Fleshed out simulator

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.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

lib/simulator/robot.rb

@@ -10,8 +10,13 @@ module TAC
       end
 
       def draw
+        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::GREEN)
+            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
 

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.x += Math.cos(@robot.angle.gosu_to_radians) * @distance
-          @goal.y += @distance * Math.sin(@robot.angle.gosu_to_radians)
+          @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(@goal) <= @allowable_error
-          if @robot.position.distance(target) <= @allowable_error
             @complete = true
+            @robot.position = @goal
           else
-            @robot.position.x += Math.cos(@robot.angle.gosu_to_radians) * speed
+            if speed > 0
-            @robot.position.y += Math.sin(@robot.angle.gosu_to_radians) * speed
+              @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

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
+            background Gosu::Color.new(0x88_ff8800)
-
-            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
 
             flow width: 1.0, height: 0.05 do
-              background Gosu::Color::BLUE
+              button get_image("#{TAC::ROOT_PATH}/media/icons/right.png"), image_width: 18, width: 0.49 do
-
-              button "Run", text_size: 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