/// <summary>
/// Apply an agent command to the character
/// </summary>
/// <returns>An observation after the action has been applied</returns>
public Observation ProcessCommand(Command c, int gameTick, NavMeshContainer nav)
{
if (gameTick % 199 == 0)
{
_Character.SwitchCircleDirection();
}
switch (c.cmd)
{
case AgentCommandType.DONOTHING:
break;
case AgentCommandType.MOVETOWARD:
AgentCommand <Tuple <Vector3, bool> > move = c as AgentCommand <Tuple <Vector3, bool> >;
MoveToward(move.arg.object1, move.arg.object2);
break;
case AgentCommandType.INTERACT:
AgentCommand interact = c as AgentCommand;
string interactWith = interact.targetId;
GameObject.Find(interactWith).GetComponent <Sensor>().Trigger();
break;
}
observation.Observe(_Character, gameTick, nav, c.cmd);
return(observation);
}
public override void Update()
{
base.Update();
if (_behaviour == null)
{
return;
}
if (Agent.CurrentCommand != null && !Agent.CurrentCommand.Executable())
{
Interrupt();
}
AgentCommand newCommand = NextCommand();
if (Agent.CurrentCommand == null || Agent.CurrentCommand.IsFinished() ||
(Agent.CurrentCommand != null && newCommand.Priority > Agent.CurrentCommand.Priority + AgentConstants.PriorityShiftThreshold))
{
Agent.CurrentCommand = newCommand;
Agent.CurrentAction = null;
}
if (Agent.CurrentAction == null && Agent.CurrentCommand != null)
{
Agent.CurrentAction = Agent.CurrentCommand.Action;
Agent.CurrentActionTarget = Agent.CurrentCommand.Target;
}
}
public void TestAgentMoveBentLine()
{
string levelString = @"
++++++++++++
+ + G +
+0+++++++ +
+ +
++++++++++++";
List <AgentCommand> commands = new List <AgentCommand>()
{
AgentCommand.CreateMove(Direction.S),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.N),
AgentCommand.CreateMove(Direction.N),
AgentCommand.CreateMove(Direction.W),
};
VerifyMoveAgentToGoalCreator(levelString, commands);
}
public void TestAgentCommandConstructorShouldWork()
{
AgentCommand command = new AgentCommand(_action1, new TangibleDefault(), 10);
Assert.AreEqual(_action1, command.Action);
Assert.AreEqual(10, command.Priority);
}
public void TestAgentToPullPullBent()
{
string levelString = @"
++++++++++++
++++0+++++++
++++ +++++++
++++ +++++++
+B GF+
++++++++++++";
List <AgentCommand> commands = new List <AgentCommand>()
{
AgentCommand.CreateMove(Direction.S),
AgentCommand.CreateMove(Direction.S),
AgentCommand.CreateMove(Direction.S),
AgentCommand.CreateMove(Direction.W),
AgentCommand.CreateMove(Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
};
VerifyMoveBoxToGoalCreator(levelString, commands);
}
public void TriggerThreadProfile()
{
var threadProfileArguments = new Dictionary <string, object>();
threadProfileArguments["profile_id"] = -1;
threadProfileArguments["sample_period"] = 0.1F; //Agent enforces minimums
threadProfileArguments["duration"] = 120; //Agent enforces minimums
var threadProfileDetails = new CommandDetails("start_profiler", threadProfileArguments);
var threadProfileCommand = new AgentCommand(-1, threadProfileDetails);
_queuedCommands.Add(threadProfileCommand);
}
public AgentCommand CheckMessage()
{
AgentCommand command = AgentCommand.NoCommand;
if (Messages.Count > 0)
{
AgentMessage msg = ReadMessage();
if (msg.From == "Agency" && msg.Text == $"{AgentCommand.Stop}")
{
command = AgentCommand.Stop;
}
}
return(command);
}
public AgentCommand requestAgentCommand()
{
Dictionary <string, string> queryParams = new Dictionary <string, string>();
queryParams.Add("client_ip", getLocalIPAddress());
string urlPath = PcbAgent.buildUriForApiRequest(PcbAgent.REQUEST_AGENT_COMMAND);
string result = HttpSender.requestNormal(urlPath, "GET", queryParams);
Console.WriteLine("[requestAgentCommand] requestAgentCommand result:{0}", result);
AgentCommand agentCmd = MsgConverter.unpack <AgentCommand>(result);
return(agentCmd);
}
public void TriggerCustomInstrumentationEditorAgentCommand()
{
var configObj = new Dictionary <string, object>
{
["config"] = _liveInstrumentation
};
var liveInstrumentationAgentCommandArguments = new Dictionary <string, object>
{
["instrumentation"] = configObj
};
var liveInstrumentationAgentCommandDetails = new CommandDetails("instrumentation_update", liveInstrumentationAgentCommandArguments);
var liveInstrumentationAgentCommand = new AgentCommand(-1, liveInstrumentationAgentCommandDetails);
_queuedCommands.Add(liveInstrumentationAgentCommand);
}
public void TestAgentToPushPushUTurn()
{
string levelString = @"
++++++
+ 0 +
+ BFG+
++++++";
List <AgentCommand> commands = new List <AgentCommand>()
{
AgentCommand.CreateMove(Direction.W),
AgentCommand.CreatePush(Direction.S, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
};
VerifyMoveBoxToGoalCreator(levelString, commands);
}
public void Test_requestAgentCommand()
{
AgentCommand agentCmd = PcbAgent.Instance.requestAgentCommand();
Assert.AreNotEqual <AgentCommand>(null, agentCmd);
Console.WriteLine("AgentCommand cmd:{0}", agentCmd.cmd);
foreach (GameCommand gameCmd in agentCmd.gameCommands)
{
Console.WriteLine("GameCommand gsn:{0}, exefile:{1}", gameCmd.gsn, gameCmd.exeFile);
foreach (InstallPath path in gameCmd.expectedPaths)
{
Console.WriteLine("InstallPath gsn:{0}, path:{1}", path.gsn, path.path);
}
}
}
public void TestPushPullTurnLast()
{
string levelString = @"
++++++++++
+0B GF+
+++++++ ++
++++++++++";
List <AgentCommand> commands = new List <AgentCommand>()
{
AgentCommand.CreatePush(Direction.E, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.S),
AgentCommand.CreatePull(Direction.E, Direction.S),
};
VerifyMoveBoxToGoalCreator(levelString, commands);
}
public void TestPullPush()
{
string levelString = @"
++++++++++
+B0 FG+
+++++ ++++
++++++++++";
List <AgentCommand> commands = new List <AgentCommand>()
{
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.E, Direction.W),
AgentCommand.CreatePull(Direction.S, Direction.W),
AgentCommand.CreatePush(Direction.N, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
AgentCommand.CreatePush(Direction.E, Direction.E),
};
VerifyMoveBoxToGoalCreator(levelString, commands);
}
public static void Main(string[] args)
{
#if DEBUG
if (args.Any(a => string.Equals(a, "--debug", StringComparison.Ordinal)))
{
args = args.Where(a => !string.Equals(a, "--debug", StringComparison.Ordinal)).ToArray();
Console.WriteLine($"Waiting for debugger. Process ID: {Process.GetCurrentProcess().Id}");
Console.WriteLine("Press ENTER to continue");
Console.ReadLine();
}
#endif
var app = new CommandLineApplication();
app.Description = "Crank's Revenge";
app.HelpOption("-h|--help");
LocalCommand.Register(app);
AgentCommand.Register(app);
WorkerCommand.Register(app);
ServerCommand.Register(app);
app.Command("help", cmd =>
{
var commandArgument = cmd.Argument("<COMMAND>", "The command to get help for.");
cmd.OnExecute(() =>
{
app.ShowHelp(commandArgument.Value);
return(0);
});
});
app.OnExecute(() =>
{
app.ShowHelp();
return(0);
});
app.Execute(args);
}
public void TestAgentMoveStraightPath()
{
string levelString = @"
++++++++++++
+ +
+0 G +
+ +
++++++++++++";
List <AgentCommand> commands = new List <AgentCommand>()
{
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
AgentCommand.CreateMove(Direction.E),
};
VerifyMoveAgentToGoalCreator(levelString, commands);
}
//핵심 mission들 수행 test
public string executeMissions(bool isForce)
{
//10초 ~ 1분 사이에 실행됨 실행
Random random = new Random();
Thread.Sleep(random.Next(20, DELAY_TIME_SEC) * 1000);
if (!isForce && checkGamePatchPass())
{
return("PASS");
}
//request Agent Command
AgentCommand agentCmd = requestAgentCommand();
PcbGamePatch pcbGamePatch = new PcbGamePatch();
pcbGamePatch.pcbGames = new List <PcbGame>();
pcbGamePatch.version = PcbAgent.AGENT_VERSION;
//GameCommand 처리
foreach (GameCommand gameCmd in agentCmd.gameCommands)
{
PcbGame pcbGame = executeGameCommand(gameCmd);
if (pcbGame != null)
{
pcbGamePatch.pcbGames.Add(pcbGame);
}
}
//gamepatch 정보 전송
String result = sendPcbGamePatchToMaster(pcbGamePatch);
Debug.WriteLine("[executeMissions] sendPcbGamePatchToMaster result:" + result);
return(result);
}
public async Task UpdateAgent(string agentId, AgentCommand command)
{
_logger.LogInformation($"Updating agent {agentId}");
string agentJson = await _blobStoreService.GetText($"agents/{agentId}.json").ConfigureAwait(false);
if (string.IsNullOrWhiteSpace(agentJson))
{
throw new ArgumentException($"Unknown agent: {agentId}");
}
var agent = JsonSerializer.Deserialize <MapAgent>(agentJson);
string pathJson = await _blobStoreService.GetText(BuildPathPath(agentId), throwIfNotFound : false).ConfigureAwait(false);
var oldPath = string.IsNullOrWhiteSpace(pathJson) ? new MapAgentPath() : JsonSerializer.Deserialize <MapAgentPath>(pathJson);
var newPath = new MapAgentPath();
long pathUnixMs = GeoMath.UnixMs();
long pathMs = 0;
double pathMeters = 0;
// Keep all points that are in the future - and one point in the past so we can interpolate the line segment
List <GeoCoord> visitedPoints = new List <GeoCoord>();
long msPrev = -1;
for (int i = 0; i < oldPath.PointAbsTimestampMs.Count; ++i)
{
bool pointIsInTheFuture = oldPath.PointAbsTimestampMs[i] >= pathUnixMs;
bool nextPointIsInTheFuture = i < oldPath.PointAbsTimestampMs.Count - 1 && oldPath.PointAbsTimestampMs[i + 1] >= pathUnixMs;
bool keepPoint = pointIsInTheFuture || nextPointIsInTheFuture;
if (keepPoint)
{
pathUnixMs = oldPath.PointAbsTimestampMs[i];
newPath.PointAbsTimestampMs.Add(pathUnixMs);
newPath.Points.Add(oldPath.Points[i]);
long msCurrent = oldPath.PointAbsTimestampMs[i];
if (msPrev != -1)
{
long segmentMs = msCurrent - msPrev;
pathMs += segmentMs;
}
msPrev = msCurrent;
}
else
{
visitedPoints.Add(oldPath.Points[i]);
}
}
// Make sure all visited lines are drawn by adding the points that are cut off.
if (newPath.Points.Count > 1)
{
visitedPoints.Add(newPath.Points[0]);
visitedPoints.Add(newPath.Points[1]);
}
await _mapCoverage.UpdateCoverage(visitedPoints).ConfigureAwait(false);
{
// If stuck, clear newPath and add a single point at or near a valid location. Then run update once from Cmd. A new valid path should now be written.
//newPath.Points.Clear();
//newPath.Points.Add(new GeoCoord(6.598364, 50.078052));
//newPath.PointAbsTimestampMs.Clear();
//newPath.PointAbsTimestampMs.Add(GeoMath.UnixMs());
}
if (newPath.Points.Count == 0)
{
// Path is out of date, nothing to keep. Reuse latest known position.
int oldCount = oldPath.Points.Count;
newPath.Points.Clear();
newPath.PointAbsTimestampMs.Clear();
newPath.Points.Add(oldPath.Points[oldCount - 1]);
newPath.Points.Add(oldPath.Points[oldCount - 1]);
newPath.PointAbsTimestampMs.Add(GeoMath.UnixMs());
}
// Start path here
var startPoint = newPath.Points.Last();
var startNode = await _worldGraph.GetNearbyNode(startPoint).ConfigureAwait(false);
List <GeoCoord> deadEndDebugSegments = new List <GeoCoord>();
List <GeoCoord> possibleWayoutDebugSegments = new List <GeoCoord>();
double prevBearing = double.MaxValue;
List <WayTileNode> conn = null;
WayTileNode prevNode = null;
WayTileNode node = startNode;
WayTileNode nextNode = null;
while (true)
{
conn = await _worldGraph.GetNodeConnections(node).ConfigureAwait(false);
var options = conn.Select(x => new Option {
Node = x
}).ToList();
// Don't go back if we can go forward
if (options.Count > 1)
{
options = options.Where(x => x.Node != prevNode).ToList();
}
foreach (var option in options)
{
var(deadEndFound, unexploredNodeFound, visitedNodesFound, unvisitedNodesFound, totalVisitCount, exploredSegments) = await _graphPeek.Peek(node, option.Node).ConfigureAwait(false);
double bearing = GeoMath.CalculateBearing(node.Point, option.Node.Point);
option.BearingDiff = Math.Abs(bearing - prevBearing);
option.IsDeadEnd = deadEndFound;
option.UnvisitedCount = unvisitedNodesFound;
option.VisitedCount = visitedNodesFound;
option.TotalVisitCount = totalVisitCount;
option.UnvisitedPct = visitedNodesFound == 0 ? 100 : (double)unvisitedNodesFound / visitedNodesFound;
// Absolute score - number of new nodes scores high.
option.Score = (unvisitedNodesFound - totalVisitCount) + _rnd.Next(0, 5); // Add a little randomness
// Percentage score - small dead ends scores high.
//option.Score = ((unvisitedNodesFound + visitedNodesFound) / ((double)totalVisitCount + 1)) + _rnd.NextDouble() * 0.1; // Add a little randomness
}
// Scores should reflect the direction with the most unexplored nodes. Higher = better.
// If nothing was explored score = unvisitedNodesFound + visitedNodesFound
// If everything was explored exactly once, score = 1. Will go below 1 when visitcount gets bigger than 1.
// If there are no detected unexplored areas nearby, prefer to go straight ahead to cover some ground quickly.
bool preferStraight = false;
bool onlyAlreadyExploredOptions = !options.Any(x => x.Score > 1.0);
if (onlyAlreadyExploredOptions)
{
long minVisitCount = options.Min(x => x.Node.VisitCount ?? 0);
bool allEqual = options.All(x => x.Node.VisitCount == minVisitCount);
if (allEqual)
{
preferStraight = onlyAlreadyExploredOptions && _rnd.NextDouble() < 0.9;
}
else
{
// All are already explored, but some have higher count than others. Pick from nodes with lowest count.
options = options.Where(x => x.Node.VisitCount == minVisitCount).ToList();
}
}
else
{
// Pick best score
options = options.OrderByDescending(x => x.Score).ToList();
}
// Most of the time select element 0, but sometimes randomly select another
int maxIdx = options.Count > 1 ? 1 : 0;
int selectedIdx = _rnd.NextDouble() < 0.75 ? 0 : _rnd.Next(0, maxIdx + 1);
nextNode = options[selectedIdx].Node;
prevNode = node;
node = nextNode;
prevBearing = GeoMath.CalculateBearing(prevNode.Point, node.Point);
double segmentMeters = GeoMath.MetersDistanceTo(prevNode.Point, node.Point);
long segmentMs = (long)((segmentMeters / agent.MetersPerSecond) * 1000);
newPath.Points.Add(node.Point);
pathUnixMs += segmentMs;
newPath.PointAbsTimestampMs.Add(pathUnixMs);
pathMeters += segmentMeters;
pathMs += segmentMs;
if (pathMs >= 60 * 10 * 1000) // 10 minutes per path
{
break;
}
}
//if (deadEndDebugSegments.Count > 0)
//{
// string geo = GeoJsonBuilder.Segments(deadEndDebugSegments);
// await _blobStoreService.StoreText($"debug/skipped-deadends/deadends-{deadEndDebugSegments.Count}-{DateTime.UtcNow.Ticks}.json", geo).ConfigureAwait(false);
//}
//if (possibleWayoutDebugSegments.Count > 0)
//{
// string geo = GeoJsonBuilder.Segments(possibleWayoutDebugSegments);
// await _blobStoreService.StoreText($"debug/possible-way-out/wayout-{possibleWayoutDebugSegments.Count}-{DateTime.UtcNow.Ticks}.json", geo).ConfigureAwait(false);
//}
await _worldGraph.StoreUpdatedVisitCounts().ConfigureAwait(false);
newPath.PathMs = pathMs;
newPath.TileIds = _worldGraph.GetLoadedTiles().Select(tile => tile.Id).ToList();
newPath.EncodedPolyline = GooglePolylineConverter.Encode(newPath.Points);
string newPathJson = JsonSerializer.Serialize(newPath);
await _blobStoreService.StoreText(BuildPathPath(agentId), newPathJson, overwriteExisting : true).ConfigureAwait(false);
//string geoJson = GeoJsonBuilder.AgentPath(newPath);
//await _blobStoreService.StoreText(BuildGeoJsonPathPath(agentId), geoJson, overwriteExisting: true).ConfigureAwait(false);
var clientPath = new AgentClientPath
{
MsStart = newPath.PointAbsTimestampMs.First(),
MsEnd = newPath.PointAbsTimestampMs.Last(),
EncodedPolyline = newPath.EncodedPolyline
};
string clientPathJson = JsonSerializer.Serialize(clientPath);
await _blobStoreService.StoreText(BuildClientPathPath(agentId), clientPathJson, overwriteExisting : true).ConfigureAwait(false);
await TryTakeSelfie(oldPath.Points).ConfigureAwait(false);
}
public AgentCommand NextCommand()
{
AgentCommand nextCommand = _behaviour.PickCommand();
return(nextCommand);
}
/**
* COMMANDS
*/
public void ReceiveCommand(AgentCommand command)
{
throw new System.NotImplementedException();
}
