//finds the best mapping between selected moveTo coordinates and the real robots
private int[] MapRobotsToMoveTo(Storage storage, GridRule rule)
{
int[] bestPerm = new int[4];
int[][] indexes = { new int[] { 1, 2, 3, 0 },
new int[] { 1, 2, 0, 3 },
new int[] { 1, 3, 2, 0 },
new int[] { 1, 3, 0, 2 },
new int[] { 1, 0, 2, 3 },
new int[] { 1, 0, 3, 2 },
new int[] { 2, 1, 3, 0 },
new int[] { 2, 1, 0, 3 },
new int[] { 2, 3, 1, 0 },
new int[] { 2, 3, 0, 1 },
new int[] { 2, 0, 1, 3 },
new int[] { 2, 0, 3, 1 },
new int[] { 3, 1, 2, 0 },
new int[] { 3, 1, 0, 2 },
new int[] { 3, 2, 1, 0 },
new int[] { 3, 2, 0, 1 },
new int[] { 3, 0, 1, 2 },
new int[] { 3, 0, 2, 1 },
new int[] { 0, 1, 2, 3 },
new int[] { 0, 1, 3, 2 },
new int[] { 0, 2, 1, 3 },
new int[] { 0, 2, 3, 1 },
new int[] { 0, 3, 1, 2 },
new int[] { 0, 3, 2, 1 } };
double min = double.MaxValue;
foreach (int[] i in indexes)
{
double moveRuleSize = gStrategy.GridToReal(rule.Move[0], gameSetting).DistanceFrom(storage.RightRobots[i[0]].Position)
+ gStrategy.GridToReal(rule.Move[1], gameSetting).DistanceFrom(storage.RightRobots[i[1]].Position)
+ gStrategy.GridToReal(rule.Move[2], gameSetting).DistanceFrom(storage.RightRobots[i[2]].Position)
+ gStrategy.GridToReal(rule.Move[3], gameSetting).DistanceFrom(storage.RightRobots[i[3]].Position);
if (moveRuleSize < min)
{
min = moveRuleSize;
bestPerm = i;
}
}
return(bestPerm);
}
// tik strategie urcujici co se ma pri kazdem kroku vykonat
public override void TickStrategy(Storage storage)
{
SetGoalkeeperStrategy(storage.RightRobots[gameSetting.NUMBER_OF_ROBOTS - 1], storage);
// strategie
//if (RobotsInDesiredGrid(storage) >= gStrategy.RuleException)
//currentRule = FindBestRule(ref ruleIndex, storage);
//currentRule = FindBestRule4(storage);
currentRule = FindBestRuleGraph(storage);
SharedMutex.getMutex().WaitOne();
if (currentRule != null)
{
//for (int i = 0; i < gameSetting.NUMBER_OF_ROBOTS - 1; i++)
// storage.RightRobots[ruleIndex[i]].PositionMove = gStrategy.GridToReal(currentRule.Move[i], gameSetting);
int[] mapping = MapRobotsToMoveTo(storage, currentRule);
for (int i = 0; i < gameSetting.NUMBER_OF_ROBOTS - 1; i++)
{
storage.RightRobots[mapping[i]].PositionMove = gStrategy.GridToReal(currentRule.Move[i], gameSetting);
}
}
SharedMutex.getMutex().ReleaseMutex();
//taktiky
SharedMutex.getMutex().WaitOne();
tactic.chooseTactic(storage.changeRobots());
SharedMutex.getMutex().ReleaseMutex();
//TACTIC if (currentRule != null)
//{
// for (int i = 0; i < gameSetting.NUMBER_OF_ROBOTS - 1; i++)
// {
// if (!storage.MyRobots[ruleIndex[i]].tactic &&
// gStrategy.RealToGrid(storage.MyRobots[ruleIndex[i]].Position) != currentRule.Move[i])
// {
// storage.MyRobots[ruleIndex[i]].GoTo(storage.MyRobots[ruleIndex[i]].Strat_pos);
// }
// }
//}
}
// konstruktor zajistujici spravne rozparsrovani vsech dat ze souboru a nacteni do promennych a pripadne x-ove preklopeni pravidel
public GridStrategy(String fileName, bool mirror)
{
CultureInfo nfi = new CultureInfo("en-US", false);
StreamReader reader = new StreamReader(new FileStream(fileName, FileMode.Open));
this.name = getValue(reader.ReadLine(), "Strategy");
this.algorithm = getValue(reader.ReadLine(), "Algorithm");
this.author = getValue(reader.ReadLine(), "Author");
this.date = getValue(reader.ReadLine(), "Date");
String[] s_size = getValue(reader.ReadLine(), "Size").Split(new char[] { ',' });
this.size = new Vector2D(Convert.ToDouble(s_size[0], nfi), Convert.ToDouble(s_size[1], nfi));
this.attackerMin = Int32.Parse(getValue(reader.ReadLine(), "AttackerMin"));
this.ruleException = Int32.Parse(getValue(reader.ReadLine(), "RuleException"));
String[] s_priorityMine = getValue(reader.ReadLine(), "PriorityMine").Split(new char[] { ' ', '\t' });
this.priorityMine = new int[] { Int32.Parse(s_priorityMine[0]), Int32.Parse(s_priorityMine[1]), Int32.Parse(s_priorityMine[2]), Int32.Parse(s_priorityMine[3]) };
String[] s_priorityMineD = getValue(reader.ReadLine(), "PriorityMineD").Split(new char[] { ' ', '\t' });
this.priorityMineD = new int[] { Int32.Parse(s_priorityMineD[0]), Int32.Parse(s_priorityMineD[1]), Int32.Parse(s_priorityMineD[2]), Int32.Parse(s_priorityMineD[3]) };
String[] s_priorityOpponent = getValue(reader.ReadLine(), "PriorityOpponent").Split(new char[] { ' ', '\t' });
this.priorityOpponent = new int[] { Int32.Parse(s_priorityOpponent[0]), Int32.Parse(s_priorityOpponent[1]), Int32.Parse(s_priorityOpponent[2]), Int32.Parse(s_priorityOpponent[3]) };
String[] s_priorityOpponentD = getValue(reader.ReadLine(), "PriorityOpponentD").Split(new char[] { ' ', '\t' });
this.priorityOpponentD = new int[] { Int32.Parse(s_priorityOpponentD[0]), Int32.Parse(s_priorityOpponentD[1]), Int32.Parse(s_priorityOpponentD[2]), Int32.Parse(s_priorityOpponentD[3]) };
this.priorityBall = Int32.Parse(getValue(reader.ReadLine(), "PriorityBall"));
rules = new List <GridRule>();
try
{
while (!reader.EndOfStream)
{
reader.ReadLine();
GridRule r = new GridRule(reader.ReadLine(), reader.ReadLine(), reader.ReadLine(), reader.ReadLine(), reader.ReadLine());
if (mirror)
{
r.Mirror((int)size.X);
}
r.fillZOrder();
rules.Add(r);
}
}
catch (Exception) { }
reader.Close();
}
public void Fill_LeftStrg31(GridStrategy gStrategy, GameSetting gameSetting)
{
//double _treshold = 0.7;
double _treshold = 0;
StringBuilder sb = new StringBuilder();
//nodes
for (int i = 0; i < gStrategy.Rules.Count; i++)
{
AddNode(new Node(i, gStrategy.Rules[i]));
}
GridStrategy offensiveM = new GridStrategy();
offensiveM.Rules.Add(gStrategy.Rules[0]);
offensiveM.Rules.Add(gStrategy.Rules[1]);
offensiveM.Rules.Add(gStrategy.Rules[2]);
offensiveM.Rules.Add(gStrategy.Rules[3]);
GridStrategy offensiveR = new GridStrategy();
offensiveR.Rules.Add(gStrategy.Rules[4]);
offensiveR.Rules.Add(gStrategy.Rules[5]);
offensiveR.Rules.Add(gStrategy.Rules[6]);
offensiveR.Rules.Add(gStrategy.Rules[7]);
offensiveR.Rules.Add(gStrategy.Rules[8]);
offensiveR.Rules.Add(gStrategy.Rules[9]);
GridStrategy offensiveL = new GridStrategy();
offensiveL.Rules.Add(gStrategy.Rules[10]);
offensiveL.Rules.Add(gStrategy.Rules[11]);
offensiveL.Rules.Add(gStrategy.Rules[12]);
offensiveL.Rules.Add(gStrategy.Rules[13]);
offensiveL.Rules.Add(gStrategy.Rules[14]);
offensiveL.Rules.Add(gStrategy.Rules[15]);
GridStrategy defensiveM = new GridStrategy();
defensiveM.Rules.Add(gStrategy.Rules[16]);
defensiveM.Rules.Add(gStrategy.Rules[17]);
defensiveM.Rules.Add(gStrategy.Rules[18]);
defensiveM.Rules.Add(gStrategy.Rules[19]);
GridStrategy defensiveR = new GridStrategy();
defensiveR.Rules.Add(gStrategy.Rules[20]);
defensiveR.Rules.Add(gStrategy.Rules[21]);
defensiveR.Rules.Add(gStrategy.Rules[22]);
defensiveR.Rules.Add(gStrategy.Rules[23]);
defensiveR.Rules.Add(gStrategy.Rules[24]);
defensiveR.Rules.Add(gStrategy.Rules[25]);
GridStrategy defensiveL = new GridStrategy();
defensiveL.Rules.Add(gStrategy.Rules[26]);
defensiveL.Rules.Add(gStrategy.Rules[27]);
defensiveL.Rules.Add(gStrategy.Rules[28]);
defensiveL.Rules.Add(gStrategy.Rules[29]);
defensiveL.Rules.Add(gStrategy.Rules[30]);
List <GridStrategy> lStrategy = new List <GridStrategy>();
lStrategy.Add(offensiveM);
lStrategy.Add(offensiveR);
lStrategy.Add(offensiveL);
lStrategy.Add(defensiveM);
lStrategy.Add(defensiveR);
lStrategy.Add(defensiveL);
//edges
double max = -1;
List <Triple> values = new List <Triple>();
foreach (GridStrategy tempStrg in lStrategy)
{
for (int i = 0; i < tempStrg.Rules.Count - 1; i++)
{
for (int j = i + 1; j < tempStrg.Rules.Count; j++)
{
GridRule r1 = tempStrg.Rules[i];
GridRule r2 = tempStrg.Rules[j];
//ball
double ballRuleSize = gStrategy.GridToReal(r1.Ball, gameSetting).DistanceFrom(
gStrategy.GridToReal(r2.Ball, gameSetting)
);
//mine
double mineSize = 0;
for (int k = 0; k < gameSetting.NUMBER_OF_ROBOTS - 1; k++)
{
mineSize += gStrategy.GridToReal(r1.Mine[r1.ZMine[k]], gameSetting).DistanceFrom(
gStrategy.GridToReal(r2.Mine[r2.ZMine[k]], gameSetting)
);
}
//oppnt
double oppntSize = 0;
for (int k = 0; k < gameSetting.NUMBER_OF_ROBOTS - 1; k++)
{
oppntSize += gStrategy.GridToReal(r1.Oppnt[r1.ZOppnt[k]], gameSetting).DistanceFrom(
gStrategy.GridToReal(r2.Oppnt[r2.ZOppnt[k]], gameSetting)
);
}
if (ballRuleSize + mineSize + oppntSize > max)
{
max = ballRuleSize + mineSize + oppntSize;
}
int ii = gStrategy.Rules.IndexOf(tempStrg.Rules[i]);
int ij = gStrategy.Rules.IndexOf(tempStrg.Rules[j]);
values.Add(new Triple(ii, ij, ballRuleSize + mineSize + oppntSize));
}
}
}
for (int i = 0; i < values.Count; i++)
{
double norm = 1 - (values[i].z / max);
sb.AppendLine(values[i].x + " " + values[i].y + " " + Math.Round(norm, 3).ToString().Replace(',', '.'));
//Console.WriteLine("{0} {1} {2} {3}", values[i].x, values[i].y, values[i].z, norm);
if (norm >= _treshold)
{
AddEdge(nodes[values[i].x], nodes[values[i].y], norm);
}
}
string filename = "GRAPH_" + gStrategy.Name + ".txt";
File.Delete(filename);
using (StreamWriter sw = new StreamWriter(new FileStream(filename, FileMode.CreateNew)))
{
sw.Write(sb.ToString());
}
}
public void Fill(GridStrategy gStrategy, GameSetting gameSetting, double _treshold)
{
StringBuilder sb = new StringBuilder();
//nodes
for (int i = 0; i < gStrategy.Rules.Count; i++)
{
AddNode(new Node(i, gStrategy.Rules[i]));
}
//edges
double max = -1;
List <Triple> values = new List <Triple>();
for (int i = 0; i < gStrategy.Rules.Count - 1; i++)
{
for (int j = i + 1; j < gStrategy.Rules.Count; j++)
{
GridRule r1 = gStrategy.Rules[i];
GridRule r2 = gStrategy.Rules[j];
//ball
double ballRuleSize = gStrategy.GridToReal(r1.Ball, gameSetting).DistanceFrom(
gStrategy.GridToReal(r2.Ball, gameSetting)
);
//mine
double mineSize = 0;
for (int k = 0; k < gameSetting.NUMBER_OF_ROBOTS - 1; k++)
{
mineSize += gStrategy.GridToReal(r1.Mine[r1.ZMine[k]], gameSetting).DistanceFrom(
gStrategy.GridToReal(r2.Mine[r2.ZMine[k]], gameSetting)
);
}
//oppnt
double oppntSize = 0;
for (int k = 0; k < gameSetting.NUMBER_OF_ROBOTS - 1; k++)
{
oppntSize += gStrategy.GridToReal(r1.Oppnt[r1.ZOppnt[k]], gameSetting).DistanceFrom(
gStrategy.GridToReal(r2.Oppnt[r2.ZOppnt[k]], gameSetting)
);
}
if (ballRuleSize + mineSize + oppntSize > max)
{
max = ballRuleSize + mineSize + oppntSize;
}
values.Add(new Triple(i, j, ballRuleSize + mineSize + oppntSize));
}
}
for (int i = 0; i < values.Count; i++)
{
double norm = 1 - (values[i].z / max);
//Console.WriteLine("{0} {1} {2} {3}", values[i].x, values[i].y, values[i].z, norm);
if (norm >= _treshold)
{
AddEdge(nodes[values[i].x], nodes[values[i].y], norm);
sb.AppendLine(values[i].x + " " + values[i].y + " " + Math.Round(norm, 3).ToString().Replace(',', '.'));
}
}
/**
* string filename = "GRAPH_" + gStrategy.Name + ".txt";
* File.Delete(filename);
* using (StreamWriter sw = new StreamWriter(new FileStream(filename, FileMode.CreateNew)))
* {
* sw.Write(sb.ToString());
* sw.Close();
* }
*/
}
//################################################################################################################################################
#region funkce pro strategie
private GridRule FindBestRuleGraph(Storage storage)
{
GridRule bestRule = null;
int x, y;
//mine
matrix = new List <int> [6, 4];
for (int i = 0; i < storage.RightRobots.Length - 1; i++)
{
Vector2D v = gStrategy.RealToGrid(storage.RightRobots[i].Position, gameSetting);
x = Convert.ToInt32(v.X);
y = Convert.ToInt32(v.Y);
if (matrix[x, y] != null)
{
matrix[x, y].Add(i);
}
else
{
matrix[x, y] = new List <int>()
{
i
}
};
}
List <int> actMine = zorder.zOrderMain(matrix, 2);
//oppnt
matrix = new List <int> [6, 4];
for (int i = 0; i < storage.LeftRobots.Length - 1; i++)
{
Vector2D v = gStrategy.RealToGrid(storage.LeftRobots[i].Position, gameSetting);
x = Convert.ToInt32(v.X);
y = Convert.ToInt32(v.Y);
if (matrix[x, y] != null)
{
matrix[x, y].Add(i);
}
else
{
matrix[x, y] = new List <int>()
{
i
}
};
}
List <int> actOppnt = zorder.zOrderMain(matrix, 2);
//nejpodobnejsi pravidlo
double min = Double.MaxValue;
if (lastRule == -1)
{
GridRule rule;
for (int r = 0; r < gStrategy.Rules.Count; r++)
{
//nesmysl
//if (graph.Nodes[r].neighbours.Count == 0)
//{
// if (gStrategy.Rules.Count > 0)
// {
// bestRule = gStrategy.Rules[0];
// lastRule = 0;
// }
// break;
//}
rule = gStrategy.Rules[r];
double ballRuleSize = gStrategy.GridToReal(rule.Ball, gameSetting).DistanceFrom(storage.Ball.Position);
double mineSize = 0;
for (int i = 0; i < actMine.Count; i++)
{
mineSize += gStrategy.GridToReal(rule.Mine[rule.ZMine[i]], gameSetting).DistanceFrom(storage.LeftRobots[actMine[i]].Position);
}
double oppntSize = 0;
for (int i = 0; i < actOppnt.Count; i++)
{
oppntSize += gStrategy.GridToReal(rule.Oppnt[rule.ZOppnt[i]], gameSetting).DistanceFrom(storage.RightRobots[actOppnt[i]].Position);
}
if (ballRuleSize + mineSize + oppntSize < min)
{
min = ballRuleSize + mineSize + oppntSize;
bestRule = rule;
lastRule = r;
}
}
}
else
{
Node actNode = graph.Nodes[lastRule];
GridRule rule;
List <int> tempKeys = new List <int>(actNode.neighbours.Keys);
tempKeys.Add(lastRule);
//foreach (int k in actNode.neighbours.Keys)
foreach (int k in tempKeys)
{
rule = (GridRule)graph.Nodes[k].data;
double ballRuleSize = gStrategy.GridToReal(rule.Ball, gameSetting).DistanceFrom(storage.Ball.Position);
double mineSize = 0;
for (int i = 0; i < actMine.Count; i++)
{
mineSize += gStrategy.GridToReal(rule.Mine[rule.ZMine[i]], gameSetting).DistanceFrom(storage.RightRobots[actMine[i]].Position);
}
double oppntSize = 0;
for (int i = 0; i < actOppnt.Count; i++)
{
oppntSize += gStrategy.GridToReal(rule.Oppnt[rule.ZOppnt[i]], gameSetting).DistanceFrom(storage.LeftRobots[actOppnt[i]].Position);
}
if (ballRuleSize + mineSize + oppntSize < min)
{
min = ballRuleSize + mineSize + oppntSize;
bestRule = rule;
lastRule = k;
}
}
}
return(bestRule);
}