From ca750c3b1955df25e4368ee49844020eb23d53d7 Mon Sep 17 00:00:00 2001 From: Cyberarm Date: Wed, 10 Jun 2020 11:33:38 -0500 Subject: [PATCH] Fleshed out simulator --- lib/simulator/field.rb | 86 ++++++++++++++++++++++++++++++++++--- lib/simulator/robot.rb | 9 +++- lib/simulator/simulation.rb | 53 +++++++++++++++++------ lib/states/simulator.rb | 26 +++++------ 4 files changed, 140 insertions(+), 34 deletions(-) diff --git a/lib/simulator/field.rb b/lib/simulator/field.rb index 743afcf..39e0ec3 100644 --- a/lib/simulator/field.rb +++ b/lib/simulator/field.rb @@ -1,30 +1,104 @@ module TAC class Simulator class Field - def initialize(container:, season:, robot:) + def initialize(container:, season:, simulation:, robot:) @container = container @season = season + @simulation = simulation @robot = robot @position = CyberarmEngine::Vector.new - @scale = CyberarmEngine::Vector.new(1, 1) + @scale = 1 @size = 0 + @field_size = 144 # inches [1 pxel = 1 inch] + + @blue = Gosu::Color.new(0xff_004080) + @red = Gosu::Color.new(0xff_800000) end def draw Gosu.clip_to(@position.x, @position.y, @size, @size) do - Gosu.draw_rect(@position.x, @position.y, @size, @size, Gosu::Color::GRAY) - # Gosu.scale(@scale.x, @scale.y) do - Gosu.translate(@position.x, @position.y) do + Gosu.translate(@position.x, @position.y) do + Gosu.scale(@scale) do + draw_field + self.send(:"draw_field_#{@season}") + @robot.draw + @simulation.__queue.first.draw if @simulation.__queue.first end - # end + end + end + end + + def draw_field + Gosu.draw_rect(0, 0, @field_size, @field_size, 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) + 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) + 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, 49, 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 - 2, 49, 1, Gosu::Color::YELLOW) + Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 + 2, 49, 1, Gosu::Color::YELLOW) + + # blue bridge + Gosu.draw_rect(@field_size - 47, @field_size / 2 - 2, 49, 1, @red) + Gosu.draw_rect(@field_size - 47, @field_size / 2 + 2, 49, 1, @red) + + # blue build site + Gosu.draw_quad( + 24 - 2, 0, @blue, + 24, 0, @blue, + 0, 24 - 2, @blue, + 0, 24, @blue + ) + + # red build site + Gosu.draw_quad( + @field_size - (24 - 2), 0, @red, + @field_size - (24 - 0), 0, @red, + @field_size, 24 - 2, @red, + @field_size, 24, @red + ) + + # blue depot + Gosu.draw_rect(@field_size - 23, @field_size - 23, 24, 2, @blue) + Gosu.draw_rect(@field_size - 23, @field_size - 23, 2, 24, @blue) + + # red depot + Gosu.draw_rect(-1, @field_size - 23, 24, 2, @red) + Gosu.draw_rect(22, @field_size - 23, 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) + + # 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) end end def update @position.x, @position.y = @container.x, @container.y @size = @container.width + @scale = @size.to_f / @field_size end end end diff --git a/lib/simulator/robot.rb b/lib/simulator/robot.rb index 629316d..b1989a9 100644 --- a/lib/simulator/robot.rb +++ b/lib/simulator/robot.rb @@ -10,8 +10,13 @@ module TAC end def draw - Gosu.rotate(@angle, @position.x, @position.y) do - Gosu.draw_rect(@position.x - @width / 2, @position.y - @depth / 2, @width, @depth, Gosu::Color::GREEN) + Gosu.translate(@width / 2, @depth / 2) do + 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) + Gosu.draw_circle(@position.x, @position.y - @depth * 0.25, 2, 3, TAC::Palette::TIMECRAFTERS_TERTIARY) + end end end diff --git a/lib/simulator/simulation.rb b/lib/simulator/simulation.rb index bb0e0a2..6515fd7 100644 --- a/lib/simulator/simulation.rb +++ b/lib/simulator/simulation.rb @@ -7,7 +7,7 @@ module TAC @field_container = field_container @robot = Simulator::Robot.new(width: 18, depth: 18) - @field = Field.new(robot: @robot, season: :skystone, container: @field_container) + @field = Field.new(simulation: self, robot: @robot, season: :skystone, container: @field_container) @queue = [] @unit = :ticks @@ -19,6 +19,11 @@ module TAC def __start self.instance_eval(@source_code) + @queue.first.start unless @queue.empty? + end + + def __queue + @queue end def __draw @@ -32,7 +37,10 @@ module TAC if state = @queue.first state.update((Gosu.milliseconds - @last_milliseconds) / 1000.0) - @queue.delete(state) if state.complete? + if state.complete? + @queue.delete(state) + @queue.first.start unless @queue.empty? + end end @last_milliseconds = Gosu.milliseconds @@ -61,23 +69,29 @@ module TAC @ticks_per_revolution = Integer(ticks) end - def forward(distance, power) + def forward(distance, power = 0.5) @queue << Move.new(simulation: self, distance: distance, power: power) end - def backward(distance, power) + def backward(distance, power = 1.0) @queue << Move.new(simulation: self, distance: -distance, power: power) end - def turn(relative_angle, power) + 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 + @ticks_per_revolution / @gear_ratio end class State + def start + end + + def draw + end + def update(dt) end @@ -92,26 +106,35 @@ module TAC @robot = @simulation.robot @distance = distance @power = power + end + def start @starting_position = @robot.position.clone @goal = @starting_position.clone - @goal.x += @distance * Math.cos(@robot.angle.gosu_to_radians) - @goal.y += @distance * Math.sin(@robot.angle.gosu_to_radians) + @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.position.y, Gosu::Color::GREEN, @goal.x, @goal.y, Gosu::Color::GREEN) + Gosu.draw_rect(@goal.x, @goal.y, 16, 16, Gosu::Color::RED) + end + def update(dt) - target = @starting_position + @goal speed = (@distance > 0 ? @power * dt : -@power * dt) * @simulation.__speed - # TODO: Fix not stopping if travelling at an angle - if @robot.position.distance(target) <= @allowable_error + if @robot.position.distance(@goal) <= @allowable_error @complete = true + @robot.position = @goal else - @robot.position.x += Math.cos(@robot.angle.gosu_to_radians) * speed - @robot.position.y += Math.sin(@robot.angle.gosu_to_radians) * speed + if speed > 0 + @robot.position -= (@robot.position - @goal).normalized * speed + else + @robot.position += (@robot.position - @goal).normalized * speed + end end end end @@ -122,7 +145,9 @@ module TAC @robot = @simulation.robot @relative_angle = relative_angle @power = power + end + def start @starting_angle = @robot.angle @last_angle = @starting_angle @complete = false @@ -134,8 +159,10 @@ module TAC 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 diff --git a/lib/states/simulator.rb b/lib/states/simulator.rb index 656f4c3..b5b4c68 100644 --- a/lib/states/simulator.rb +++ b/lib/states/simulator.rb @@ -13,28 +13,28 @@ module TAC end flow width: 1.0, height: 0.9 do - background Gosu::Color::GRAY - @field_container = stack width: 0.4, height: 1.0 do - background Gosu::Color::WHITE + background Gosu::Color.new(0xff_333333)..Gosu::Color::BLACK end stack width: 0.6, height: 1.0 do - background Gosu::Color::GREEN - - stack width: 1.0, height: 0.95 do - # background Gosu::Color::YELLOW - @source_code = edit_line "", width: 1.0, height: 1.0, text_size: 18 - end + background Gosu::Color.new(0x88_ff8800) flow width: 1.0, height: 0.05 do - background Gosu::Color::BLUE - - button "Run", text_size: 18, width: 0.49 do + button get_image("#{TAC::ROOT_PATH}/media/icons/right.png"), image_width: 18, width: 0.49 do @simulation = TAC::Simulator::Simulation.new(source_code: @source_code.value, field_container: @field_container) @simulation.__start end - button "Save", text_size: 18, width: 0.49 + button get_image("#{TAC::ROOT_PATH}/media/icons/stop.png"), image_width: 18, width: 0.49 do + @simulation.__queue.clear if @simulation + end + button get_image("#{TAC::ROOT_PATH}/media/icons/save.png"), image_width: 18, width: 0.49 + + @simulation_status = label "", text_size:18 + end + + stack width: 1.0, height: 0.95 do + @source_code = edit_line "backward 100; turn 90; forward 100; turn -90; forward 100; turn -90; forward 100", width: 1.0, height: 1.0, text_size: 18 end end end