socsmallsim.java

TeamBots 是一个可移植的多代理机器人仿真器

        /**
         * Draw the robot's state.
         */
        public void drawState(Graphics g, int w, int h,
                double t, double b, double l, double r)
                {
                top =t; bottom =b; left =l; right =r;
                if (DEBUG) System.out.println("draw "+
                        w + " " +
                        h + " " +
                        t + " " +
                        b + " " +
                        l + " " +
                        r + " ");
                double meterspp = (r - l) / (double)w;
                int radius = (int)(RADIUS / meterspp);
                int xpix = (int)((position.x - l) / meterspp);
                int ypix = (int)((double)h - ((position.y - b) / meterspp));

                /*--- draw State ---*/
                g.setColor(background);
                g.drawString(display_string,xpix+radius+3,ypix-radius);
                displayVectors.draw(g,w,h,t,b,l,r);
		}


	/**
         * Set the length of the trail (in movement steps).
         * @param l int, the length of the trail.
         */
        public void setTrailLength(int l)
		{
		trail = new CircularBuffer(l);
		}


        /**
         * Clear the trail.
         */
        public void clearTrail()
		{
		trail.clear();
		}


	/**
	 * Draw the robot's ID.
	 */
	public void drawID(Graphics g, int w, int h,
		double t, double b, double l, double r)
		{
		top =t; bottom =b; left =l; right =r;
		if (DEBUG) System.out.println("draw "+
			w + " " +
			h + " " +
			t + " " +
			b + " " +
			l + " " +
			r + " ");
		double meterspp = (r - l) / (double)w;
		int radius = (int)(RADIUS / meterspp);
		int xpix = (int)((position.x - l) / meterspp);
		int ypix = (int)((double)h - ((position.y - b) / meterspp));

		/*--- draw ID ---*/
		g.setColor(background);
                g.drawString(String.valueOf(getID()%5),xpix-radius,ypix-radius);
		}


        /**
         * Draw the object as an icon.
         * Default is just to do a regular draw.
         */
        public void drawIcon(Graphics g, int w, int h,
                double t, double b, double l, double r)
                {
                draw(g, w, h, t, b, l, r);
                }


	/**
	 * Draw the robot.
	 */
	public void draw(Graphics g, int w, int h,
		double t, double b, double l, double r)
		{
		top =t; bottom =b; left =l; right =r;
		if (DEBUG) System.out.println("draw "+
			w + " " +
			h + " " +
			t + " " +
			b + " " +
			l + " " +
			r + " ");
		double meterspp = (r - l) / (double)w;
		if (DEBUG) System.out.println("meterspp "+meterspp);
		int radius = (int)(RADIUS / meterspp);
		int steerd = (int)Units.RadToDeg(steer.t);
		int xpix = (int)((position.x - l) / meterspp);
		int ypix = (int)((double)h - ((position.y - b) / meterspp));
		if (DEBUG) System.out.println("robot at"+
			" at "+xpix+","+ypix);

		/*--- draw the main body ---*/
		g.setColor(foreground);
		g.fillArc(xpix - radius, ypix - radius,
				radius + radius, radius + radius,
				steerd, 90);
		g.fillArc(xpix - radius, ypix - radius,
				radius + radius, radius + radius,
				steerd+180, 90);
		g.setColor(background);
		g.fillArc(xpix - radius, ypix - radius,
				radius + radius, radius + radius,
				steerd+90, 90);
		g.fillArc(xpix - radius, ypix - radius,
				radius + radius, radius + radius,
				steerd+270, 90);

		/*--- draw steer ---*/
		g.setColor(Color.black);
		int dirx = xpix + (int)((double)radius * Math.cos(steer.t));
		int diry = ypix + -(int)((double)radius * Math.sin(steer.t));
		g.drawLine(xpix, ypix, dirx, diry);
		}


	/**
	 * Clean up.
	 */
	public void quit()
		{
		}

	/**
	 * Gets time elapsed since the robot was instantiated. 
	 * Since this is simulation, it may not match real elapsed time.
	 */
	public long getTime()
		{
		return(time);
		}


        private long    last_Opponentst = 0;
        private Vec2    last_Opponents[] = new Vec2[0];
        /**
         * Get an array of Vec2s that point egocentrically from the
         * center of the robot to the Opponents currently sensed by the
         * robot.
         * @param timestamp only get new information if 
	 * 	timestamp > than last call or timestamp == -1 .
         * @return the sensed Opponents.
         */
        public Vec2[] getOpponents(long timestamp)
                {
                if((timestamp > last_Opponentst)||(timestamp == -1))
                        {
                        if (timestamp != -1) last_Opponentst = timestamp;
                        last_Opponents = kin_sensor.getOpponents(all_objects);
                        }
                return(last_Opponents);
                }


	private	long	last_Teammatest = 0;
	private	Vec2	last_Teammates[] = new Vec2[0];
	/**
	 * Get an array of Vec2s that point egocentrically from the
	 * center of the robot to the teammates currently sensed by the 
	 * robot.
	 * @param timestamp only get new information if 
	 *	timestamp > than last call or timestamp == -1 .
	 * @return the sensed teammates.
	 */
	public Vec2[] getTeammates(long timestamp)
		{
		if((timestamp > last_Teammatest)||(timestamp == -1))
			{
			if (timestamp != -1) last_Teammatest = timestamp;
			last_Teammates = kin_sensor.getTeammates(all_objects);
			}
		Vec2[] retval = new Vec2[last_Teammates.length];
		for (int i = 0; i<last_Teammates.length; i++)
			retval[i] = new Vec2(last_Teammates[i].x,
				last_Teammates[i].y);
		return(retval);
		}

	public Vec2 getBall(long timestamp)
		{
		if (theball!=null) return(
			new Vec2(theball.getCenter(position)));
		else return(new Vec2());
		}


	long last_JustScoredt = 0;
	int last_JustScored  = 0;
        /**
         * Get an integer that indicates whether a scoring event
         * just occured.
         * @param timestamp only get new information
         *        if timestamp > than last call or timestamp == -1.
         * @return 1 if team just scored, -1 if scored against,
         *        0 otherwise.
         */
	public int getJustScored(long timestamp)
		{
		if((timestamp > last_JustScoredt)||(timestamp == -1))
			{
			if (timestamp != -1) last_JustScoredt = timestamp;

			last_JustScored = 0;

			if (theball==null) 
				return(0);
			else
				{
				if (on_east_team)
					{
					if (theball.eastKickOff())
						last_JustScored = -1;
					if (theball.westKickOff())
						last_JustScored = 1;
					}
				else 
					{
					if (theball.eastKickOff())
						last_JustScored = 1;
					if (theball.westKickOff())
						last_JustScored = -1;
					}
				}
			}
		return(last_JustScored);
		}


	public Vec2 getOurGoal(long timestamp)
		{
		Vec2 retval = new Vec2(team_goal.x, team_goal.y);
		retval.sub(position);
		return(retval);
		}
	public Vec2 getOpponentsGoal(long timestamp)
		{
		Vec2 retval = new Vec2(opponent_goal.x, opponent_goal.y);
		retval.sub(position);
		return(retval);
		}


	/**
	 * Return an int represting the player's ID on the team.
	 * This value may not be valid if the simulation has not
	 * been "set up" yet.  Do not use it during initialization.
         * @param timestamp only get new information if
         *      timestamp > than last call or timestamp == -1 .
         * @return the number.
	 */
	public int getPlayerNumber(long timestamp)
		{
		return(kin_sensor.getPlayerNumber(all_objects));
		}
	public boolean canKick(long timestamp)
		{
		boolean retval = false;
		Vec2 kickpos = new Vec2(steer.x, steer.y);
		kickpos.setr(RADIUS);
		kickpos.add(position);
		if (theball!=null)
			{
			Vec2 tmp = theball.getCenter(kickpos);
			if (tmp.r<=KICKER_SPOT_RADIUS)
				retval = true;
			}
		return(retval);
		}
	public void kick(long timestamp)
		{
		Vec2 d = new Vec2(0,0);
		Vec2 v = new Vec2(KICKER_SPEED,0);
		v.sett(steer.t);
		if (theball != null)
			theball.push(d,v);
		}


	private	long	last_Obstaclest = 0;
	private	Vec2	last_Obstacles[];
	private	int	num_Obstacles;
	/**
	 * Get an array of Vec2s that point egocentrically from the
	 * center of the robot to the obstacles currently sensed by the 
	 * bumpers and sonars.
	 * @param timestamp only get new information if 
	 *	timestamp > than last call or timestamp == -1 .
	 * @return the sensed obstacles.
	 */
	public Vec2[] getObstacles(long timestamp)
		{
		if((timestamp > last_Obstaclest)||(timestamp == -1))
			{
			if (timestamp != -1) last_Obstaclest = timestamp;
			Vec2 tmp_objs[] = new Vec2[all_objects.length];
			num_Obstacles = 0;
			/*--- check all objects ---*/
			for(int i = 0; i<all_objects.length; i++)
				{
				/*--- check if it's an obstacle and not self ---*/
				if (all_objects[i].isObstacle() &&
					(all_objects[i].getID() != unique_id))
					{
					Vec2 tmp = all_objects[i].getClosestPoint(
							position);
					if (tmp.r<obstacle_rangeM)
					tmp_objs[num_Obstacles++] = tmp;
					}
				}
			last_Obstacles = new Vec2[num_Obstacles];
			for(int i = 0; i<num_Obstacles; i++)
			last_Obstacles[i] = new Vec2(tmp_objs[i].x,
				tmp_objs[i].y);
			}
		Vec2[] retval = new Vec2[num_Obstacles];
		for(int i = 0; i<num_Obstacles; i++)
			retval[i] = new Vec2(last_Obstacles[i].x,
				last_Obstacles[i].y);
		return(retval);
		}


	private	double	kin_rangeM = 4.0;
	/**
	 * Set the maximum range at which a sensor reading should be considered
	 * kin.  Beyond this range, the readings are ignored.
	 * Also used by opponent sensor.
	 * The default range on startup is 1 meter.
	 * @param range the range in meters.
	 */
	public void setKinMaxRange(double range)
		{
		kin_rangeM = range;
		kin_sensor.setKinMaxRange(range);
		}


	private	double	obstacle_rangeM = 4.0;
	/**
	 * Set the maximum range at which a sensor reading should be considered
	 * an obstacle.  Beyond this range, the readings are ignored.
	 * The default range on startup is 1 meter.
	 * @param range the range in meters.
	 */
	public void setObstacleMaxRange(double range)
		{
		obstacle_rangeM = range;
		}


	/**
	 * Get the position of the robot in global coordinates.
	 * @param timestamp only get new information 
	 * 	if timestamp > than last call or timestamp == -1.
	 * @return the position.
	 * @see Simple#resetPosition
	 */
	public Vec2 getPosition(long timestamp)
		{
		return(new Vec2(position.x, position.y));
		}
		

	/**
	 * Get the position of the robot in global coordinates.
	 * @return the position.
	 * @see Simple#resetPosition
	 */
	public Vec2 getPosition()
		{
		return(new Vec2(position.x, position.y));
		}
		

	/**
	 * Reset the odometry of the robot in global coordinates.
	 * This might be done when reliable sensor information provides
	 * a very good estimate of the robot's location, or if you
	 * are starting the robot in a known location other than (0,0).
	 * Do this only if you are certain you're right!
	 * @param position the new position.
	 * @see Simple#getPosition
	 */
	public void resetPosition(Vec2 posit)
		{
		position.setx(posit.x);
		position.setx(posit.y);
		}


	/**
	*/
	public double getSteerHeading(long timestamp)
		{
		return(steer.t);
		}

	
	/**
	*/
	public void resetSteerHeading(double heading)
		{
		/* ensure in legal range */
		heading = Units.ClipRad(heading); 

		/* set the angle */
		steer.sett(heading);
		}


	private double desired_heading;
	/**
	*/
	public void setSteerHeading(long timestamp, double heading)
		{
		/* ensure in legal range */
		desired_heading = Units.ClipRad(heading);
		}
	
	
	private double desired_speed = 0;
	/**
	 * @see SocSmallSim#setSpeed
	 */ 
	public void setSpeed(long timestamp, double speed)
		{
		/* ensure legal range */
		if (speed > 1.0) speed = 1.0;
		else if (speed < 0) speed = 0;
		desired_speed = speed;
		}


	private double base_speed = MAX_TRANSLATION;
	/**
	 * @see SocSmallSim#setBaseSpeed
	 */
	public void setBaseSpeed(double speed)
		{
		if (speed > MAX_TRANSLATION) speed = MAX_TRANSLATION;
		else if (speed < 0) speed = 0;
		base_speed = speed;
		}


	/*--- Transceiver methods ---*/ 


	public void multicast(int[] ids, Message m)
		throws CommunicationException
		{
		transceiver.multicast(ids, m, all_objects);
		}

        public void broadcast(Message m)
		{
		transceiver.broadcast(m, all_objects);
		}

	public void unicast(int id, Message m) 
		throws CommunicationException
		{
		transceiver.unicast(id, m, all_objects);
		}

	public CircularBufferEnumeration getReceiveChannel()
		{
		return(transceiver.getReceiveChannel());
		}

	public void setCommunicationMaxRange(double m)
		{
		transceiver.setCommunicationMaxRange(m);
		}

	public void receive(Message m)
		{
		transceiver.receive(m);
		}
        
	public boolean connected()
                {
                return(true);
                }
	}