// Use this for initialization
void Start()
{
controller = GetComponent <IRobotController>();
tr = body.GetComponent <Transform>();
angles = new List <float> [8];
for (int i = 0; i < 8; i++)
{
angles[i] = new List <float>();
}
times = new List <float>();
}
public RobotInfo(IRobotController robotController, Location attackLocation, bool turnCompleted, bool hasOutage)
{
Team = robotController.Team;
RobotType = robotController.RobotType;
AttackLocation = attackLocation;
Location = robotController.Location;
Health = robotController.Health;
Energy = robotController.Energy;
TurnCompleted = turnCompleted;
HasOutage = hasOutage;
Id = robotController.Id;
}
void Update()
{
if (infoText == null)
{
return;
}
sb.Length = 0;
sb.Capacity = 16;
float speed = controller.Speed;
float steer = controller.SteerAngle;
float vAngle = controller.VerticalAngle;
float throttle = controller.ThrottleInput;
float brake = controller.BrakeInput;
Vector2 position = new Vector2(controller.Position.x, controller.Position.z);
// Vector3 position = controller.Position;
float pitch = controller.Pitch;
// new: set yaw angle counter-clockwise and relative to positive-x
float yaw = IRobotController.ConvertAngleToCCWXBased(controller.Yaw);
// float yaw = controller.Yaw;
float roll = controller.Roll;
sb.Append("Throttle: " + throttle.ToString("F1") + "\n");
sb.Append("Brake: " + brake.ToString("F1") + "\n");
sb.Append("Steer angle: " + steer.ToString("F4") + "\n");
sb.Append("Ground speed: " + speed.ToString("F1") + "m/s\n");
sb.Append("Position: " + position.ToString() + "\n");
sb.Append("Pitch angle: " + pitch.ToString("F2") + "\n");
sb.Append("Yaw angle: " + yaw.ToString("F2") + "\n");
sb.Append("Roll angle: " + roll.ToString("F2") + "\n");
// sb.Append ( "Camera zoom: " + controller.Zoom.ToString ( "F1" ) + "x\n" );
sb.Append("Is near objective: " + (controller.IsNearObjective ? "Yes" : "No") + "\n");
sb.Append("Is picking up:" + (controller.IsPickingUpSample ? "Yes" : "No"));
infoText.text = sb.ToString();
if (controller.PickupProgress != -1)
{
if (!progressParent.activeSelf)
{
progressParent.SetActive(true);
}
progressBar.fillAmount = controller.PickupProgress;
}
else
{
if (progressParent.activeSelf)
{
progressParent.SetActive(false);
}
}
}
void Start()
{
_socket = GameObject.Find("SocketIO").GetComponent <SocketIOComponent>();
_socket.On("open", OnOpen);
_socket.On("data", OnData);
_socket.On("manual", onManual);
_socket.On("fixed_turn", OnFixedTurn);
_socket.On("pickup", OnPickup);
// _socket.On ( "get_samples", GetSamplePositions );
robotController = robotRemoteControl.robot;
frontFacingCamera = robotController.recordingCam;
inset1Tex = new Texture2D(1, 1);
inset2Tex = new Texture2D(1, 1);
inset3Tex = new Texture2D(1, 1);
}
public static void ResetSimulation()
{
var problemsPath = ProblemsFinder.FindProblemsFolderPath();
problem = ProblemLoader.LoadProblem(Path.Combine(problemsPath, "prob-150.desc"), null);
controller = new ScoreNActionsController(problem, new SmartIslandController(problem, null));
//controller = new ScoreNActionsController(problem, new IslandFinderController(problem, new ScoreNActionsController(problem, new DijkstraController(problem))));
//controller = new CachingScoreTurnActionsController(problem, new SmartIslandController(problem, null));
//controller = new ScoreTurnActionsController(problem, new SmartIslandController(problem, null));
//controller = new ScoreTurnActionsController(problem, new IslandFinderController(problem, new ScoreSingleActionsController(problem, new DijkstraController(problem))));
//controller = new IslandFinderController(problem, new ScoreSingleActionsController(problem, new DijkstraController(problem)));
//controller = new ScoreTurnActionsController(problem, new ScoreSingleActionsController(problem, new DijkstraController(problem)));
start = false;
}
public Program()
{
this.logger = ServiceLocator.Get <ILogger>();
this.InitializeHardwareInterface("/dev/serial0", 9600);
this.InitializeVirtualWindowHost();
this.InitializeRobot();
this.robotController = new TestController(this.robot);
//this.robotController = new TrackingController(this.robot);
//this.robotController = new PebblesController(this.robot);
//this.robotController = new GateController(this.robot);
//this.robotController = new DanceController(this.robot);
this.logger.LogDebug($"Initialized controller '{this.robotController}'");
}
void EmitTelemetry(SocketIOEvent obj)
{
// Debug.Log ( "Emitting" );
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
print("Attempting to Send...");
// Collect Data from the Car
Dictionary <string, string> data = new Dictionary <string, string>();
data["steering_angle"] = robotController.SteerAngle.ToString("N4");
// data["vert_angle"] = robotController.VerticalAngle.ToString ("N4");
data["throttle"] = robotController.ThrottleInput.ToString("N4");
data["brake"] = robotController.BrakeInput.ToString("N4");
data["speed"] = robotController.Speed.ToString("N4");
Vector3 pos = robotController.Position;
data["position"] = pos.x.ToString("N4") + robotController.csvSeparatorChar + pos.z.ToString("N4");
data["pitch"] = robotController.Pitch.ToString("N4");
// new: convert the angle to CCW, x-based
data["yaw"] = IRobotController.ConvertAngleToCCWXBased(robotController.Yaw).ToString("N4");
data["roll"] = robotController.Roll.ToString("N4");
data["fixed_turn"] = robotController.IsTurningInPlace ? "1" : "0";
data["near_sample"] = robotController.IsNearObjective ? "1" : "0";
data["picking_up"] = robotController.IsPickingUpSample ? "1" : "0";
Debug.Log("picking_up is " + robotController.IsPickingUpSample);
data["sample_count"] = ObjectiveSpawner.samples.Length.ToString();
StringBuilder sample_x = new StringBuilder();
StringBuilder sample_y = new StringBuilder();
for (int i = 0; i < ObjectiveSpawner.samples.Length; i++)
{
GameObject go = ObjectiveSpawner.samples[i];
sample_x.Append(go.transform.position.x.ToString("N2") + robotController.csvSeparatorChar);
sample_y.Append(go.transform.position.z.ToString("N2") + robotController.csvSeparatorChar);
}
if (ObjectiveSpawner.samples.Length != 0)
{
sample_x.Remove(sample_x.Length - 1, 1);
sample_y.Remove(sample_y.Length - 1, 1);
}
data["samples_x"] = sample_x.ToString();
data["samples_y"] = sample_y.ToString();
data["image"] = Convert.ToBase64String(CameraHelper.CaptureFrame(frontFacingCamera));
// Debug.Log ("sangle " + data["steering_angle"] + " vert " + data["vert_angle"] + " throt " + data["throttle"] + " speed " + data["speed"] + " image " + data["image"]);
_socket.Emit("telemetry", new JSONObject(data));
});
}
// Use this for initialization
void Start()
{
string nameOfDiaplay = this.name;
foots = new List <GameObject>();
footPoss = new List <RectTransform>();
footImages = new List <Image>();
offsets = new float[] { frontFootOffset, rearFootOffset };
for (int i = 0; i < 4; i++)
{
foots.Add(GameObject.Find(nameOfDiaplay + "/Foot" + i));
footPoss.Add(foots[i].GetComponent <RectTransform>());
footImages.Add(foots[i].GetComponent <Image>());
}
robot = gameSystem.GetComponent <GlobalScript>().workingRobot.GetComponent <IRobotController>();
}
static void Main(string[] args)
{
List <IPosition> objectsOnMap = new List <IPosition>();
objectsOnMap.Add(new Position(1, 2, CompassDirection.North));
objectsOnMap.Add(new Position(10, 20, CompassDirection.East));
objectsOnMap.Add(new Position(50, 40, CompassDirection.South));
objectsOnMap.Add(new Position(90, 90, CompassDirection.West));
pluto = new Planet
{
Xsize = 100,
Ysize = 100,
ObjectsOnMap = objectsOnMap
};
robotController = new RobotController(new Position(0, 0, CompassDirection.North), pluto);
queueOfCommandsRunner = new RobotQueueCommandRunner(robotController);
DisplayWelcome();
DisplayPlanetSize();
DisplayMenu();
}
void Awake()
{
robotController = robotInput.controller;
SetTrainingMode(isTrainingMode);
saveStatus.text = "";
}
public Warehouse(IRobotController <IRobot> robotController)
{
RobotController = robotController;
}
public IslandFinderController(Problem problem, IRobotController nextController)
{
Problem = problem;
NextController = nextController;
}
public ScoreNActionsController(Problem problem, IRobotController nextController) : base(problem, nextController)
{
var actions = new[]
{
RobotAction.Up, RobotAction.Down, RobotAction.Left, RobotAction.Right, RobotAction.TurnLeft,
RobotAction.TurnRight
};
// generate list of all possible 1 move actions
foreach (var a in actions)
{
ActionList.Add(new List <RobotAction> {
a
});
}
// generate all 2 move actions
foreach (var a in actions)
{
foreach (var b in actions)
{
ActionList.Add(new List <RobotAction> {
a, b
});
}
}
// generate all 3 move actions
foreach (var a in actions)
{
foreach (var b in actions)
{
foreach (var c in actions)
{
ActionList.Add(new List <RobotAction> {
a, b, c
});
}
}
}
// generate all 4 move actions
foreach (var a in actions)
{
foreach (var b in actions)
{
foreach (var c in actions)
{
foreach (var d in actions)
{
ActionList.Add(new List <RobotAction> {
a, b, c, d
});
}
}
}
}
// generate all 5 move actions
foreach (var a in actions)
{
foreach (var b in actions)
{
foreach (var c in actions)
{
foreach (var d in actions)
{
foreach (var e in actions)
{
ActionList.Add(new List <RobotAction> {
a, b, c, d, e
});
}
}
}
}
}
//foreach (var a in actions)
// foreach (var b in actions)
// foreach (var c in actions)
// foreach (var d in actions)
// foreach (var e in actions)
// foreach (var f in actions)
// ActionList.Add(new List<RobotAction> { a, b, c, d, e, f });
//foreach (var a in actions)
// foreach (var b in actions)
// foreach (var c in actions)
// foreach (var d in actions)
// foreach (var e in actions)
// foreach (var f in actions)
// foreach (var g in actions)
// ActionList.Add(new List<RobotAction> { a, b, c, d, e, f, g });
Console.WriteLine($"Evaluating {ActionList.Count} possible move sets");
}
public SmartIslandController(Problem problem, IRobotController nextController) : base(problem, nextController)
{
}
public ScoreSingleActionsController(Problem problem, IRobotController nextController)
{
Problem = problem;
NextController = nextController;
}
public void SetRobotController(IRobotController robotController)
{
RobotController = robotController;
}
public CachingScoreTurnActionsController(Problem problem, IRobotController nextController) : base(problem, nextController)
{
}
public RobotQueueCommandRunner(IRobotController controller)
{
_robotController = controller;
}
private void SetSelectedController(IRobotController controller)
{
selectedController = controller;
selectedController.Commander = arduinoCommander;
selectedController.Parent = Handle;
}
public RobotController(Problem problem, IRobotController nextController)
{
Problem = problem;
NextController = nextController;
}
