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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):
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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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self.obstacles = 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.max_hp = config.INITIAL_HP
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self.hp = self.max_hp
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self.max_charge = config.INITIAL_CHARGE
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self.charge = self.max_charge
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self.collision_damage = config.COLLISION_DAMAGE
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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.fires = []
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self.num_fires = config.NUM_FIRES
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self.score = 0
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self.game_over = False
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self.won = False
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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._generate_fires()
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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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while len(self.fires) < self.num_fires and attempts < 1000:
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fx = random.randint(self.robot_radius, self.width - self.robot_radius)
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fy = random.randint(self.robot_radius, self.height - self.robot_radius)
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if self._point_collides_with_obstacle(fx, fy, self.robot_radius):
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continue
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if math.hypot(fx - self.start[0], fy - self.start[1]) < self.robot_radius * 2:
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continue
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if math.hypot(fx - self.finish[0], fy - self.finish[1]) < self.robot_radius * 2:
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continue
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self.fires.append(Fire(fx, fy, 15))
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attempts += 1
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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 send_speed_cmd(self, v, w):
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self.linear_speed = max(-1.0, min(1.0, v))
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self.angular_speed = max(-1.0, min(1.0, w))
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def send_fire_ext_burst_cmd(self):
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if self.charge <= 0:
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return 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.charge -= 1
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self.score += self.score_per_fire
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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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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 = abs(angle_to_fire - self.angle)
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angle_diff = min(angle_diff, 2*math.pi - angle_diff)
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return angle_diff < self.extinguish_angle / 2
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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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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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new_x = max(self.robot_radius, min(self.width - self.robot_radius, new_x))
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new_y = max(self.robot_radius, min(self.height - self.robot_radius, new_y))
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if self._point_collides_with_obstacle(new_x, new_y, self.robot_radius):
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self.hp -= self.collision_damage
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else:
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self.x, self.y = new_x, new_y
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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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if self.hp <= 0:
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self.game_over = True
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def draw(self):
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self.screen.fill((255,255,255))
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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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pygame.draw.circle(self.screen, (0,200,0), (int(self.finish[0]), int(self.finish[1])), self.robot_radius, 3)
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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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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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hp_text = self.font.render(f"HP: {self.hp}", True, (0,0,0))
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charge_text = self.font.render(f"Charge: {self.charge}", True, (0,0,0))
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score_text = self.font.render(f"Score: {self.score}", 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(score_text, (10, 70))
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self.screen.blit(fires_text, (10, 100))
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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 handle_events(self):
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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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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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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.hp = self.max_hp
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self.charge = self.max_charge
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self.score = 0
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self.game_over = False
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self.won = False
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self._generate_fires()
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def reset_position(self):
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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 get_score(self):
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return self.score
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def is_alive(self):
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return not self.game_over and not self.won
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def quit(self):
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pygame.quit()
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