void dumb_agent(BZRC MyTeam)
{
for(int i=1; i>0; i++)
{
MyTeam.speed(1,1.0);
MyTeam.speed(2,1.0);
MyTeam.shoot(1);
MyTeam.shoot(2);
sleep(5);
MyTeam.speed(1,0);
MyTeam.speed(2,0);
MyTeam.angvel(1, 1);
MyTeam.angvel(2, 1);
sleep(3);
MyTeam.angvel(1, 0);
MyTeam.angvel(2, 0);
MyTeam.shoot(1);
MyTeam.shoot(1);
}
}
int main(int argc, char *argv[]) {
const char *pcHost = "127.0.0.1";
int portpurple = 0;
int portgreen = 0;
int portblue = 0;
int portred = 0;
int option;
while ((option = getopt(argc,argv,"s:p:g:b:r:")) != -1) {
switch (option) {
case 'p':
portpurple = atoi(optarg);
break;
case 'g':
portgreen = atoi(optarg);
break;
case 'b':
portblue = atoi(optarg);
break;
case 'r':
portred = atoi(optarg);
break;
case 's':
pcHost = optarg;
break;
default:
// // cout << "client [-s IP address] [-c port], where c is the first char of the color" << endl;
exit(EXIT_FAILURE);
}
}
BZRC* blue = NULL;
BZRC* red = NULL;
BZRC* purple = NULL;
BZRC* green = NULL;
if(portred)
red = new BZRC(pcHost, portred, false);
if(portpurple)
purple = new BZRC(pcHost, portpurple, false);
if(portblue)
blue = new BZRC(pcHost, portblue, false);
if(portgreen)
green = new BZRC(pcHost, portgreen, false);
green->speed(0,0.2);
double sleepAmount = .5;
RandomAgent random(0, blue, 5);
random.move();
KalmanAgent kalmanGreen(0, purple, sleepAmount, 0, "green");
KalmanAgent kalmanBlue(0, purple, sleepAmount, 0, "blue");
KalmanAgent kalmanRed(0, purple, sleepAmount, 0, "red");
ofstream greenFile;
ofstream redFile;
ofstream blueFile;
ofstream trackedFile;
greenFile.open ("values-green.dat");
redFile.open ("values-red.dat");
blueFile.open ("values-blue.dat");
trackedFile.open("values.dat");
bool shoot = true;
time_t currentTime;
time_t prevTime;
time(&prevTime);
KalmanAgent trackedAgent = kalmanGreen;
for (int i = 0; i < 3; i++) {
//while (true){
bool stopped = false;
purple->speed(0,0);
random.move();
// greenFile << kalmanGreen.update(sleepAmount);
// blueFile << kalmanBlue.update(sleepAmount);
// redFile << kalmanRed.update(sleepAmount);
trackedAgent.update(sleepAmount);
Node n = trackedAgent.getPos();
// // cout << "enemy tank: " << n.x << " " << n.y << endl;
// // cout << "angle to enemy: " << changeInAngle(purple,n) << endl;
//while (abs(changeInAngle(purple,n)) > .005){
for (int i = 0; i < 15; ++i) {
if (shoot)
usleep(10000);//sleepAmount);
else
usleep(sleepAmount * 1000000);
time(¤tTime); /* get current time; same as: timer = time(NULL) */
double seconds = difftime(currentTime,prevTime);
prevTime = currentTime;
random.move();
trackedAgent.update(seconds);
// greenFile << kalmanGreen.update(seconds);
// blueFile << kalmanBlue.update(seconds);
// redFile << kalmanRed.update(seconds);
if (shoot){
Node n = trackedAgent.getPos();
double a = changeInAngle(purple,n);
purple->angvel(0, a*3);
}
n = trackedAgent.getPos();
}
purple->angvel(0,0);
stopped = false;
if (shoot) {
double shootTime = 5;
trackedAgent.predict(shootTime+8);
Node futurePos = trackedAgent.getPos();
// // cout << "predicted shot location: " << futurePos.x << ", " << futurePos.y << endl;
time(¤tTime); /* get current time; same as: timer = time(NULL) */
while (abs(changeInAngle(purple,futurePos)) > .005){
usleep(10000);//sleepAmount);
double a = changeInAngle(purple,futurePos);
purple->angvel(0, a*3);
}
purple->angvel(0,0);
time(&prevTime);
double seconds = difftime(currentTime,prevTime);
double timeleft = shootTime - seconds - getBulletTime(purple, futurePos);
if (timeleft > 0)
sleep(timeleft);
// // cout << "timeleft: " << timeleft << endl;
purple->shoot(0);
sleep(getBulletTime(purple, futurePos));
vector<tank_t> tanks;
green->get_mytanks(tanks);
// // cout << "actual position (noisy): " << tanks[0].pos[0] << ", " << tanks[0].pos[1] << endl;
trackedAgent.reset();
}
else {
break;
}
}
for (int i = 0; i < 10; i++){
usleep(sleepAmount * 1000000);
// cout << trackedAgent.predict(i*sleepAmount);
// greenFile << kalmanGreen.predict(i*(sleepAmount));
// blueFile << kalmanBlue.predict(i*(sleepAmount));
// redFile << kalmanRed.predict(i*(sleepAmount));
}
greenFile.close();
redFile.close();
blueFile.close();
if(purple)
delete purple;
if(red)
delete red;
if(blue)
delete blue;
if(green)
delete green;
return 0;
}