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dummy_simulation
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fixed heredity and saving stats

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master
Eliza Moscovskaya 2 weeks ago
parent 3c767f5c79
commit 79146f079b
4 changed files with 146 additions and 69 deletions
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2
.gitignore vendored
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@ -2,6 +2,8 @@ __pycache__/
*.pyc
*.pyo
*.pyd
*.yaml
.env
venv/
submodules/
stats/

2
config.py
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@ -53,7 +53,7 @@ class Config:
COLLISION_DAMAGE = 10
# Конус перед роботом
EXTINGUISH_RADIUS = 50
EXTINGUISH_RADIUS = 80
EXTINGUISH_ANGLE = 60
NUM_FIRES = 4

8
main.py
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@ -57,9 +57,15 @@ def main():
# Геометрический контроллер скоростей
arm_control = ArmController(cfg.ARM_CONTROL, mirror=cfg.MIRROR_CAMERA)
# Создаем папку для статистики
stats_dir = './stats'
if not os.path.exists(stats_dir):
os.makedirs(stats_dir)
print(f"Создана дирректория для статистики: {stats_dir}")
# Тип робота: симуляция - с игрой, дебаг - просто печать команды в консоль
if cfg.ROBOT_MODE == 'simulator':
robot = DummySimRobot(cfg)
robot = DummySimRobot(cfg, stats_path=stats_dir)
else:
robot = DebugRobot()

199
robot/simulated_robot.py
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@ -10,7 +10,18 @@ class Fire:
self.radius = radius
class DummySimRobot(RobotController):
def __init__(self, config):
def __init__(self, config, stats_path='./stats'):
super().__init__(
fire_ext_max_capacity=config.INITIAL_FIRE_CHARGE,
collision_damage=config.COLLISION_DAMAGE,
k_sof=config.SCORE_PER_FIRE,
k_cas=1,
k_asset=1,
k_hp=1,
k_charge=1,
fall_damage=10
)
pygame.init()
self.width = config.MAP_WIDTH
self.height = config.MAP_HEIGHT
@ -43,28 +54,15 @@ class DummySimRobot(RobotController):
except:
pass
self.max_hp = config.INITIAL_HP
self.hp = self.max_hp
self.max_fire_charge = config.INITIAL_FIRE_CHARGE
self.charge = self.max_fire_charge
self.collision_damage = config.COLLISION_DAMAGE
self.extinguish_radius = config.EXTINGUISH_RADIUS
self.extinguish_angle = math.radians(config.EXTINGUISH_ANGLE)
self.score_per_fire = config.SCORE_PER_FIRE
self.fires = []
self.num_fires = config.NUM_FIRES
self.fire_radius = config.FIRE_RADIUS
self.score = 0
self.game_over = False
self.won = False
self.extinguish_active = False
self.extinguish_timer = 0
self.extinguish_cooldown = 0
self.extinguish_cone_length = 80
self.invincibility_timer = 0
self.x, self.y = self.start
@ -72,8 +70,17 @@ class DummySimRobot(RobotController):
self.linear_speed = 0.0
self.angular_speed = 0.0
self.game_over = False
self.won = False
self.fires = []
self._generate_fires()
# Параметры для сохранения статистики
self.stats_path = stats_path
self._stats_saved = False
self._last_stats_path = None
def _generate_fires(self):
self.fires.clear()
attempts = 0
@ -121,62 +128,93 @@ class DummySimRobot(RobotController):
return True
return False
def _is_fire_in_front(self, fire):
"""Проверяет, находится ли огонь в зоне тушения"""
dx = fire.x - self.x
dy = fire.y - self.y
dist = math.hypot(dx, dy)
if dist > self.extinguish_radius:
return False
angle_to_fire = math.atan2(dy, dx)
angle_diff = angle_to_fire - self.angle
angle_diff = (angle_diff + math.pi) % (2*math.pi) - math.pi
return abs(angle_diff) <= self.extinguish_angle / 2
def send_speed_cmd(self, v, w):
self.linear_speed = max(-1.0, min(1.0, v))
self.angular_speed = max(-1.0, min(1.0, w))
"""Отправка команды скорости с проверкой заряда"""
self._check_time_init()
if self._charge_points == 0:
return 0, 0
'''
def send_fire_ext_burst_cmd(self):
if self.charge <= 0:
return False
for fire in self.fires[:]:
if self._is_fire_in_front(fire):
self.fires.remove(fire)
self.charge -= 1
self.score += self.score_per_fire
return True
return False
'''
v = min(max(-1, v), 1)
w = min(max(-1, w), 1)
self.linear_speed = v
self.angular_speed = w
return v, w
def send_fire_ext_burst_cmd(self):
"""Команда тушения огня"""
self._check_time_init()
if self.extinguish_cooldown > 0 or self.extinguish_active:
return False
if self.charge <= 0:
if self._fire_ext_capacity <= 0:
return False
self.extinguish_active = True
self.extinguish_timer = 30
self.extinguish_cooldown = 10
self.charge -= 1
self._fire_ext_capacity -= 1
cone_len = self.extinguish_cone_length
cone_angle_half = self.extinguish_angle / 2
extinguished = False
for fire in self.fires[:]:
dx = fire.x - self.x
dy = fire.y - self.y
dist = math.hypot(dx, dy)
if dist > cone_len:
continue
angle_to_fire = math.atan2(dy, dx)
angle_diff = angle_to_fire - self.angle
angle_diff = (angle_diff + math.pi) % (2*math.pi) - math.pi #[-π, π]
if abs(angle_diff) <= cone_angle_half:
if self._is_fire_in_front(fire):
self.fires.remove(fire)
self.score += self.score_per_fire
self._register_exted_sof({
'x': fire.x,
'y': fire.y,
'radius': fire.radius
})
extinguished = True
break
return extinguished
def send_fire_ext_pose_cmd(self, horizontal_pose, vertical_pose):
"""Команда позиции огнетушителя"""
self._check_time_init()
raise NotImplementedError("Fire extinguish not implemented in DummySimRobot")
def send_pick_asset_cmd(self):
"""Команда подбора объекта"""
self._check_time_init()
raise NotImplementedError("Pick asset not implemented in DummySimRobot")
def send_lights_cmd(self):
"""Команда включения света"""
self._check_time_init()
raise NotImplementedError("Turn on the light not implemented in DummySimRobot")
def send_fall_reset_cmd(self):
"""Команда сброса после падения"""
self._check_time_init()
raise NotImplementedError("Fall can't be implemented DummySimRobot")
def update(self, dt=1/30.0):
if self.game_over or self.won:
return
# Уменьшение заряда
if self.linear_speed != 0:
self._decrease_charge(abs(self.linear_speed), dt)
# Обновление таймеров
if self.invincibility_timer > 0:
self.invincibility_timer -= 1
if self.extinguish_timer > 0:
@ -196,18 +234,24 @@ class DummySimRobot(RobotController):
# Проверка: столкновение
if self._point_collides_with_obstacle(new_x, new_y, self.robot_radius):
if self.invincibility_timer == 0:
self.hp -= self.collision_damage
self._register_collision()
self.invincibility_timer = 30
else:
self.x, self.y = new_x, new_y
# Конец игры?
# Проверка победы/поражения
if math.hypot(self.x - self.finish[0], self.y - self.finish[1]) < self.robot_radius:
self.won = True
if self.hp <= 0:
self._save_statistics()
if self._hit_points <= 0:
self.game_over = True
self._save_statistics()
if self._charge_points <= 0:
self.game_over = True
self._save_statistics()
def draw(self):
"""Отрисовка симуляции"""
self.screen.fill((255,255,255))
# Препятствия
@ -228,7 +272,7 @@ class DummySimRobot(RobotController):
num_points = 20
points = [(self.x, self.y)]
half_angle = self.extinguish_angle / 2
cone_len = self.extinguish_cone_length
cone_len = self.extinguish_radius
for i in range(num_points + 1):
angle = self.angle - half_angle + (self.extinguish_angle) * (i / num_points)
x = self.x + cone_len * math.cos(angle)
@ -240,7 +284,7 @@ class DummySimRobot(RobotController):
# Робот
if self.invincibility_timer > 0 and (self.invincibility_timer % 6 < 3):
pass
pass # Мигание
else:
if self.robot_image:
rotated = pygame.transform.rotate(self.robot_image, -math.degrees(self.angle))
@ -256,14 +300,15 @@ class DummySimRobot(RobotController):
pygame.draw.polygon(self.screen, (0,0,255), [nose, left, right])
# Статистика
hp_text = self.font.render(f"HP: {self.hp}", True, (0,0,0))
charge_text = self.font.render(f"Charge: {self.charge}", True, (0,0,0))
score_text = self.font.render(f"Score: {self.score}", True, (0,0,0))
fires_text = self.font.render(f"Fires left: {len(self.fires)}", True, (0,0,0))
hp_text = self.font.render(f"HP: {self._hit_points}", True, (0,0,0))
charge_text = self.font.render(f"Charge: {self._charge_points:.1f}", True, (0,0,0))
fire_charge_text = self.font.render(f"Fire charges: {self._fire_ext_capacity}", True, (0,0,0))
score_text = self.font.render(f"Score: {self.get_score():.2f}", True, (0,0,0))
#fires_text = self.font.render(f"Fires left: {len(self.fires)}", True, (0,0,0))
self.screen.blit(hp_text, (10, 10))
self.screen.blit(charge_text, (10, 40))
self.screen.blit(score_text, (10, 70))
self.screen.blit(fires_text, (10, 100))
self.screen.blit(fire_charge_text, (10, 70))
self.screen.blit(score_text, (10, 100))
# Конец игры
if self.game_over:
@ -275,7 +320,19 @@ class DummySimRobot(RobotController):
pygame.display.flip()
def _save_statistics(self):
"""Сохраняет статистику при окончании игры"""
if not self._stats_saved:
self._last_stats_path = self.dump_stats(save_path=self.stats_path)
self._stats_saved = True
print(f"\n{'='*50}")
print(f"GAME {'WON' if self.won else 'OVER'}")
print(f"Stats saved: {self._last_stats_path}")
print(self.get_str_status())
print(f"{'='*50}\n")
def handle_events(self):
"""Обработка событий pygame"""
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False
@ -287,6 +344,7 @@ class DummySimRobot(RobotController):
return True
def step(self):
"""Один шаг симуляции"""
if not self.handle_events():
return False
self.update()
@ -295,22 +353,39 @@ class DummySimRobot(RobotController):
return True
def restart(self):
"""Перезапуск игры"""
self.x, self.y = self.start
self.angle = 0.0
self.linear_speed = 0.0
self.angular_speed = 0.0
self.hp = self.max_hp
self.charge = self.max_fire_charge
self.score = 0
# Сброс основных состояний
self._hit_points = self._start_hp
self._fire_ext_capacity = self._fire_ext_max_capacity
self._charge_points = self._start_charge
self._collisions.clear()
self._exted_sofs.clear()
self._found_casualty.clear()
self._found_assets.clear()
self._falls.clear()
self._start_time = None
# Сброс состояния симуляции
self.game_over = False
self.won = False
self.invincibility_timer = 0
self.extinguish_active = False
self.extinguish_timer = 0
self.extinguish_cooldown = 0
self._stats_saved = False
self._last_stats_path = None
# Новая генерация костров
self._generate_fires()
def reset_position(self):
"""Сброс позиции робота"""
if self.game_over or self.won:
return
self.x, self.y = self.start
@ -318,13 +393,7 @@ class DummySimRobot(RobotController):
self.linear_speed = 0.0
self.angular_speed = 0.0
def get_score(self):
return self.score
def is_alive(self):
return not self.game_over and not self.won
def quit(self):
"""Завершение pygame"""
pygame.quit()

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