API tools faq
paste
Advertisement
kpfp_linux

prototype02 4:48am

kpfp_linux
Jun 29th, 2014
208
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
Java 8.43 KB | None | 0 0
raw download clone embed print report
  1. package bg;
  2.  
  3.  
  4. import org.encog.engine.network.activation.ActivationSigmoid;
  5. import org.encog.ml.data.basic.BasicMLData;
  6. import org.encog.ml.train.MLTrain;
  7. import org.encog.neural.data.NeuralDataSet;
  8. import org.encog.neural.data.basic.BasicNeuralDataSet;
  9. import org.encog.neural.networks.BasicNetwork;
  10. import org.encog.neural.networks.layers.BasicLayer;
  11. import org.encog.neural.networks.training.lma.LevenbergMarquardtTraining;
  12. import robocode.AdvancedRobot;
  13. import robocode.HitByBulletEvent;
  14. import robocode.Rules;
  15. import robocode.ScannedRobotEvent;
  16. import robocode.util.Utils;
  17.  
  18. import java.awt.*;
  19. import java.util.ArrayList;
  20. import java.util.concurrent.ConcurrentLinkedQueue;
  21.  
  22.  
  23.  
  24.  
  25. @SuppressWarnings("UnusedDeclaration")
  26. public class prototype02 extends AdvancedRobot {
  27.  
  28.     public static final int WAVE_NEURO_OUT = 7;
  29.     public static final int WAVE_NEURO_IN = 2;
  30.  
  31.     class IncomingWave {
  32.         public final Double x, y, firingDistance, bulletEnergy, perfectFiringAngle, bearing, heading, energy;
  33.         public final Long firingTime;
  34.         public Double hit = null;
  35.  
  36.         public IncomingWave(Double x, Double y, Double firingDistance, Long firingTime, Double bulletEnergy, Double perfectFiringAngle,
  37.                             Double bearing, Double heading, Double energy) {
  38.             this.x = x;
  39.             this.y = y;
  40.             this.firingDistance = firingDistance;
  41.             this.firingTime = firingTime;
  42.             this.bulletEnergy = bulletEnergy;
  43.             this.perfectFiringAngle = perfectFiringAngle;
  44.             this.bearing = bearing;
  45.             this.heading = heading;
  46.             this.energy = energy;
  47.         }
  48.     }
  49.  
  50.     class IncomingWaveML {
  51.         public final Double a,b,c,d,e,f;
  52.         public final Double out;
  53.         IncomingWaveML(Double a, Double b, Double c, Double d, Double e, Double f, Double out) {
  54.             this.a = a;
  55.             this.b = b;
  56.             this.c = c;
  57.             this.d = d;
  58.             this.e = e;
  59.             this.f = f;
  60.             this.out = out;
  61.         }
  62.     }
  63.  
  64.     private ConcurrentLinkedQueue<IncomingWave> waves = new ConcurrentLinkedQueue<IncomingWave>();
  65.     private Double enemyEnergy = null;
  66.     private Double enemyVelocity = null;
  67.     private BasicNetwork wavesNeuro = new BasicNetwork();
  68.     private ArrayList<IncomingWaveML> wavesNeuroTrain = new ArrayList<IncomingWaveML>();
  69.  
  70.     public prototype02() {
  71.         wavesNeuro.addLayer(new BasicLayer(new ActivationSigmoid(), true, WAVE_NEURO_IN)); // my (idealny kierunek, odległość)
  72.         wavesNeuro.addLayer(new BasicLayer(new ActivationSigmoid(), true, 5));
  73.         wavesNeuro.addLayer(new BasicLayer(new ActivationSigmoid(), true, 5));
  74.         wavesNeuro.addLayer(new BasicLayer(new ActivationSigmoid(), true, WAVE_NEURO_OUT)); // kierunek
  75.         wavesNeuro.getStructure().finalizeStructure();
  76.         wavesNeuro.reset();
  77.     }
  78.  
  79.     //x, y, distance, firingTime, enemyEnergyDrop, perfectFiringAngle, e.getBearingRadians(), e.getHeadingRadians(), e.getEnergy()
  80.     private void incomingWaveTrain(Double x, Double y, Double firingDistance, Double perfectFiringAngle, Double bearing, Double heading, Double energy, Double out) {
  81.         wavesNeuroTrain.add(new IncomingWaveML(x,y,firingDistance,perfectFiringAngle,bearing,heading,out));
  82.  
  83.         wavesNeuro.reset();
  84.         double input[][] = new double[wavesNeuroTrain.size()][WAVE_NEURO_IN];
  85.         double output[][] = new double[wavesNeuroTrain.size()][WAVE_NEURO_OUT];
  86.  
  87.         int i=0;
  88.         for(IncomingWaveML waveTrain : wavesNeuroTrain) {
  89.             input[i][0] = waveTrain.a;
  90.             input[i][1] = waveTrain.b;
  91.             output[i][0] = waveTrain.out;
  92.         }
  93.  
  94.         NeuralDataSet trainingSet = new BasicNeuralDataSet(input, output);
  95.         final MLTrain train = new LevenbergMarquardtTraining(wavesNeuro, trainingSet);
  96.  
  97.         for(i=0; i<100; i++) {
  98.             train.iteration();
  99.             if(train.getError() < 0.1) {
  100.                 break;
  101.             }
  102.         }
  103.     }
  104.  
  105.     private Double incomingWaveCompute(Double x, Double y, Double firingDistance, Double perfectFiringAngle, Double bearing, Double heading, Double energy) {
  106.         return wavesNeuro.compute(new BasicMLData(new double[]{x,y,firingDistance,perfectFiringAngle,bearing,heading,energy})).getData(0);
  107.     }
  108.  
  109.     @Override
  110.     public void run() {
  111.         turnRadarRightRadians(Double.POSITIVE_INFINITY);
  112.         //noinspection InfiniteLoopStatement
  113.         do {
  114.             scan();
  115.         } while (true);
  116.     }
  117.  
  118.     private boolean mathEq(Double x, Double y) {
  119.         return mathEq(x, y, 0.0001);
  120.     }
  121.  
  122.     private boolean mathEq(Double x, Double y, Double eps) {
  123.         return Math.abs(x-y) < eps;
  124.     }
  125.  
  126.     @Override
  127.     public void onScannedRobot(ScannedRobotEvent e) {
  128.         if(enemyEnergy != null && enemyEnergy > e.getEnergy()) {
  129.             Double relative_bearing = e.getBearingRadians() + getHeadingRadians();
  130.             Double x = getX() + e.getDistance() * Math.sin(relative_bearing);
  131.             Double y = getY() + e.getDistance() * Math.cos(relative_bearing);
  132.             Double distance = e.getDistance();
  133.             Long firingTime = getTime();
  134.             Double enemyEnergyDrop = enemyEnergy - e.getEnergy();
  135.             Double perfectFiringAngle = 180.0 + e.getBearing() + getHeading();
  136.             if (enemyEnergyDrop <= 3.0 && enemyEnergyDrop >= 0.1 && (enemyVelocity == null
  137.                     || (enemyVelocity - e.getVelocity() < 2.0
  138.                     && (((x >= 18.0001 && x <= getBattleFieldWidth() - 18.0001 && y >= 18.0001 && y <= getBattleFieldHeight() - 18.0001)
  139.                     || !mathEq(Rules.getWallHitDamage(enemyVelocity), enemyEnergyDrop)))))) {
  140.                         waves.add(new IncomingWave(x, y, distance, firingTime, enemyEnergyDrop, perfectFiringAngle, e.getBearingRadians(), e.getHeadingRadians(), e.getEnergy()));
  141.             }
  142.         }
  143.         enemyEnergy = e.getEnergy();
  144.         enemyVelocity = e.getVelocity();
  145.         double radarTurn = getHeadingRadians() + e.getBearingRadians() - getRadarHeadingRadians();
  146.         setTurnRadarRightRadians(2.0 * Utils.normalRelativeAngle(radarTurn)); // 2.0 for perfect lock
  147.     }
  148.  
  149.     @Override
  150.     public void onHitByBullet(HitByBulletEvent event) {
  151.         super.onHitByBullet(event);
  152.         if(!waves.isEmpty()) {
  153.             IncomingWave wave = waves.peek();
  154.             Double vbullet = 20 - 3 * wave.bulletEnergy; // robocode physics
  155.             Double distance = (getTime()-wave.firingTime) * vbullet;
  156.             if(   mathEq(event.getPower(), wave.bulletEnergy)
  157.                && mathEq(distance, wave.firingDistance, 25.5)) { // 25.5 ~= 18*sqrt(2) -- przekatna od centrum do "kantu" robota
  158.                 wave.hit = event.getBullet().getHeading() - wave.perfectFiringAngle;
  159.             }
  160.         }
  161.     }
  162.  
  163.     @Override
  164.     public void onPaint(Graphics2D g) {
  165.         super.onPaint(g);
  166.  
  167.  
  168.         int queue_toDelete = 0;
  169.         for(IncomingWave wave : waves) {
  170.             Double vbullet = 20 - 3 * wave.bulletEnergy; // robocode physics
  171.             Double distance = (getTime()-wave.firingTime) * vbullet;
  172.             if(distance.intValue() > wave.firingDistance) {
  173.                 queue_toDelete++;
  174.             }
  175.             int waveArc = 20;
  176.  
  177.             g.setColor(Color.GREEN);
  178.             g.drawArc((int)(wave.x-distance), (int)(wave.y-distance), 2*distance.intValue(), 2*distance.intValue(), wave.perfectFiringAngle.intValue()-waveArc, 2*waveArc);
  179.  
  180.             g.setColor(Color.BLACK);
  181.             Double tmp = Math.toRadians(wave.perfectFiringAngle);
  182.             g.drawLine(wave.x.intValue(), wave.y.intValue(), (int)(wave.x+distance*Math.sin(tmp)), (int)(wave.y+distance*Math.cos(tmp)));
  183.  
  184.             g.setColor(Color.RED);
  185.             Double res = incomingWaveCompute(wave.x, wave.y, wave.firingDistance, wave.perfectFiringAngle, wave.bearing, wave.heading, wave.energy);
  186.             Double tmp2 = Math.toRadians(wave.perfectFiringAngle+res);
  187.             g.drawLine(wave.x.intValue(), wave.y.intValue(), (int)(wave.x+distance*Math.sin(tmp2)), (int)(wave.y+distance*Math.cos(tmp2)));
  188.  
  189.  
  190.         }
  191.         for(; queue_toDelete > 0; queue_toDelete--) {
  192.             IncomingWave wave = waves.remove();
  193.             if(wave.hit != null) {
  194.                 incomingWaveTrain(wave.x, wave.y, wave.firingDistance, wave.perfectFiringAngle, wave.bearing, wave.heading, wave.energy, wave.hit);
  195.             }
  196.         }
  197.     }
  198. }
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!