class Beehive(PythonHivemind):
def __init__(self, *args):
super().__init__(*args)
self.info: GameInfo = None
self.team: int = None
self.draw: DrawingTool = None
self.drones: List[Drone] = None
self.strategy: HivemindStrategy = None
self.last_latest_touch_time = 0.0
def initialize_hive(self, packet: GameTickPacket) -> None:
index = next(iter(self.drone_indices))
self.team = packet.game_cars[index].team
self.info = GameInfo(self.team)
self.info.set_mode("soccar")
self.info.read_field_info(self.get_field_info())
self.strategy = HivemindStrategy(self.info, self.logger)
self.draw = DrawingTool(self.renderer, self.team)
self.logger.handlers[0].setLevel(
logging.NOTSET) # override handler level
self.logger.setLevel(logging.INFO if RELEASE else logging.DEBUG)
self.logger.info("Beehive initialized")
def get_outputs(self, packet: GameTickPacket) -> Dict[int, PlayerInput]:
self.info.read_packet(packet)
if self.drones is None:
self.drones = [
Drone(self.info.cars[i], i) for i in self.drone_indices
]
# if a kickoff is happening and none of the drones have a Kickoff maneuver active, reset all drone maneuvers
if (packet.game_info.is_kickoff_pause
and self.info.ball.position[0] == 0
and self.info.ball.position[1] == 0 and not any(
isinstance(drone.maneuver, Kickoff)
for drone in self.drones)):
if len(self.drones) == 1:
self.drones[0].maneuver = None
else:
self.strategy.set_kickoff_maneuvers(self.drones)
# reset drone maneuvers when an opponent hits the ball
touch = packet.game_ball.latest_touch
if touch.time_seconds > self.last_latest_touch_time and touch.team != self.team:
self.last_latest_touch_time = touch.time_seconds
for drone in self.drones:
if drone.maneuver and drone.maneuver.interruptible(
): # don't reset a drone while dodging/recovering
drone.maneuver = None
# reset drone maneuver when it gets demoed
for drone in self.drones:
if drone.maneuver and drone.car.demolished:
drone.maneuver = None
# if at least one drone doesn't have an active maneuver, execute strategy code
if None in [drone.maneuver for drone in self.drones]:
self.logger.debug("Setting maneuvers")
if len(self.drones) == 1:
self.drones[0].maneuver = teamplay_strategy.choose_maneuver(
self.info, self.drones[0].car)
else:
self.strategy.set_maneuvers(self.drones)
for drone in self.drones:
if drone.maneuver is None:
continue
# execute maneuvers
drone.maneuver.step(self.info.time_delta)
drone.controls = drone.maneuver.controls
drone.maneuver.render(self.draw)
# draw names of maneuvers above our drones
self.draw.color(self.draw.yellow)
self.draw.string(drone.car.position + vec3(0, 0, 50),
type(drone.maneuver).__name__)
# expire finished maneuvers
if drone.maneuver.finished:
drone.maneuver = None
if len(self.drones) > 1:
self.strategy.avoid_demos_and_team_bumps(self.drones)
self.strategy.render(self.draw)
self.draw.execute()
return {drone.index: drone.get_player_input() for drone in self.drones}
class BotimusPrime(BaseAgent):
RENDERING = True
def __init__(self, name, team, index):
super().__init__(name, team, index)
self.info: GameInfo = None
self.draw: DrawingTool = None
self.tick_counter = 0
self.last_latest_touch_time = 0
self.maneuver: Optional[Maneuver] = None
self.controls: SimpleControllerState = SimpleControllerState()
def initialize_agent(self):
self.info = GameInfo(self.team)
self.info.set_mode("soccar")
self.info.read_field_info(self.get_field_info())
self.draw = DrawingTool(self.renderer, self.team)
def is_hot_reload_enabled(self):
return False
def get_output(self, packet: GameTickPacket):
# wait a few ticks after initialization, so we work correctly in rlbottraining
if self.tick_counter < 20:
self.tick_counter += 1
return Input()
self.info.read_packet(packet)
# cancel maneuver if a kickoff is happening and current maneuver isn't a kickoff maneuver
if packet.game_info.is_kickoff_pause and not isinstance(
self.maneuver, Kickoff):
self.maneuver = None
# reset maneuver when another car hits the ball
touch = packet.game_ball.latest_touch
if (touch.time_seconds > self.last_latest_touch_time
and touch.player_name != packet.game_cars[self.index].name):
self.last_latest_touch_time = touch.time_seconds
# don't reset when we're dodging, wavedashing or recovering
if self.maneuver and self.maneuver.interruptible():
self.maneuver = None
# choose maneuver
if self.maneuver is None:
if self.RENDERING:
self.draw.clear()
if self.info.get_teammates(self.info.cars[self.index]):
self.maneuver = teamplay_strategy.choose_maneuver(
self.info, self.info.cars[self.index])
else:
self.maneuver = solo_strategy.choose_maneuver(
self.info, self.info.cars[self.index])
# execute maneuver
if self.maneuver is not None:
self.maneuver.step(self.info.time_delta)
self.controls = self.maneuver.controls
if self.RENDERING:
self.draw.group("maneuver")
self.draw.color(self.draw.yellow)
self.draw.string(
self.info.cars[self.index].position + vec3(0, 0, 50),
type(self.maneuver).__name__)
self.maneuver.render(self.draw)
# cancel maneuver when finished
if self.maneuver.finished:
self.maneuver = None
if self.RENDERING:
self.draw.execute()
return self.controls