# if abs(toTurn) < self.gene6 and distance > self.gene7: ai.turnLeft(0) ai.turnRight(0) if self.frames % self.gene8 == 0: ai.thrust(1) elif toTurn >= self.gene9: ai.turnLeft(1) elif toTurn <= -self.gene10: ai.turnRight(1) if self.foundPreyFlag == True and distance <= 150: self.caughtPrey(coordinate, distance) elif self.foundPreyFlag == True and distance > 150: self.foundPrey(coordinate) elif distance < 150: self.markSpotChecked(coordinate, "me") #-------------------- Old turn and thrust rules --------------------# if speed <= self.gene14 and frontWall >= self.gene15: ai.thrust(1) elif trackWall < self.gene16: ai.thrust(1) elif backWall < self.gene17: ai.thrust(1) if (backWall < self.gene18) and (rightWallStraight < self.gene19): ai.turnLeft(1) elif backWall < self.gene20 and (leftWallStraight < self.gene21): ai.turnRight(1) elif leftWallStraight < rightWallStraight and trackWall < self.gene22: ai.turnRight(1) elif leftWallStraight > rightWallStraight and trackWall < self.gene23: ai.turnLeft(1) self.frames = self.frames + 1 if self.caughtPreyFlag == True and self.quitFlag == False: ai.talk("quit!") self.quitFlag = True if ai.selfAlive() == 0 or self.frames > 1800: self.quitFlag = True
def AI_loop(): #Inserted Code if ai.selfAlive(): DataMinerBD.updateInputs() DataMinerBD.updateOutputs() DataMinerBD.savePair() print(DataMinerBD.length()) if DataMinerBD.length() > 10000: DataMinerBD.writeData() print("Finished") ai.quitAI() global lastTurn #Release keys DataMinerBD.tthrust(0) DataMinerBD.tturnLeft(0) DataMinerBD.tturnRight(0) ai.setTurnSpeed(45) #Set variables""" heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackWall = ai.wallFeeler(500, tracking) trackLWall = ai.wallFeeler(500, tracking+3) trackRWall = ai.wallFeeler(500, tracking - 3) frontWall = ai.wallFeeler(500,heading) flWall = ai.wallFeeler(500, heading + 10) frWall = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500,heading+90) rightWall = ai.wallFeeler(500,heading-90) trackWall = ai.wallFeeler(500,tracking) backWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading - 185) backRightWall = ai.wallFeeler(500, heading - 175) speed = ai.selfSpeed() closest = min(frontWall, leftWall, rightWall, backWall) def closestWall(x): #Find the closest Wall return { frontWall : 1, leftWall : 2, rightWall : 3, backWall : 4, flWall : 5, frWall : 6, }[x] wallNum = closestWall(closest) #Code for finding the angle to the closest ship target = ai.closestShipId() targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0) calcDir = 0 if targetX- ai.selfX() != 0: calcDir = (math.degrees(math.atan2((targetY - ai.selfY()), (targetX- ai.selfX()))) + 360)%360 targetDir = calcDir crashWall = min(trackWall, trackLWall, trackRWall) #The wall we are likely to crash into if we continue on our current course #Rules for turning if crashWall > 25*speed and closest > 30 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall, and there isn't a wall between us and the closest enemy #print("Aiming", targetDir, " Current", heading) diff = (calcDir - heading) if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: DataMinerBD.tturnRight(1) DataMinerBD.tthrust(1) elif diff >= 0: if diff >= 180: a = 0 DataMinerBD.tturnRight(1) #If the target is to our right- turn right elif diff != 0 : a = 0 DataMinerBD.tturnLeft(1) #If the target is to our left - turn left else : if diff > -180: a = 0 DataMinerBD.tturnRight(1) #If the target is to our right - turn right else : a = 0 DataMinerBD.tturnLeft(1) #If the target is to our left - turn left else : #Rules for avoiding death # if crashWall/ai.selfSpeed() > ai.closestShot() : #We find a target heading using our current trajectory and the closest wall then turn in it's direction targetHeading = heading print(heading) if wallNum == 1or wallNum == 6 or wallNum == 5: #Front Wall is Closest if lastTurn == 1: targetHeading += 270 targetHeading = (targetHeading)%360 else : targetHeading +=90 targetHeading = targetHeading%360 print("front") elif wallNum == 2 : # Left Wall is Closest targetHeading += 270 targetHeading = (targetHeading)%360 lastTurn = 1 print("leftwall") elif wallNum == 3 : targetHeading = targetHeading + 90 targetHeading = (targetHeading)%360 lastTurn = 2 print("rightWall") else : if backLeftWall < backRightWall: lastTurn = 2 targetHeading += 5 targetHeading = (targetHeading)%360 if backLeftWall > backRightWall: lastTurn = 1 targetHeading -= 5 targetHeading = (targetHeading)%360 speedConcern = ai.selfSpeed() - 4 if speedConcern < 0: speedConcern = 0 elif speedConcern > 5: speedConcern = 5 #targetHeading = (targetHeading*(1-(speedConcern/5))) + (((tracking+170)%360)*(speedConcern/5)) if speedConcern > 2: targetHeading = (tracking + 180)%360 diff = (targetHeading - heading) print("targetHEading : ", targetHeading, " heading : ", heading) if diff >= 0: if diff >= 180: DataMinerBD.tturnRight(1) #If the targetHEading is to our right- turn right print("right") elif diff != 0 : DataMinerBD.tturnLeft(1) #If the targeHeadingt is to our left - turn left print("left") else : if diff > -180: print("right") DataMinerBD.tturnRight(1) #If the targetHeading is to our right - turn right #print("right") else : print("left") DataMinerBD.tturnLeft(1) #If the targetHeading is to our left - turn left #print("nice") #Rules for thrusting if speed < 5 and frontWall > 200: #If we are moving slowly and we won't ram into anything, accelerate DataMinerBD.tthrust(1) elif crashWall < 25*speed and (abs(tracking - heading) > 120): #If we are getting close to a wall, and we can thrust away from it, do so DataMinerBD.tthrust(1) elif backWall < 30: #If there is a wall very close behind us, get away from it DataMinerBD.tthrust(1) if abs(calcDir - heading) < 15 : #If we are close to the current proper trajectory for a shot then fire DataMinerBD.tshoot()
def AI_loop(): #Inserted Code lastLoop = 0 if ai.selfAlive(): lastLoop = 1 DataMinerBD.updateInputs() DataMinerBD.updateOutputs() DataMinerBD.savePair() if DataMinerBD.length() % 100 == 0: print(DataMinerBD.length()) if DataMinerBD.length() > 1000: DataMinerBD.writeData() print("Finished") ai.quitAI() else: if lastLoop == 1: DataMinerBD.writeDeath() global maxSpeed, shotAngle, wallClose, dead, previousScore global turnedLeft, turnedRight, thrusted, shot #Release keys DataMinerBD.tthrust(0) DataMinerBD.tturnLeft(0) DataMinerBD.tturnRight(0) ai.setTurnSpeed(45) #Set variables""" heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) trackWall = ai.wallFeeler(500, tracking) trackLWall = ai.wallFeeler(500, tracking + 3) trackRWall = ai.wallFeeler(500, tracking - 3) frontWall = ai.wallFeeler(500, heading) flWall = ai.wallFeeler(500, heading + 10) frWall = ai.wallFeeler(500, heading - 10) leftWall = ai.wallFeeler(500, heading + 90) llWall = ai.wallFeeler(500, heading + 100) rlWall = ai.wallFeeler(500, heading + 80) rightWall = ai.wallFeeler(500, heading - 90) lrWall = ai.wallFeeler(500, heading - 80) rrWall = ai.wallFeeler(500, heading - 100) trackWall = ai.wallFeeler(500, tracking) backWall = ai.wallFeeler(500, heading - 180) backLeftWall = ai.wallFeeler(500, heading - 190) backRightWall = ai.wallFeeler(500, heading - 170) speed = ai.selfSpeed() closest = min(frontWall, leftWall, rightWall, backWall, flWall, frWall) def closestWall(x): #Find the closest Wall return { frontWall: 1, leftWall: 2, rightWall: 3, backWall: 4, flWall: 5, frWall: 6, }[x] wallNum = closestWall(closest) #Code for finding the angle to the closest ship targetX, targetY = ai.screenEnemyX(0), ai.screenEnemyY(0) #baseString = "["+str(flWall/500)+","+str(frontWall/500)+","+str(frWall/500) + "," + str(backLeftWall/500) + "," + str(backWall/500) + "," + str(backRightWall/500) + ","+str(leftWall/500)+","+str(rightWall/500)+","+str(trackLWall/500) + "," + str(trackWall/500) + ","+str(trackRWall/500) + "," + str(speed/10) calcDir = -1 if targetX - ai.selfX() != 0: calcDir = (math.degrees( math.atan2((targetY - ai.selfY()), (targetX - ai.selfX()))) + 360) % 360 crashWall = min( trackWall, trackLWall, trackRWall ) #The wall we are likely to crash into if we continue on our current course #Rules for turning if crashWall > wallClose * speed and closest > 25 and targetX != -1: #If we are far enough away from a predicted crash and no closer than 25 pixels to a wall we can try and aim and kill them diff = (calcDir - heading) #if ai.shotAlert(0) > -1 and ai.shotAlert(0) < 35: #If we are about to get shot # tturnRight(1) #Screw aiming and turn right and thrust # tthrust(1) #This is arguably a horrible strategy because our sideways profile is much larger, but it's required for the grade if diff >= 0: if diff >= 180: DataMinerBD.tturnRight( 1) #If the target is to our right- turn right else: DataMinerBD.tturnLeft( 1) #If the target is to our left - turn left else: if diff > -180: DataMinerBD.tturnRight( 1) #If the target is to our right - turn right else: DataMinerBD.tturnLeft( 1) #If the target is to our left - turn left else: #Rules for avoiding death # if crashWall/ai.selfSpeed() > ai.closestShot() : if wallNum == 1 or wallNum == 5 or wallNum == 6: #Front Wall is Closest (Turn Away From It) DataMinerBD.tturnLeft(1) elif wallNum == 2: # Left Wall is Closest (Turn Away From It) DataMinerBD.tturnRight(1) elif wallNum == 3: #Right Wall is Closest (Turn Away From It) DataMinerBD.tturnLeft(1) else: #Back Wall is closest- turn so that we are facing directly away from it if backLeftWall < backRightWall: DataMinerBD.tturnRight( 1 ) #We need to turn right to face more directly away from it if backLeftWall > backRightWall: # We need to turn left to face more directly away from it DataMinerBD.tturnLeft(1) #Rules for thrusting if speed < maxSpeed and frontWall > 100: #If we are moving slowly and we won't ram into anything, accelerate DataMinerBD.tthrust(1) elif trackWall < 200 and ( ai.angleDiff(heading, tracking) > 120 ): #If we are getting close to a wall, and we can thrust away from it, do so DataMinerBD.tthrust(1) elif backWall < 20: #If there is a wall very close behind us, get away from it DataMinerBD.tthrust(1) if abs( calcDir - heading ) < shotAngle and calcDir != -1: #If we are close to the current proper trajectory for a shot then fire DataMinerBD.tshoot() previousScore = ai.selfScore()
def AI_loop(self): if self.team == False: ai.talk("/team 2") self.team = True # Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) #-------------------- Set variables --------------------# heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500, heading) leftWall = ai.wallFeeler(500, heading + 45) rightWall = ai.wallFeeler(500, heading - 45) leftWallStraight = ai.wallFeeler(500, heading + 90) rightWallStraight = ai.wallFeeler(500, heading - 90) leftBack = ai.wallFeeler(500, heading + 135) rightBack = ai.wallFeeler(500, heading - 135) backWall = ai.wallFeeler(500, heading - 180) trackWall = ai.wallFeeler(500, tracking) R = (heading - 90) % 360 L = (heading + 90) % 360 aim = ai.aimdir(0) bullet = ai.shotAlert(0) speed = ai.selfSpeed() x = ai.selfX() y = ai.selfY() enemyX1 = ai.screenEnemyXId(0) enemyY1 = ai.screenEnemyYId(0) enemyX2 = ai.screenEnemyXId(1) enemyY2 = ai.screenEnemyYId(1) enemyTeam1 = ai.enemyTeamId(0) enemyTeam2 = ai.enemyTeamId(1) myTeam = ai.selfTeam() coordinate = self.grid[self.counter][1] message = ai.scanMsg(0) # print(enemyX1, enemyY1, enemyX2, enemyY2) # print(myTeam, enemyTeam1, enemyTeam2) # Continually check messages if message != self.MessageBuffer[-1]: self.checkMessage(message) # Check if enemy is on screen # If it is: broadcast location of enemy # If it is not: send message that we lost enemy if enemyX1 != -1 and enemyY1 != -1: print("enemy 1") enemyCoordinate = (enemyX1, enemyY1) self.foundPrey(enemyCoordinate) coordinate = enemyCoordinate elif enemyX2 != -1 and enemyY2 != -1: print("enemy 2") enemyCoordinate = (enemyX2, enemyY2) self.foundPrey(enemyCoordinate) coordinate = enemyCoordinate elif self.foundPreyFlag == True: print("lost prey") self.lostPrey() targetX = coordinate[0] targetY = coordinate[1] toTurn = self.angleToPoint(x, y, targetX, targetY, heading) distance = self.distance(x, targetX, y, targetY) if self.foundPreyFlag == False and self.checking == False: ai.talk("checking! " + str(coordinate)) self.checking = True # If speed is too fast, turn around and thrust to negate velocity if speed > 5: turning = ai.angleDiff(heading, tracking) if abs(turning) > 165 and abs(turning) <= 180: ai.turnLeft(0) ai.turnRight(0) if self.frames % 10 == 0: ai.thrust(1) elif turning <= 165 and turning > 0: ai.turnRight(1) else: ai.turnLeft(1) else: #-------------------- Go to coordinate / enemy --------------------# if abs(toTurn) < 10 and distance > 100: ai.turnLeft(0) ai.turnRight(0) if self.frames % 3 == 0: ai.thrust(1) elif toTurn >= 10: ai.turnLeft(1) elif toTurn <= -10: ai.turnRight(1) if self.foundPreyFlag == True and distance < 150: print("Caught enemy!") ai.quitAI() elif distance < 150: self.markSpotChecked(coordinate, "me") #-------------------- Old turn and thrust rules --------------------# if speed <= 3 and frontWall >= 200: ai.thrust(1) elif trackWall < 50: ai.thrust(1) elif backWall < 40: ai.thrust(1) # Figures out what corner we are in and turns the right directon if (backWall < 30) and (rightWallStraight < 200): ai.turnLeft(1) elif backWall < 30 and (leftWallStraight < 200): ai.turnRight(1) # Walls along our periphery (90 degree feelers) elif leftWallStraight < rightWallStraight and trackWall < 75: ai.turnRight(1) elif leftWallStraight > rightWallStraight and trackWall < 75: ai.turnLeft(1) self.frames = self.frames + 1
def AI_loop(self): # print("AI_LOOP") if ai.selfAlive() == 0: outputFile = open("fitness.txt", "a") # outputFile.write(str((self.totalDists/self.counter))+"\t") outputFile.write(str(int((self.fitness**1.2))) + "\t") [ print(str("%.5f" % g) + "\t", end="", file=outputFile) for g in self.chromosome ] print("\n", end="", file=outputFile) outputFile.close() # Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) ai.setTurnSpeed(55) # Heuristics frontFeelerOffset = 45 perpFeelerOffset = 90 rearFeelerOffset = 135 # turnSpeedMin = 15 # learn range: 4 - 24 turnSpeedMax = 55 speedLimit = 5 # learn range: 2-6 lowSpeedLimit = 2 targetingAccuracy = 4 # 1/2 tolerance in deg for aiming accuracy shotIsDangerous = 130 # Acquire information heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) ###=== ENEMY FEELERS ===### # gets angle to enemy enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) enemyWallDistances = [] # maxAngleOffset = 90 # learn range: 30 - 120 # resolution = 5 # learn range: 2 - 10 distAngleTuples = [] # creates tuples of degrees and wallFeelers for m in (0, self.maxAngleOffset, self.resolution): distAngleTuples.append( (enemyDeg - m, ai.wallFeeler(500, int(enemyDeg - m)))) distAngleTuples.append( (enemyDeg + m, ai.wallFeeler(500, int(enemyDeg + m)))) # gets furthest feeler maxFeelerAngle = max(distAngleTuples, key=self.returnSecond) angleToOpenSpace = self.headingDiff(ai.selfHeadingDeg(), maxFeelerAngle[0]) ###=== WALL FEELERS ===### frontWall = ai.wallFeeler( self.genericFeelerDist, heading) # wall feeler for wall directly ahead leftFrontWall = ai.wallFeeler( self.genericFeelerDist, heading + frontFeelerOffset) # wall feeler for wall 45 degrees to the left rightFrontWall = ai.wallFeeler( self.genericFeelerDist, heading - frontFeelerOffset) # wall feeler for wall 45 degrees to the right leftWall = ai.wallFeeler( self.genericFeelerDist, heading + perpFeelerOffset) # wall feeler for wall 90 degrees to the left rightWall = ai.wallFeeler( self.genericFeelerDist, heading - perpFeelerOffset) # wall feeler for wall 90 degrees to the right backWall = ai.wallFeeler(self.genericFeelerDist, heading - 180) # wall feeler for wall straight back leftBackWall = ai.wallFeeler( self.genericFeelerDist, heading + rearFeelerOffset) # wall feeler for wall 135 degrees to the left rightBackWall = ai.wallFeeler( self.genericFeelerDist, heading - rearFeelerOffset) # wall feeler for wall 135 degrees to the right trackWall = ai.wallFeeler( self.genericFeelerDist, tracking) # wall in front of where ship is moving # Keep track of all the feeler distances feelers = [ frontWall, leftFrontWall, rightFrontWall, leftWall, rightWall, backWall, leftBackWall, rightBackWall, trackWall ] # Aim assist leftDir = (heading + 90) % 360 # angle 90 degrees to the left of current heading rightDir = (heading - 90 ) % 360 # angle 90 degrees to the right of current heading aimer = ai.aimdir( 0 ) # direction that the ship needs to turn to in order to face the enemy in degrees shot = ai.shotAlert( 0 ) # returns a danger rating of a shot, the smaller the number the more likely the shot is to hit the ship enemyX = ai.screenEnemyX(0) # returns the closest enemy's x-coord enemyY = ai.screenEnemyY(0) # returns the closest enemy's y-coord selfX = ai.selfX() # returns the ship's x-coord selfY = ai.selfY() # returns the ship's x-coord # Fuzzy variable declaration trackRisk = riskEval(trackWall, ai.selfSpeed()) #risk of running into trackWall frontRisk = riskEval(frontWall, ai.selfSpeed()) #risk of running into frontWall leftRisk = riskEval(leftWall, ai.selfSpeed()) #risk of running into leftWall rightRisk = riskEval(rightWall, ai.selfSpeed()) #risk of running into rightWall LFRisk = riskEval(leftFrontWall, ai.selfSpeed()) #risk of running into leftFrontWall RFRisk = riskEval(rightFrontWall, ai.selfSpeed()) #risk of running into rightFrontWall LBRisk = riskEval(leftBackWall, ai.selfSpeed()) #risk of running into leftBackWall RBRisk = riskEval(rightBackWall, ai.selfSpeed()) #risk of running into rightBackWall backRisk = riskEval(backWall, ai.selfSpeed()) #risk of running into backWall # Compress some wall feelers sTrack = self.squisher(trackWall) sLeft = self.squisher(leftFrontWall) sRight = self.squisher(rightFrontWall) sLeftStraight = self.squisher(leftWall) sRightStraight = self.squisher(rightWall) # output from neural network that tells how much to turn and which direction turn = self.trainedNeuralNetwork(sTrack, sLeft, sRight, sLeftStraight, sRightStraight) ###=== THRUST POWER ADJUSTMENT ===# # Power levels mfS = self.mfSpeed(ai.selfSpeed()) mfD = self.mfDanger(ai.shotAlert(0)) # if S is high and D is moderate or high: p1 = max(mfS[2], min(mfD[1], mfD[2])) # if S is moderate and D is moderate: p2 = max(mfS[1], mfD[1]) # if S is low and D is high: p3 = max(mfS[0], mfD[2]) # if S is moderate and D is moderate: p4 = max(mfS[1], mfD[1]) # if S is low and D is moderate: p5 = max(mfS[0], mfD[1]) # if S is high and D is low: p6 = max(mfS[2], mfD[0]) # if S is moderate and D is low: p7 = max(mfS[1], mfD[0]) # if S is low and D is low: p8 = max(mfS[0], mfD[0]) consequents = [55, 45, 55, 36, 36, 28, 24, 30] memberships = [p1, p2, p3, p4, p5, p6, p7, p8] ai.setPower(self.crispify(memberships, consequents)) if ai.enemyDistance(0) > self.lastDist and ai.enemyDistance( 0) < self.enemyClose: ai.thrust(1) elif ai.selfSpeed( ) <= 3 and frontWall >= 200: # if speed is slow and front wall is far away, thrust ai.thrust(1) elif trackWall < 60 and frontWall >= 200: # if the track wall is close, thrust ai.thrust(1) elif backWall < 20: # if the back wall is close, thrust ai.thrust(1) ###=== TURNING RULES ===### # Escape shots if shot > 0 and shot < 70: # if a shot is closeby, turn and thrust to avoid if self.angleDif(rightDir, ai.shotX(0)) < self.angleDif( leftDir, ai.shotX(0) ) or self.angleDif(rightDir, ai.shotY(0)) < self.angleDif( leftDir, ai.shotY(0) ): # if shot is coming from the right, turn away and thrust # print("Turning: avoiding shot")#debug ai.turnLeft(1) ai.thrust(1) elif self.angleDif(leftDir, ai.shotX(0)) < self.angleDif( rightDir, ai.shotX(0) ) or self.angleDif(leftDir, ai.shotY(0)) < self.angleDif( rightDir, ai.shotY(0) ): # if shot is coming from the left, turn away and shoot ------> change this shot is just a number # print("Turning: avoiding shot")#debug ai.turnRight(1) ai.thrust(1) # Turn towards unoccluded enemy elif aimer >= 0 and self.angleDif(rightDir, aimer) < self.angleDif( leftDir, aimer) and not self.enemyBehindWall( 0): # if an enemy to the right, turn and shoot it if ai.screenEnemyX(0) >= 0: enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) else: enemyDeg = self.angleToPointDeg( (ai.selfRadarX(), ai.selfRadarY()), (ai.closestRadarX(), ai.closestRadarY())) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) # print("Turning: aiming right")#debug ai.turnRight(1) elif aimer >= 0 and self.angleDif(leftDir, aimer) < self.angleDif( rightDir, aimer) and not self.enemyBehindWall( 0): # if an enemy to the left, turn and shoot it if ai.screenEnemyX(0) >= 0: enemyDeg = self.angleToPointDeg( (ai.selfX(), ai.selfY()), (ai.screenEnemyX(0), ai.screenEnemyY(0))) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) else: enemyDeg = self.angleToPointDeg( (ai.selfRadarX(), ai.selfRadarY()), (ai.closestRadarX(), ai.closestRadarY())) ai.setTurnSpeed( self.rangeMap(abs(enemyDeg), 0, 180, self.turnSpeedMin, turnSpeedMax)) # print("Turning: aiming left")#debug ai.turnLeft(1) #fuzzy avoid walls ahead elif leftRisk > rightRisk and trackRisk > 0.5: # and min(feelers) < self.nearLimit: #if the left wall and track walls are close, turn right #if enemyX >=0 and enemyY >= 0 and ai.wallBetween(selfX, selfY, enemyX, enemyY) == -1: ai.turnRight(1) # print("Turning: fuzzy right")#debug elif rightRisk > leftRisk and trackRisk > 0.5: # and min(feelers) < self.nearLimit: #if the right wall and track walls are close, turn left # if enemyX >=0 and enemyY >= 0 and ai.wallBetween(selfX, selfY, enemyX, enemyY) == -1: ai.turnLeft(1) # print("Turning: fuzzy left")#debug # Turn to open space nearest the angle to the enemy elif self.enemyBehindWall(0) and min(feelers) > self.nearLimit: if angleToOpenSpace < 0: # print("Turning: open space left")#debug ai.turnLeft(1) elif angleToOpenSpace > 0: # print("Turning: open space right")#debug ai.turnRight(1) # if neural net value is not between 0.48 and 0.52 then we have to turn right or left elif not (turn >= 0.43 and turn <= 0.57): if turn < 0.43: # turn right if value is below 0.43 # print("Turning: neural net right")#debug ai.turnRight(1) elif turn > 0.57: # turn left if value is below 0.57 # print("Turning: neural net left")#debug ai.turnLeft(1) ###=== FIRING RULES ===### # Restrict firing to reasonably accurate attempts: # accurate range, enemy not behind wall and enemy close enough if self.headingDiff( heading, ai.aimdir(0)) < targetingAccuracy and not self.enemyBehindWall( 0) and ai.enemyDistance(0) < self.enemyFireDist: ai.fireShot() # print("Shot Fired")#debug # print("Firing Dist: ", self.enemyFireDist)#debug self.counter += 1 ###=== How did we die? and other Fitness Calculations ===### # Fitness function information self.totalDists += ai.enemyDistance(0) if ai.enemyDistance(0) > 0: self.currentDist = ai.enemyDistance(0) if self.currentDist < self.lastDist: self.fitness += 1 self.lastDist = self.currentDist self.fitness += 1 alive = ai.selfAlive() message = ai.scanGameMsg(1) # print(message)#debug if alive == 0: self.framesDead += 1 # print(self.framesDead, message)#debug if self.framesDead == 2: # print("dead now")#debug # Ran into wall if message.find("Beal-Morneault") != -1 and message.find( "wall") != -1: print("End of match: wall collision.") #debug self.fitness -= self.wallPenalty # Crashed into player elif message.find("crashed.") != -1: print("End of match: player collision.") #debug self.fitness -= self.crashPenalty # Killed by bullet elif message.find("Beal-Morneault was") != -1: print("End of match: killed by opponent.") #debug self.fitness -= self.killedPenalty # Killed the opponent elif message.find("by a shot from Beal-Morneault") != -1: print("End of match: killed the opponent!") #debug self.fitness += self.killerBonus else: print("End of match: enemy died.") self.fitness += (ai.selfScore() - ai.enemyScoreId(0) ) * self.scoreDiffBonusFactor ai.quitAI() else: self.framesDead = 0