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import pygame
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import math
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import random
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from submodules.robot_controller_base.robot_controller import RobotController
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class Fire:
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def __init__(self, x, y, radius):
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self.x = x
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self.y = y
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self.radius = radius
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class DummySimRobot(RobotController):
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def __init__(self, config, stats_path='./stats'):
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super().__init__(
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fire_ext_max_capacity=config.INITIAL_FIRE_CHARGE,
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collision_damage=config.COLLISION_DAMAGE,
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k_sof=config.SCORE_PER_FIRE,
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k_cas=1,
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k_asset=1,
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k_hp=1,
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k_charge=1,
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fall_damage=10
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)
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pygame.init()
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self.width = config.MAP_WIDTH
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self.height = config.MAP_HEIGHT
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self.screen = pygame.display.set_mode((self.width, self.height))
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pygame.display.set_caption("Robot Simulator – Extinguish Fires")
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self.clock = pygame.time.Clock()
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self.font = pygame.font.SysFont(None, 28)
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border_thickness = config.BORDER_THICKNESS
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if border_thickness > 0:
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border_obstacles = [
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(0, 0, self.width, border_thickness),
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(0, self.height - border_thickness, self.width, border_thickness),
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(0, 0, border_thickness, self.height),
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(self.width - border_thickness, 0, border_thickness, self.height)
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]
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self.obstacles = list(config.MAP_OBSTACLES) + border_obstacles
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else:
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self.obstacles = list(config.MAP_OBSTACLES)
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self.start = config.START_POS
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self.finish = config.FINISH_POS
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self.robot_radius = config.ROBOT_RADIUS
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self.robot_image = None
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if config.ROBOT_IMAGE_PATH:
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try:
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self.robot_image = pygame.image.load(config.ROBOT_IMAGE_PATH)
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self.robot_image = pygame.transform.scale(self.robot_image, (self.robot_radius*2, self.robot_radius*2))
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except:
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pass
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self.extinguish_radius = config.EXTINGUISH_RADIUS
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self.extinguish_angle = math.radians(config.EXTINGUISH_ANGLE)
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self.score_per_fire = config.SCORE_PER_FIRE
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self.num_fires = config.NUM_FIRES
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self.fire_radius = config.FIRE_RADIUS
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self.extinguish_active = False
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self.extinguish_timer = 0
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self.extinguish_cooldown = 0
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self.invincibility_timer = 0
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self.x, self.y = self.start
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self.angle = 0.0
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self.linear_speed = 0.0
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self.angular_speed = 0.0
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self.game_over = False
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self.won = False
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self.fires = []
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self._generate_fires()
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# Параметры для сохранения статистики
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self.stats_path = stats_path
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self._stats_saved = False
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self._last_stats_path = None
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def _generate_fires(self):
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self.fires.clear()
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attempts = 0
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margin = 30 # минимальное расстояние между центрами костров
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while len(self.fires) < self.num_fires and attempts < 2000:
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fx = random.randint(self.robot_radius + 10, self.width - self.robot_radius - 10)
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fy = random.randint(self.robot_radius + 10, self.height - self.robot_radius - 10)
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# Проверка: не на препятствии
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if self._point_collides_with_obstacle(fx, fy, self.robot_radius):
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attempts += 1
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continue
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# Проверка: не слишком близко к старту
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if math.hypot(fx - self.start[0], fy - self.start[1]) < self.robot_radius * 3:
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attempts += 1
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continue
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# Проверка: не слишком близко к финишу
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if math.hypot(fx - self.finish[0], fy - self.finish[1]) < self.robot_radius * 3:
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attempts += 1
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continue
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# Проверка: не пересекается с уже существующими кострами
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overlap = False
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for fire in self.fires:
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if math.hypot(fx - fire.x, fy - fire.y) < 2 * self.fire_radius + margin:
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overlap = True
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break
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if overlap:
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attempts += 1
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continue
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self.fires.append(Fire(fx, fy, self.fire_radius))
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attempts += 1
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print(f"Сгенерировано {len(self.fires)} очагов возгорания")
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def _point_collides_with_obstacle(self, x, y, radius):
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for ox, oy, ow, oh in self.obstacles:
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closest_x = max(ox, min(x, ox + ow))
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closest_y = max(oy, min(y, oy + oh))
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if math.hypot(x - closest_x, y - closest_y) < radius:
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return True
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return False
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def _is_fire_in_front(self, fire):
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"""Проверяет, находится ли огонь в зоне тушения"""
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dx = fire.x - self.x
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dy = fire.y - self.y
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dist = math.hypot(dx, dy)
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if dist > self.extinguish_radius:
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return False
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angle_to_fire = math.atan2(dy, dx)
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angle_diff = angle_to_fire - self.angle
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angle_diff = (angle_diff + math.pi) % (2*math.pi) - math.pi
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return abs(angle_diff) <= self.extinguish_angle / 2
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def send_speed_cmd(self, v, w):
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"""Отправка команды скорости с проверкой заряда"""
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self._check_time_init()
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if self._charge_points == 0:
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return 0, 0
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v = min(max(-1, v), 1)
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w = min(max(-1, w), 1)
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self.linear_speed = v
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self.angular_speed = w
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return v, w
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def send_fire_ext_burst_cmd(self):
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"""Команда тушения огня"""
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self._check_time_init()
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if self.extinguish_cooldown > 0 or self.extinguish_active:
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return False
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if self._fire_ext_capacity <= 0:
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return False
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self.extinguish_active = True
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self.extinguish_timer = 30
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self.extinguish_cooldown = 10
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self._fire_ext_capacity -= 1
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extinguished = False
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for fire in self.fires[:]:
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if self._is_fire_in_front(fire):
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self.fires.remove(fire)
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self._register_exted_sof({
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'x': fire.x,
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'y': fire.y,
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'radius': fire.radius
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})
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extinguished = True
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break
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return extinguished
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def send_fire_ext_pose_cmd(self, horizontal_pose, vertical_pose):
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"""Команда позиции огнетушителя"""
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self._check_time_init()
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raise NotImplementedError("Fire extinguish not implemented in DummySimRobot")
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def send_pick_asset_cmd(self):
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"""Команда подбора объекта"""
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self._check_time_init()
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raise NotImplementedError("Pick asset not implemented in DummySimRobot")
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def send_lights_cmd(self):
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"""Команда включения света"""
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self._check_time_init()
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raise NotImplementedError("Turn on the light not implemented in DummySimRobot")
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def send_fall_reset_cmd(self):
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"""Команда сброса после падения"""
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self._check_time_init()
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raise NotImplementedError("Fall can't be implemented DummySimRobot")
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def update(self, dt=1/30.0):
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if self.game_over or self.won:
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return
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# Уменьшение заряда
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if self.linear_speed != 0:
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self._decrease_charge(abs(self.linear_speed), dt)
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# Обновление таймеров
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if self.invincibility_timer > 0:
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self.invincibility_timer -= 1
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if self.extinguish_timer > 0:
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self.extinguish_timer -= 1
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if self.extinguish_timer == 0:
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self.extinguish_active = False
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if self.extinguish_cooldown > 0:
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self.extinguish_cooldown -= 1
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# Движение
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self.angle += self.angular_speed * dt * 2
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dx = self.linear_speed * math.cos(self.angle) * dt * 100
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dy = self.linear_speed * math.sin(self.angle) * dt * 100
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new_x = self.x + dx
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new_y = self.y + dy
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# Проверка: столкновение
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if self._point_collides_with_obstacle(new_x, new_y, self.robot_radius):
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if self.invincibility_timer == 0:
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self._register_collision()
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self.invincibility_timer = 30
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else:
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self.x, self.y = new_x, new_y
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# Проверка победы/поражения
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if math.hypot(self.x - self.finish[0], self.y - self.finish[1]) < self.robot_radius:
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self.won = True
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self._save_statistics()
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if self._hit_points <= 0:
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self.game_over = True
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self._save_statistics()
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if self._charge_points <= 0:
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self.game_over = True
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self._save_statistics()
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def draw(self):
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"""Отрисовка симуляции"""
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self.screen.fill((255,255,255))
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# Препятствия
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for ox, oy, ow, oh in self.obstacles:
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pygame.draw.rect(self.screen, (100,100,100), (ox, oy, ow, oh))
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# Финиш
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pygame.draw.circle(self.screen, (0,200,0), (int(self.finish[0]), int(self.finish[1])), self.robot_radius, 3)
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# Костры
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for fire in self.fires:
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pygame.draw.circle(self.screen, (255,0,0), (int(fire.x), int(fire.y)), fire.radius)
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pygame.draw.circle(self.screen, (255,100,0), (int(fire.x), int(fire.y)), fire.radius-3)
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# Конус тушения
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if self.extinguish_active:
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cone_surface = pygame.Surface((self.width, self.height), pygame.SRCALPHA)
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num_points = 20
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points = [(self.x, self.y)]
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half_angle = self.extinguish_angle / 2
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cone_len = self.extinguish_radius
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for i in range(num_points + 1):
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angle = self.angle - half_angle + (self.extinguish_angle) * (i / num_points)
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x = self.x + cone_len * math.cos(angle)
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y = self.y + cone_len * math.sin(angle)
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points.append((x, y))
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if len(points) > 2:
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pygame.draw.polygon(cone_surface, (0, 200, 255, 80), points)
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self.screen.blit(cone_surface, (0, 0))
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# Робот
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if self.invincibility_timer > 0 and (self.invincibility_timer % 6 < 3):
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pass # Мигание
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else:
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if self.robot_image:
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rotated = pygame.transform.rotate(self.robot_image, -math.degrees(self.angle))
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rect = rotated.get_rect(center=(int(self.x), int(self.y)))
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self.screen.blit(rotated, rect)
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else:
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nose = (self.x + self.robot_radius * math.cos(self.angle),
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self.y + self.robot_radius * math.sin(self.angle))
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left = (self.x + self.robot_radius * math.cos(self.angle + 2.5),
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self.y + self.robot_radius * math.sin(self.angle + 2.5))
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right = (self.x + self.robot_radius * math.cos(self.angle - 2.5),
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self.y + self.robot_radius * math.sin(self.angle - 2.5))
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pygame.draw.polygon(self.screen, (0,0,255), [nose, left, right])
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# Статистика
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hp_text = self.font.render(f"HP: {self._hit_points}", True, (0,0,0))
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charge_text = self.font.render(f"Charge: {self._charge_points:.1f}", True, (0,0,0))
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fire_charge_text = self.font.render(f"Fire charges: {self._fire_ext_capacity}", True, (0,0,0))
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score_text = self.font.render(f"Score: {self.get_score():.2f}", True, (0,0,0))
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#fires_text = self.font.render(f"Fires left: {len(self.fires)}", True, (0,0,0))
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self.screen.blit(hp_text, (10, 10))
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self.screen.blit(charge_text, (10, 40))
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self.screen.blit(fire_charge_text, (10, 70))
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self.screen.blit(score_text, (10, 100))
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# Конец игры
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if self.game_over:
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msg = self.font.render("GAME OVER – Press R to restart", True, (255,0,0))
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self.screen.blit(msg, (self.width//2 - 150, self.height//2))
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elif self.won:
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msg = self.font.render("YOU WIN! – Press R to restart", True, (0,100,0))
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self.screen.blit(msg, (self.width//2 - 120, self.height//2))
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pygame.display.flip()
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def _save_statistics(self):
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"""Сохраняет статистику при окончании игры"""
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if not self._stats_saved:
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self._last_stats_path = self.dump_stats(save_path=self.stats_path)
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self._stats_saved = True
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print(f"\n{'='*50}")
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print(f"GAME {'WON' if self.won else 'OVER'}")
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print(f"Stats saved: {self._last_stats_path}")
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print(self.get_str_status())
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print(f"{'='*50}\n")
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def handle_events(self):
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"""Обработка событий pygame"""
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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return False
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_r:
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self.restart()
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elif event.key == pygame.K_BACKSPACE:
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self.reset_position()
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return True
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def step(self):
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"""Один шаг симуляции"""
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if not self.handle_events():
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return False
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self.update()
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self.draw()
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self.clock.tick(30)
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return True
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def restart(self):
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"""Перезапуск игры"""
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self.x, self.y = self.start
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self.angle = 0.0
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self.linear_speed = 0.0
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self.angular_speed = 0.0
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# Сброс основных состояний
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self._hit_points = self._start_hp
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self._fire_ext_capacity = self._fire_ext_max_capacity
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self._charge_points = self._start_charge
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self._collisions.clear()
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self._exted_sofs.clear()
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self._found_casualty.clear()
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self._found_assets.clear()
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self._falls.clear()
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self._start_time = None
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# Сброс состояния симуляции
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self.game_over = False
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self.won = False
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self.invincibility_timer = 0
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self.extinguish_active = False
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self.extinguish_timer = 0
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self.extinguish_cooldown = 0
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self._stats_saved = False
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self._last_stats_path = None
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# Новая генерация костров
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self._generate_fires()
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def reset_position(self):
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"""Сброс позиции робота"""
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if self.game_over or self.won:
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return
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self.x, self.y = self.start
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self.angle = 0.0
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self.linear_speed = 0.0
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self.angular_speed = 0.0
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def quit(self):
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"""Завершение pygame"""
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pygame.quit()
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