Restructed Simulator to support multiple robots, Field now draws base field without scaling

lib/palette.rb

@@ -9,6 +9,9 @@ module TAC
     TIMECRAFTERS_SECONDARY = Gosu::Color.new(0xff_006000)
     TIMECRAFTERS_TERTIARY = Gosu::Color.new(0xff_00d000)
 
+    BLUE_ALLIANCE = Gosu::Color.new(0xff_000080)
+    RED_ALLIANCE = Gosu::Color.new(0xff_800000)
+
     TACNET_PRIMARY = Gosu::Color.new(0xff_003f7f)
     TACNET_SECONDARY = Gosu::Color.new(0xff_007f7f)
 

lib/simulator/field.rb

@@ -1,11 +1,10 @@
 module TAC
   class Simulator
     class Field
-      def initialize(container:, season:, simulation:, robot:)
+      def initialize(container:, season:, simulation:)
         @container = container
         @season = season
         @simulation = simulation
-        @robot = robot
 
         @position = CyberarmEngine::Vector.new
         @scale = 1
@@ -19,42 +18,42 @@ module TAC
       def draw
         Gosu.clip_to(@position.x, @position.y, @size, @size) do
           Gosu.translate(@position.x, @position.y) do
-            Gosu.scale(@scale) do
             draw_field
+            Gosu.scale(@scale) do
               self.send(:"draw_field_#{@season}")
 
-              @robot.draw
+              @simulation.robots.each(&:draw)
-              @simulation.__queue.first.draw if @simulation.__queue.first
+              @simulation.robots.each { |robot| robot.queue.first.draw if robot.queue.first }
             end
           end
         end
       end
 
       def draw_field
-        Gosu.draw_rect(0, 0, @field_size, @field_size, Gosu::Color::GRAY)
+        Gosu.draw_rect(0, 0, @field_size * @scale, @field_size * @scale, Gosu::Color::GRAY)
         6.times do |i| # Tile lines across
           next if i == 0
-          Gosu.draw_rect(@field_size / 6 * i, 0, 1, @field_size, Gosu::Color::BLACK)
+          Gosu.draw_rect((@field_size * @scale) / 6 * i, 0, 1, @field_size * @scale, Gosu::Color::BLACK)
         end
         6.times do |i| # Tile lines down
           next if i == 0
-          Gosu.draw_rect(0, @field_size / 6 * i, @field_size, 1, Gosu::Color::BLACK)
+          Gosu.draw_rect(0, (@field_size * @scale) / 6 * i, @field_size * @scale, 1, Gosu::Color::BLACK)
         end
       end
 
       def draw_field_skystone
         # blue bridge
-        Gosu.draw_rect(0, @field_size / 2 - 2, 49, 1, @blue)
+        Gosu.draw_rect(0, @field_size / 2 - 2, 48, 1, @blue)
-        Gosu.draw_rect(0, @field_size / 2 + 2, 49, 1, @blue)
+        Gosu.draw_rect(0, @field_size / 2 + 1, 48, 1, @blue)
 
         # mid bridge
-        Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 9.25, 49, 18.5, Gosu::Color.new(0xff_222222))
+        Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 9.25, 48, 18.5, Gosu::Color.new(0xff_222222))
-        Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 2, 49, 1, Gosu::Color::YELLOW)
+        Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 2, 48, 1, Gosu::Color::YELLOW)
-        Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 + 2, 49, 1, Gosu::Color::YELLOW)
+        Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 + 1, 48, 1, Gosu::Color::YELLOW)
 
         # blue bridge
-        Gosu.draw_rect(@field_size - 47, @field_size / 2 - 2, 49, 1, @red)
+        Gosu.draw_rect(@field_size - 48, @field_size / 2 - 2, 48, 1, @red)
-        Gosu.draw_rect(@field_size - 47, @field_size / 2 + 2, 49, 1, @red)
+        Gosu.draw_rect(@field_size - 48, @field_size / 2 + 1, 48, 1, @red)
 
         # blue build site
         Gosu.draw_quad(
@@ -73,25 +72,25 @@ module TAC
           )
 
         # blue depot
-        Gosu.draw_rect(@field_size - 23, @field_size - 23, 24, 2, @blue)
+        Gosu.draw_rect(@field_size - 24, @field_size - 24, 24, 2, @blue)
-        Gosu.draw_rect(@field_size - 23, @field_size - 23, 2, 24, @blue)
+        Gosu.draw_rect(@field_size - 24, @field_size - 24, 2, 24, @blue)
 
         # red depot
-        Gosu.draw_rect(-1,  @field_size - 23, 24, 2, @red)
+        Gosu.draw_rect(-1,  @field_size - 24, 24, 2, @red)
-        Gosu.draw_rect(22, @field_size - 23, 2, 24, @red)
+        Gosu.draw_rect(22, @field_size - 24, 2, 24, @red)
 
         # blue foundation
         Gosu.draw_rect(48, 4, 18.5, 34.5, @blue)
 
         # red foundation
-        Gosu.draw_rect(@field_size - (47 + 18.5), 4, 18.5, 34.5, @red)
+        Gosu.draw_rect(@field_size - (48 + 18.5), 4, 18.5, 34.5, @red)
 
         # stones
         6.times do |i|
           Gosu.draw_rect(48, @field_size - 8 * i - 8, 4, 8, Gosu::Color::YELLOW)
         end
         6.times do |i|
-          Gosu.draw_rect(@field_size - (47 + 4), @field_size - 8 * i - 8, 4, 8, Gosu::Color::YELLOW)
+          Gosu.draw_rect(@field_size - (48 + 4), @field_size - 8 * i - 8, 4, 8, Gosu::Color::YELLOW)
         end
       end
 

lib/simulator/robot.rb

@@ -2,12 +2,19 @@ module TAC
   class Simulator
     class Robot
       attr_accessor :position, :angle
-      attr_reader :width, :depth
+      attr_reader :alliance, :width, :depth
-      def initialize(width:, depth:)
+      def initialize(alliance:, width:, depth:)
+        @alliance = alliance
         @width, @depth = width, depth
 
         @position = CyberarmEngine::Vector.new
         @angle = 0
+
+        @queue = []
+
+        @unit = :ticks
+        @ticks_per_revolution = 240
+        @gear_ratio = 1
       end
 
       def draw
@@ -15,14 +22,155 @@ module TAC
           Gosu.rotate(@angle, @position.x, @position.y) do
             Gosu.draw_rect(@position.x - @width / 2, @position.y - @depth / 2, @width, @depth, Gosu::Color::BLACK)
             Gosu.draw_rect(@position.x - @width / 2 + 1, @position.y - @depth / 2 + 1, @width - 2, @depth - 2, Gosu::Color.new(0xff_808022))
-            Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, TAC::Palette::TIMECRAFTERS_PRIMARY)
+
+            if @alliance == :blue
+              Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, TAC::Palette::BLUE_ALLIANCE)
+            elsif @alliance == :red
+              Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, TAC::Palette::RED_ALLIANCE)
+            else
+              Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, @alliance)
+            end
             Gosu.draw_circle(@position.x, @position.y - @depth * 0.25, 2, 3, TAC::Palette::TIMECRAFTERS_TERTIARY)
           end
         end
       end
 
-      def update
+      def update(dt)
         @angle %= 360.0
+
+        if state = @queue.first
+          state.update(dt)
+
+          if state.complete?
+            @queue.delete(state)
+            @queue.first.start unless @queue.empty?
+          end
+        end
+      end
+
+      def set_unit(unit, units_per_revolution = unit)
+        case unit
+        when :ticks, :inches, :centimeters
+          @unit = unit
+        else
+          raise "Unsupported unit '#{unit.inspect}' exected :ticks, :inches or :centimeters"
+        end
+
+        @units_per_revolution = units_per_revolution
+      end
+
+      def set_gear_ratio(from, to)
+        @gear_ratio = Float(from) / Float(to)
+      end
+
+      def set_ticks_per_revolution(ticks)
+        @ticks_per_revolution = Integer(ticks)
+      end
+
+      def forward(distance, power = 0.5)
+        @queue << Move.new(robot: self, distance: distance, power: power)
+      end
+
+      def backward(distance, power = 1.0)
+        @queue << Move.new(robot: self, distance: -distance, power: power)
+      end
+
+      def turn(relative_angle, power = 1.0)
+        @queue << Turn.new(robot: self, relative_angle: relative_angle, power: power)
+      end
+
+      def speed
+        @ticks_per_revolution / @gear_ratio
+      end
+
+      def queue
+        @queue
+      end
+
+class State
+        def start
+        end
+
+        def draw
+        end
+
+        def update(dt)
+        end
+
+        def complete?
+          @complete
+        end
+      end
+
+      class Move < State
+        def initialize(robot:, distance:, power:)
+          @robot = robot
+          @distance = distance
+          @power = power
+        end
+
+        def start
+          @starting_position = @robot.position.clone
+          @goal = @starting_position.clone
+          @goal.x += Math.cos(@robot.angle.gosu_to_radians) * @distance
+          @goal.y += Math.sin(@robot.angle.gosu_to_radians) * @distance
+
+          @complete = false
+          @allowable_error = 3.0
+        end
+
+        def draw
+          Gosu.draw_line(@robot.position.x + @robot.width / 2, @robot.position.y + @robot.depth / 2, Gosu::Color::GREEN, @goal.x + @robot.width / 2, @goal.y + @robot.depth / 2, Gosu::Color::GREEN)
+          Gosu.draw_rect(@goal.x + (@robot.width / 2 - 2), @goal.y + (@robot.depth / 2 - 2), 4, 4, Gosu::Color::RED)
+        end
+
+        def update(dt)
+          speed = (@distance > 0 ? @power * dt : -@power * dt) * @robot.speed
+
+          if @robot.position.distance(@goal) <= @allowable_error
+            @complete = true
+            @robot.position = @goal
+          else
+            if speed > 0
+              @robot.position -= (@robot.position - @goal).normalized * speed
+            else
+              @robot.position += (@robot.position - @goal).normalized * speed
+            end
+          end
+        end
+      end
+
+      class Turn < State
+        def initialize(robot:, relative_angle:, power:)
+          @robot = robot
+          @relative_angle = relative_angle
+          @power = power
+        end
+
+        def start
+          @starting_angle = @robot.angle
+          @last_angle = @starting_angle
+          @complete = false
+          @allowable_error = 3.0
+        end
+
+        def update(dt)
+          target_angle = (@starting_angle + @relative_angle) % 360.0
+
+          if @robot.angle.between?(target_angle - @allowable_error, target_angle + @allowable_error)
+            @complete = true
+            @robot.angle = target_angle
+          elsif (@robot.angle - @last_angle).between?(target_angle - @allowable_error, target_angle + @allowable_error)
+            @complete = true
+            @robot.angle = target_angle
+          elsif target_angle > @starting_angle
+            @robot.angle += @power * dt * @robot.speed
+          elsif target_angle < @starting_angle
+            @robot.angle -= @power * dt * @robot.speed
+          end
+
+          @last_angle = @robot.angle
+        end
       end
     end
   end

lib/simulator/simulation.rb

@@ -1,176 +1,38 @@
 module TAC
   class Simulator
     class Simulation
-      attr_reader :robot
+      attr_reader :robots
       def initialize(source_code:, field_container:)
         @source_code = source_code
         @field_container = field_container
 
-        @robot = Simulator::Robot.new(width: 18, depth: 18)
+        @robots = []
-        @field = Field.new(simulation: self, robot: @robot, season: :skystone, container: @field_container)
+        @field = Field.new(simulation: self, season: :skystone, container: @field_container)
-        @queue = []
-
-        @unit = :ticks
-        @ticks_per_revolution = 240
-        @gear_ratio = 1
 
         @last_milliseconds = Gosu.milliseconds
       end
 
-      def __start
+      def start
         self.instance_eval(@source_code)
-        @queue.first.start unless @queue.empty?
+        @robots.each { |robot| robot.queue.first.start unless robot.queue.empty? }
       end
 
-      def __queue
+      def draw
-        @queue
-      end
-
-      def __draw
         @field.draw
       end
 
-      def __update
+      def update
         @field.update
-        @robot.update
+        @robots.each { |robot| robot.update((Gosu.milliseconds - @last_milliseconds) / 1000.0) }
-
-        if state = @queue.first
-          state.update((Gosu.milliseconds - @last_milliseconds) / 1000.0)
-
-          if state.complete?
-            @queue.delete(state)
-            @queue.first.start unless @queue.empty?
-          end
-        end
 
         @last_milliseconds = Gosu.milliseconds
       end
 
-      def create_robot(width:, height:)
+      def create_robot(alliance:, width:, depth:)
-        @robot = Simulator::Robot.new(width: width, height: height)
+        robot = Simulator::Robot.new(alliance: alliance, width: width, depth: depth)
-      end
+        @robots << robot
 
-      def set_unit(unit, units_per_revolution = unit)
+        return robot
-        case unit
-        when :ticks, :inches, :centimeters
-          @unit = unit
-        else
-          raise "Unsupported unit '#{unit.inspect}' exected :ticks, :inches or :centimeters"
-        end
-
-        @units_per_revolution = units_per_revolution
-      end
-
-      def set_gear_ratio(from, to)
-        @gear_ratio = Float(from) / Float(to)
-      end
-
-      def set_ticks_per_revolution(ticks)
-        @ticks_per_revolution = Integer(ticks)
-      end
-
-      def forward(distance, power = 0.5)
-        @queue << Move.new(simulation: self, distance: distance, power: power)
-      end
-
-      def backward(distance, power = 1.0)
-        @queue << Move.new(simulation: self, distance: -distance, power: power)
-      end
-
-      def turn(relative_angle, power = 1.0)
-        @queue << Turn.new(simulation: self, relative_angle: relative_angle, power: power)
-      end
-
-      def __speed
-        @ticks_per_revolution / @gear_ratio
-      end
-
-      class State
-        def start
-        end
-
-        def draw
-        end
-
-        def update(dt)
-        end
-
-        def complete?
-          @complete
-        end
-      end
-
-      class Move < State
-        def initialize(simulation:, distance:, power:)
-          @simulation = simulation
-          @robot = @simulation.robot
-          @distance = distance
-          @power = power
-        end
-
-        def start
-          @starting_position = @robot.position.clone
-          @goal = @starting_position.clone
-          @goal.x += Math.cos(@robot.angle.gosu_to_radians) * @distance
-          @goal.y += Math.sin(@robot.angle.gosu_to_radians) * @distance
-
-          @complete = false
-          @allowable_error = 3.0
-        end
-
-        def draw
-          Gosu.draw_line(@robot.position.x + @robot.width / 2, @robot.position.y + @robot.depth / 2, Gosu::Color::GREEN, @goal.x + @robot.width / 2, @goal.y + @robot.depth / 2, Gosu::Color::GREEN)
-          Gosu.draw_rect(@goal.x + (@robot.width / 2 - 2), @goal.y + (@robot.depth / 2 - 2), 4, 4, Gosu::Color::RED)
-        end
-
-        def update(dt)
-          speed = (@distance > 0 ? @power * dt : -@power * dt) * @simulation.__speed
-
-          if @robot.position.distance(@goal) <= @allowable_error
-            @complete = true
-            @robot.position = @goal
-          else
-            if speed > 0
-              @robot.position -= (@robot.position - @goal).normalized * speed
-            else
-              @robot.position += (@robot.position - @goal).normalized * speed
-            end
-          end
-        end
-      end
-
-      class Turn < State
-        def initialize(simulation:, relative_angle:, power:)
-          @simulation = simulation
-          @robot = @simulation.robot
-          @relative_angle = relative_angle
-          @power = power
-        end
-
-        def start
-          @starting_angle = @robot.angle
-          @last_angle = @starting_angle
-          @complete = false
-          @allowable_error = 3.0
-        end
-
-        def update(dt)
-          target_angle = (@starting_angle + @relative_angle) % 360.0
-
-          if @robot.angle.between?(target_angle - @allowable_error, target_angle + @allowable_error)
-            @complete = true
-            @robot.angle = target_angle
-          elsif (@robot.angle - @last_angle).between?(target_angle - @allowable_error, target_angle + @allowable_error)
-            @complete = true
-            @robot.angle = target_angle
-          elsif target_angle > @starting_angle
-            @robot.angle += @power * dt * @simulation.__speed
-          elsif target_angle < @starting_angle
-            @robot.angle -= @power * dt * @simulation.__speed
-          end
-
-          @last_angle = @robot.angle
-        end
       end
     end
   end

lib/states/simulator.rb

@@ -21,24 +21,42 @@ module TAC
             background Gosu::Color.new(0x88_ff8800)
 
             flow width: 1.0, height: 0.05 do
-              button get_image("#{TAC::ROOT_PATH}/media/icons/right.png"), image_width: THEME_ICON_SIZE, width: 0.49 do
+              button get_image("#{TAC::ROOT_PATH}/media/icons/right.png"), image_width: THEME_ICON_SIZE, width: 0.49, tip: "Run simulation" do
                 begin
                   @simulation = TAC::Simulator::Simulation.new(source_code: @source_code.value, field_container: @field_container)
-                  @simulation.__start
+                  @simulation.start
                 rescue SyntaxError, NameError, NoMethodError, TypeError, ArgumentError => e
+                  puts e.backtrace.reverse.join("\n")
+                  puts e
                   push_state(Dialog::AlertDialog, title: "#{e.class}", message: e)
                 end
               end
-              button get_image("#{TAC::ROOT_PATH}/media/icons/stop.png"), image_width: THEME_ICON_SIZE, width: 0.49 do
+              button get_image("#{TAC::ROOT_PATH}/media/icons/stop.png"), image_width: THEME_ICON_SIZE, width: 0.49, tip: "Stop simulation" do
-                @simulation.__queue.clear if @simulation
+                @simulation.queue.clear if @simulation
+              end
+              button get_image("#{TAC::ROOT_PATH}/media/icons/save.png"), image_width: THEME_ICON_SIZE, width: 0.49, tip: "Save source code" do
+                File.open("#{TAC::ROOT_PATH}/data/simulator.rb", "w") { |f| f.write @source_code.value }
               end
-              button get_image("#{TAC::ROOT_PATH}/media/icons/save.png"), image_width: THEME_ICON_SIZE, width: 0.49
 
               @simulation_status = label ""
             end
 
             stack width: 1.0, height: 0.95 do
-              @source_code = edit_box "backward 100\nturn 90\nforward 100\nturn -90\nforward 100\nturn -90\nforward 100", width: 1.0, height: 1.0
+              source_code = ""
+              if File.exist?("#{TAC::ROOT_PATH}/data/simulator.rb")
+                source_code = File.read("#{TAC::ROOT_PATH}/data/simulator.rb")
+              else
+                source_code =
+"robot = create_robot(alliance: :blue, width: 18, depth: 18)
+robot.backward 100
+robot.turn 90
+robot.forward 100
+robot.turn -90
+robot.forward 100
+robot.turn -90
+robot.forward 100"
+              end
+              @source_code = edit_box source_code, width: 1.0, height: 1.0
             end
           end
         end
@@ -48,13 +66,13 @@ module TAC
         super
 
         Gosu.flush
-        @simulation.__draw if @simulation
+        @simulation.draw if @simulation
       end
 
       def update
         super
 
-        @simulation.__update if @simulation
+        @simulation.update if @simulation
       end
     end
   end