hackerbots/client
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consider destination slightly before collision

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also: added verbose blocks for logging
This commit is contained in:
Stephen McQuay 2014-01-12 00:03:17 -08:00
parent a122577019
commit 5b8ec0b8ab
1 changed files with 42 additions and 10 deletions
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52
robot.go
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@ -44,7 +44,9 @@ type robot struct {
}
func (r *robot) negociate() (err error) {
log.Printf("%s: trying to connect to game '%s'", r.name, r.game.name)
if *verbose {
log.Printf("%s: trying to connect to game '%s'", r.name, r.game.name)
}
r.ws, err = connect(r.server, r.port)
if err != nil {
return errors.New(fmt.Sprintf("connection failure: %s", err))
@ -67,7 +69,9 @@ func (r *robot) negociate() (err error) {
if err != nil || idreq.Type == "failure" {
return errors.New(fmt.Sprintf("failure: %+v", idreq))
}
log.Printf("%s: idreq: %+v", r.name, idreq)
if *verbose {
log.Printf("%s: idreq: %+v", r.name, idreq)
}
err = websocket.JSON.Send(r.ws, struct {
Type string `json:"type"`
@ -85,7 +89,9 @@ func (r *robot) negociate() (err error) {
if r.game.Type != "gameparam" {
return errors.New("didn't receive a good gameparam")
}
log.Printf("%s: game parameters: %+v", r.name, r.game)
if *verbose {
log.Printf("%s: game parameters: %+v", r.name, r.game)
}
conf := ClientConfig{
ID: r.game.name,
@ -106,7 +112,9 @@ func (r *robot) negociate() (err error) {
return errors.New("failed to validate correct stats request")
}
r.playerId = handshake.Id
log.Printf("%s: handshake: %+v", r.name, handshake)
if *verbose {
log.Printf("%s: handshake: %+v", r.name, handshake)
}
return nil
}
@ -128,20 +136,25 @@ func (r *robot) play() {
log.Printf("%s: Connection lost", r.name)
return
}
if *verbose {
log.Printf("\n\n%#v\n\n", r.boardstate)
}
// if *verbose {
// log.Printf("\n\n%#v\n\n", r.boardstate)
// }
r.recon()
if len(r.boardstate.MyRobots) > 0 {
r.me = r.boardstate.MyRobots[0]
} else {
log.Println("continue")
continue
}
if *verbose {
log.Printf("%s before: %+v", r.name, r.moveto)
}
r.navigate()
if *verbose {
log.Printf("%s after: %+v", r.name, r.moveto)
}
instruction := map[string]Instruction{
r.me.Id: {
@ -193,7 +206,8 @@ func (r *robot) selectDirection() *govector.Point2d {
func (r *robot) probe(destination govector.Point2d) bool {
// XXX: make test for this
for i := 0; i < maxSearchIterations; i++ {
var i int
for i = 0; i < maxSearchIterations; i++ {
for _, v := range r.knownObstacles {
collided, _, _ := govector.RectIntersection(
v.Bounds,
@ -205,6 +219,9 @@ func (r *robot) probe(destination govector.Point2d) bool {
}
}
}
if *verbose {
log.Printf("%s: iterations to find destination: %d", r.name, i)
}
return true
}
@ -216,21 +233,36 @@ func (r *robot) navigate() {
}
if r.moveto == nil {
if *verbose {
log.Printf("%s: nil", r.name)
}
r.moveto = r.selectDirection()
}
if r.me.Collision {
if *verbose {
log.Printf("%s apparent collision", r.name)
}
r.moveto = r.selectDirection()
r.speed = 0
return
}
togo := r.me.Position.Sub(*r.moveto).Mag()
if togo < safeDistance {
if togo < safeDistance+5 {
if *verbose {
log.Printf("%s got to destination", r.name)
}
r.moveto = r.selectDirection()
}
if !r.probe(r.me.Position.Add(r.me.Heading.Scale(safeDistance))) {
if *verbose {
log.Printf("%s going to run into something", r.name)
}
r.speed = 0
if !r.probe(*r.moveto) {
if *verbose {
log.Printf("%s unsafe to move, choose new direction", r.name)
}
r.moveto = r.selectDirection()
}
}