public override void Run()
{
_randomGenOffset = new Random();
_randomGenFirePower = new Random();
IsAdjustRadarForGunTurn = true;
IsAdjustGunForRobotTurn = true;
SetTurnRadarRightRadians(double.PositiveInfinity);
while (true)
{
_scanlessTime++;
SetMoveGun();
if (_enemy.Fired)
{
_robotController.RandomDodge();
}
_robotController.SetMoveToWallAndBack(_position.X, _position.Y, true);
if (_isAiming)
{
//If we fire the gun, reset aiming state
if (_robotController.CheckFire(_bulletToFire.Power))
{
_isAiming = false;
_desiredGunBearing = null;
_bulletToFire.UpdateInfo(GunHeadingRadians);
_bulletsFired.Add(_bulletToFire);
_bulletToFire = null;
}
}
//Fire at disabled enemy!
if (_enemy.LastEnergy <= 0d)
{
_robotController.CheckFire(Rules.MIN_BULLET_POWER);
}
if (_scanlessTime > 3)
{
SetTurnRadarRightRadians(double.PositiveInfinity);
}
Execute();
}
}
/// <summary>
/// onScannedRobot: Stop and Fire!
/// </summary>
public override void OnScannedRobot(ScannedRobotEvent e)
{
_enemy.Fired = false;
var energyDifference = Math.Abs(_enemy.LastEnergy - e.Energy);
if (energyDifference >= Rules.MIN_BULLET_POWER && energyDifference <= Rules.MAX_BULLET_POWER)
{
_enemy.Fired = true;
}
//Keep our enemy information up to date
UpdateEnemyInfo(_enemy, e);
_scanlessTime = 0;
//If we are close to firing, update Guess factors so gun has time to turn to desired place
if (IsGunReady() && !_isAiming && e.Energy > 0 && IsAllowedFire())
{
//Fire bullets with random power so we can more easily keep track of them
var firepower = Rules.MIN_BULLET_POWER;
if (_enemy.LastDistance < AllowableFireRadius)
{
firepower = Rules.MAX_BULLET_POWER;
}
else
{
firepower = Utilities.GetRandomNumber(_randomGenFirePower, _baseFirePower, _baseFirePower + 0.3d);
}
//TODO update the enemy info for the last 1 ticks so we know how to update the maximum escape angle
var maxEscapeAngle = Utilities.CalculateMaximumEscapeAngle(firepower);
var applicableSegments = GetApplicableSegments(e.Distance, e.HeadingRadians, e.Velocity);
var desiredState = _aimLearner.SelectQLearningState(applicableSegments);
var rangeOfAnglesMin = Utilities.MapToNewScale(desiredState, 0, _aimLearner.NrStates,
-maxEscapeAngle, maxEscapeAngle);
var rangeOfAnglesMax = Utilities.MapToNewScale(desiredState + 1, 0, _aimLearner.NrStates,
-maxEscapeAngle, maxEscapeAngle);
//just fire randomly for baseline purposes
var gunOffset = 0.0d;
if (AlwaysFireRandom)
{
gunOffset = Utilities.GetRandomNumber(_randomGenOffset, -maxEscapeAngle, maxEscapeAngle);
}
else
{
//We want to rotate the gun a random amount between [-maxEscapeAngle, maxEscapeAngle]
gunOffset = Utilities.GetRandomNumber(_randomGenOffset, rangeOfAnglesMin, rangeOfAnglesMax);
}
//Normalize guessFactor from -1 to 1
_bulletToFire = new BulletInfo(gunOffset / maxEscapeAngle, firepower, applicableSegments);
_desiredGunBearing = HeadingRadians + e.BearingRadians + gunOffset;
_robotController.SetMoveGunToDesiredBearing(_desiredGunBearing.Value);
_isAiming = true;
}
if (!_isAiming)
{
//Keep tracking robot with gun
_robotController.SetTurnGunToRobot(e.BearingRadians);
}
_robotController.SetTurnMultiplierRadarLock(e.BearingRadians);
}