void ConfigFile::processVcam(const xmlpp::Node* node,Vcam &vcam){
xmlpp::Node::NodeList list = node->get_children();
for(xmlpp::Node::NodeList::iterator iter = list.begin(); iter != list.end(); ++iter){
xmlpp::Node* child=dynamic_cast<const xmlpp::Node*>(*iter);
if(child->get_name()=="resw")
extractIntChar(child,vcam.resw);
else if(child->get_name()=="resh")
extractIntChar(child,vcam.resh);
else if(child->get_name()=="position")
extractPositionOrColor(child,vcam.position);
else if(child->get_name()=="relativeTo")
extractStringChar(child,vcam.linkName);
else if(child->get_name()=="orientation")
extractOrientation(child,vcam.orientation);
else if(child->get_name()=="name")
extractStringChar(child,vcam.name);
else if(child->get_name()=="baseline"){
extractFloatChar(child,vcam.baseLine);
} else if(child->get_name()=="frameId"){
extractStringChar(child,vcam.frameId);
} else if(child->get_name()=="parameters"){
vcam.parameters.reset(new Parameters());
processParameters(child,vcam.parameters.get());
} else if(child->get_name()=="showpath")
extractFloatChar(child,vcam.showpath);
}
}
void ConfigFile::processObject(const xmlpp::Node* node,Object &object){
xmlpp::Node::NodeList list = node->get_children();
for(xmlpp::Node::NodeList::iterator iter = list.begin(); iter != list.end(); ++iter){
xmlpp::Node* child=dynamic_cast<const xmlpp::Node*>(*iter);
if(child->get_name()=="name")
extractStringChar(child,object.name);
else if(child->get_name()=="file")
extractStringChar(child,object.file);
else if(child->get_name()=="position")
extractPositionOrColor(child,object.position);
else if(child->get_name()=="orientation")
extractOrientation(child,object.orientation);
else if(child->get_name()=="offsetp")
extractPositionOrColor(child,object.offsetp);
else if(child->get_name()=="offsetr")
extractPositionOrColor(child,object.offsetr);
else if(child->get_name()=="physics"){
object.physicProperties.reset(new PhysicProperties);
object.physicProperties->init();
processPhysicProperties(child,*object.physicProperties);
}
}
}
void ConfigFile::processDVLSensor(const xmlpp::Node* node, XMLDVLSensor &s){
xmlpp::Node::NodeList list = node->get_children();
for(xmlpp::Node::NodeList::iterator iter = list.begin(); iter != list.end(); ++iter){
xmlpp::Node* child=dynamic_cast<const xmlpp::Node*>(*iter);
if(child->get_name()=="position")
extractPositionOrColor(child,s.position);
else if(child->get_name()=="relativeTo")
extractStringChar(child,s.linkName);
else if(child->get_name()=="orientation")
extractOrientation(child,s.orientation);
else if(child->get_name()=="name")
extractStringChar(child,s.name);
else if(child->get_name()=="std")
extractFloatChar(child,s.std);
}
}
void ConfigFile::processMultibeamSensor(const xmlpp::Node* node, XMLMultibeamSensor &MB){
xmlpp::Node::NodeList list = node->get_children();
for(xmlpp::Node::NodeList::iterator iter = list.begin(); iter != list.end(); ++iter){
xmlpp::Node* child=dynamic_cast<const xmlpp::Node*>(*iter);
if(child->get_name()=="position")
extractPositionOrColor(child,MB.position);
else if(child->get_name()=="relativeTo")
extractStringChar(child,MB.linkName);
else if(child->get_name()=="orientation")
extractOrientation(child,MB.orientation);
else if(child->get_name()=="name")
extractStringChar(child,MB.name);
else if(child->get_name()=="initAngle")
extractFloatChar(child,MB.initAngle);
else if(child->get_name()=="finalAngle")
extractFloatChar(child,MB.finalAngle);
else if(child->get_name()=="angleIncr")
extractFloatChar(child,MB.angleIncr);
else if(child->get_name()=="range")
extractFloatChar(child,MB.range);
}
}
void ConfigFile::processVehicle(const xmlpp::Node* node,Vehicle &vehicle){
xmlpp::Node::NodeList list = node->get_children();
for(xmlpp::Node::NodeList::iterator iter = list.begin(); iter != list.end(); ++iter){
xmlpp::Node* child=dynamic_cast<const xmlpp::Node*>(*iter);
if(child->get_name()=="name")
extractStringChar(child,vehicle.name);
else if(child->get_name()=="file"){
string aux;
extractStringChar(child,aux);
processURDFFile(aux,vehicle);
}
else if(child->get_name()=="position")
extractPositionOrColor(child,vehicle.position);
else if(child->get_name()=="orientation")
extractOrientation(child,vehicle.orientation);
else if (child->get_name()=="jointValues")
processJointValues(child,vehicle.jointValues,vehicle.ninitJoints);
else if (child->get_name()=="virtualCamera"){
Vcam aux;
aux.init();
processVcam(child,aux);
vehicle.Vcams.push_back(aux);
}
else if (child->get_name()=="virtualRangeImage"){
Vcam aux;
aux.init();
aux.range=1;
processVcam(child,aux);
vehicle.VRangecams.push_back(aux);
} else if (child->get_name()=="rangeSensor"){
rangeSensor aux;
aux.init();
processRangeSensor(child,aux);
vehicle.range_sensors.push_back(aux);
} else if (child->get_name()=="objectPicker"){
rangeSensor aux;
aux.init();
processRangeSensor(child,aux);
vehicle.object_pickers.push_back(aux);
} else if (child->get_name()=="imu"){
Imu aux;
aux.init();
processImu(child,aux);
vehicle.imus.push_back(aux);
} else if (child->get_name()=="pressureSensor"){
XMLPressureSensor aux;
aux.init();
processPressureSensor(child,aux);
vehicle.pressure_sensors.push_back(aux);
} else if (child->get_name()=="gpsSensor"){
XMLGPSSensor aux;
aux.init();
processGPSSensor(child,aux);
vehicle.gps_sensors.push_back(aux);
} else if (child->get_name()=="dvlSensor"){
XMLDVLSensor aux;
aux.init();
processDVLSensor(child,aux);
vehicle.dvl_sensors.push_back(aux);
} else if (child->get_name()=="multibeamSensor"){
XMLMultibeamSensor aux;
aux.init();
processMultibeamSensor(child,aux);
vehicle.multibeam_sensors.push_back(aux);
}
}
}
void AIPlayer::cycle()
{
// If no falling flobo, no need to play
if (attachedGame->getFallingFlobo() == NULL || !attachedGame->isGameRunning())
{
return;
}
int currentLine = attachedGame->getFallingY();
int currentColumn = attachedGame->getFallingX();
int currentNumberOfBadFlobos = attachedGame->getNeutralFlobos();
int currentTotalNumberOfBadFlobos = attachedGame->getGameTotalNeutralFlobos();
// If we start with new flobos or restart because new bad Flobos came
if (attachedGame->isPhaseReady())
{
//fprintf(stderr, "Thinking\n");
// Reset the cycle counter
currentCycle = 0;
// Save we did make any decision yet
decisionMade = 0;
// Should not decide again if we didn't decide yet !
shouldRedecide = false;
lastNumberOfBadFlobos = currentNumberOfBadFlobos;
totalNumberOfBadFlobos = currentTotalNumberOfBadFlobos;
} else {
// If we did not start, test if we should restart because new bad flobos arrived
if (currentNumberOfBadFlobos != lastNumberOfBadFlobos) {
//fprintf(stderr, "RE-Thinking\n");
// Reset the cycle counter
currentCycle = 0;
// Save we did make any decision yet
decisionMade = 0;
// Should not decide again if we didn't decide yet !
shouldRedecide = true;
lastNumberOfBadFlobos = currentNumberOfBadFlobos;
totalNumberOfBadFlobos = currentTotalNumberOfBadFlobos;
}
}
// increment the cycle counter
currentCycle++;
// Test if we have to decide where to play
if (decisionMade < DISPATCHCYCLES)
{
// if so update the internal grid the first time
if (decisionMade == 0 && !shouldRedecide) extractGrid();
// then start to think
decide(decisionMade, params.thinkDepth);
// remember what we decided
decisionMade++;
// don't drop yet!!
readyToDrop = false;
// Do not move until we are sure
//if (decisionMade < DISPATCHCYCLES) return;
//if (decisionMade == DISPATCHCYCLES) fprintf(stderr, "Thought\n");
}
// Now move to the position we decided :
// If we can drop, then go on
if (readyToDrop)
{
if (internalGrid == NULL) extractGrid();
if ((FLOBOBAN_DIMY-1-currentLine) - ((* internalGrid)[currentColumn][HEIGHTS_ROW] + (objective.orientation == Below)?1:0) <= params.fastDropDelta) targetView.cycleGame();
}
// Else try to move at the specified frequency
else if ((currentCycle % params.speedFactor) == 0)
{
bool shouldMove;
bool shouldRotate;
bool couldntMove = false;
bool couldntRotate = false;
int curOrientation = attachedGame->getFallingCompanionDir();
// should we move or rotate
if (random()%2 == 0)
{
shouldMove = (currentColumn != objective.position.x);
shouldRotate = (!shouldMove) && (extractOrientation(curOrientation) != objective.orientation);
} else {
shouldRotate = (extractOrientation(curOrientation) != objective.orientation);
shouldMove = (!shouldRotate) && (currentColumn != objective.position.x);
}
// if no need to move or rotate we're ready to drop
readyToDrop = !(shouldMove || shouldRotate);
// Move if useful
if (shouldMove)
{
if (currentColumn < objective.position.x) targetView.moveRight();
else targetView.moveLeft();
// or decide again if not possible
couldntMove = (currentColumn == attachedGame->getFallingX());
}
// Rotate if useful
if (shouldRotate)
{
if (params.rotationMethod == 0)
{
if (rotationMatrix[revertOrientation(objective.orientation)][curOrientation] > 0)
targetView.rotateRight();
else
targetView.rotateLeft();
}
else if (params.rotationMethod < 0) targetView.rotateRight();
else if (params.rotationMethod > 0) targetView.rotateLeft();
// or decide again if not possible
couldntRotate = (curOrientation == attachedGame->getFallingCompanionDir());
}
// if need to move but impossible, decide again
if (couldntMove) {
decisionMade = 0;
//fprintf(stderr, "ReThink because couldn't move\n");;
}
}
lastLineSeen = currentLine;
}
void AIPlayer::decide(int partial, int depth)
{
//fprintf(stderr, " Decision %d on %d - Depth = %d\n",partial+1,DISPATCHCYCLES,depth);
if (partial == 0)
{
// get flobo binoms to drop
FloboState etat;
etat = attachedGame->getFallingState();
if (etat == FLOBO_EMPTY) return;
current.falling = extractColor(etat);
etat = attachedGame->getCompanionState();
if (etat == FLOBO_EMPTY) return;
current.companion = extractColor(etat);
current.orientation = extractOrientation(attachedGame->getFallingCompanionDir());
current.position.x = attachedGame->getFallingX();
current.position.y = FLOBOBAN_DIMY - attachedGame->getFallingY();
originalFlobo = current;
next.falling = extractColor(attachedGame->getNextFalling());
next.companion = extractColor(attachedGame->getNextCompanion());
next.orientation = Left;
next.position.x = 0;
next.position.y = IA_FLOBOBAN_DIMY+1;
bestl1=1;
foundOne = false;
bestEvaluation = 0;
}
switch (depth)
{
case 1:
for (unsigned int l1 = 1+partial; l1 <= MAXCOMBINATION; l1+=DISPATCHCYCLES)
{
// set position of binom 1
serialPosition(l1,¤t);
// reset evaluation
GridEvaluation evaluation1 = nullEvaluation;
GridState state1;
// drop the binom (including destroying eligible groups) and continue if game not lost
if (canReach(originalFlobo, current, internalGrid, 1) && dropBinom(current, internalGrid, &state1, &evaluation1))
{
evalWith(&state1, &nullEvaluation, &evaluation1);
if (foundOne == false || selectIfBetterEvaluation(&bestEvaluation, &evaluation1, current, &state1))
{
bestl1 = l1;
}
foundOne = true;
}
}
if (foundOne) serialPosition(bestl1,¤t);
objective = current;
break;
case 2:
for (unsigned int l1 = 1+partial; l1 <= MAXCOMBINATION; l1+=DISPATCHCYCLES)
{
// set position of binom 1
serialPosition(l1,¤t);
// reset evaluation
GridEvaluation evaluation1 = nullEvaluation;
GridState state1;
// drop the binom (including destroying eligible groups) and continue if game not lost
if (canReach(originalFlobo, current, internalGrid, 1) && dropBinom(current, internalGrid, &state1, &evaluation1))
{
for (unsigned int l2 = 1; l2 <= MAXCOMBINATION; l2++)
{
// set position of binom 1
serialPosition(l2,&next);
// copy evaluation
GridEvaluation evaluation2 = evaluation1;
GridState state1bis;
GridState state2;
dropNeutrals(lastNumberOfBadFlobos-evaluation1.floboSuppressed, totalNumberOfBadFlobos, &state1bis, &state1);
// drop the binom (including destroying eligible groups) and eval board if game not lost
if (canReach(originalFlobo, next, &state1bis, 1) && dropBinom(next, &state1bis, &state2, &evaluation2))
{
evalWith(&state2, &evaluation1, &evaluation2);
if (foundOne == false || selectIfBetterEvaluation(&bestEvaluation, &evaluation2, current, &state2))
{
bestl1 = l1;
}
foundOne = true;
}
}
}
}
if (foundOne) serialPosition(bestl1,¤t);
objective = current;
break;
default:
objective.position.x = (random() % IA_FLOBOBAN_DIMX);
objective.orientation = (FloboOrientation)(random() % 4);
break;
}
}
