From 0dc555d5275f35e92b72c24484b8b10fb011b2fd Mon Sep 17 00:00:00 2001 From: Stefano Germano Date: Wed, 14 Oct 2015 16:42:40 +0200 Subject: [PATCH] The agent of 2015 --- INSTALLATION | 123 + LICENSE | 8 + Makefile | 17 + README.md | 6 +- angryhex.sh | 77 + build.xml | 38 + config.properties | 19 + config.properties.tournament | 19 + dev.angryhex.sh | 393 +++ dlv/algorithm-new.dlv | 372 +++ dlv/algorithm-white.dlv | 400 +++ dlv/algorithm.dlv | 211 ++ dlv/asparse.dlv | 1 + dlv/calibrate.dlv | 37 + dlv/strategy.dlv | 35 + framework/Changelist | 37 + framework/LICENSE | 5 + framework/Readme(Server_Client) | 89 + framework/SourceFilesDescription.txt | 32 + framework/doc/ABDoc.pdf | Bin 0 -> 1388546 bytes framework/doc/ServerClientProtocols.pdf | Bin 0 -> 875428 bytes framework/external/jar-in-jar-loader.zip | Bin 0 -> 7269 bytes framework/plugin/jquery-1.7.2.min.js | 4 + framework/plugin/manifest.json | 12 + framework/plugin/script.js | 146 ++ framework/plugin/style.css | 14 + framework/src/ab/demo/ClientNaiveAgent.java | 362 +++ framework/src/ab/demo/LoadLevelAgent.java | 60 + framework/src/ab/demo/MainEntry.java | 144 + framework/src/ab/demo/NaiveAgent.java | 281 ++ framework/src/ab/demo/ShootingAgent.java | 76 + framework/src/ab/demo/abClientExample.cpp | 162 ++ framework/src/ab/demo/abTrajectory.java | 150 ++ framework/src/ab/demo/other/ActionRobot.java | 298 +++ .../src/ab/demo/other/ClientActionRobot.java | 383 +++ .../ab/demo/other/ClientActionRobotJava.java | 149 ++ framework/src/ab/demo/other/Env.java | 72 + .../src/ab/demo/other/LoadLevelSchema.java | 200 ++ .../src/ab/demo/other/RestartLevelSchema.java | 72 + .../src/ab/demo/other/ShootingSchema.java | 120 + framework/src/ab/demo/other/Shot.java | 134 + .../src/ab/planner/TrajectoryPlanner.java | 547 ++++ framework/src/ab/planner/abTrajectory.java | 146 ++ framework/src/ab/server/Proxy.java | 120 + framework/src/ab/server/ProxyMessage.java | 19 + .../proxy/message/ProxyClickMessage.java | 41 + .../proxy/message/ProxyDragMessage.java | 45 + .../proxy/message/ProxyMouseWheelMessage.java | 44 + .../proxy/message/ProxyScreenshotMessage.java | 35 + framework/src/ab/utils/ABUtil.java | 81 + framework/src/ab/utils/GameImageRecorder.java | 241 ++ framework/src/ab/utils/ImageSegFrame.java | 424 +++ framework/src/ab/utils/StateUtil.java | 97 + .../src/ab/utils/VisionPerformanceTest.java | 30 + framework/src/ab/vision/ABObject.java | 66 + framework/src/ab/vision/ABShape.java | 12 + framework/src/ab/vision/ABType.java | 32 + framework/src/ab/vision/BirdType.java | 6 + .../src/ab/vision/GameStateExtractor.java | 347 +++ framework/src/ab/vision/ShowSeg.java | 301 +++ framework/src/ab/vision/TestVision.java | 291 +++ framework/src/ab/vision/Vision.java | 159 ++ framework/src/ab/vision/VisionMBR.java | 1170 +++++++++ framework/src/ab/vision/VisionRealShape.java | 385 +++ framework/src/ab/vision/VisionUtils.java | 618 +++++ .../ab/vision/real/ConnectedComponent.java | 572 ++++ .../src/ab/vision/real/ImageSegmenter.java | 720 +++++ framework/src/ab/vision/real/LineSegment.java | 174 ++ framework/src/ab/vision/real/shape/Body.java | 53 + .../src/ab/vision/real/shape/Circle.java | 90 + framework/src/ab/vision/real/shape/Poly.java | 72 + framework/src/ab/vision/real/shape/Rect.java | 185 ++ .../src/ab/vision/resources/0endScreen.png | Bin 0 -> 1771 bytes .../src/ab/vision/resources/1endScreen.png | Bin 0 -> 1168 bytes .../src/ab/vision/resources/2endScreen.png | Bin 0 -> 1364 bytes .../src/ab/vision/resources/3endScreen.png | Bin 0 -> 1679 bytes .../src/ab/vision/resources/4endScreen.png | Bin 0 -> 1456 bytes .../src/ab/vision/resources/5endScreen.png | Bin 0 -> 1464 bytes .../src/ab/vision/resources/6endScreen.png | Bin 0 -> 1732 bytes .../src/ab/vision/resources/7endScreen.png | Bin 0 -> 1324 bytes .../src/ab/vision/resources/8endScreen.png | Bin 0 -> 1976 bytes .../src/ab/vision/resources/9endScreen.png | Bin 0 -> 1768 bytes .../src/ab/vision/resources/episodemenu.png | Bin 0 -> 3980 bytes .../src/ab/vision/resources/gamelost.png | Bin 0 -> 2585 bytes framework/src/ab/vision/resources/gamewon.png | Bin 0 -> 2778 bytes .../src/ab/vision/resources/gamewon1.png | Bin 0 -> 4793 bytes .../src/ab/vision/resources/gamewon2.png | Bin 0 -> 4834 bytes .../ab/vision/resources/levelselection.png | Bin 0 -> 3615 bytes framework/src/ab/vision/resources/loading.png | Bin 0 -> 3219 bytes .../src/ab/vision/resources/loading2.png | Bin 0 -> 8566 bytes .../src/ab/vision/resources/mainmenu.png | Bin 0 -> 2942 bytes .../src/external/ClientMessageEncoder.java | 152 ++ .../src/external/ClientMessageTable.java | 111 + old.angryhex.sh | 53 + scripts/client.sh | 3 + scripts/initenv.sh | 23 + scripts/install-abirdsplugin.sh | 14 + scripts/install-angryhex.sh | 31 + scripts/install-box2d.sh | 15 + scripts/install-hex.sh | 20 + scripts/install-opencv.sh | 38 + scripts/install-update.sh | 24 + scripts/pkg-agent.sh | 36 + scripts/provide-agent.sh | 11 + scripts/provide-plugin.sh | 9 + scripts/rebuild.sh | 15 + scripts/server.sh | 5 + scripts/update-angryhex-agent.sh | 44 + src/angrybirds-box2dplugin/Makefile | 24 + src/angrybirds-box2dplugin/compile.sh | 12 + src/angrybirds-box2dplugin/config.h | 43 + .../libdlvhexplugin-hexagentplugin.cpp | 2305 +++++++++++++++++ .../libpeerconnection.log | 0 src/angryhexclient/Configuration.java | 157 ++ src/angryhexclient/HexActionRobot.java | 29 + src/angryhexclient/HexAgent.java | 670 +++++ src/angryhexclient/HexMainEntry.java | 72 + src/angryhexclient/Memory.java | 92 + src/angryhexclient/OurVision.java | 1476 +++++++++++ src/angryhexclient/OurVisionFact.java | 151 ++ src/angryhexclient/Reasoner.java | 133 + src/angryhexclient/TargetReasoner.java | 120 + src/angryhexclient/VisionFact.java | 289 +++ .../strategy/BenchmarkStrategy.java | 120 + .../strategy/DeclarativeStrategy.java | 99 + src/angryhexclient/strategy/JavaStrategy.java | 81 + .../strategy/StrategyManager.java | 302 +++ .../strategy/StrategyReasoner.java | 74 + src/angryhexclient/util/DebugUtils.java | 415 +++ src/angryhexclient/util/LogFormatter.java | 48 + .../util/OutConsoleHandler.java | 23 + src/angryhexclient/util/Utils.java | 47 + version_info | 1 + 133 files changed, 19267 insertions(+), 1 deletion(-) create mode 100644 INSTALLATION create mode 100644 LICENSE create mode 100644 Makefile create mode 100644 angryhex.sh create mode 100644 build.xml create mode 100644 config.properties create mode 100644 config.properties.tournament create mode 100644 dev.angryhex.sh create mode 100644 dlv/algorithm-new.dlv create mode 100644 dlv/algorithm-white.dlv create mode 100644 dlv/algorithm.dlv create mode 100644 dlv/asparse.dlv create mode 100644 dlv/calibrate.dlv create mode 100644 dlv/strategy.dlv create mode 100644 framework/Changelist create mode 100644 framework/LICENSE create mode 100644 framework/Readme(Server_Client) create mode 100644 framework/SourceFilesDescription.txt create mode 100644 framework/doc/ABDoc.pdf create mode 100644 framework/doc/ServerClientProtocols.pdf create mode 100644 framework/external/jar-in-jar-loader.zip create mode 100644 framework/plugin/jquery-1.7.2.min.js create mode 100644 framework/plugin/manifest.json create mode 100644 framework/plugin/script.js create mode 100644 framework/plugin/style.css create mode 100644 framework/src/ab/demo/ClientNaiveAgent.java create mode 100644 framework/src/ab/demo/LoadLevelAgent.java create mode 100644 framework/src/ab/demo/MainEntry.java create mode 100644 framework/src/ab/demo/NaiveAgent.java create mode 100644 framework/src/ab/demo/ShootingAgent.java create mode 100644 framework/src/ab/demo/abClientExample.cpp create mode 100644 framework/src/ab/demo/abTrajectory.java create mode 100644 framework/src/ab/demo/other/ActionRobot.java create mode 100644 framework/src/ab/demo/other/ClientActionRobot.java create mode 100644 framework/src/ab/demo/other/ClientActionRobotJava.java create mode 100644 framework/src/ab/demo/other/Env.java create mode 100644 framework/src/ab/demo/other/LoadLevelSchema.java create mode 100644 framework/src/ab/demo/other/RestartLevelSchema.java create mode 100644 framework/src/ab/demo/other/ShootingSchema.java create mode 100644 framework/src/ab/demo/other/Shot.java create mode 100644 framework/src/ab/planner/TrajectoryPlanner.java create mode 100644 framework/src/ab/planner/abTrajectory.java create mode 100644 framework/src/ab/server/Proxy.java create mode 100644 framework/src/ab/server/ProxyMessage.java create mode 100644 framework/src/ab/server/proxy/message/ProxyClickMessage.java create mode 100644 framework/src/ab/server/proxy/message/ProxyDragMessage.java create mode 100644 framework/src/ab/server/proxy/message/ProxyMouseWheelMessage.java create mode 100644 framework/src/ab/server/proxy/message/ProxyScreenshotMessage.java create mode 100644 framework/src/ab/utils/ABUtil.java create mode 100644 framework/src/ab/utils/GameImageRecorder.java create mode 100644 framework/src/ab/utils/ImageSegFrame.java create mode 100644 framework/src/ab/utils/StateUtil.java create mode 100644 framework/src/ab/utils/VisionPerformanceTest.java create mode 100644 framework/src/ab/vision/ABObject.java create mode 100644 framework/src/ab/vision/ABShape.java create mode 100644 framework/src/ab/vision/ABType.java create mode 100644 framework/src/ab/vision/BirdType.java create mode 100644 framework/src/ab/vision/GameStateExtractor.java create mode 100644 framework/src/ab/vision/ShowSeg.java create mode 100644 framework/src/ab/vision/TestVision.java create mode 100644 framework/src/ab/vision/Vision.java create mode 100644 framework/src/ab/vision/VisionMBR.java create mode 100644 framework/src/ab/vision/VisionRealShape.java create mode 100644 framework/src/ab/vision/VisionUtils.java create mode 100644 framework/src/ab/vision/real/ConnectedComponent.java create mode 100644 framework/src/ab/vision/real/ImageSegmenter.java create mode 100644 framework/src/ab/vision/real/LineSegment.java create mode 100644 framework/src/ab/vision/real/shape/Body.java create mode 100644 framework/src/ab/vision/real/shape/Circle.java create mode 100644 framework/src/ab/vision/real/shape/Poly.java create mode 100644 framework/src/ab/vision/real/shape/Rect.java create mode 100644 framework/src/ab/vision/resources/0endScreen.png create mode 100644 framework/src/ab/vision/resources/1endScreen.png create mode 100644 framework/src/ab/vision/resources/2endScreen.png create mode 100644 framework/src/ab/vision/resources/3endScreen.png create mode 100644 framework/src/ab/vision/resources/4endScreen.png create mode 100644 framework/src/ab/vision/resources/5endScreen.png create mode 100644 framework/src/ab/vision/resources/6endScreen.png create mode 100644 framework/src/ab/vision/resources/7endScreen.png create mode 100644 framework/src/ab/vision/resources/8endScreen.png create mode 100644 framework/src/ab/vision/resources/9endScreen.png create mode 100644 framework/src/ab/vision/resources/episodemenu.png create mode 100644 framework/src/ab/vision/resources/gamelost.png create mode 100644 framework/src/ab/vision/resources/gamewon.png create mode 100644 framework/src/ab/vision/resources/gamewon1.png create mode 100644 framework/src/ab/vision/resources/gamewon2.png create mode 100644 framework/src/ab/vision/resources/levelselection.png create mode 100644 framework/src/ab/vision/resources/loading.png create mode 100644 framework/src/ab/vision/resources/loading2.png create mode 100644 framework/src/ab/vision/resources/mainmenu.png create mode 100644 framework/src/external/ClientMessageEncoder.java create mode 100644 framework/src/external/ClientMessageTable.java create mode 100644 old.angryhex.sh create mode 100644 scripts/client.sh create mode 100644 scripts/initenv.sh create mode 100644 scripts/install-abirdsplugin.sh create mode 100644 scripts/install-angryhex.sh create mode 100644 scripts/install-box2d.sh create mode 100644 scripts/install-hex.sh create mode 100644 scripts/install-opencv.sh create mode 100644 scripts/install-update.sh create mode 100644 scripts/pkg-agent.sh create mode 100644 scripts/provide-agent.sh create mode 100644 scripts/provide-plugin.sh create mode 100644 scripts/rebuild.sh create mode 100644 scripts/server.sh create mode 100644 scripts/update-angryhex-agent.sh create mode 100644 src/angrybirds-box2dplugin/Makefile create mode 100644 src/angrybirds-box2dplugin/compile.sh create mode 100644 src/angrybirds-box2dplugin/config.h create mode 100644 src/angrybirds-box2dplugin/libdlvhexplugin-hexagentplugin.cpp create mode 100644 src/angrybirds-box2dplugin/libpeerconnection.log create mode 100644 src/angryhexclient/Configuration.java create mode 100644 src/angryhexclient/HexActionRobot.java create mode 100644 src/angryhexclient/HexAgent.java create mode 100644 src/angryhexclient/HexMainEntry.java create mode 100644 src/angryhexclient/Memory.java create mode 100644 src/angryhexclient/OurVision.java create mode 100644 src/angryhexclient/OurVisionFact.java create mode 100644 src/angryhexclient/Reasoner.java create mode 100644 src/angryhexclient/TargetReasoner.java create mode 100644 src/angryhexclient/VisionFact.java create mode 100644 src/angryhexclient/strategy/BenchmarkStrategy.java create mode 100644 src/angryhexclient/strategy/DeclarativeStrategy.java create mode 100644 src/angryhexclient/strategy/JavaStrategy.java create mode 100644 src/angryhexclient/strategy/StrategyManager.java create mode 100644 src/angryhexclient/strategy/StrategyReasoner.java create mode 100644 src/angryhexclient/util/DebugUtils.java create mode 100644 src/angryhexclient/util/LogFormatter.java create mode 100644 src/angryhexclient/util/OutConsoleHandler.java create mode 100644 src/angryhexclient/util/Utils.java create mode 100644 version_info diff --git a/INSTALLATION b/INSTALLATION new file mode 100644 index 0000000..2de33e0 --- /dev/null +++ b/INSTALLATION @@ -0,0 +1,123 @@ +Installation for Ubuntu 13.04 on a 64-bit machine +------------------------------------------------- + +The included Makefile is intended to work for the latest Ubuntu release (13.04) on a 64-bit machine. + +It provides commands to do a full installation (including the dlvhex solver we rely on) with root privileges: + +make install + +BEFORE issuing: Please check the aptitude install command in file install-hex.sh in order to avoid unintended interference with the exiting machine setup. +Also you might wish to skip install-opencv.sh (but in this case please ensure a compliant path to the java libraries, cf. the end of this file). + +Moreover there are commands that can be used to update our agent software: + +make plugin + +for updating the dlvhex plugin our agent uses. + +make agent + +to install the java agent (without rebuilding class files and Client.jar), + +or + +make rebuild + +to install the java agent rebuilding the class files and Client.jar (using ant). + + +Starting the agent: +------------------- + +For starting the agent please issue + +./client.sh + + +Additional information: +----------------------- + +Find below some further information that may be of use if the installation fails or when installing on a different linux platform. + + +1. Please verify/make sure that the following software packages and libraries are installed: + +autoconf +automake +git-core +cmake +wget +pkg-config +libtool +libcurl4-openssl-dev (libcurl-devel) +libzip-dev(el) +libbz2-dev(el) +libboost-all-dev (boost 1.47) +bmagic (bitmagic) +ant +default-jdk + +on Ubuntu we use: +apt-get install aptitude +aptitude install git-core g++ autoconf automake wget cmake pkg-config libtool libcurl4-openssl-dev libzip-dev libbz2-dev libboost-all-dev bmagic libbox2d-dev libopencv-dev python-opencv + + +2. Install DLV: By copying the appropriate binary (x86-64-linux-elf-static for 64 bit machines) from + +http://www.dlvsystem.com/dlv/#1 + +- to the path (/usr/local/bin), +- making sure that it is executable on the system ("chmod +x" it!), and +- renaming it to `dlv' or creating a corresponding softlink to it. + + +3. Install dlvhex with dlv support: Building the latest version from the github + +github.com/hexhex + +as follows: + + - cd /tmp + - git clone --recursive https://github.com/hexhex/core.git + - cd core + - ./bootstrap.sh + - ./configure + - make + - make install + + +4. Build opencv for java support (if not yet done, otherwise please ensure a compliant path to the java libraries, cf. the end of this file). + + - git clone https://github.com/Itseez/opencv.git + - cd opencv + - git checkout 2.4 + - cmake -DBUILD_SHARED_LIBS=OFF + - make + - make install + + +5. Build Box2D version 2.2.1: + + - wget http://box2d.googlecode.com/files/Box2D_v2.2.1.zip + - unzip Box2D_v2.2.1.zip + - cd Box2D_v2.2.1/Box2D/Build + - cmake -D BOX2D_INSTALL=ON -D BOX2D_BUILD_SHARED=ON -D BOX2D_BUILD_STATIC=OFF .. + - make + - make install + + +6. For installing our agent we use script files (enclosed) that are prepared according to the following assumptions (on paths of the above installations). Please in case let us know any deviations of your installation. + +- python2.7 installed to /usr/lib + (path we use /usr/lib/pymodules/python2.7) +- Box2D installed to /usr + (path we use /usr/lib) +- OpenCV installed to /usr/lib + (paths we use /usr/lib and /usr/local/share/OpenCV/java) +- dlvhex installed to /usr/local + (paths we use /usr/local/include and /usr/local/bin/dlvhex2) +- dlvhex plugin directory exists with write permissions: + /usr/local/lib/dlvhex/plugins + + diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..89de80d --- /dev/null +++ b/LICENSE @@ -0,0 +1,8 @@ +Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases +Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + +This program is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + +You should have received a copy of the GNU Affero General Public License along with this program. If not, see . diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..654eb87 --- /dev/null +++ b/Makefile @@ -0,0 +1,17 @@ +PYTHONLIBS=/usr/lib/pymodules/python2.7 +OPENCVLIBS=/usr/local/share/OpenCV/java +OPENCVJAR=/usr/local/share/OpenCV/java +BOX2DLIBS=/usr/local/lib + +.PHONY: all java plugin clean + +all: java plugin + +java: + ant -lib framework/external/:${PYTHONLIBS}/:${OPENCVJAR}/opencv-246.jar:${OPENCVLIBS}/:${BOX2DLIBS}/ -f build.xml jar + +plugin: + make -C src/angrybirds-box2dplugin install + +clean: + ant -f build.xml clean diff --git a/README.md b/README.md index b5f53a1..3bc663f 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,6 @@ # Angry-HEX -An artificial player for the popular video game Angry Birds +Angry-HEX is an artificial player for the popular video game Angry Birds; it participated in the 2013, 2014 and 2015 [Angry Birds AI Competition](http://aibirds.org). + +The agent is based on declarative knowledge bases, and features a combination of traditional imperative programming and declarative programming that allows to achieve high flexibility in strategy design and knowledge modelling. In particular, it relies on the use of *Answer Set Programming* (*ASP*) and [*HEX programs*](http://www.kr.tuwien.ac.at/research/systems/dlvhex). + +*Logic programming* is used for decision tasks such as which target to hit at each shot (*tactic gameplay*) or which level to play at each turn, and which way (*strategic gameplay*). diff --git a/angryhex.sh b/angryhex.sh new file mode 100644 index 0000000..7dcb42c --- /dev/null +++ b/angryhex.sh @@ -0,0 +1,77 @@ +#!/bin/bash + +#------------------------------------------------------------------------------- + +SCR_ANGRYHEX=dev.angryhex.sh +ZIP_ANGRYHEX=angryhex.zip +DIR_ANGRYHEX=angryhex +URL_ANGRYHEX=https://www.dropbox.com/s/svg2rofn3m7t03m/angryhex.zip + +#------------------------------------------------------------------------------- + +B=`tput bold` +N=`tput sgr0 tput rmul` +U=`tput smul` + +usage() { + echo + echo "${B}SYNOPSIS${N}" + echo " ${B}./$(basename $0)${N} command [argument]" + echo + echo "${B}COMMANDS${N}" + echo + echo " ${B}install${N} [${U}all${N},dlv,dlvhex,box2d,agent]" + echo + echo " ${B}run${N}" + echo + echo " ${B}update${N}" + echo + + exit $1 +} + +#------------------------------------------------------------------------------- + +downloadAgent() { + rm -rf ${SCR_ANGRYHEX} + rm -rf ${ZIP_ANGRYHEX} + rm -rf ${DIR_ANGRYHEX} + apt-get -y install wget unzip + wget ${URL_ANGRYHEX} -O ${ZIP_ANGRYHEX} + unzip ${ZIP_ANGRYHEX} + chmod +x ${SCR_ANGRYHEX} +} + +ensureAgent() { + if [ ! -e ${SCR_ANGRYHEX} ]; then + downloadAgent + fi +} + +#------------------------------------------------------------------------------- + +CMD=$1 +ARG=$2 + +if [ -z $CMD ]; then + usage 1 +elif [ -z $ARG ]; then + case $CMD in + "install") ARG=all ;; + esac +fi + +case $CMD in + "install") + case $ARG in + "all" | "dlv" | "dlvhex" | "box2d" | "opencv" | "agent") + ensureAgent + ./${SCR_ANGRYHEX} $CMD $ARG + ;; + *) echo "Unknown argument $ARG" && usage 1 + esac + ;; + "update") downloadAgent && ./${SCR_ANGRYHEX} install all ;; + "run") ./${SCR_ANGRYHEX} run client ;; + *) echo "Invalid command: $CMD" && usage 1 +esac diff --git a/build.xml b/build.xml new file mode 100644 index 0000000..e7e8e7c --- /dev/null +++ b/build.xml @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/config.properties b/config.properties new file mode 100644 index 0000000..6b3741e --- /dev/null +++ b/config.properties @@ -0,0 +1,19 @@ +opencvnativepath=/usr/local/share/OpenCV/java/libopencv_java249.so +hexpath=dlvhex2 +usedlv=yes +hexaditionalarguments= +calibrationmode=no +reasoningfilename=algorithm-new.dlv +reasoningWhitefilename=algorithm-white.dlv +speedRatio=1.6 +speedRatio.red=1.9 +speedRatio.yellow=1.4 +speedRatio.blue=1.2 +speedRatio.black=1.35 +speedRatio.white=1.65 +targetyoffset=0.50 +teamID=27008 +tournamentmode=true +debug=true +fastshootthreshold=512 +shotmagnitude=10 diff --git a/config.properties.tournament b/config.properties.tournament new file mode 100644 index 0000000..92acd72 --- /dev/null +++ b/config.properties.tournament @@ -0,0 +1,19 @@ +opencvnativepath=/usr/local/share/OpenCV/java/libopencv_java249.so +hexpath=dlvhex2 +usedlv=yes +hexaditionalarguments= +calibrationmode=no +reasoningfilename=algorithm-new.dlv +reasoningWhitefilename=algorithm-white.dlv +speedRatio=1.6 +speedRatio.red=1.9 +speedRatio.yellow=1.4 +speedRatio.blue=1.2 +speedRatio.black=1.35 +speedRatio.white=1.65 +targetyoffset=0.50 +teamID=27008 +tournamentmode=true +debug=false +fastshootthreshold=512 +shotmagnitude=10 diff --git a/dev.angryhex.sh b/dev.angryhex.sh new file mode 100644 index 0000000..97edc07 --- /dev/null +++ b/dev.angryhex.sh @@ -0,0 +1,393 @@ +#!/bin/bash + +#------------------------------------------------------------------------------- + +UNAME=$(uname -v) +OSTYPE=unknown +if [[ ${UNAME} == *Darwin* ]]; then + OSTYPE=osx +elif [[ ${UNAME} == *Ubuntu* ]]; then + OSTYPE=ubuntu +else + echo "OS type not supported" +fi + +#------------------------------------------------------------------------------- + +if [[ ${OSTYPE} == osx ]]; then + DLV=dlv.i386-apple-darwin.bin +else + DLV=dlv.x86-64-linux-elf-static.bin +fi +DLV_URL=http://www.dlvsystem.com/files/${DLV} + +DLVHEX=core +DLVHEX_URL=https://github.com/hexhex/${DLVHEX}.git + +BOX2D=Box2D_v2.2.1 +BOX2D_URL=http://box2d.googlecode.com/files/${BOX2D}.zip + +OPENCV=opencv-2.4.9 +OPENCV_URL=http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip/download + +ANGRYHEX=angryhex + +#------------------------------------------------------------------------------- + +EMAIL=angryhex@mat.unical.it + +#------------------------------------------------------------------------------- + +B=`tput bold` +N=`tput sgr0 tput rmul` +U=`tput smul` + +F_LOG=$(pwd)/install.log + +usage() { + echo + echo "${B}SYNOPSIS${N}" + echo " ${B}./$(basename $0)${N} command [argument]" + echo + echo "${B}COMMANDS${N}" + echo + echo " ${B}install${N} [${U}all${N},dlv,dlvhex,box2d,agent,agent-java,agent-plugin]" + echo + echo " ${B}run${N} [${U}client${N},server]" + echo + echo " ${B}set${N} [release,develop]" + echo + echo " ${B}archive${N}" + echo + + exit $1 +} + +RUN() { + $@ >> ${F_LOG} 2>&1 && return + echo "FAIL" + echo + echo "Installation FAILED. Please send the file ${F_LOG} to ${EMAIL}." + exit 1 +} + +REQUIRE() { + if [[ ${OSTYPE} == ubuntu ]]; then + apt-get -y install $@ >> ${F_LOG} 2>&1 + fi +} + +pushdir() { + pushd $(pwd) &> /dev/null +} + +popdir() { + popd &> /dev/null +} + +#------------------------------------------------------------------------------- + +F_DEVELOP=.angryhex_dev + +setdevelop() { + touch ${F_DEVELOP} +} + +setrelease() { + rm -f ${F_DEVELOP} +} + +#------------------------------------------------------------------------------- + +runclient() { + cd ${D_AGENT} + java -jar Client.jar $@ +} + +runserver() { + cd ${D_AGENT} + java -jar ABServer.jar $@ +} + +#------------------------------------------------------------------------------- + +installdlv() { + pushdir + echo -n "Installing DLV....." + + # check if reinstall is forced + if [[ $1 != "-f" ]]; then + command -v dlv >> ${F_LOG} 2>&1 && echo "ALREADY INSTALLED" && return + fi + + REQUIRE wget + + RUN cd /tmp + RUN wget ${DLV_URL} -O ${DLV} + RUN chmod +x ${DLV} + RUN cp ${DLV} /usr/local/bin/dlv + + echo "SUCCESS" + popdir +} + +installdlvhex() { + pushdir + echo -n "Installing DLVHEX....." + + # check if reinstall is forced + if [[ $1 != "-f" ]]; then + command -v dlvhex2 >> ${F_LOG} 2>&1 && echo "ALREADY INSTALLED" && return + fi + + REQUIRE git-core g++ autoconf automake pkg-config libtool libltdl-dev libboost-all-dev libcurl4-openssl-dev + + RUN cd /tmp + RUN rm -rf ${DLVHEX} + RUN git clone --recursive ${DLVHEX_URL} + RUN cd ${DLVHEX} + RUN ./bootstrap.sh + RUN ./configure --without-buildclaspgringo + RUN make -j4 + RUN make install + + echo "SUCCESS" + popdir +} + +installbox2d() { + pushdir + echo -n "Installing Box2D....." + + # check if reinstall is forced + if [[ $1 != "-f" ]]; then + ld -lBox2D >> ${F_LOG} 2>&1 && echo "ALREADY INSTALLED" && return + fi + + REQUIRE wget unzip cmake libglu-dev libxi-dev build-essential + + RUN rm -rf /usr/local/include/Box2D/ + RUN cd /tmp + RUN rm -rf ${BOX2D} + RUN wget ${BOX2D_URL} + RUN unzip ${BOX2D} + RUN cd ${BOX2D}/Build + RUN cmake -DBOX2D_INSTALL=ON -DBOX2D_BUILD_SHARED=ON -DBOX2D_BUILD_STATIC=OFF -DBOX2D_BUILD_EXAMPLES=OFF .. + RUN make -j4 + RUN make install + + echo "SUCCESS" + popdir +} + +installopencv() { + pushdir + echo -n "Installing OpenCV....." + + REQUIRE wget unzip cmake ant default-jdk + + RUN cd /tmp + RUN rm -rf opencv* + RUN wget ${OPENCV_URL} -O ${OPENCV}.zip + RUN unzip ${OPENCV}.zip + RUN cd ${OPENCV} + RUN mkdir build + RUN cd build + RUN cmake -DBUILD_SHARED_LIBS=OFF .. + RUN make -j4 + RUN make install + + # install cv2.so + RUN echo "Checking if cv2.so was built" + if [ $(find /tmp/${OPENCV}/build -name cv2.so | wc -l) -ge 1 ]; then + RUN echo "Yes: installing cv2.so" + RUN cp $(find /tmp/${OPENCV}/build -name cv2.so | head) /usr/local/share/OpenCV/java/ + else + RUN echo "No: no installation required" + fi + echo "SUCCESS" + popdir +} + +installagent() { + pushdir + echo -n "Installing AngryHEX agent....." + + REQUIRE ant default-jdk g++-4.4 + + if [ -e ${F_DEVELOP} ]; then + rm -rf ${D_AGENT} + packjava + packplugin + + RUN cd ${D_AGENT} + RUN make all + else + RUN cd ${D_AGENT} + RUN make all + fi + echo "SUCCESS" + popdir +} + +installagentjava() { + pushdir + if [ -e ${F_DEVELOP} ]; then + packjava + else + echo "Individual building of components not possible in REMOTE mode" + return + fi + echo -n "Installing Java client....." + + RUN cd ${D_AGENT} + RUN make java + + echo "SUCCESS" + popdir +} + +installagentplugin() { + pushdir + if [ -e ${F_DEVELOP} ]; then + packplugin + else + echo "Individual building of components not possible in REMOTE mode" + return + fi + echo -n "Installing DLVHEX plugin....." + + RUN cd ${D_AGENT} + RUN make plugin + + echo "SUCCESS" + popdir +} + +#------------------------------------------------------------------------------- + +D_SRC=src # source +D_SCR=scripts # scripts TODO will be obsolete some time soon +D_FWK=framework # framework +D_ENC=dlv # encodings of hex programs +D_AGENT=angryhex # out directory + +F_ARCHIVE=angryhex.zip + +function PKG { + mkdir -p ${D_AGENT} &> /dev/null + rsync -r --cvs-exclude $1 ${D_AGENT}/$2 +} + +function PKGSRC { + mkdir -p ${D_AGENT}/src &> /dev/null + rsync -r --cvs-exclude $1 ${D_AGENT}/src/$2 +} + +packjava() { + rm -rf ${D_AGENT}/${D_SRC}/angryhexclient + PKGSRC ${D_SRC}/angryhexclient + PKGSRC ${D_FWK}/src/ + PKG ${D_FWK}/ABServer.jar + PKG ${D_FWK}/external + PKG ${D_FWK}/plugin + PKG ${D_ENC} + PKG build.xml + PKG ${D_SCR}/client.sh # TODO obsolete??? + PKG Makefile + + if [[ $1 == archive ]]; then + PKG config.properties.tournament config.properties + else + PKG config.properties + fi +} + +# ${DIR_PLUGIN} is the path the hex plugin +# - this path can be changed in order to use another plugin +# - the plugin folder must contain a Makefile with a 'install' target +DIR_PLUGIN=src/angrybirds-box2dplugin + +# DO NOT change ${OUT_PLUGIN} +OUT_PLUGIN=src/angrybirds-box2dplugin + +packplugin() { + rm -rf ${D_AGENT}/${OUT_PLUGIN} + rsync -a --cvs-exclude ${DIR_PLUGIN}/* ${D_AGENT}/${OUT_PLUGIN} + PKG Makefile +} + +archive() { + echo -n "Archiving AngryHEX....." + + REQUIRE zip + + RUN rm -rf ${D_AGENT} + RUN rm -rf ${F_ARCHIVE} + RUN packjava archive + RUN packplugin archive + RUN zip -r ${F_ARCHIVE} ${D_AGENT}/* + RUN zip ${F_ARCHIVE} $(basename $0) + echo "SUCCESS" +} + +#------------------------------------------------------------------------------- + +renewlog() { + rm -rf ${F_LOG} + # print system info to ${F_LOG} + uname -a >> ${F_LOG} 2>&1 + if [[ ${OSTYPE} == osx ]]; then + sw_vers >> ${F_LOG} 2>&1 + elif [[ ${OSTYPE} == ubuntu ]]; then + lsb_release -a >> ${F_LOG} 2>&1 + fi +} + +#------------------------------------------------------------------------------- + +CMD=$1 +ARG=$2 + +if [ -z $CMD ]; then + usage 1 +elif [ -z $ARG ]; then + case $CMD in + "install") ARG=all ;; + "run") ARG=client ;; + esac +fi + +case $CMD in + "install") + renewlog + case $ARG in + "all") installdlv && installdlvhex && installbox2d && installopencv && installagent ;; + "dlv") installdlv -f ;; + "dlvhex") installdlvhex -f ;; + "box2d") installbox2d -f ;; + "opencv") installopencv -f ;; + "agent") installagent ;; + "agent-java") installagentjava ;; + "agent-plugin") installagentplugin ;; + *) echo "Unknown argument $ARG" && usage 1 + esac + ;; + "run") + case $ARG in + "client") runclient ${@:3} ;; + "server") runserver ${@:3} ;; + *) echo "Unknown argument $ARG" && usage 1 + esac + ;; + "set") + case $ARG in + "release") setrelease ;; + "develop") setdevelop ;; + *) echo "Unknown argument $ARG" && usage 1 + esac + ;; + "archive") archive ;; + *) echo "Invalid command: $CMD" && usage 1 +esac + diff --git a/dlv/algorithm-new.dlv b/dlv/algorithm-new.dlv new file mode 100644 index 0000000..5a5c7af --- /dev/null +++ b/dlv/algorithm-new.dlv @@ -0,0 +1,372 @@ +#maxint=10000. +% +% This part sees to it that for every answer set exactly one target is generated. +% +% Trajectories are now, high, low, egg +% +trajectory(low). +trajectory(high). +trajectory(egg) :- birdType(whitebird). + +target(O, T) v not_target(O, T) :- veryShootable(O, T). + +:- target(X, _), target(Y, _), X != Y. +:- target(_, T1), target(_, T2), T1 != T2. +% +% +:- tap(T1), tap(T2), T1 != T2. +target_exists(a) :- target(_,_). +:- not target_exists(a). +% don't give up if no valuable target is found... +%noReasonedTargetFound :- not target_exists(a). + +% +% NEW OUTPUT PREDICATE IS targetData +% +targetData(X,Y,Z,T,0) :- target(X,Y), offset(T), tap(Z), Y != egg. + +% +% In egg mode, we will tap and offset this way +% +targetData(X,low,98,Up_Y,1) :- target(X,egg), highestPixel(Y), Up_Y = Y - 50. + +lowObjValue(T) :- boundingBox(O,_,_,Y,_,H,_), boundingBox(O1,_,_,Y1,_,H1,_), O != O1, T = Y - Hm, T1 = Y1 - H1m, Hm = H/2, H1m = H1/2, T1 < T, shouldCompute. +highestPixel(T) :- boundingBox(O,_,_,Y,_,H,_), T = Y-Hm, Hm = H / 2, not lowObjValue(T), shouldCompute. + +shouldCompute :- birdType(whitebird). + +offset(Upper) :- shootable(O,low,_,Upper), target(O,low), instability(O,I). %, I >= 80. +%offset(Center) :- shootable(O,low,Center,_), target(O,low), instability(O,I), I < 80. +offset(Center) :- shootable(O,high,Center,_), target(O,high). + +% +% Debug check +% +%:- offset(A), offset(B), A != B. + +% +% When targeting X, Z is the Y-th boundingBox hit in the trajectory T (starts from 0). +% +% For performance, this graph is built only for trajectories directed to shootable targets and for trajectories directed to pigs +% When the birdtype is white, next is enriched with egg trajectories. +% +next(X,Y,Z,T,Center) :- shootable(X,T,Center,_), &next[X,Center,T,V,Sx,Sy,Sw,Sh,boundingBox](Y,Z), velocity(V), slingshot(Sx,Sy,Sw,Sh), trajectory(T), T != egg. +next(X,Y,Z,T,Upper) :- shootable(X,T,_,Upper), &next[X,Upper,T,V,Sx,Sy,Sw,Sh,boundingBox](Y,Z), velocity(V), slingshot(Sx,Sy,Sw,Sh), trajectory(T), T != egg. + + +eggShootable(Obj,X) :- &clearsky[Obj,boundingBox](1), shouldCompute, ngobject(Obj,_,X,_,_,_,_). +nextEgg(Obj,0,Obj) :- eggShootable(Obj,Off). +nextEgg(Upmost,X,Down) :- nextEgg(Upmost,Y,Under), X = Y+1, firstbelow(Under,Down), X <= 500, #int(X). + +next(Upmost,Y,Obj,egg,Off) :- nextEgg(Upmost,Y,Obj), eggShootable(Upmost,Off). + +shootable(O, T, Shift, Up) :- &shootable[O,T,V,Sx,Sy,Sw,Sh,B,boundingBox](O,Shift,Up), + birdType(B), + velocity(V), + objectType(O,Type), + slingshot(Sx,Sy,Sw,Sh), + trajectory(T). + +%debugShootable(O, T) :- &next[O,T,V,Sx,Sy,Sw,Sh,boundingBox](0,O), +% velocity(V), +% ngobject(O,_,_,_,_,_,_), +% slingshot(Sx,Sy,Sw,Sh), +% trajectory(T). + +veryShootable(O,T) :- shootable(O,T,_,_). +veryShootable(O,egg) :- eggShootable(O,Off). +%veryShootable(Pig, T) :- +% objectType(Pig,pig), +% trajectory(T), not groundInTrajectory(Pig,T). + +%groundInTrajectory(Pig,T) :- next(Pig,X,Outer,T), objectType(Outer,ground), next(Pig,Y,Pig,T), X < Y. +outerTarget(Outer,Inner,T,Off) :- target(Inner,T), next(Inner,0,Outer,T,Off). + +hasSomeAbove(O) :- ot(O,Y). + +% +% computes probability of direct damage by following trajectory, starts with energy 100 +% +directDamage(Obj,P,E) :- outerTarget(Obj,Inner,Tr,_), objectType(Obj,T), birdType(Bird), + damageProbability(Bird,T,P), energyLoss(Bird,T,E), Tr != egg. + +directDamage(Obj,P,E) :- outerTarget(Obj,Inner,egg,_), objectType(Obj,T), + damageProbability(egg,T,P), energyLoss(egg,T,E). + + +directDamage(ObjB,P,Energy) :- Tr != egg, outerTarget(ObjC,ObjT,Tr,Off), objectType(ObjB,T_B), objectType(ObjA,T_A), birdType(Bird), + directDamage(ObjA,P_A,Energy_A), + energyLoss(Bird,T_A,E_L), + En_temp = E_L * Energy_A, + Energy = En_temp / 100, + Energy_A >= 10, + P_A > 0, + damageProbability(Bird,T_B,P_B), + + P_Temp = P_A * P_B, P = P_Temp / 100, + + next(ObjT,X,ObjA,Tr,Off), + Y = X+1, + next(ObjT,Y,ObjB,Tr,Off). + + +directDamage(ObjB,P,Energy) :- outerTarget(ObjC,ObjT,egg,Off), objectType(ObjB,T_B), objectType(ObjA,T_A), + directDamage(ObjA,P_A,Energy_A), + energyLoss(egg,T_A,E_L), + En_temp = E_L * Energy_A, + Energy = En_temp / 100, + Energy_A >= 10, + damageProbability(egg,T_B,P_B), + P_A > 0, + P_Temp = P_A * P_B, P = P_Temp / 100, + + next(ObjT,X,ObjA,egg,Off), + Y = X+1, + next(ObjT,Y,ObjB,egg,Off). + + +instability(O,I) :- &stability[W,H,A](V), boundingBox(O,_,_,_,W,H,A), I = 100-V. +pushability(O,I) :- instability(O,I), I >= MinPushability, objectType(O,Type), minPushability(Type,MinPushability). + +minPushability(wood,70). +minPushability(stone,90). +minPushability(ice,70). +minPushability(pig,0). +minPushability(tnt,20). + +% +% the pushDamage chain works only for low trajectories +% +% pushDamage(Obj,intrinsicDAMAGELikelihood,NextObjectDamageLikelihood) +% +pushDamage(Obj,P,P) :- pushability(Obj,P), outerTarget(Obj,I,low,_). +pushDamage(ObjB,P_A,P) :- outerTarget(ObjC,ObjT,Tr,Off), objectType(ObjB,T_B), objectType(ObjA,T_A), + maxDirectDamage(ObjA,P_A), + pushability(ObjB,P_B), + P_A > 0, + P_Temp = P_A * P_B, P = P_Temp / 100, + + next(ObjT,X,ObjA,low,Off), + Y = X+1, + next(ObjT,Y,ObjB,low,Off). + +pushDamage(ObjB,P_A,P) :- + pushDamage(ObjA,_,P_A), + P_A > 0, + canPush(ObjA,ObjB), + pushability(ObjB,P_B), + P_Temp = P_A * P_B, P = P_Temp / 100. + +% +% Pushability requires some minimum distance and objects at geometric range +% +canPush(ObjA,ObjB) :- &canpush[ngobject](ObjA,ObjB). + +% +% removal of Y makes X fall in internal simulation +% +ot(Y,X) :- &on_top_all[boundingBox](X,Y). +ot(Y,Z) :- ot(Y,X), ot(X,Z). + +fallDamage(Obj,P_N) :- directDamage(RemovedObj,P_R,E), + E >= 10, + P_R > 0, + ot(RemovedObj,Obj), + objectType(Obj,T), + materialFallImportance(T,P_N), + P_temp = P_R * P_N, P = P_temp / 100. + +fallDamage(Obj,P_N) :- pushDamage(RemovedObj,_,P_R), + P_R >= 50, + ot(RemovedObj,Obj), + objectType(Obj,T), + materialFallImportance(T,P_N), + P_temp = P_R * P_N, P = P_temp / 100. + +fallDamage(Obj,P_N) :- fallDamage(RemovedObj,P_R), + ot(RemovedObj,Obj), + objectType(Obj,T), + materialFallImportance(T,P_N), + P_R > 0, + P_temp = P_R * P_N, P = P_temp / 100. + + +maxFallDamage(Obj,P1) :- fallDamage(Obj,P1), not overFallDamage(Obj,P1). +overFallDamage(Obj,P1) :- fallDamage(Obj,P1), fallDamage(Obj,P2), P2 > P1. + +maxDirectDamage(Obj,P1) :- directDamage(Obj,P1,_), not overDirectDamage(Obj,P1). +overDirectDamage(Obj,P1) :- directDamage(Obj,P1,_), directDamage(Obj,P2,_), P2 > P1. + +maxPushDamage(Obj,P1) :- pushDamage(Obj,P1,_), not overPushDamage(Obj,P1). +overPushDamage(Obj,P1) :- pushDamage(Obj,P1,_), pushDamage(Obj,P2,_), P2 > P1. + +maxPushNDirectDamage(Obj,M) :- maxPushDamage(Obj,M), maxDirectDamage(Obj,M1), M >= M1. +maxPushNDirectDamage(Obj,M1) :- maxPushDamage(Obj,M), maxDirectDamage(Obj,M1), M1 > M. + +maxPushNDirectDamage(Obj,M) :- maxPushDamage(Obj,M), not existsDirectDamage(Obj). +maxPushNDirectDamage(Obj,M1) :- not existsPushDamage(Obj), maxDirectDamage(Obj,M1). + +existsDirectDamage(Obj) :- directDamage(Obj,_,_). +notExistsDirectDamage(Obj) :- not existsDirectDamage(Obj), objectType(Obj,_). + +:~ notExistsDirectDamage(Obj), notExistsPushDamage(Obj), objectType(Obj,tnt). [10:4] +:~ notExistsDirectDamage(Obj), notExistsPushDamage(Obj), objectType(Obj,pig). [10:4] +:~ notExistsDirectDamage(Obj), notExistsPushDamage(Obj). [10:1] + +:~ maxPushNDirectDamage(Obj,P), objectType(Obj,tnt), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxPushNDirectDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxPushNDirectDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:1] + +existsFallDamage(Obj) :- fallDamage(Obj,_). +notExistsFallsDamage(Obj) :- not existsFallDamage(Obj), objectType(Obj,_). + +:~ notExistsFallsDamage(Obj), objectType(Obj,tnt). [10:4] +:~ notExistsFallsDamage(Obj), objectType(Obj,pig). [10:4] +:~ notExistsFallsDamage(Obj). [10:1] + +:~ maxFallDamage(Obj,P), objectType(Obj,tnt), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxFallDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxFallDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:1] + +existsPushDamage(Obj) :- pushDamage(Obj,_,_). +notExistsPushDamage(Obj) :- not existsPushDamage(Obj), objectType(Obj,_). + +%:~ notExistsPushDamage(Obj), objectType(Obj,pig). [10:3] +%:~ notExistsPushDamage(Obj). [10:1] + +%:~ maxPushDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:2] +%:~ maxPushDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:1] + + +%pigDistance(O,D) :- boundingBox(O,pig,X,Y,_,_,_), Xquad = X * X, Yquad = Y * Y, D = Xquad + Yquad. +%pigDistance(O,D) :- boundingBox(O,pig,X,Y,_,_,_), D = X + Y. + +%:~ target(Pig,T), pigDistance(Pig,D). [D:2] + +%firstabove(Down,Under) :- &firstabove[Down,boundingBox](Under), objectType(Down,_). +firstbelow(Upper,Down) :- &firstbelow[Upper,boundingBox](Down), objectType(Upper,_). + +abovePig(Under,100) :- firstbelow(Under,Down), objectType(Down,pig). +abovePig(Under,P) :- firstbelow(Under,Down), abovePig(Down,P_D), Ptemp = P_D * 95, P = Ptemp / 100. + +fallsOnPigDamage(Obj,P_B) :- maxFallDamage(Obj,P_N), abovePig(Obj,P_P), Ptemp = P_N * P_P, P_B = Ptemp / 100. + +existsFallsOnPigDamage(Obj) :- fallsOnPigDamage(Obj,_). +notExistsFallsOnPigDamage(Obj) :- not existsFallsOnPigDamage(Obj), objectType(Obj,_). + +%:~ notExistsFallsOnPigDamage(Obj), objectType(Obj,pig). [10:3] +:~ notExistsFallsOnPigDamage(Obj). [10:3] + +%:~ fallsOnPigDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] +:~ fallsOnPigDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] + +aboveTNT(Under,100) :- firstbelow(Under,Down), objectType(Down,tnt). +aboveTNT(Under,P) :- firstbelow(Under,Down), aboveTNT(Down,P_D), Ptemp = P_D * 95, P = Ptemp / 100. + +fallsOnTNTDamage(Obj,P_B) :- maxFallDamage(Obj,P_N), aboveTNT(Obj,P_P), Ptemp = P_N * P_P, P_B = Ptemp / 100. + +existsFallsOnTNTDamage(Obj) :- fallsOnTNTDamage(Obj,_). +notExistsFallsOnTNTDamage(Obj) :- not existsFallsOnTNTDamage(Obj), objectType(Obj,_). + +%:~ notExistsFallsOnTNTDamage(Obj), objectType(Obj,tnt). [10:3] +:~ notExistsFallsOnTNTDamage(Obj). [10:3] + +%:~ fallsOnTNTDamage(Obj,P), objectType(Obj,tnt), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] +:~ fallsOnTNTDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] + +% +% Data and other background knowledge. Removes ground for streamlining computations +% +ngobject(O,T,A,B,C,D,E) :- boundingBox(O,T,A,B,C,D,E), T != ground. +objectType(O,T) :- ngobject(O,T,_,_,_,_,_). + + + +% +% Percentage perturbations on tap time depending on bird type +% +tap(85) :- birdType(redbird). +tap(90) :- birdType(yellowbird), target(_,high). +tap(88) :- birdType(yellowbird), target(_,low). +tap(85) :- birdType(bluebird). +tap(120) :- birdType(blackbird). +% +% A white not deploying eggs should not tap +% +tap(300) :- birdType(whitebird). + +damageProbability(redbird,pig,100). +damageProbability(bluebird,pig,100). +damageProbability(yellowbird,pig,100). +damageProbability(blackbird,pig,100). +damageProbability(whitebird,pig,100). + +damageProbability(redbird,tnt,100). +damageProbability(bluebird,tnt,100). +damageProbability(yellowbird,tnt,100). +damageProbability(blackbird,tnt,100). +damageProbability(whitebird,tnt,100). + +damageProbability(redbird,wood,95). +damageProbability(redbird,ice,80). + +nogoodForStone(redbird). +nogoodForStone(yellowbird). +nogoodForStone(bluebird). +nogoodForStone(whitebird). + +damageProbability(B,stone,0) :- nogoodForStone(B). +damageProbability(blackbird,stone,100). + +damageProbability(bluebird,wood,10). +damageProbability(bluebird,ice,100). +damageProbability(yellowbird,wood,100). +damageProbability(yellowbird,ice,10). + +damageProbability(blackbird,wood,90). +damageProbability(blackbird,ice,90). + +damageProbability(whitebird,wood,90). +damageProbability(whitebird,ice,80). + +damageProbability(egg,X,Y) :- damageProbability(blackbird,X,Y1), Y = Y1 -10. + +materialFallImportance(wood,90). +materialFallImportance(ice,80). +materialFallImportance(stone,100). + +materialFallImportance(pig,100). +materialFallImportance(tnt,100). + + +energyLoss(redbird,pig,90). +energyLoss(bluebird,pig,90). +energyLoss(yellowbird,pig,90). +energyLoss(blackbird,pig,90). +energyLoss(whitebird,pig,90). + +energyLoss(egg,X,Y) :- energyLoss(blackbird,X,Y1), Y = Y1 - 20. + +energyLoss(redbird,tnt,90). +energyLoss(bluebird,tnt,90). +energyLoss(yellowbird,tnt,90). +energyLoss(blackbird,tnt,90). +energyLoss(whitebird,tnt,90). + +energyLoss(redbird,wood,10). +energyLoss(redbird,ice,10). + +energyLoss(B,stone,0) :- nogoodForStone(B). +energyLoss(blackbird,stone,85). + +energyLoss(bluebird,wood,0). +energyLoss(bluebird,ice,90). +energyLoss(yellowbird,wood,90). +energyLoss(yellowbird,ice,0). + +energyLoss(whitebird,wood,10). +energyLoss(whitebird,ice,10). + +energyLoss(blackbird,wood,80). +energyLoss(blackbird,ice,80). + diff --git a/dlv/algorithm-white.dlv b/dlv/algorithm-white.dlv new file mode 100644 index 0000000..51e716f --- /dev/null +++ b/dlv/algorithm-white.dlv @@ -0,0 +1,400 @@ +#maxint=10000. +% +% This part sees to it that for every answer set exactly one target is generated. +% +% Trajectories are now, high, low, egg +% +trajectory(low). +trajectory(high). +trajectory(egg) :- birdType(whitebird). + +target(O, T) v not_target(O, T) :- veryShootable(O, T). + +:- target(X, _), target(Y, _), X != Y. +:- target(_, T1), target(_, T2), T1 != T2. +% +% +:- tap(T1), tap(T2), T1 != T2. +target_exists(a) :- target(_,_). +:- not target_exists(a). + +% Ensure that we generate targets in 'egg mode' +target_exists(egg) :- targetData(_,_,_,_,1). +:- not target_exists(egg). + +% +% NEW OUTPUT PREDICATE IS targetData +% +% DISABLE this rule because we are looking for targets with 'egg mode' +% targetData(X,Y,Z,T,0) :- target(X,Y), offset(T), tap(Z), Y != egg. + +% +% In egg mode, we will tap and offset this way +% +% +% Last attribute denotes eggmode +% +targetData(O,T,98,Y,1) :- target(O,egg), preferredbirdEggTrajectory(O,X,Y,T). + +preferredbirdEggTrajectory(O,X,Y,low) :- eggShootable(O,X,Y,low), eggShootable(O,X1,Y1,high). +preferredbirdEggTrajectory(O,X,Y,low) :- eggShootable(O,X,Y,low), not hasHighSEggShoot(O). +preferredbirdEggTrajectory(O,X,Y,high) :- eggShootable(O,X,Y,high), not hasLowEggShoot(O). + +hasHighEggShoot(O) :- eggShootable(O,X,Y,high). +hasLowEggShoot(O) :- eggShootable(O,X,Y,low). + +shouldCompute :- birdType(whitebird). + +offset(Upper) :- shootable(O,low,_,Upper), target(O,low), instability(O,I). %, I >= 80. +%offset(Center) :- shootable(O,low,Center,_), target(O,low), instability(O,I), I < 80. +offset(Center) :- shootable(O,high,Center,_), target(O,high). + +% +% Debug check +% +%:- offset(A), offset(B), A != B. + +% +% When targeting X, Z is the Y-th object hit in the trajectory T (starts from 0). +% +% For performance, this graph is built only for trajectories directed to shootable targets and for trajectories directed to pigs +% When the birdtype is whitebird, next is enriched with egg trajectories. +% +next(X,Y,Z,T,Center) :- shootable(X,T,Center,_), &next[X,Center,T,V,Sx,Sy,Sw,Sh,boundingBox](Y,Z), velocity(V), slingshot(Sx,Sy,Sw,Sh), trajectory(T), T != egg. +next(X,Y,Z,T,Upper) :- shootable(X,T,_,Upper), &next[X,Upper,T,V,Sx,Sy,Sw,Sh,boundingBox](Y,Z), velocity(V), slingshot(Sx,Sy,Sw,Sh), trajectory(T), T != egg. + + +trajectoryWhite(low). +trajectoryWhite(high). + +eggShootable_(Obj,X) :- &clearsky[Obj,boundingBox](1), shouldCompute, ngobject(Obj,_,X,_,_,_,_). +eggShootable(Obj,X,Y,T) :- eggShootable_(Obj,X), &bestwhite[Obj,T,V,Sx,Sy,Sw,Sh,boundingBox](Y), + boundingBox(Obj,_,X,_,_,_,_), velocity(V), slingshot(Sx,Sy,Sw,Sh), trajectoryWhite(T). + +% +% Dummy out of screen target. +% +boundingBox(1000, ice, 600, 100, 10, 10,"0.0"). + +madWhiteSlingshot(O,X,Y,W,H) :- slingshot(_,_,W,H), eggShootable(O,X,Y1,_), Y = Y1 - 10. +nextMadWhite(1000,Y,Z) :- &next[1000,Y,high,V,Sx,Sy,Sw,Sh,boundingBox](Y,Z), velocity(V), ngobject(1000,_,_,Y,_,_,_), + madWhiteSlingshot(O,Sx,Sy,Sw,Sh), eggShootable(O,_,_,_). + +nextEgg(Obj,0,Obj) :- eggShootable(Obj,Off,_,_). +nextEgg(Upmost,X,Down) :- nextEgg(Upmost,Y,Under), X = Y+1, firstbelow(Under,Down), X <= 500, #int(X). + +next(Upmost,Y,Obj,egg,Off) :- nextEgg(Upmost,Y,Obj), eggShootable(Upmost,Off,_,_). +next(Upmost,Y,Obj,whitebird,0) :- nextMadWhite(Upmost,Y,Obj). + + +shootable(O, T, Shift, Up) :- &shootable[O,T,V,Sx,Sy,Sw,Sh,B,boundingBox](O,Shift,Up), + birdType(B), + velocity(V), + objectType(O,Type), + slingshot(Sx,Sy,Sw,Sh), + trajectory(T). + +%debugShootable(O, T) :- &next[O,T,V,Sx,Sy,Sw,Sh,boundingBox](0,O), +% velocity(V), +% ngobject(O,_,_,_,_,_,_), +% slingshot(Sx,Sy,Sw,Sh), +% trajectory(T). + +veryShootable(O,T) :- shootable(O,T,_,_). +veryShootable(O,egg) :- eggShootable(O,Off). +%veryShootable(Pig, T) :- +% objectType(Pig,pig), +% trajectory(T), not groundInTrajectory(Pig,T). + +%groundInTrajectory(Pig,T) :- next(Pig,X,Outer,T), objectType(Outer,ground), next(Pig,Y,Pig,T), X < Y. +outerTarget(Outer,Inner,T,Off) :- target(Inner,T), next(Inner,0,Outer,T,Off). +outerTarget(Z,1000,whitebird,0) :- nextMadWhite(1000,0,Z). + +hasSomeAbove(O) :- ot(O,Y). + +% +% computes probability of direct damage by following trajectory, starts with energy 100 +% +directDamage(Obj,P,E) :- outerTarget(Obj,Inner,Tr,_), objectType(Obj,T), birdType(Bird), + damageProbability(Bird,T,P), energyLoss(Bird,T,E), Tr != egg. + +directDamage(Obj,P,E) :- outerTarget(Obj,Inner,egg,_), objectType(Obj,T), + damageProbability(egg,T,P), energyLoss(egg,T,E). + + +directDamage(ObjB,P,Energy) :- Tr != egg, outerTarget(ObjC,ObjT,Tr,Off), objectType(ObjB,T_B), objectType(ObjA,T_A), birdType(Bird), + directDamage(ObjA,P_A,Energy_A), + energyLoss(Bird,T_A,E_L), + En_temp = E_L * Energy_A, + Energy = En_temp / 100, + Energy_A >= 10, + P_A > 0, + damageProbability(Bird,T_B,P_B), + + P_Temp = P_A * P_B, P = P_Temp / 100, + + next(ObjT,X,ObjA,Tr,Off), + Y = X+1, + next(ObjT,Y,ObjB,Tr,Off). + + +directDamage(ObjB,P,Energy) :- outerTarget(ObjC,ObjT,egg,Off), objectType(ObjB,T_B), objectType(ObjA,T_A), + directDamage(ObjA,P_A,Energy_A), + energyLoss(egg,T_A,E_L), + En_temp = E_L * Energy_A, + Energy = En_temp / 100, + Energy_A >= 10, + damageProbability(egg,T_B,P_B), + P_A > 0, + P_Temp = P_A * P_B, P = P_Temp / 100, + + next(ObjT,X,ObjA,egg,Off), + Y = X+1, + next(ObjT,Y,ObjB,egg,Off). + + +instability(O,I) :- &stability[W,H,A](V), boundingBox(O,_,_,_,W,H,A), I = 100-V. +pushability(O,I) :- instability(O,I), I >= MinPushability, objectType(O,Type), minPushability(Type,MinPushability). + +minPushability(wood,70). +minPushability(stone,90). +minPushability(ice,70). +minPushability(pig,0). +minPushability(tnt,20). + +% +% the pushDamage chain works only for low trajectories +% +% pushDamage(Obj,intrinsicDAMAGELikelihood,NextObjectDamageLikelihood) +% +pushDamage(Obj,P,P) :- pushability(Obj,P), outerTarget(Obj,I,low,_). +pushDamage(ObjB,P_A,P) :- outerTarget(ObjC,ObjT,Tr,Off), objectType(ObjB,T_B), objectType(ObjA,T_A), + maxDirectDamage(ObjA,P_A), + pushability(ObjB,P_B), + P_A > 0, + P_Temp = P_A * P_B, P = P_Temp / 100, + + next(ObjT,X,ObjA,low,Off), + Y = X+1, + next(ObjT,Y,ObjB,low,Off). + +pushDamage(ObjB,P_A,P) :- + pushDamage(ObjA,_,P_A), + P_A > 0, + canPush(ObjA,ObjB), + pushability(ObjB,P_B), + P_Temp = P_A * P_B, P = P_Temp / 100. + +% +% Pushability requires some minimum distance and objects at geometric range +% +canPush(ObjA,ObjB) :- &canpush[ngobject](ObjA,ObjB). + +% +% removal of Y makes X fall in internal simulation +% +ot(Y,X) :- &on_top_all[boundingBox](X,Y). +ot(Y,Z) :- ot(Y,X), ot(X,Z). + +fallDamage(Obj,P_N) :- directDamage(RemovedObj,P_R,E), + E >= 10, + P_R > 0, + ot(RemovedObj,Obj), + objectType(Obj,T), + materialFallImportance(T,P_N), + P_temp = P_R * P_N, P = P_temp / 100. + +fallDamage(Obj,P_N) :- pushDamage(RemovedObj,_,P_R), + P_R >= 50, + ot(RemovedObj,Obj), + objectType(Obj,T), + materialFallImportance(T,P_N), + P_temp = P_R * P_N, P = P_temp / 100. + +fallDamage(Obj,P_N) :- fallDamage(RemovedObj,P_R), + ot(RemovedObj,Obj), + objectType(Obj,T), + materialFallImportance(T,P_N), + P_R > 0, + P_temp = P_R * P_N, P = P_temp / 100. + + +maxFallDamage(Obj,P1) :- fallDamage(Obj,P1), not overFallDamage(Obj,P1). +overFallDamage(Obj,P1) :- fallDamage(Obj,P1), fallDamage(Obj,P2), P2 > P1. + +maxDirectDamage(Obj,P1) :- directDamage(Obj,P1,_), not overDirectDamage(Obj,P1). +overDirectDamage(Obj,P1) :- directDamage(Obj,P1,_), directDamage(Obj,P2,_), P2 > P1. + +maxPushDamage(Obj,P1) :- pushDamage(Obj,P1,_), not overPushDamage(Obj,P1). +overPushDamage(Obj,P1) :- pushDamage(Obj,P1,_), pushDamage(Obj,P2,_), P2 > P1. + +maxPushNDirectDamage(Obj,M) :- maxPushDamage(Obj,M), maxDirectDamage(Obj,M1), M >= M1. +maxPushNDirectDamage(Obj,M1) :- maxPushDamage(Obj,M), maxDirectDamage(Obj,M1), M1 > M. + +maxPushNDirectDamage(Obj,M) :- maxPushDamage(Obj,M), not existsDirectDamage(Obj). +maxPushNDirectDamage(Obj,M1) :- not existsPushDamage(Obj), maxDirectDamage(Obj,M1). + +existsDirectDamage(Obj) :- directDamage(Obj,_,_). +notExistsDirectDamage(Obj) :- not existsDirectDamage(Obj), objectType(Obj,_). + +:~ notExistsDirectDamage(Obj), notExistsPushDamage(Obj), objectType(Obj,tnt). [10:4] +:~ notExistsDirectDamage(Obj), notExistsPushDamage(Obj), objectType(Obj,pig). [10:4] +:~ notExistsDirectDamage(Obj), notExistsPushDamage(Obj). [10:1] + +:~ maxPushNDirectDamage(Obj,P), objectType(Obj,tnt), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxPushNDirectDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxPushNDirectDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:1] + +existsFallDamage(Obj) :- fallDamage(Obj,_). +notExistsFallsDamage(Obj) :- not existsFallDamage(Obj), objectType(Obj,_). + +:~ notExistsFallsDamage(Obj), objectType(Obj,tnt). [10:4] +:~ notExistsFallsDamage(Obj), objectType(Obj,pig). [10:4] +:~ notExistsFallsDamage(Obj). [10:1] + +:~ maxFallDamage(Obj,P), objectType(Obj,tnt), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxFallDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:4] +:~ maxFallDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:1] + +existsPushDamage(Obj) :- pushDamage(Obj,_,_). +notExistsPushDamage(Obj) :- not existsPushDamage(Obj), objectType(Obj,_). + +%:~ notExistsPushDamage(Obj), objectType(Obj,pig). [10:3] +%:~ notExistsPushDamage(Obj). [10:1] + +%:~ maxPushDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:2] +%:~ maxPushDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:1] + + +%pigDistance(O,D) :- boundingBox(O,pig,X,Y,_,_,_), Xquad = X * X, Yquad = Y * Y, D = Xquad + Yquad. +%pigDistance(O,D) :- boundingBox(O,pig,X,Y,_,_,_), D = X + Y. + +%:~ target(Pig,T), pigDistance(Pig,D). [D:2] + +%firstabove(Down,Under) :- &firstabove[Down,boundingBox](Under), objectType(Down,_). +firstbelow(Upper,Down) :- &firstbelow[Upper,boundingBox](Down), objectType(Upper,_). + +abovePig(Under,100) :- firstbelow(Under,Down), objectType(Down,pig). +abovePig(Under,P) :- firstbelow(Under,Down), abovePig(Down,P_D), Ptemp = P_D * 95, P = Ptemp / 100. + +fallsOnPigDamage(Obj,P_B) :- maxFallDamage(Obj,P_N), abovePig(Obj,P_P), Ptemp = P_N * P_P, P_B = Ptemp / 100. + +existsFallsOnPigDamage(Obj) :- fallsOnPigDamage(Obj,_). +notExistsFallsOnPigDamage(Obj) :- not existsFallsOnPigDamage(Obj), objectType(Obj,_). + +%:~ notExistsFallsOnPigDamage(Obj), objectType(Obj,pig). [10:3] +:~ notExistsFallsOnPigDamage(Obj). [10:3] + +%:~ fallsOnPigDamage(Obj,P), objectType(Obj,pig), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] +:~ fallsOnPigDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] + +aboveTNT(Under,100) :- firstbelow(Under,Down), objectType(Down,tnt). +aboveTNT(Under,P) :- firstbelow(Under,Down), aboveTNT(Down,P_D), Ptemp = P_D * 95, P = Ptemp / 100. + +fallsOnTNTDamage(Obj,P_B) :- maxFallDamage(Obj,P_N), aboveTNT(Obj,P_P), Ptemp = P_N * P_P, P_B = Ptemp / 100. + +existsFallsOnTNTDamage(Obj) :- fallsOnTNTDamage(Obj,_). +notExistsFallsOnTNTDamage(Obj) :- not existsFallsOnTNTDamage(Obj), objectType(Obj,_). + +%:~ notExistsFallsOnTNTDamage(Obj), objectType(Obj,tnt). [10:3] +:~ notExistsFallsOnTNTDamage(Obj). [10:3] + +%:~ fallsOnTNTDamage(Obj,P), objectType(Obj,tnt), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] +:~ fallsOnTNTDamage(Obj,P), MalusTemp = 100 - P, Malus = MalusTemp / 10. [Malus:3] + +% +% Data and other background knowledge. Removes ground for streamlining computations +% +ngobject(O,T,A,B,C,D,E) :- boundingBox(O,T,A,B,C,D,E), T != ground. +objectType(O,T) :- ngobject(O,T,_,_,_,_,_). + + + +% +% Percentage perturbations on tap time depending on bird type +% +tap(85) :- birdType(redbird). +tap(90) :- birdType(yellowbird), target(_,high). +tap(88) :- birdType(yellowbird), target(_,low). +tap(85) :- birdType(bluebird). +tap(120) :- birdType(blackbird). +% +% A whitebird not deploying eggs should not tap +% +tap(300) :- birdType(whitebird). + +damageProbability(redbird,pig,100). +damageProbability(bluebird,pig,100). +damageProbability(yellowbird,pig,100). +damageProbability(blackbird,pig,100). +damageProbability(whitebird,pig,100). + +damageProbability(redbird,tnt,100). +damageProbability(bluebird,tnt,100). +damageProbability(yellowbird,tnt,100). +damageProbability(blackbird,tnt,100). +damageProbability(whitebird,tnt,100). + +damageProbability(redbird,wood,95). +damageProbability(redbird,ice,80). + +nogoodForStone(redbird). +nogoodForStone(yellowbird). +nogoodForStone(bluebird). +nogoodForStone(whitebird). + +damageProbability(B,stone,0) :- nogoodForStone(B). +damageProbability(blackbird,stone,100). + +damageProbability(bluebird,wood,10). +damageProbability(bluebird,ice,100). +damageProbability(yellowbird,wood,100). +damageProbability(yellowbird,ice,10). + +damageProbability(blackbird,wood,90). +damageProbability(blackbird,ice,90). + +damageProbability(whitebird,wood,90). +damageProbability(whitebird,ice,80). + +damageProbability(egg,X,Y) :- damageProbability(blackbird,X,Y1), Y = Y1 -10. + +materialFallImportance(wood,90). +materialFallImportance(ice,80). +materialFallImportance(stone,100). + +materialFallImportance(pig,100). +materialFallImportance(tnt,100). + + +energyLoss(redbird,pig,90). +energyLoss(bluebird,pig,90). +energyLoss(yellowbird,pig,90). +energyLoss(blackbird,pig,90). +energyLoss(whitebird,pig,90). + +energyLoss(egg,X,Y) :- energyLoss(blackbird,X,Y1), Y = Y1 - 20. + +energyLoss(redbird,tnt,90). +energyLoss(bluebird,tnt,90). +energyLoss(yellowbird,tnt,90). +energyLoss(blackbird,tnt,90). +energyLoss(whitebird,tnt,90). + +energyLoss(redbird,wood,10). +energyLoss(redbird,ice,10). + +energyLoss(B,stone,0) :- nogoodForStone(B). +energyLoss(blackbird,stone,85). + +energyLoss(bluebird,wood,0). +energyLoss(bluebird,ice,90). +energyLoss(yellowbird,wood,90). +energyLoss(yellowbird,ice,0). + +energyLoss(whitebird,wood,10). +energyLoss(whitebird,ice,10). + +energyLoss(blackbird,wood,80). +energyLoss(blackbird,ice,80). + diff --git a/dlv/algorithm.dlv b/dlv/algorithm.dlv new file mode 100644 index 0000000..e64a2d2 --- /dev/null +++ b/dlv/algorithm.dlv @@ -0,0 +1,211 @@ + +#maxint=1000. + +trajectory(low). +trajectory(high). +%trajectory(high) :- not birdType(yellowbird). + +% Changed the likelihood to numbers, so that we can use arithmetic predicates. +likelihood(4). % very likely +likelihood(3). % likely +likelihood(2). % uncertain +likelihood(1). % might happen +likelihood(0). % not likely +type(pig). +type(ground). +type(ice). +type(wood). +type(stone). + +% +% Percentage perturbations on tap time depending on bird type +% +% +% +tap(110) :- birdType(redbird). +tap(95) :- birdType(yellowbird). +tap(85) :- birdType(bluebird). +tap(120) :- birdType(blackbird). +tap(80) :- birdType(whitebird). + + +% likelihoodtable(bird, material, hitorder, value). +likelihoodtable(bluebird,ice,0,4). +likelihoodtable(bluebird,ice,1,4). +likelihoodtable(bluebird,ice,2,1). +likelihoodtable(bluebird,ice,3,1). +likelihoodtable(bluebird,ice,4,1). +% +likelihoodtable(bluebird,wood,0,3). +likelihoodtable(bluebird,wood,1,2). +likelihoodtable(bluebird,wood,2,1). +likelihoodtable(bluebird,wood,3,0). +likelihoodtable(bluebird,wood,4,0). + +likelihoodtable(yellowbird,wood,0,4). +likelihoodtable(yellowbird,wood,1,4). +likelihoodtable(yellowbird,wood,2,4). +likelihoodtable(yellowbird,wood,3,4). +likelihoodtable(yellowbird,wood,4,3). +% +likelihoodtable(redbird,wood,0,4). +likelihoodtable(redbird,wood,1,3). +likelihoodtable(redbird,wood,2,2). +likelihoodtable(redbird,wood,3,1). +likelihoodtable(redbird,wood,4,0). + +% +likelihoodtable(redbird,ice,0,4). +likelihoodtable(redbird,ice,1,2). +likelihoodtable(redbird,ice,2,0). +likelihoodtable(redbird,ice,3,0). +likelihoodtable(redbird,ice,4,0). + +likelihoodtable(blackbird,stone,0,4). +likelihoodtable(blackbird,stone,1,3). +likelihoodtable(blackbird,stone,2,2). +likelihoodtable(blackbird,stone,3,1). +likelihoodtable(blackbird,stone,4,0). + +likelihoodtable(blackbird,wood,0,3). +likelihoodtable(blackbird,wood,1,2). +likelihoodtable(blackbird,wood,2,1). +likelihoodtable(blackbird,wood,3,0). +likelihoodtable(blackbird,wood,4,0). + +likelihoodtable(blackbird,ice,0,4). +likelihoodtable(blackbird,ice,1,4). +likelihoodtable(blackbird,ice,2,4). +likelihoodtable(blackbird,ice,3,4). +likelihoodtable(blackbird,ice,4,4). + + +nogoodForStone(redbird). +nogoodForStone(yellowbird). +nogoodForStone(bluebird). +likelihoodtable(B,stone,X,1) :- nogoodForStone(B), X >= 0, X <= 4, #int(X). + + +% +% Default rules +% +existLikelihoodtable(B,M,Y) :- likelihoodtable(B,M,Y,_). + +stability(V,O) :- &stability[W,H,A](V), object(O,_,_,_,W,H,A). + +stable(O) :- stability(V,O), V > 25. +verystable(O) :- stability(V,O), V > 50. +heavy(O) :- &on_top_mass[O,objects](M), M > 100, object(O,_,_,_,_,_,_). + +% +% When targeting X, Z is the Y-th object hit in the trajectory T (starts from 0). +% +% For performance, this graph is built only for trajectories directed to shootable targets. +% +next(X,Y,Z,T) :- shootable(X,T), &next[X,T,V,Sx,Sy,Sw,Sh,object](Y,Z), velocity(V), slingshot(Sx,Sy,Sw,Sh), trajectory(T). +shootable(O, T) :- &next[O,T,V,Sx,Sy,Sw,Sh,object](0,O), velocity(V), object(O,_,_,_,_,_,_), slingshot(Sx,Sy,Sw,Sh), trajectory(T). + +% This part sees to it that for every answer set exactly one target is generated. + +target(O, T, Time) v not_target(O, T, Time) :- shootable(O, T), tap(Time). +targetDebug(O,T) :- target(O,T,_). + +:- target(X, _, _), target(Y, _, _), X != Y. +:- target(_, T1, _), target(_, T2, _), T1 != T2. +% +% Disabled for performance reasons. We assume there is always ONLY ONE TAP TIME AVAILABLE +% +%:- target(_, _, T1), target(_, _, T2), T1 != T2. +target_exists :- target(_,_,_). +:- not target_exists. + +%reduceLikelihood_next(O, Previous Object, Likelihood, ReducedL) reduces the likelihood of an object falling, based on info about the object and its predecessor in the trajectory. +reduceLikelihood_next(O, Prev, L, RL) :- reduceLikelihood(O,L,RL), object(Prev,pig,_,_,_,_,_). +reduceLikelihood_next(O, Prev, L, RL) :- reduceLikelihood(O,L,R1L), object(Prev,T,_,_,W,H,A), T != pig, T != ice, RL = R1L - 1, not verystable(Prev). + +%reduceLikelihood(O, Likelihood, ReducedL) reduces the likelihood of falling, based on properties of the object O. +reduceLikelihood(O, L, L) :- not stable(O), not heavy(O), object(O,_,_,_,_,_,_), likelihood(L). +reduceLikelihood(O, L, RL) :- not stable(O), heavy(O), object(O,_,_,_,_,_,_), likelihood(L), likelihood(RL), RL = L - 1. +reduceLikelihood(O, L, RL) :- stable(O), not heavy(O), object(O,_,_,_,_,_,_), likelihood(L), likelihood(RL), RL = L - 1. +reduceLikelihood(O, L, RL) :- stable(O), heavy(O), object(O,_,_,_,_,_,_), likelihood(L), likelihood(RL), RL = L - 2. + +% An object, that is hit will fall, +% if it is either a pig (direct destruction), + +fallsnext(O, 4) :- target(O,_,_), object(O,pig,_,_,_,_,_). +fallsnext(O, 4) :- target(O,_,_), object(O,ice,_,_,_,_,_), not birdType(yellowbird). +fallsnext(O, RL) :- target(O,_,_), object(O,Type,_,_,W,H,A), Type != pig, Type != ice, reduceLikelihood(O, 4, RL). + +% +% In the absense of information about the current bird/material likelihood we behave as before. +% +%fallsnext(B, RedL) :- birdType(Bird), not existsLikelihoodtable(Bird,Material,Y), reduceLikelihood_next(B,Prev,Likelihood,RedL), +% object(B,Material,_,_,_,_,_), +% object(Prev,_,_,_,_,_,_), +% fallsnext(A, Likelihood), +% next(T,X,A,Tr), +% Y = X+1, +% next(T,Y,B,Tr), +% target(T, Tr,_). + +% +% Otherwise we use domain knowledge (recall we have hardwired tables up to the 4th consecutive object) +% +fallsnext(B, N) :- birdType(Bird), likelihoodtable(Bird,Material,Y,N), + object(B,Material,_,_,_,_,_), + fallsnext(A, Likelihood), + next(T,X,A,Tr), + Y = X+1, + next(T,Y,B,Tr), + target(T, Tr,_). + + + +%If an object falls, all objects that rest on it, will also fall. +%Does not work: +%falls(X,Likelihood) :- falls(Y,Likelihood), object(X,_,_,_,_,_,_), object(Y,_,_,_,_,_,_), &on_top_of[X,Y,object]. +%Workaround: +%ot(X,Y) :- object(X,_,_,_,_,_,_), object(Y,_,_,_,_,_,_), &on_top_of[X,Y,object]. +% +% Much faster, only one call per program. +% +ot(X,Y) :- &on_top_all[object](X,Y). +fallsontop(X,L) :- fallsnext(Y,L), ot(X,Y). +fallsontop(X,L) :- fallsontop(Y,L), ot(X,Y). + +firstabove(X,A) :- &firstabove[X,object](A), object(X,pig,_,_,_,_,_). + +% An object falls on a pig. +fallsfromabove(X,L) :- object(X,pig,_,_,_,_,_), fallsontop(A,L), firstabove(X,A). +fallsfromabove(X,L) :- object(X,pig,_,_,_,_,_), fallsnext(A,L), firstabove(X,A). +fallsfromabove(X,L) :- object(X,pig,_,_,_,_,_), fallsfromabove(A,L), firstabove(X,A). + +% +% falls(Object,Likelihood) +% +% The following section creates a unified predicate falls(O, L) from the other objects. +% +% Fallsnext: based on trajectory. +% Fallsontop: based on statical analysis (on_top_of and on_top_all simulations) +% Fallsfromabove: graph of falls starting from pigs and above, closes using &firstabove + +falls(O,L) :- fallsnext(O,L), falls(O, L2), not L2 > L. +falls(O,L) :- fallsnext(O,L), not existsOtherLikelihood(O,L). + +falls(O,L) :- fallsontop(O,L), falls(O, L2), not L2 > L. +falls(O,L) :- fallsontop(O,L), not existsOtherLikelihood(O,L). +falls(O,L) :- fallsfromabove(O,L), falls(O, L2), not L2 > L. +falls(O,L) :- fallsfromabove(O,L), not existsOtherLikelihood(O,L). + +existsOtherLikelihood(O,L) :- likelihood(L), falls(O,L1), L1 != L. + + +% Now we give malus points for pigs that have not fallen or are not likely to fall. For each pig that does not fall, the answer set gets 5 malus points, if the pig falls with remote probability it gets 4 malus points and so on. If a pig falls certainly, the answer set gets no malus points for the pig. +hasSomeFallLikelihood(P) :- falls(P,_). +:~ object(P,pig,X,Y,W,H,A), not hasSomeFallLikelihood(P). [5:3] +:~ object(P,pig,X,Y,W,H,A), falls(P,Prob), Malu = 4-Prob. [Malu:3] + +% Tie breaker: If there are multiple equal answer sets, we select the one where most stuff falls. +:~ object(P,Type,X,Y,W,H,A), not hasSomeFallLikelihood(P). [5:2] +:~ object(P,Type,X,Y,W,H,A), falls(P,Prob), Malu = 4-Prob. [Malu:2] + diff --git a/dlv/asparse.dlv b/dlv/asparse.dlv new file mode 100644 index 0000000..500e8ff --- /dev/null +++ b/dlv/asparse.dlv @@ -0,0 +1 @@ +nt(X,Y,Z,T,O) :- next(X,Y,Z,T,O), target(X,T). diff --git a/dlv/calibrate.dlv b/dlv/calibrate.dlv new file mode 100644 index 0000000..d8d1037 --- /dev/null +++ b/dlv/calibrate.dlv @@ -0,0 +1,37 @@ + +#maxint=1000. + +trajectory(low). +trajectory(high). +type(pig). +type(ground). +type(ice). +type(wood). +type(stone). + +% +% Percentage perturbations on tap time depending on bird type +% +% +% Tap on red is used for calibration. +% +tap(50) :- birdType(red). +tap(50) :- birdType(yellow). +tap(50) :- birdType(blue). +tap(50) :- birdType(black). +tap(50) :- birdType(white). +% +% When targeting X, Z is the Y-th object hit in the trajectory T (starts from 0). +% +% For performance, this graph is built only for trajectories directed to shootable targets. +% +shootable(O, T) :- &next[O,T,V,Sx,Sy,Sw,Sh,object](0,O), velocity(V), object(O,_,_,_,_,_,_), slingshot(Sx,Sy,Sw,Sh), trajectory(T). + +% This part sees to it that for every answer set exactly one target is generated. + +target(O, T, Time) v not_target(O, T, Time) :- shootable(O, T), tap(Time). + +:- target(X, _, _), target(Y, _, _), X != Y. +:- target(_, T1, _), target(_, T2, _), T1 != T2. +target_exists :- target(_,_,_). +:- not target_exists. diff --git a/dlv/strategy.dlv b/dlv/strategy.dlv new file mode 100644 index 0000000..c5dfa8a --- /dev/null +++ b/dlv/strategy.dlv @@ -0,0 +1,35 @@ + +%%%%%%% first priority strategic rule (R1): play each level once %%%%%%% +% firstchooselevel(X): the level X was chosen as the next level to be played wrt to R1 (secondchooselevel and thirdchooselevel are defined accordingly) + +firstchooselevel(X):-timeslevelplayed(X,0),myscore(X,0),timeslevelplayed(Y,Z),#succ(Y,X), Z>=1. +firstchooselevel(0):-timeslevelplayed(0,0),myscore(0,0). +firstchosen:-firstchooselevel(X). + +%%%%%%% second priority strategic rule (R2): play level in which our score maximally differs from the best one (unless this level has been played >=3 times); if more then one level satisfy this property then among the candidates choose the smallest level that was played minimal number of times %%%%%%% +% diff(X,Y,Z) states that at level X |ourscore-bestscore|=Y; Z=1 iff ourscore>bestscore, otherwise Z=0. + +notmaxdiff(X):-diff(X,Y,0), diff(X1,Y1,0), X!=X1, Y1>Y. +maxdiff(X):-diff(X,Y,0), not notmaxdiff(X). +secondchooselevelcand(X):-maxdiff(X), timeslevelplayed(X,Z), Z<3, not firstchosen. +drop(X):-secondchooselevelcand(X),secondchooselevelcand(X1),timeslevelplayed(X,Y),timeslevelplayed(X1,Y1),Y>Y1. +notminlevel(X):-secondchooselevelcand(X), secondchooselevelcand(Y), not drop(X), not drop(Y), Y=5 times); if more then one level satisfy this property, then among the candidates choose the smallest level that was played minimal number of times %%%%%%% + +notmindiff(X):-diff(X,Y,1), diff(X1,Y1,1), X1!=X, Y1Y1. +notminlevel(X):-thirdchooselevelcand(X), thirdchooselevelcand(Y), not drop(X), not drop(Y), Y. diff --git a/framework/Readme(Server_Client) b/framework/Readme(Server_Client) new file mode 100644 index 0000000..e10c700 --- /dev/null +++ b/framework/Readme(Server_Client) @@ -0,0 +1,89 @@ +ANGRYBIRDS AI AGENT FRAMEWORK +Copyright © 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz, Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang. All rights reserved. +This software contains a framework for developing AI agents capable of +playing Angry Birds. The framework is composed of a javascript plugin +for the Chrome web browser and Java client/server code for interfacing +to the game and implementing the AI strategy. A sample agent is provided. + +* The details of the server/client protocols can be found in ./doc/ServerClientProtocols.pdf + +* We provide a sample agent communicating with the server by the pre-defined protocols. The implementation can be found in ./src/ab/demo/ClientNaiveAgent.java + +* We provide a wrapper class in java that can encode/decode the communicating messages. The wrapper can be found in ./src/ab/demo/other/{ClientActionRobot.java , ClientActionRobotJava.java} + +* We provide a sample C++ client that demonstrates how to connect to the server and send a doScreenShot message. It can be found in ./src/ab/demo/abClientExample.cpp + +=================== Commands of the server/client version ===================================================== + +* Please start the server first, and then start your client. + +To start the server: java -jar ABServer.jar + +To start the naive agent (server/client version): java -jar ABSoftware.jar -nasc [IP] + +*You do not need to specify the IP when the server is running on localhost + +===================== Commands of the standalone version ======================================================= + + java -jar ABSoftware.jar -na // run the agent from level 1 + + java -jar ABSoftware.jar -na [0-21] // run the agent from the specified level. + + java -jar ABSoftware.jar -na [0-21] -showMBR // run the agent with the real-time vision output (MBR segmentation) + + java -jar ABSoftware.jar -na [0-21] -showReal // run the agent with the real-time vision output (Real shape segmentation) + + java -jar ABSoftware.jar -showMBR // show the real-time MBR segmentation + + java -jar ABSoftware.jar -showReal // show the real-time real shape segmentation + + java -jar ABSoftware.jar -showTraj // show the real-time trajectory prediction + + java -jar ABSoftware.jar -recordImg [directory] // save the current game image to the specified directory + + +================================ Outline of the source files ==================================================== + +The src folder contains all the java source codes of the software. + +The following are the files you may want to modify: + +========= Files under ./src/ab/demo/ ===================== +ClientNaiveAgent.java : A server/client version of the Naive agent that interacts with the server by the pre-defined protocols + +NaiveAgent.java : A standardalone implementation of the Naive agent. You can run this agent without the server. + +======== Files under ./src/ab/demo/other/ ================ + +ActionRobot.java : A java util class for the standalone version. It provides common functions an agent would use. E.g. get the screenshot + +ClientActionRobot.java : A server/client version of the java util class that encodes client messages and decodes the corresponding server messages complying with the protocols. Its subclass is ClientActionRobotJava.java which decodes the received server messages into java objects. + +LoadingLevelSchema.java / RestartLevelSchema.java / ShootingSchema.java : Those files are only for the standalone version. A standalone agent can use the schemas respectively to load levels, restart levels, and launch birds. + +======== Files under ./src/ab/planner/ ==================== + +TrajectoryPlanner.java : Implementation of the trajectory module + +======= Files under ./src/ab/vision ====================== + +Vision.java ： the entry of the vision module. + +VisionMBR.java : image segmenting component that outputs a list of MBRs of a screenshot + +VisionRealShape.java: image segmenting component that outputs a list of real shapes of a screenshot + +======= Other Useful methods in /src/ab/utils/ABUtil.java ========================================= + +isSupport(ABObject object, ABObject support): returns true if support directly supports object + +getSupports(ABObject object, List blocksList): returns a list containing the subset of blocksList that support object + +isReachable(Vision vision, Point target, Shot shot): returns true if the target is reachable (without obstruction) by the shot + +====== Files under ./src/external =========================== + +ClientMessageEncoder.java : encode the client messages according to the protocols + +ClientMessageTable.java : a table that maintains all the client messages and its corresponding MIDs. + diff --git a/framework/SourceFilesDescription.txt b/framework/SourceFilesDescription.txt new file mode 100644 index 0000000..c0441d1 --- /dev/null +++ b/framework/SourceFilesDescription.txt @@ -0,0 +1,32 @@ +The src folder contains all the java source codes of the software. + +The following are the files you may want to modify: + +========= Files under /src/ab/demo/ ===================== +ClientNaiveAgent.java : A server/client version of the Naive agent that interacts with the server by the pre-defined protocols +NaiveAgent.java : A standardalone implementation of the Naive agent. You can run this agent without the server. + +======== Files under /src/ab/demo/other/ ================ + +ActionRobot.java : A java util class for the standalone version. It provides common functions an agent would use. E.g. get the screenshot + +ClientActionRobot.java : A server/client version of the java util class that encodes client messages and decodes the corresponding server messages complying with the protocols. Its subclass is ClientActionRobotJava.java which decodes the received server messages into java objects. + +LoadingLevelSchema.java / RestartLevelSchema.java / ShootingSchema.java : Those files are only for the standalone version. A standalone agent can use the schemas respectively to load levels, restart levels, and launch birds. + +======== Files under /src/ab/planner/ ==================== + +TrajectoryPlanner.java : Implementation of the trajectory module + +======= Files under /src/ab/vision ====================== + +All the files under this folder are vision files. + +Vision.java ： the primary implementation of the vision module. + +====== Files under /src/external =========================== + +ClientMessageEncoder.java : encode the client messages according to the protocols + +ClientMessageTable.java : a table that maintains all the client messages and its corresponding MIDs. + diff --git a/framework/doc/ABDoc.pdf b/framework/doc/ABDoc.pdf new file mode 100644 index 0000000000000000000000000000000000000000..46cef4cc6aafb0f768ea469864a1fd5b6a06591e GIT binary patch literal 1388546 zcmeEvcUV(d*Dqaq2kArwq=$qgH0iyAbOq_XcMuWj9i%7-C{k2Zsv;moDGJgQL8OUv 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"manifest_version": 2, + "content_scripts": [ + { + "matches": ["http://chrome.angrybirds.com/"], + "css": ["style.css"], + "js": ["jquery-1.7.2.min.js", "script.js"] + } + ] +} diff --git a/framework/plugin/script.js b/framework/plugin/script.js new file mode 100644 index 0000000..de3c379 --- /dev/null +++ b/framework/plugin/script.js @@ -0,0 +1,146 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +(function() { + var sock = null; + + function connect() { + if (sock !== null) { + return; + } + + console.log('Connecting...'); + sock = new WebSocket('ws://localhost:9000/'); + + sock.onopen = function() { + console.log('Connected!'); + }; + + sock.onclose = function(e) { + sock = null; + console.log('Connection closed (' + e.code + ')'); + reconnect(); + }; + + sock.onmessage = function(e) { + console.log('Message received: ' + e.data); + var j = JSON.parse(e.data); + + var id = j[0]; // message id + var type = j[1]; // message type (see handlers) + var data = j[2]; // message data (depends on handler) + + if (handlers[type]) { + send(id, handlers[type](data)); + } else { + console.log('Invalid message: ' + e.type); + } + }; + + sock.onerror = function(e) { + sock = null; + reconnect(); + }; + } + + function reconnect() { + setTimeout(connect, 1000); + } + + function send(id, data) { + var msg = JSON.stringify([id, data || {}]); + sock.send(msg); + } + + // define supported message handlers + var handlers = { + 'click': click, + 'drag': drag, + 'mousewheel': mousewheel, + 'screenshot': screenshot + }; + + // generate a mouse click event + function click(data) { + var x = data['x']; + var y = data['y']; + + var canvas = $('canvas'); + var offset = canvas.offset(); + x = offset.left + x; + y = offset.top + y; + + var evt = document.createEvent('MouseEvent'); + evt.initMouseEvent('mousedown', true, true, window, 1, 0, 0, x, y, false, false, false, false, 0, null); + canvas[0].dispatchEvent(evt); + + evt = document.createEvent('MouseEvent'); + evt.initMouseEvent('mouseup', true, true, window, 1, 0, 0, x, y, false, false, false, false, 0, null); + canvas[0].dispatchEvent(evt); + } + + // generate a mouse drag event + function drag(data) { + var x = data['x']; + var y = data['y']; + var dx = data['dx']; + var dy = data['dy']; + + var canvas = $('canvas'); + var offset = canvas.offset(); + x = offset.left + x; + y = offset.top + y; + dx = x + dx; + dy = y + dy; + + var evt = document.createEvent('MouseEvent'); + evt.initMouseEvent('mousedown', true, true, window, 1, 0, 0, x, y, false, false, false, false, 0, null); + canvas[0].dispatchEvent(evt); + + evt = document.createEvent('MouseEvent'); + evt.initMouseEvent('mousemove', true, true, window, 0, 0, 0, dx, dy, false, false, false, false, 0, null); + canvas[0].dispatchEvent(evt); + + evt = document.createEvent('MouseEvent'); + evt.initMouseEvent('mouseup', true, true, window, 1, 0, 0, dx, dy, false, false, false, false, 0, null); + canvas[0].dispatchEvent(evt); + } + + // generate a mouse wheel event + function mousewheel(data) { + var delta = data['delta']; + var canvas = $('canvas'); + //var evt = document.createEvent('WheelEvent'); + var eventInit = { deltaX: 0, deltaY: -delta*120 } + var evt = new WheelEvent("mousewheel", eventInit); + //evt.initWebKitWheelEvent(0, delta, window, 0, 0, 0, 0, false, false, false, false); + canvas[0].dispatchEvent(evt); + } + + // capture a screenshot and send it to the client + function screenshot(data) { + // get the original canvas + var srcCanvas = $('#playn-root canvas'); + + // create a new canvas + var canvas = $('').attr('height', srcCanvas.height() + 'px').attr('width', srcCanvas.width() + 'px')[0]; + var context = canvas.getContext('2d'); + + // copy the original canvas into the new canvas + srcCanvas = srcCanvas[0]; + context.drawImage(srcCanvas, 0, 0); + + // obtain a png of the canvas + var imageString = canvas.toDataURL(); + + return {'data': imageString, 'time': new Date().getTime()}; + } + + // wait for the client to connect + connect(); +})(); diff --git a/framework/plugin/style.css b/framework/plugin/style.css new file mode 100644 index 0000000..9ef3712 --- /dev/null +++ b/framework/plugin/style.css @@ -0,0 +1,14 @@ +.ai_button { + border: 1px solid black; + background-color: red; + cursor: pointer; +} + +.ai_button:hover { + background-color: yellow; +} + +.ai_mark { + position: absolute; + border: 1px solid black; +} diff --git a/framework/src/ab/demo/ClientNaiveAgent.java b/framework/src/ab/demo/ClientNaiveAgent.java new file mode 100644 index 0000000..e3bec30 --- /dev/null +++ b/framework/src/ab/demo/ClientNaiveAgent.java @@ -0,0 +1,362 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.demo; + +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.List; +import java.util.Random; + +import ab.demo.other.ClientActionRobot; +import ab.demo.other.ClientActionRobotJava; +import ab.planner.TrajectoryPlanner; +import ab.vision.ABObject; +import ab.vision.GameStateExtractor.GameState; +import ab.vision.Vision; +//Naive agent (server/client version) + +public class ClientNaiveAgent implements Runnable { + + + //Wrapper of the communicating messages + private ClientActionRobotJava ar; + public byte currentLevel = -1; + public int failedCounter = 0; + public int[] solved; + TrajectoryPlanner tp; + private int id = 28888; + private boolean firstShot; + private Point prevTarget; + private Random randomGenerator; + /** + * Constructor using the default IP + * */ + public ClientNaiveAgent() { + // the default ip is the localhost + ar = new ClientActionRobotJava("127.0.0.1"); + tp = new TrajectoryPlanner(); + randomGenerator = new Random(); + prevTarget = null; + firstShot = true; + + } + /** + * Constructor with a specified IP + * */ + public ClientNaiveAgent(String ip) { + ar = new ClientActionRobotJava(ip); + tp = new TrajectoryPlanner(); + randomGenerator = new Random(); + prevTarget = null; + firstShot = true; + + } + public ClientNaiveAgent(String ip, int id) + { + ar = new ClientActionRobotJava(ip); + tp = new TrajectoryPlanner(); + randomGenerator = new Random(); + prevTarget = null; + firstShot = true; + this.id = id; + } + public int getNextLevel() + { + int level = 0; + boolean unsolved = false; + //all the level have been solved, then get the first unsolved level + for (int i = 0; i < solved.length; i++) + { + if(solved[i] == 0 ) + { + unsolved = true; + level = i + 1; + if(level <= currentLevel && currentLevel < solved.length) + continue; + else + return level; + } + } + if(unsolved) + return level; + level = (currentLevel + 1)%solved.length; + if(level == 0) + level = solved.length; + return level; + } + /* + * Run the Client (Naive Agent) + */ + private void checkMyScore() + { + + int[] scores = ar.checkMyScore(); + System.out.println(" My score: "); + int level = 1; + for(int i: scores) + { + System.out.println(" level " + level + " " + i); + if (i > 0) + solved[level - 1] = 1; + level ++; + } + } + public void run() { + byte[] info = ar.configure(ClientActionRobot.intToByteArray(id)); + solved = new int[info[2]]; + + //load the initial level (default 1) + //Check my score + checkMyScore(); + + currentLevel = (byte)getNextLevel(); + ar.loadLevel(currentLevel); + //ar.loadLevel((byte)9); + GameState state; + while (true) { + + state = solve(); + //If the level is solved , go to the next level + if (state == GameState.WON) { + + ///System.out.println(" loading the level " + (currentLevel + 1) ); + checkMyScore(); + System.out.println(); + currentLevel = (byte)getNextLevel(); + ar.loadLevel(currentLevel); + //ar.loadLevel((byte)9); + //display the global best scores + int[] scores = ar.checkScore(); + System.out.println("Global best score: "); + for (int i = 0; i < scores.length ; i ++) + { + + System.out.print( " level " + (i+1) + ": " + scores[i]); + } + System.out.println(); + + // make a new trajectory planner whenever a new level is entered + tp = new TrajectoryPlanner(); + + // first shot on this level, try high shot first + firstShot = true; + + } else + //If lost, then restart the level + if (state == GameState.LOST) { + failedCounter++; + if(failedCounter > 3) + { + failedCounter = 0; + currentLevel = (byte)getNextLevel(); + ar.loadLevel(currentLevel); + + //ar.loadLevel((byte)9); + } + else + { + System.out.println("restart"); + ar.restartLevel(); + } + + } else + if (state == GameState.LEVEL_SELECTION) { + System.out.println("unexpected level selection page, go to the last current level : " + + currentLevel); + ar.loadLevel(currentLevel); + } else if (state == GameState.MAIN_MENU) { + System.out + .println("unexpected main menu page, reload the level : " + + currentLevel); + ar.loadLevel(currentLevel); + } else if (state == GameState.EPISODE_MENU) { + System.out.println("unexpected episode menu page, reload the level: " + + currentLevel); + ar.loadLevel(currentLevel); + } + + } + + } + + + /** + * Solve a particular level by shooting birds directly to pigs + * @return GameState: the game state after shots. + */ + public GameState solve() + + { + + // capture Image + BufferedImage screenshot = ar.doScreenShot(); + + // process image + Vision vision = new Vision(screenshot); + + Rectangle sling = vision.findSlingshotMBR(); + + //If the level is loaded (in PLAYING　state)but no slingshot detected, then the agent will request to fully zoom out. + while (sling == null && ar.checkState() == GameState.PLAYING) { + System.out.println("no slingshot detected. Please remove pop up or zoom out"); + + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + ar.fullyZoomOut(); + screenshot = ar.doScreenShot(); + vision = new Vision(screenshot); + sling = vision.findSlingshotMBR(); + } + + + // get all the pigs + List pigs = vision.findPigsMBR(); + + GameState state = ar.checkState(); + // if there is a sling, then play, otherwise skip. + if (sling != null) { + + + //If there are pigs, we pick up a pig randomly and shoot it. + if (!pigs.isEmpty()) { + Point releasePoint = null; + // random pick up a pig + ABObject pig = pigs.get(randomGenerator.nextInt(pigs.size())); + + Point _tpt = pig.getCenter(); + + + // if the target is very close to before, randomly choose a + // point near it + if (prevTarget != null && distance(prevTarget, _tpt) < 10) { + double _angle = randomGenerator.nextDouble() * Math.PI * 2; + _tpt.x = _tpt.x + (int) (Math.cos(_angle) * 10); + _tpt.y = _tpt.y + (int) (Math.sin(_angle) * 10); + System.out.println("Randomly changing to " + _tpt); + } + + prevTarget = new Point(_tpt.x, _tpt.y); + + // estimate the trajectory + ArrayList pts = tp.estimateLaunchPoint(sling, _tpt); + + // do a high shot when entering a level to find an accurate velocity + if (firstShot && pts.size() > 1) { + releasePoint = pts.get(1); + } else + if (pts.size() == 1) + releasePoint = pts.get(0); + else + if(pts.size() == 2) + { + // System.out.println("first shot " + firstShot); + // randomly choose between the trajectories, with a 1 in + // 6 chance of choosing the high one + if (randomGenerator.nextInt(6) == 0) + releasePoint = pts.get(1); + else + releasePoint = pts.get(0); + } + Point refPoint = tp.getReferencePoint(sling); + + // Get the release point from the trajectory prediction module + int tapTime = 0; + if (releasePoint != null) { + double releaseAngle = tp.getReleaseAngle(sling, + releasePoint); + System.out.println("Release Point: " + releasePoint); + System.out.println("Release Angle: " + + Math.toDegrees(releaseAngle)); + int tapInterval = 0; + switch (ar.getBirdTypeOnSling()) + { + + case RedBird: + tapInterval = 0; break; // start of trajectory + case YellowBird: + tapInterval = 65 + randomGenerator.nextInt(25);break; // 65-90% of the way + case WhiteBird: + tapInterval = 50 + randomGenerator.nextInt(20);break; // 50-70% of the way + case BlackBird: + tapInterval = 0;break; // 70-90% of the way + case BlueBird: + tapInterval = 65 + randomGenerator.nextInt(20);break; // 65-85% of the way + default: + tapInterval = 60; + } + + tapTime = tp.getTapTime(sling, releasePoint, _tpt, tapInterval); + + } else + { + System.err.println("No Release Point Found"); + return ar.checkState(); + } + + + // check whether the slingshot is changed. the change of the slingshot indicates a change in the scale. + ar.fullyZoomOut(); + screenshot = ar.doScreenShot(); + vision = new Vision(screenshot); + Rectangle _sling = vision.findSlingshotMBR(); + if(_sling != null) + { + double scale_diff = Math.pow((sling.width - _sling.width),2) + Math.pow((sling.height - _sling.height),2); + if(scale_diff < 25) + { + int dx = (int) releasePoint.getX() - refPoint.x; + int dy = (int) releasePoint.getY() - refPoint.y; + if(dx < 0) + { + long timer = System.currentTimeMillis(); + ar.shoot(refPoint.x, refPoint.y, dx, dy, 0, tapTime, false); + System.out.println("It takes " + (System.currentTimeMillis() - timer) + " ms to take a shot"); + state = ar.checkState(); + if ( state == GameState.PLAYING ) + { + screenshot = ar.doScreenShot(); + vision = new Vision(screenshot); + List traj = vision.findTrajPoints(); + tp.adjustTrajectory(traj, sling, releasePoint); + firstShot = false; + } + } + } + else + System.out.println("Scale is changed, can not execute the shot, will re-segement the image"); + } + else + System.out.println("no sling detected, can not execute the shot, will re-segement the image"); + + } + } + return state; + } + + private double distance(Point p1, Point p2) { + return Math.sqrt((double) ((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y)* (p1.y - p2.y))); + } + + public static void main(String args[]) { + + ClientNaiveAgent na; + if(args.length > 0) + na = new ClientNaiveAgent(args[0]); + else + na = new ClientNaiveAgent(); + na.run(); + + } +} diff --git a/framework/src/ab/demo/LoadLevelAgent.java b/framework/src/ab/demo/LoadLevelAgent.java new file mode 100644 index 0000000..b0a9478 --- /dev/null +++ b/framework/src/ab/demo/LoadLevelAgent.java @@ -0,0 +1,60 @@ +/* + * Modified by Angry-HEX Team + * Commented because it no longer works due to changes in the framework + * Removed Auto-generated TODOs + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +//package ab.demo; +// +//import java.awt.image.BufferedImage; +//import java.io.File; +//import java.io.IOException; +// +//import javax.imageio.ImageIO; +// +//import ab.demo.other.ActionRobot; +//import ab.vision.TestVision; +// +//public class LoadLevelAgent { +//public static void main(String args[]) +//{ +// ActionRobot ar = new ActionRobot(); +// Thread thre = new Thread(new TestVision()); +// thre.start(); +// //Start Load Level; +// for (int i = 1; i < 22; i++) +// { +// System.out.println("load level " + i); +// ar.loadLevel(i); +// System.out.println("save screenshot "); +// BufferedImage image = ActionRobot.doScreenShot(); +// try { +// ImageIO.write(image, "png", new File("level_" + i + ".png")); +// } catch (IOException e) { +// e.printStackTrace(); +// } +// int[][] meta = TestVision.computeMetaInformation(image); +// image = TestVision.analyseScreenShot(image); +// try { +// ImageIO.write(image, "png", new File("level_seg_" + i + ".png")); +// } catch (IOException e) { +// e.printStackTrace(); +// } +// +// } +// System.out.println("Finished"); +// System.exit(0); +// +//} +//} diff --git a/framework/src/ab/demo/MainEntry.java b/framework/src/ab/demo/MainEntry.java new file mode 100644 index 0000000..26da65e --- /dev/null +++ b/framework/src/ab/demo/MainEntry.java @@ -0,0 +1,144 @@ +package ab.demo; + +import ab.planner.abTrajectory; +import ab.utils.GameImageRecorder; +import ab.vision.ShowSeg; + +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Jochen Renz,Stephen Gould, + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ + +public class MainEntry { + // the entry of the software. + public static void main(String args[]) + { + String command = ""; + if(args.length > 0) + { + command = args[0]; + if (args.length == 1 && command.equalsIgnoreCase("-na")) + { + NaiveAgent na = new NaiveAgent(); + na.run(); + } + else + if(command.equalsIgnoreCase("-cshoot")) + { + ShootingAgent.shoot(args, true); + } + else + if(command.equalsIgnoreCase("-pshoot")) + { + ShootingAgent.shoot(args, false); + } + + else + if (args.length == 1 && command.equalsIgnoreCase("-nasc")) + { + ClientNaiveAgent na = new ClientNaiveAgent(); + na.run(); + } + else + if (args.length == 2 && command.equalsIgnoreCase("-nasc")) + { + ClientNaiveAgent na = new ClientNaiveAgent(args[1]); + na.run(); + } + else + if(args.length == 3 && command.equalsIgnoreCase("-nasc")) + { + int id = Integer.parseInt(args[2]); + ClientNaiveAgent na = new ClientNaiveAgent(args[1],id); + na.run(); + } + + else + if (args.length == 2 && command.equalsIgnoreCase("-na")) + { + NaiveAgent na = new NaiveAgent(); + if(! (args[1].equalsIgnoreCase("-showMBR") || args[1].equals("-showReal"))) + { + int initialLevel = 1; + try{ + initialLevel = Integer.parseInt(args[1]); + } + catch (NumberFormatException e) + { + System.out.println("wrong level number, will use the default one"); + } + na.currentLevel = initialLevel; + na.run(); + } + else + { + Thread nathre = new Thread(na); + nathre.start(); + if(args[1].equalsIgnoreCase("-showReal")) + ShowSeg.useRealshape = true; + Thread thre = new Thread(new ShowSeg()); + thre.start(); + } + } + else if (args.length == 3 && (args[2].equalsIgnoreCase("-showMBR") || args[2].equalsIgnoreCase("-showReal")) && command.equalsIgnoreCase("-na")) + { + NaiveAgent na = new NaiveAgent(); + int initialLevel = 1; + try{ + initialLevel = Integer.parseInt(args[1]); + } + catch (NumberFormatException e) + { + System.out.println("wrong level number, will use the default one"); + } + na.currentLevel = initialLevel; + Thread nathre = new Thread(na); + nathre.start(); + if(args[2].equalsIgnoreCase("-showReal")) + ShowSeg.useRealshape = true; + Thread thre = new Thread(new ShowSeg()); + thre.start(); + + } + + else if(command.equalsIgnoreCase("-showMBR")) + { + ShowSeg showseg = new ShowSeg(); + showseg.run(); + } + else if (command.equalsIgnoreCase("-showReal")) + { + ShowSeg showseg = new ShowSeg(); + ShowSeg.useRealshape = true; + showseg.run(); + } + else if (command.equalsIgnoreCase("-showTraj")) + { + String[] param = {}; + abTrajectory.main(param); + } + else if (command.equalsIgnoreCase("-recordImg")) + { + + if(args.length < 2) + System.out.println("please specify the directory"); + else + { + String[] param = {args[1]}; + + GameImageRecorder.main(param); + } + } + else + System.out.println("Please input the correct command"); + } + else + System.out.println("Please input the correct command"); + + + } +} diff --git a/framework/src/ab/demo/NaiveAgent.java b/framework/src/ab/demo/NaiveAgent.java new file mode 100644 index 0000000..54c4c47 --- /dev/null +++ b/framework/src/ab/demo/NaiveAgent.java @@ -0,0 +1,281 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.demo; + +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.LinkedHashMap; +import java.util.List; +import java.util.Map; +import java.util.Random; + +import ab.demo.other.ActionRobot; +import ab.demo.other.Shot; +import ab.planner.TrajectoryPlanner; +import ab.utils.StateUtil; +import ab.vision.ABObject; +import ab.vision.GameStateExtractor.GameState; +import ab.vision.Vision; + +public class NaiveAgent implements Runnable { + + private ActionRobot aRobot; + private Random randomGenerator; + public int currentLevel = 1; + public static int time_limit = 12; + private Map scores = new LinkedHashMap(); + TrajectoryPlanner tp; + private boolean firstShot; + private Point prevTarget; + // a standalone implementation of the Naive Agent + public NaiveAgent() { + + aRobot = new ActionRobot(); + tp = new TrajectoryPlanner(); + prevTarget = null; + firstShot = true; + randomGenerator = new Random(); + // --- go to the Poached Eggs episode level selection page --- + ActionRobot.GoFromMainMenuToLevelSelection(); + + } + + + // run the client + public void run() { + + aRobot.loadLevel(currentLevel); + while (true) { + GameState state = solve(); + if (state == GameState.WON) { + try { + Thread.sleep(3000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + int score = StateUtil.getScore(ActionRobot.proxy); + if(!scores.containsKey(currentLevel)) + scores.put(currentLevel, score); + else + { + if(scores.get(currentLevel) < score) + scores.put(currentLevel, score); + } + int totalScore = 0; + for(Integer key: scores.keySet()){ + + totalScore += scores.get(key); + System.out.println(" Level " + key + + " Score: " + scores.get(key) + " "); + } + System.out.println("Total Score: " + totalScore); + aRobot.loadLevel(++currentLevel); + // make a new trajectory planner whenever a new level is entered + tp = new TrajectoryPlanner(); + + // first shot on this level, try high shot first + firstShot = true; + } else if (state == GameState.LOST) { + System.out.println("Restart"); + aRobot.restartLevel(); + } else if (state == GameState.LEVEL_SELECTION) { + System.out + .println("Unexpected level selection page, go to the last current level : " + + currentLevel); + aRobot.loadLevel(currentLevel); + } else if (state == GameState.MAIN_MENU) { + System.out + .println("Unexpected main menu page, go to the last current level : " + + currentLevel); + ActionRobot.GoFromMainMenuToLevelSelection(); + aRobot.loadLevel(currentLevel); + } else if (state == GameState.EPISODE_MENU) { + System.out + .println("Unexpected episode menu page, go to the last current level : " + + currentLevel); + ActionRobot.GoFromMainMenuToLevelSelection(); + aRobot.loadLevel(currentLevel); + } + + } + + } + + private double distance(Point p1, Point p2) { + return Math + .sqrt((double) ((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) + * (p1.y - p2.y))); + } + + public GameState solve() + { + + // capture Image + BufferedImage screenshot = ActionRobot.doScreenShot(); + + // process image + Vision vision = new Vision(screenshot); + + // find the slingshot + Rectangle sling = vision.findSlingshotMBR(); + + // confirm the slingshot + while (sling == null && aRobot.getState() == GameState.PLAYING) { + System.out + .println("No slingshot detected. Please remove pop up or zoom out"); + ActionRobot.fullyZoomOut(); + screenshot = ActionRobot.doScreenShot(); + vision = new Vision(screenshot); + sling = vision.findSlingshotMBR(); + } + // get all the pigs + List pigs = vision.findPigsMBR(); + + GameState state = aRobot.getState(); + + // if there is a sling, then play, otherwise just skip. + if (sling != null) { + + if (!pigs.isEmpty()) { + + Point releasePoint = null; + Shot shot = new Shot(); + int dx,dy; + { + // random pick up a pig + ABObject pig = pigs.get(randomGenerator.nextInt(pigs.size())); + + Point _tpt = pig.getCenter();// if the target is very close to before, randomly choose a + // point near it + if (prevTarget != null && distance(prevTarget, _tpt) < 10) { + double _angle = randomGenerator.nextDouble() * Math.PI * 2; + _tpt.x = _tpt.x + (int) (Math.cos(_angle) * 10); + _tpt.y = _tpt.y + (int) (Math.sin(_angle) * 10); + System.out.println("Randomly changing to " + _tpt); + } + + prevTarget = new Point(_tpt.x, _tpt.y); + + // estimate the trajectory + ArrayList pts = tp.estimateLaunchPoint(sling, _tpt); + + // do a high shot when entering a level to find an accurate velocity + if (firstShot && pts.size() > 1) + { + releasePoint = pts.get(1); + } + else if (pts.size() == 1) + releasePoint = pts.get(0); + else if (pts.size() == 2) + { + // randomly choose between the trajectories, with a 1 in + // 6 chance of choosing the high one + if (randomGenerator.nextInt(6) == 0) + releasePoint = pts.get(1); + else + releasePoint = pts.get(0); + } + else + if(pts.isEmpty()) + { + System.out.println("No release point found for the target"); + System.out.println("Try a shot with 45 degree"); + releasePoint = tp.findReleasePoint(sling, Math.PI/4); + } + + // Get the reference point + Point refPoint = tp.getReferencePoint(sling); + + + //Calculate the tapping time according the bird type + if (releasePoint != null) { + double releaseAngle = tp.getReleaseAngle(sling, + releasePoint); + System.out.println("Release Point: " + releasePoint); + System.out.println("Release Angle: " + + Math.toDegrees(releaseAngle)); + int tapInterval = 0; + switch (aRobot.getBirdTypeOnSling()) + { + + case RedBird: + tapInterval = 0; break; // start of trajectory + case YellowBird: + tapInterval = 65 + randomGenerator.nextInt(25);break; // 65-90% of the way + case WhiteBird: + tapInterval = 70 + randomGenerator.nextInt(20);break; // 70-90% of the way + case BlackBird: + tapInterval = 70 + randomGenerator.nextInt(20);break; // 70-90% of the way + case BlueBird: + tapInterval = 65 + randomGenerator.nextInt(20);break; // 65-85% of the way + default: + tapInterval = 60; + } + + int tapTime = tp.getTapTime(sling, releasePoint, _tpt, tapInterval); + dx = (int)releasePoint.getX() - refPoint.x; + dy = (int)releasePoint.getY() - refPoint.y; + shot = new Shot(refPoint.x, refPoint.y, dx, dy, 0, tapTime); + } + else + { + System.err.println("No Release Point Found"); + return state; + } + } + + // check whether the slingshot is changed. the change of the slingshot indicates a change in the scale. + { + ActionRobot.fullyZoomOut(); + screenshot = ActionRobot.doScreenShot(); + vision = new Vision(screenshot); + Rectangle _sling = vision.findSlingshotMBR(); + if(_sling != null) + { + double scale_diff = Math.pow((sling.width - _sling.width),2) + Math.pow((sling.height - _sling.height),2); + if(scale_diff < 25) + { + if(dx < 0) + { + aRobot.cshoot(shot); + state = aRobot.getState(); + if ( state == GameState.PLAYING ) + { + screenshot = ActionRobot.doScreenShot(); + vision = new Vision(screenshot); + List traj = vision.findTrajPoints(); + tp.adjustTrajectory(traj, sling, releasePoint); + firstShot = false; + } + } + } + else + System.out.println("Scale is changed, can not execute the shot, will re-segement the image"); + } + else + System.out.println("no sling detected, can not execute the shot, will re-segement the image"); + } + + } + + } + return state; + } + + public static void main(String args[]) { + + NaiveAgent na = new NaiveAgent(); + if (args.length > 0) + na.currentLevel = Integer.parseInt(args[0]); + na.run(); + + } +} diff --git a/framework/src/ab/demo/ShootingAgent.java b/framework/src/ab/demo/ShootingAgent.java new file mode 100644 index 0000000..ef4e075 --- /dev/null +++ b/framework/src/ab/demo/ShootingAgent.java @@ -0,0 +1,76 @@ +/* + * Modified by Angry-HEX Team + * Removed Auto-generated TODOs + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.demo; + +import java.awt.Point; +import java.awt.Rectangle; + +import ab.demo.other.ActionRobot; +import ab.demo.other.Shot; +import ab.planner.TrajectoryPlanner; +import ab.vision.Vision; + +public class ShootingAgent { + + + public static void shoot(String[] args, boolean cshoot) + { + ActionRobot ar = new ActionRobot(); + TrajectoryPlanner tp = new TrajectoryPlanner(); + ActionRobot.fullyZoomOut(); + Vision vision = new Vision(ActionRobot.doScreenShot()); + Rectangle slingshot = vision.findSlingshotMBR(); + while(slingshot == null) + { + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + System.out.println("no slingshot detected. Please remove pop up or zoom out"); + vision = new Vision(ActionRobot.doScreenShot()); + slingshot = vision.findSlingshotMBR(); + } + Point refPoint = tp.getReferencePoint(slingshot); + int x = Integer.parseInt(args[1]); + int y = Integer.parseInt(args[2]); + int tap = 0; + if(args.length > 3) + tap = Integer.parseInt(args[3]); + + Shot shot = null; + if(cshoot) + shot = new Shot( refPoint.x, refPoint.y, -x, y,0,tap); + else + { + int r = x; + double theta = y / 100; + int dx = -(int) (r * Math.cos(Math.toRadians(theta))); + int dy = (int) (r * Math.sin(Math.toRadians(theta))); + shot = new Shot( refPoint.x, refPoint.y, dx, dy,0,tap); + } + vision = new Vision(ActionRobot.doScreenShot()); + Rectangle _slingshot = vision.findSlingshotMBR(); + if(!slingshot.equals(_slingshot)) + System.out.println("the scale is changed, the shot might not be executed properly."); + ar.cshoot(shot); + System.exit(0); + } + + + +} diff --git a/framework/src/ab/demo/abClientExample.cpp b/framework/src/ab/demo/abClientExample.cpp new file mode 100644 index 0000000..51b3f31 --- /dev/null +++ b/framework/src/ab/demo/abClientExample.cpp @@ -0,0 +1,162 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014, XiaoYu (Gary) Ge, Jochen Renz, Stephen Gould, +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, +** Peng Zhang +** All rights reserved. +** +** This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. +** To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ +** or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. +*****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include + +#define _BSD_SOCKLEN_T_ +#include + +#include +#include +#include +#include +#include + +using namespace std; + +// Constants ----------------------------------------------------------------- + +#define DEFAULT_HOST "localhost" +#define DEFAULT_PORT 2004 + +#define CMD_SCREENSHOT 0x0B + +// initClientComms ----------------------------------------------------------- + +int initClientComms(uint16_t port, const string& host) +{ + int client_socket = socket(PF_INET, SOCK_STREAM, 0); + if (client_socket < 0) { + cerr << "COMMS: error initializing client socket (socket)" << endl; + exit(-1); + } + + struct sockaddr_in server_name; + struct hostent *hostinfo; + server_name.sin_family = AF_INET; + server_name.sin_port = htons(port); + + hostinfo = gethostbyname(host.c_str()); + if (hostinfo == NULL) { + cerr << "COMMS: unknown host " << host.c_str() << endl; + exit(-1); + } + server_name.sin_addr = *(struct in_addr *)hostinfo->h_addr; + + if (connect(client_socket, (struct sockaddr *)&server_name, sizeof(server_name)) < 0) { + cerr << "COMMS: error connecting to server" << endl; + exit(-1); + } + + return client_socket; +} + +// getScreenshot ------------------------------------------------------------- + +bool getScreenshot(int socket) +{ + // send screenshot message + unsigned char cmd = CMD_SCREENSHOT; + if (write(socket, &cmd, 1) < 0) { + cerr << "COMMS: error sending connect message" << endl; + return false; + } + + // wait for response + struct timeval timeout; + timeout.tv_sec = (int)5; + timeout.tv_usec = 0; + + if (setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(struct timeval)) < 0) { + cerr << "COMMS: error waiting for server to respond" << endl; + exit(-1); + } + + // allocate space for the message + const int nBytes = 1024; + unsigned char *buffer = new unsigned char[nBytes]; + string message; + + // receive the message + while (true) { + int bytesRead = read(socket, buffer, nBytes); + + if (bytesRead < 0) { + cerr << "COMMS: error receiving message after " << message.size() << " bytes" << endl; + delete[] buffer; + return false; + } + + message.insert(message.size(), (const char *)&buffer[0], bytesRead); + if (bytesRead < nBytes) + break; + } + + delete[] buffer; + + cerr << "...read " << message.size() << endl; + assert(message.size() > 8); + + // decode the message + uint32_t n; + memcpy(&n, &message[0], sizeof(uint32_t)); + const int width = (int)ntohl(n); + memcpy(&n, &message[4], sizeof(uint32_t)); + const int height = (int)ntohl(n); + + cerr << "...image is " << width << "-by-" << height << endl; + + + return true; +} + +// Main ---------------------------------------------------------------------- + +int main(int argc, char *argv[]) +{ + string host = DEFAULT_HOST; + uint16_t port = DEFAULT_PORT; + + // process command line arguments + if (argc > 2) { + cerr << "USAGE: " << argv[0] << " [[host:]port]" << endl; + return 0; + } + + if (argc == 2) { + string hostString(argv[1]); + size_t indexOfColon = hostString.find(':', 0); + if(indexOfColon == string::npos) { + port = atoi(argv[2]); + } else { + host = hostString.substr(0, indexOfColon); + port = atoi(hostString.substr(indexOfColon + 1, hostString.size()).c_str()); + } + } + + // initialize client communications + cerr << "CLIENT: connecting to server " << host << ":" << port << endl; + const int client_socket = initClientComms(port, host); + + // request a screenshot + cerr << "CLIENT: requesting a screenshot" << endl; + getScreenshot(client_socket); + + return 0; +} diff --git a/framework/src/ab/demo/abTrajectory.java b/framework/src/ab/demo/abTrajectory.java new file mode 100644 index 0000000..bf45f8a --- /dev/null +++ b/framework/src/ab/demo/abTrajectory.java @@ -0,0 +1,150 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2013, XiaoYu (Gary) Ge, Jochen Renz, Stephen Gould, +** Sahan Abeyasinghe,Jim Keys, Kar-Wai Lim, Zain Mubashir, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. +**To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ +*or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. +*****************************************************************************/ +/* + * Modified by Angry-HEX Team + * Commented because it no longer works due to changes in the framework + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +//package ab.demo; +// +//import java.awt.Color; +//import java.awt.Rectangle; +//import java.awt.image.BufferedImage; +//import java.io.ByteArrayInputStream; +//import java.io.IOException; +//import java.net.UnknownHostException; +//import java.util.List; +// +//import javax.imageio.ImageIO; +// +//import ab.planner.TrajectoryPlanner; +//import ab.server.Proxy; +//import ab.server.proxy.message.ProxyScreenshotMessage; +//import ab.utils.ShowDebuggingImage; +//import ab.vision.GameStateExtractor; +//import ab.vision.Vision; +//import ab.vision.VisionUtils; +//// User Interface of the trajectory module +//public class abTrajectory { +// private static Proxy server; +// +// public abTrajectory() { +// if (server == null) { +// try { +// server = new Proxy(9000) { +// @Override +// public void onOpen() { +// System.out.println("Client connected"); +// } +// +// @Override +// public void onClose() { +// System.out.println("Client disconnected"); +// } +// }; +// server.start(); +// +// System.out.println("Server started on port: " + server.getPort()); +// +// System.out.println("Waiting for client to connect"); +// server.waitForClients(1); +// +// } catch (UnknownHostException e) { +// e.printStackTrace(); +// } +// } +// } +// +// public BufferedImage doScreenShot() { +// byte[] imageBytes = server.send(new ProxyScreenshotMessage()); +// BufferedImage image = null; +// try { +// image = ImageIO.read(new ByteArrayInputStream(imageBytes)); +// } catch (IOException e) { +// // do something +// } +// +// return image; +// } +// +// public static void main(String args[]) { +// abTrajectory ar = new abTrajectory(); +// +// ShowDebuggingImage frame = null; +// GameStateExtractor gameStateExtractor = new GameStateExtractor(); +// TrajectoryPlanner trajectory = new TrajectoryPlanner(); +// +// while (true) { +// // capture image +// BufferedImage screenshot = ar.doScreenShot(); +// final int nHeight = screenshot.getHeight(); +// final int nWidth = screenshot.getWidth(); +// +// System.out.println("captured image of size " + nWidth + "-by-" + nHeight); +// +// // extract game state +// GameStateExtractor.GameState state = gameStateExtractor.getGameState(screenshot); +// if (state != GameStateExtractor.GameState.PLAYING) { +// continue; +// } +// +// // process image +// Vision vision = new Vision(screenshot); +// List pigs = vision.findPigs(); +// List redBirds = vision.findRedBirds(); +// +// Rectangle sling = vision.findSlingshot(); +// if (sling == null) { +// System.out.println("...could not find the slingshot"); +// continue; +// } +// System.out.println("...found " + pigs.size() + " pigs and " + redBirds.size() + " birds"); +// System.out.println("...found slingshot at " + sling.toString()); +// +// // convert screenshot to grey scale and draw bounding boxes +// screenshot = VisionUtils.convert2grey(screenshot); +// VisionUtils.drawBoundingBoxes(screenshot, pigs, Color.GREEN); +// VisionUtils.drawBoundingBoxes(screenshot, redBirds, Color.PINK); +// VisionUtils.drawBoundingBox(screenshot, sling, Color.ORANGE); +// +// // find active bird +// Rectangle activeBird = trajectory.findActiveBird(redBirds); +// if (activeBird == null) { +// System.out.println("...could not find active bird"); +// continue; +// } +// +// trajectory.plotTrajectory(screenshot, sling, activeBird); +// +// // show image +// if (frame == null) { +// frame = new ShowDebuggingImage("trajectory", screenshot); +// } else { +// frame.refresh(screenshot); +// } +// +// try { +// Thread.sleep(100); +// } catch (InterruptedException e) { +// } +// } +// } +//} diff --git a/framework/src/ab/demo/other/ActionRobot.java b/framework/src/ab/demo/other/ActionRobot.java new file mode 100644 index 0000000..1210df4 --- /dev/null +++ b/framework/src/ab/demo/other/ActionRobot.java @@ -0,0 +1,298 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +/* + * Modified by Angry-HEX Team + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.demo.other; + +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.io.ByteArrayInputStream; +import java.io.IOException; +import java.net.UnknownHostException; +import java.util.Collections; +import java.util.Comparator; +import java.util.LinkedList; +import java.util.List; + +import javax.imageio.ImageIO; + +import ab.server.Proxy; +import ab.server.proxy.message.ProxyClickMessage; +import ab.server.proxy.message.ProxyDragMessage; +import ab.server.proxy.message.ProxyMouseWheelMessage; +import ab.server.proxy.message.ProxyScreenshotMessage; +import ab.utils.StateUtil; +import ab.vision.ABObject; +import ab.vision.ABType; +import ab.vision.GameStateExtractor.GameState; +import ab.vision.Vision; + +/** + * Util class for basic functions + * + */ +public class ActionRobot { + public static Proxy proxy; + public String level_status = "UNKNOWN"; + public int current_score = 0; + private LoadLevelSchema lls; + private RestartLevelSchema rls; + static { + if (proxy == null) { + try { + proxy = new Proxy(9000) { + @Override + public void onOpen() { + System.out.println("Client connected"); + } + + @Override + public void onClose() { + System.out.println("Client disconnected"); + } + }; + proxy.start(); + + System.out + .println("Server started on port: " + proxy.getPort()); + + System.out.println("Waiting for client to connect"); + proxy.waitForClients(1); + + } catch (UnknownHostException e) { + + e.printStackTrace(); + } + } + } + + // A java util class for the standalone version. It provides common + // functions an agent would use. E.g. get the screenshot + public ActionRobot() { + lls = new LoadLevelSchema(proxy); + rls = new RestartLevelSchema(proxy); + } + + public void restartLevel() { + rls.restartLevel(); + } + + public static void GoFromMainMenuToLevelSelection() { + // --- go from the main menu to the episode menu + GameState state = StateUtil.getGameState(proxy); + while (state == GameState.MAIN_MENU) { + + System.out.println("Go to the Episode Menu"); + proxy.send(new ProxyClickMessage(305, 277)); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + state = StateUtil.getGameState(proxy); + } + // --- go from the episode menu to the level selection menu + while (state == GameState.EPISODE_MENU) { + System.out.println("Select the Poached Eggs Episode"); + proxy.send(new ProxyClickMessage(150, 300)); + state = StateUtil.getGameState(proxy); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + state = StateUtil.getGameState(proxy); + } + + } + + public GameState shootWithStateInfoReturned(List csc) { + ShootingSchema ss = new ShootingSchema(); + ss.shoot(proxy, csc); + System.out.println("Shooting Completed"); + GameState state = StateUtil.getGameState(proxy); + return state; + + } + + public synchronized GameState getState() { + GameState state = StateUtil.getGameState(proxy); + return state; + } + + public void shoot(List csc) { + ShootingSchema ss = new ShootingSchema(); + + ss.shoot(proxy, csc); + System.out.println("Shooting Completed"); + System.out + .println("wait 15 seconds to ensure all objects in the scene static"); + try { + Thread.sleep(15000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + + } + + public void cshoot(Shot shot) { + ShootingSchema ss = new ShootingSchema(); + LinkedList shots = new LinkedList(); + shots.add(shot); + ss.shoot(proxy, shots); + System.out.println("Shooting Completed"); + try { + Thread.sleep(10000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + } + + public void cFastshoot(Shot shot) { + ShootingSchema ss = new ShootingSchema(); + LinkedList shots = new LinkedList(); + shots.add(shot); + ss.shoot(proxy, shots); + } + + public void fshoot(Shot shot) { + ShootingSchema ss = new ShootingSchema(); + LinkedList shots = new LinkedList(); + shots.add(shot); + ss.shoot(proxy, shots); + // System.out.println(" tap time : " + shot.getT_tap()); + System.out.println("Shooting Completed"); + + } + + public void click() { + proxy.send(new ProxyClickMessage(100, 100)); + } + + public void drag() { + proxy.send(new ProxyDragMessage(0, 0, 0, 0)); + } + + public void loadLevel(int... i) { + int level = 1; + if (i.length > 0) { + level = i[0]; + } + + lls.loadLevel(level); + } + + public static void fullyZoomOut() { + for (int k = 0; k < 15; k++) { + + proxy.send(new ProxyMouseWheelMessage(-1)); + } + try { + Thread.sleep(2000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + } + + public static void fullyZoomIn() { + for (int k = 0; k < 15; k++) { + + proxy.send(new ProxyMouseWheelMessage(1)); + } + try { + Thread.sleep(2000); + } catch (InterruptedException e) { + e.printStackTrace(); + } + } + + /* + * Modified by Angry-HEX Team + * Added "synchronized" + */ + public static synchronized BufferedImage doScreenShot() { + byte[] imageBytes = proxy.send(new ProxyScreenshotMessage()); + BufferedImage image = null; + try { + image = ImageIO.read(new ByteArrayInputStream(imageBytes)); + } catch (IOException e) { + + } + + return image; + } + /* + * @return the type of the bird on the sling. + * + * **/ + public ABType getBirdTypeOnSling() + { + fullyZoomIn(); + BufferedImage screenshot = doScreenShot(); + Vision vision = new Vision(screenshot); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + fullyZoomOut(); + List _birds = vision.findBirdsMBR(); + if(_birds.isEmpty()) + return ABType.Unknown; + Collections.sort(_birds, new Comparator(){ + + @Override + public int compare(Rectangle o1, Rectangle o2) { + + return ((Integer)(o1.y)).compareTo((Integer)(o2.y)); + } + }); + return _birds.get(0).getType(); + } + + public static void main(String args[]) { + + long time = System.currentTimeMillis(); + ActionRobot.doScreenShot(); + time = System.currentTimeMillis() - time; + System.out.println(" cost: " + time); + time = System.currentTimeMillis(); + int count = 0; + while (count < 40) { + ActionRobot.doScreenShot(); + count++; + } + + System.out.println(" time to take 40 screenshots" + + (System.currentTimeMillis() - time)); + System.exit(0); + + } + + public int getScore() { + return StateUtil.getScore(ActionRobot.proxy); + } +} diff --git a/framework/src/ab/demo/other/ClientActionRobot.java b/framework/src/ab/demo/other/ClientActionRobot.java new file mode 100644 index 0000000..bf1a1e3 --- /dev/null +++ b/framework/src/ab/demo/other/ClientActionRobot.java @@ -0,0 +1,383 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +/* + * Modified by Angry-HEX Team + * Added GameImageRecorder + * Removed Auto-generated TODOs + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.demo.other; + + +import java.awt.Color; +import java.awt.image.BufferedImage; +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.net.Socket; +import java.net.UnknownHostException; + +import external.ClientMessageEncoder; +import external.ClientMessageTable; + +import ab.utils.GameImageRecorder; + + +/** + * A server/client version of the java util class that encodes client messages and decodes + * the corresponding server messages complying with the protocols. Its subclass is ClientActionRobotJava.java + * which decodes the received server messages into java objects. + * */ +public class ClientActionRobot { + Socket requestSocket; + OutputStream out; + InputStream in; + String message; + + /* + * Modified by Angry-HEX Team + * Added GameImageRecorder + */ + GameImageRecorder rec; + + public ClientActionRobot(GameImageRecorder r, String... ip) + { + this(ip); + rec = r; + } + + + public ClientActionRobot(String... ip) { + String _ip = "localhost"; + if (ip.length > 0) { + _ip = ip[0]; + } + try { + // 1. creating a socket to connect to the server + requestSocket = new Socket(_ip, 2004); + requestSocket.setReceiveBufferSize(100000); + System.out.println("Connected to " + _ip + " in port 2004"); + out = requestSocket.getOutputStream(); + out.flush(); + in = requestSocket.getInputStream(); + } catch (UnknownHostException unknownHost) { + System.err.println("You are trying to connect to an unknown host!"); + } catch (IOException ioException) { + ioException.printStackTrace(); + } + } + + + public synchronized BufferedImage doScreenShot_() { + BufferedImage bfImage = null; + try { + // 2. get Input and Output streams + byte[] doScreenShot = ClientMessageEncoder.encodeDoScreenShot(); + out.write(doScreenShot); + out.flush(); + // System.out.println("client executes command: screen shot"); + + //Read the message head : 4-byte width and 4-byte height, respectively + byte[] bytewidth = new byte[4]; + byte[] byteheight = new byte[4]; + int width, height; + in.read(bytewidth); + width = bytesToInt(bytewidth); + in.read(byteheight); + height = bytesToInt(byteheight); + + //initialize total bytes of the screenshot message + //not include the head + int totalBytes = width * height * 3; + + //read the raw RGB data + byte[] bytebuffer; + //System.out.println(width + " " + height); + byte[] imgbyte = new byte[totalBytes]; + int hasReadBytes = 0; + while (hasReadBytes < totalBytes) { + bytebuffer = new byte[2048]; + int nBytes = in.read(bytebuffer); + if (nBytes != -1) + System.arraycopy(bytebuffer, 0, imgbyte, hasReadBytes, + nBytes); + else + break; + hasReadBytes += nBytes; + } + + //set RGB data using BufferedImage + bfImage = new BufferedImage(width, height, + BufferedImage.TYPE_INT_RGB); + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + int R = imgbyte[(y * width + x) * 3] & 0xff; + int G = imgbyte[(y * width + x) * 3 + 1] & 0xff; + int B = imgbyte[(y * width + x) * 3 + 2] & 0xff; + Color color = new Color(R, G, B); + int rgb; + rgb = color.getRGB(); + bfImage.setRGB(x, y, rgb); + } + } + + } catch (IOException ioException) { + ioException.printStackTrace(); + } + catch (IllegalArgumentException e) + { + e.printStackTrace(); + } + return bfImage; + + } + + public BufferedImage doScreenShot() + { + BufferedImage bfImage = doScreenShot_(); + //if (rec != null) rec.scheduleScreenshot(bfImage); + return bfImage; + } + + + //convert a byte[4] array to int value + public int bytesToInt(byte... b) { + int value = 0; + for (int i = 0; i < 4; i++) { + int shift = (4 - 1 - i) * 8; + value += (b[i] & 0x000000FF) << shift; + } + return value; + } + + //convert an int value to byte[4] array + public static byte[] intToByteArray(int a) { + byte[] ret = new byte[4]; + ret[3] = (byte) (a & 0xFF); + ret[2] = (byte) ((a >> 8) & 0xFF); + ret[1] = (byte) ((a >> 16) & 0xFF); + ret[0] = (byte) ((a >> 24) & 0xFF); + return ret; + } + + //send message to fully zoom out + public synchronized byte fullyZoomOut() { + try { + out.write(ClientMessageEncoder.fullyZoomOut()); + out.flush(); + return (byte) in.read(); + } catch (IOException e) { + + e.printStackTrace(); + } + return 0; + + } + + //send message to fully zoom in + public synchronized byte fullyZoomIn() { + try { + out.write(ClientMessageEncoder.fullyZoomIn()); + out.flush(); + return (byte) in.read(); + } catch (IOException e) { + + e.printStackTrace(); + } + return 0; + + } + public byte clickInCenter() { + try { + out.write(ClientMessageEncoder.clickInCenter()); + out.flush(); + return (byte) in.read(); + } catch (IOException e) { + + e.printStackTrace(); + } + return 0; + + } + //register team id + public synchronized byte[] configure(byte[] team_id) { + try { + out.write(ClientMessageEncoder.configure(team_id)); + out.flush(); + byte[] result = new byte[4]; + in.read(result); + return result; + } catch (IOException e) { + e.printStackTrace(); + } + return null; + + } + + //load a certain level + public synchronized byte loadLevel(byte... i) { + try { + + out.write(ClientMessageEncoder.loadLevel(i)); + return (byte) in.read(); + } catch (IOException e) { + + e.printStackTrace(); + } + return 0; + } + + + //send a message to restart the level + public synchronized byte restartLevel() { + try { + out.write(ClientMessageEncoder.restart()); + return (byte) in.read(); + } catch (IOException e) { + e.printStackTrace(); + } + return 0; + + } + + //send a shot message to execute a shot in the safe mode + public byte[] shoot(byte[] fx, byte[] fy, byte[] dx, byte[] dy, byte[] t1, + byte[] t2, boolean polar) { + byte[] inbuffer = new byte[16]; + try { + if (polar) + out.write(ClientMessageEncoder.pshoot(fx, fy, dx, dy, t1, t2)); + else + out.write(ClientMessageEncoder.cshoot(fx, fy, dx, dy, t1, t2)); + out.flush(); + in.read(inbuffer); + return inbuffer; + } catch (IOException e) { + e.printStackTrace(); + } + return new byte[] { 0 }; + } + + //send a shot message to execute a shot in the fast mode + public byte[] shootFast(byte[] fx, byte[] fy, byte[] dx, byte[] dy, byte[] t1, + byte[] t2, boolean polar) { + byte[] inbuffer = new byte[16]; + try { + if (polar) + out.write(ClientMessageEncoder.pFastshoot(fx, fy, dx, dy, t1, t2)); + else + out.write(ClientMessageEncoder.cFastshoot(fx, fy, dx, dy, t1, t2)); + out.flush(); + in.read(inbuffer); + return inbuffer; + } catch (IOException e) { + e.printStackTrace(); + } + return new byte[] { 0 }; + } + + //send a sequence of shots message + public byte[] cshootSequence(byte[]... shots) { + byte[] inbuffer = new byte[16]; + + byte[] msg = ClientMessageEncoder.mergeArray( + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.shootSeq) }, + new byte[] { (byte) shots.length }); + for (byte[] shot : shots) { + msg = ClientMessageEncoder.mergeArray(msg, + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.cshoot) }, shot); + } + + try { + out.write(msg); + + in.read(inbuffer); + return inbuffer; + } catch (IOException e) { + e.printStackTrace(); + } + return new byte[] { 0 }; + } + + + //send a message to get the current state + public byte getState() { + try { + out.write(ClientMessageEncoder.getState()); + out.flush(); + // System.out.println("IN READ " + in.read()); + return (byte) in.read(); + } catch (IOException e) { + e.printStackTrace(); + } + + return 0; + } + // send a message to score of each level + public byte[] getBestScores() + { + int level = 21; + int totalBytes = level * 4; + byte[] buffer = new byte[totalBytes]; + try { + out.write(ClientMessageEncoder.getBestScores()); + out.flush(); + + in.read(buffer); + return buffer; + + + } catch (IOException e) { + e.printStackTrace(); + } + return buffer; + } + // send a message to score of each level + public byte[] getMyScore() + { + int level = 21; + int totalBytes = level * 4; + byte[] buffer = new byte[totalBytes]; + try { + out.write(ClientMessageEncoder.getMyScore()); + out.flush(); + + in.read(buffer); + return buffer; + + + } catch (IOException e) { + e.printStackTrace(); + } + return buffer; + } + + public static void main(String args[]) + { + ClientActionRobot robot = new ClientActionRobot(); + byte[] id = {1,2,3,4}; + robot.configure(id); + while(true) + robot.doScreenShot(); + } + +} diff --git a/framework/src/ab/demo/other/ClientActionRobotJava.java b/framework/src/ab/demo/other/ClientActionRobotJava.java new file mode 100644 index 0000000..43932a9 --- /dev/null +++ b/framework/src/ab/demo/other/ClientActionRobotJava.java @@ -0,0 +1,149 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +/* + * Modified by Angry-HEX Team + * Removed Auto-generated TODOs + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.demo.other; + +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.Collections; +import java.util.Comparator; +import java.util.List; + +import ab.utils.GameImageRecorder; +import ab.vision.ABObject; +import ab.vision.ABType; +import ab.vision.Vision; +import ab.vision.GameStateExtractor.GameState; +import external.ClientMessageEncoder; + +//Java interface of ClientActionRobot +public class ClientActionRobotJava extends ClientActionRobot { + + /* + * Modified by Angry-HEX Team + * Added GameImageRecorder + */ + GameImageRecorder rec; + + public ClientActionRobotJava(GameImageRecorder r, String ip) + { + super(ip); + rec = r; + } + + + public ClientActionRobotJava(String ip) { + super(ip); + } + + //return game state as enum format + public GameState checkState() { + byte result = super.getState(); + GameState state = GameState.values()[result]; + return state; + } + //return an array of best scores. the nth slot stores the score of (n+1)th level + public int[] checkScore() + { + byte[] scores = super.getBestScores(); + int[] _scores = new int[scores.length/4]; + for (int i = 0 ; i < _scores.length ; i++){ + _scores[i] = super.bytesToInt(scores[i * 4], scores[i*4 + 1], scores[i*4 + 2], scores[i*4 + 3]); + } + return _scores; + } + + //send a shot message using int values as input + public byte[] shoot(int fx, int fy, int dx, int dy, int t1, int t2, + boolean polar) { + return super.shoot(intToByteArray(fx), intToByteArray(fy), + intToByteArray(dx), intToByteArray(dy), intToByteArray(t1), + intToByteArray(t2), polar); + } + + /* + * Modified by Angry-HEX Team + * Added method "fastshoot" + */ + public synchronized byte[] fastshoot(int fx, int fy, int dx, int dy, int t1, int t2, + boolean polar) { + return super.shootFast(intToByteArray(fx), intToByteArray(fy), + intToByteArray(dx), intToByteArray(dy), intToByteArray(t1), + intToByteArray(t2), polar); + } + + + //send a shot sequence message using int arrays as input + //one array per shot + public byte[] cshootSequence(int[]... shots) { + byte[][] byteShots = new byte[shots.length][24] ; + int shotCount = 0; + for (int[] shot : shots) { + byteShots[shotCount] = ClientMessageEncoder.mergeArray(intToByteArray(shot[0])/*fx*/, + intToByteArray(shot[1])/*fy*/, intToByteArray(shot[2])/*dx*/, + intToByteArray(shot[3])/*dy*/, intToByteArray(shot[4])/*t1*/, + intToByteArray(shot[5])/*t2*/); + shotCount++; + } + return super.cshootSequence(byteShots); + } + public ABType getBirdTypeOnSling() + { + fullyZoomIn(); + BufferedImage screenshot = doScreenShot(); + Vision vision = new Vision(screenshot); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + fullyZoomOut(); + List _birds = vision.findBirdsMBR(); + if(_birds.isEmpty()) + return ABType.Unknown; + Collections.sort(_birds, new Comparator(){ + + @Override + public int compare(Rectangle o1, Rectangle o2) { + + return ((Integer)(o1.y)).compareTo((Integer)(o2.y)); + } + }); + return _birds.get(0).getType(); + } + public int[] checkMyScore() { + byte[] scores = super.getMyScore(); + int[] _scores = new int[scores.length/4]; + for (int i = 0 ; i < _scores.length ; i++){ + _scores[i] = super.bytesToInt(scores[i * 4], scores[i*4 + 1], scores[i*4 + 2], scores[i*4 + 3]); + } + return _scores; + } + + public void setRecorder(GameImageRecorder rec) { + this.rec = rec; + } + +} diff --git a/framework/src/ab/demo/other/Env.java b/framework/src/ab/demo/other/Env.java new file mode 100644 index 0000000..0e6fbc9 --- /dev/null +++ b/framework/src/ab/demo/other/Env.java @@ -0,0 +1,72 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2013, XiaoYu (Gary) Ge, Jochen Renz,Stephen Gould, +** Sahan Abeyasinghe,Jim Keys, Kar-Wai Lim, Zain Mubashir, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. +**To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ +*or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. +*****************************************************************************/ +package ab.demo.other; + +import java.awt.Point; +import java.io.BufferedReader; +import java.io.File; +import java.io.FileReader; +import java.io.IOException; +import java.util.HashMap; + +// read the focus point from the file +public class Env { + +private static HashMap focuslist = new HashMap(); + +public static HashMap getFocuslist() { + return focuslist; +} + + +static +{ + File file = new File("Setup.ini"); + if(file.exists()) + { + BufferedReader br; + try { + br = new BufferedReader(new FileReader(file)); + while(br.ready()) + { + String line = br.readLine(); + if(!line.contains("#")) + { + if(line.contains(("focus_pt"))) + { + String str = line.substring(line.lastIndexOf(":")+1); + String str_x = str.substring(0,str.indexOf(",")); + String str_y = str.substring(str.indexOf(",")+1,str.lastIndexOf(",")); + String str_z = str.substring(str.lastIndexOf(",") + 1); + int x = Integer.parseInt(str_x); + int y = Integer.parseInt(str_y); + int z = Integer.parseInt(str_z); + focuslist.put(z, new Point(x,y)); + } + + } + + } + } catch (IOException e) { + + e.printStackTrace(); + } + + + } + +} + + + + + + +} \ No newline at end of file diff --git a/framework/src/ab/demo/other/LoadLevelSchema.java b/framework/src/ab/demo/other/LoadLevelSchema.java new file mode 100644 index 0000000..5169207 --- /dev/null +++ b/framework/src/ab/demo/other/LoadLevelSchema.java @@ -0,0 +1,200 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz +** Sahan Abeyasinghe , Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.demo.other; + +import ab.server.Proxy; +import ab.server.proxy.message.ProxyClickMessage; +import ab.server.proxy.message.ProxyMouseWheelMessage; +import ab.utils.StateUtil; +import ab.vision.GameStateExtractor.GameState; + +/** + * Schema for loading level + * */ +public class LoadLevelSchema { +private Proxy proxy; +private boolean pageSwitch = false; + +public LoadLevelSchema(Proxy proxy) +{ + this.proxy = proxy; + + } +public boolean loadLevel(int i) +{ + + if(i > 21) + { + if( i == 22 || i == 43 ) + pageSwitch = true; + i =( (i % 21) == 0)? 21 : i%21; + + + + + } + //System.out.println(StateUtil.checkCurrentState(proxy)); + loadLevel(StateUtil.getGameState(proxy),i); + + GameState state = StateUtil.getGameState(proxy); + + while(state!= GameState.PLAYING) + { + System.out.println(" In state: " + state + " Try reloading..."); + loadLevel(state,i); + try { + Thread.sleep(12000); + } catch (InterruptedException e1) { + + e1.printStackTrace(); + } + + state = StateUtil.getGameState(proxy); + + } + return true; +} +private boolean loadLevel(GameState state,int i) +{ + // if still at main menu or episode menu, skip it. + ActionRobot.GoFromMainMenuToLevelSelection(); + + + if(state == GameState.WON || state == GameState.LOST) + { + + /*if(state == GameState.WON && i >= current + 1) + proxy.send(new ProxyClickMessage(500,375)); // go to the next level +*/ /*if(state == GameState.WON)*/ { + + proxy.send(new ProxyClickMessage(342,382));//Click the left most button at the end page + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + if(pageSwitch) + { + proxy.send(new ProxyClickMessage(378, 451)); + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + pageSwitch = false; + } + proxy.send(new ProxyClickMessage(54 + ((i-1)%7) * 86,110 + ((i-1)/7) * 100)); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + } + if(i == 1) + //skip the animation, the animation does not appear in the SD mode. + proxy.send(new ProxyClickMessage(1176,704)); + } + else if(state == GameState.PLAYING) + { + proxy.send(new ProxyClickMessage(48,44));//Click the left most button, pause + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + + e1.printStackTrace(); + } + proxy.send(new ProxyClickMessage(168,28));//Click the left most button, pause + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + if(pageSwitch) + { + proxy.send(new ProxyClickMessage(378, 451)); + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + pageSwitch = false; + } + proxy.send(new ProxyClickMessage(54 + ((i-1)%7) * 86,110 + ((i-1)/7) * 100)); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + if(i == 1) + proxy.send(new ProxyClickMessage(1176,704)); + } + else + { + if(pageSwitch) + { + proxy.send(new ProxyClickMessage(378, 451)); + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + pageSwitch = false; + } + proxy.send(new ProxyClickMessage(54 + ((i-1)%7) * 86,110 + ((i-1)/7) * 100)); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + if(i == 1) + proxy.send(new ProxyClickMessage(1176,704)); + } + + //Wait 9000 seconds for loading the level + GameState _state = StateUtil.getGameState(proxy); + int count = 0; // at most wait 10 seconds + while(_state!= GameState.PLAYING&& count < 3){ + try { + Thread.sleep(3000); + } catch (InterruptedException e1) { + + e1.printStackTrace(); + } + count ++; + _state = StateUtil.getGameState(proxy); + + } + + if(_state == GameState.PLAYING){ + + + for (int k = 0; k < 15; k++) + { + proxy.send(new ProxyMouseWheelMessage(-1)); + } + + try { + Thread.sleep(2500); + } catch (InterruptedException e1) { + + e1.printStackTrace(); + } + + + } + + + + return true; + +} +} diff --git a/framework/src/ab/demo/other/RestartLevelSchema.java b/framework/src/ab/demo/other/RestartLevelSchema.java new file mode 100644 index 0000000..a78499b --- /dev/null +++ b/framework/src/ab/demo/other/RestartLevelSchema.java @@ -0,0 +1,72 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.demo.other; + +import ab.server.Proxy; +import ab.server.proxy.message.ProxyClickMessage; +import ab.server.proxy.message.ProxyMouseWheelMessage; +import ab.utils.StateUtil; +import ab.vision.GameStateExtractor.GameState; + +public class RestartLevelSchema { +private Proxy proxy; + +//This schema is used for automatically restarting levels in the standalone version. +public RestartLevelSchema(Proxy proxy) +{ + this.proxy = proxy; +} +public boolean restartLevel() +{ + GameState state = StateUtil.getGameState(proxy); + + if(state == GameState.WON || state == GameState.LOST) + { + proxy.send( new ProxyClickMessage(420,380));//Click the left most button at the end page + System.out.println(" restart the level "); + try { + Thread.sleep(2000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + } + else if(state == GameState.PLAYING) + { + proxy.send(new ProxyClickMessage(100,39)); + try { + Thread.sleep(1000); + } catch (InterruptedException e1) { + e1.printStackTrace(); + } + } + + //Wait 4000 seconds for loading the level + try { + Thread.sleep(4000); + } catch (InterruptedException e1) { + + e1.printStackTrace(); + } + //Zooming out + System.out.println("Zooming out"); + for (int k = 0; k < 15; k++) + { + proxy.send(new ProxyMouseWheelMessage(-1)); + } + try { + Thread.sleep(2000); + } catch (InterruptedException e1) { + + e1.printStackTrace(); + } + + return true; + +} +} diff --git a/framework/src/ab/demo/other/ShootingSchema.java b/framework/src/ab/demo/other/ShootingSchema.java new file mode 100644 index 0000000..610eabe --- /dev/null +++ b/framework/src/ab/demo/other/ShootingSchema.java @@ -0,0 +1,120 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.demo.other; + +import java.util.Collections; +import java.util.Comparator; +import java.util.LinkedList; +import java.util.List; + +import ab.server.Proxy; +import ab.server.proxy.message.ProxyDragMessage; + +/** + * Shooting Schema for standalone version. + * */ +public class ShootingSchema { +private boolean shootImmediately = true; + + +public void shoot(final Proxy proxy,List csc) +{ + int count = 0; + LinkedList shots = new LinkedList(); + for(Shot shot:csc) + { + if(shot.getT_shot() != 0) + shootImmediately = false; + if(shootImmediately) + { + int t_shot = 5000 * count++; + shots.add(new Shot(shot.getX(),shot.getY(),shot.getDx(),shot.getDy(),t_shot)); + if(shot.getT_tap() > 0) + shots.add(new Shot(0,0,0,0, shot.getT_tap() + t_shot)); + } + else + { + shots.add(new Shot(shot.getX(),shot.getY(),shot.getDx(),shot.getDy(),shot.getT_shot())); + if(shot.getT_tap() > 0) + shots.add(new Shot(0,0,0,0,shot.getT_tap() + shot.getT_shot())); + } + + } + + Collections.sort(shots, new Comparator(){ + + @Override + public int compare(Shot arg0, Shot arg1) { + + return ((Integer)arg0.getT_shot()).compareTo(arg1.getT_shot()); + } + }); + if(!shots.isEmpty()) + { + int start_time = shots.getFirst().getT_shot(); + //Optimize for one shot one time.. + if(shots.size() < 3) + { + Shot shot = shots.getFirst(); + if(shots.size() == 2) + { + Shot _shot = shots.getLast(); + int wait_time = (_shot.getT_shot() - start_time)==0? start_time:(_shot.getT_shot()- start_time); + long _gap = System.currentTimeMillis(); + proxy.send(new ProxyDragMessage(shot.getX(),shot.getY(),shot.getDx(),shot.getDy())); + long gap = System.currentTimeMillis() - _gap; + wait_time -= gap; + if(wait_time < 0) + wait_time = 0; + //long time = System.nanoTime(); + try { + Thread.sleep(wait_time); + } catch (InterruptedException e) { + + e.printStackTrace(); + }/* + long _time = System.nanoTime(); + System.out.println(" waiting time:" + (time - _time));*/ + proxy.send(new ProxyDragMessage(_shot.getX(),_shot.getY(),_shot.getDx(),_shot.getDy())); + } + else + { + proxy.send(new ProxyDragMessage(shot.getX(),shot.getY(),shot.getDx(),shot.getDy())); + //System.out.println(shot.getX() + " " + shot.getY() + " " + shot.getDx() + " " + shot.getDy()); + } + + } + else + { + long gap = 0; + for(Shot _shot: shots) + { + long wait_time = (_shot.getT_shot() - start_time - gap) <=0 ? 0:(_shot.getT_shot()- start_time - gap); + + try { + Thread.sleep(wait_time); + } catch (InterruptedException e) { + e.printStackTrace(); + } + start_time = _shot.getT_shot(); + gap = System.currentTimeMillis(); + proxy.send(new ProxyDragMessage(_shot.getX(),_shot.getY(),_shot.getDx(),_shot.getDy())); + gap = System.currentTimeMillis() - gap; + } + } +System.out.println("wait 10 seconds to ensure all objects in the scene static"); +try { + Thread.sleep(10000); +} catch (InterruptedException e) { + e.printStackTrace(); +} + } +} + +} diff --git a/framework/src/ab/demo/other/Shot.java b/framework/src/ab/demo/other/Shot.java new file mode 100644 index 0000000..5c9c4cc --- /dev/null +++ b/framework/src/ab/demo/other/Shot.java @@ -0,0 +1,134 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.demo.other; + + + +public class Shot { + + private int x; + private int y; + private int dx; + private int dy; + public int getDx() { + return dx; + } + + + public void setDx(int dx) { + this.dx = dx; + } + + + public int getDy() { + return dy; + } + + + public Shot(int x, int y, int dx, int dy, int t_shot, int t_tap) { + super(); + this.x = x; + this.y = y; + this.dx = dx; + this.dy = dy; + this.t_shot = t_shot; + this.t_tap = t_tap; + } + + public Shot(int x, int y, int dx, int dy, int t_shot) { + super(); + this.x = x; + this.y = y; + this.dx = dx; + this.dy = dy; + this.t_shot = t_shot; + } + + + public void setDy(int dy) { + this.dy = dy; + } + private int t_shot; + private int t_tap; +public Shot() +{ + x = 0; + y = 0; + dx = 0; + dy = 0; + t_shot = 0; + t_tap = 0; +} + + +public Shot(int x, int y, int t_shot, int t_tap) { + super(); + this.x = x; + this.y = y; + this.t_shot = t_shot; + this.t_tap = t_tap; +} + + +public int getX() { + return x; +} + + +public void setX(int x) { + this.x = x; +} + + +public int getY() { + return y; +} + + +public void setY(int y) { + this.y = y; +} + + +public int getT_shot() { + return t_shot; +} + + +public void setT_shot(int t_shot) { + this.t_shot = t_shot; +} + + +public int getT_tap() { + return t_tap; +} + + +public void setT_tap(int t_tap) { + this.t_tap = t_tap; +} + + +public String toString() +{ + String result = ""; + if(x == 0 && y == 0) + { + if(t_tap!=0) + result+= "tap at: " + t_tap; + } + else + result += "Shoot from: ("+ (x + dx)+ " " + (y + dy) +" )" + " at time " + t_shot ; + + return result; + +} + +} diff --git a/framework/src/ab/planner/TrajectoryPlanner.java b/framework/src/ab/planner/TrajectoryPlanner.java new file mode 100644 index 0000000..a93736d --- /dev/null +++ b/framework/src/ab/planner/TrajectoryPlanner.java @@ -0,0 +1,547 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +/* + * Modified by Angry-HEX Team + * Removed unused "import" and variables + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.planner; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.List; + +import angryhexclient.Configuration; + +/* TrajectoryPlanner ------------------------------------------------------ */ +public class TrajectoryPlanner { + + + private static double X_OFFSET = 0.5; + private static double Y_OFFSET = 0.65; + private static double BOUND = 0.1; + private static double STRETCH = 0.4; + private static int X_MAX = 640; + + // 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70 + private static double _launchAngle [] = {0.13, 0.215, 0.296, 0.381, 0.476, 0.567, 0.657, 0.741, 0.832, 0.924, 1.014, 1.106, 1.197}; + private static double _changeAngle [] = {0.052, 0.057, 0.063, 0.066, 0.056, 0.054, 0.050, 0.053, 0.042, 0.038, 0.034, 0.029, 0.025}; + private static double _launchVelocity[] = {2.9, 2.88, 2.866, 2.838, 2.810, 2.800, 2.790, 2.773, 2.763, 2.745, 2.74, 2.735, 2.73}; + + // small modification to the scale and angle + private double _scaleFactor = 1.005; + + +// private double _angleAdjust = 0.0; + + + // conversion between the trajectory time and actual time in milliseconds + private double _timeUnit = 815; + + // boolean flag on set trajectory + private boolean _trajSet = false; + + // parameters of the set trajectory + private Point _release; + private double _theta, _velocity, _ux, _uy, _a, _b; + + // the trajectory points + ArrayList _trajectory; + + // reference point and current scale + private Point _ref; + private double _scale; + + // create a trajectory planner object + public TrajectoryPlanner() { + + } + + /* Fit a quadratic to the given points and adjust parameters for the current scene + * namely the scale factor, which is a number used to find the correct exit velocity + * + * @param pts - list of points (on screen) the trajectory passed through + * slingshot - bounding box of the slingshot + * releasePoint - where the mouse click was released from + */ + public void adjustTrajectory(final List pts, Rectangle slingshot, Point releasePoint) + { + double Sx2 = 0.0; + double Sx3 = 0.0; + double Sx4 = 0.0; + double Syx = 0.0; + double Syx2 = 0.0; + + // find scene scale and reference point + double sceneScale = getSceneScale(slingshot); + Point refPoint = getReferencePoint(slingshot); + + for (Point p : pts) { + // normalise the points + double x = (p.x - refPoint.x) / sceneScale; + double y = (p.y - refPoint.y) / sceneScale; + + final double x2 = x * x; + Sx2 += x2; + Sx3 += x * x2; + Sx4 += x2 * x2; + Syx += y * x; + Syx2 += y * x2; + } + + final double a = (Syx2 * Sx2 - Syx * Sx3) / (Sx4 * Sx2 - Sx3 * Sx3); + final double b = (Syx - a * Sx3) / Sx2; + + //System.out.println("a: " + a + " b: " + b); + + // launch angle + double theta = -Math.atan2(refPoint.y - releasePoint.y, refPoint.x - releasePoint.x); +// // actual angle +// double theta2 = -Math.atan2(b, 1); + + + //System.out.println("angles: " + theta + ", " + theta2); + + + // find initial velocity + double ux = Math.sqrt(0.5/a); + double uy = ux * b; + + //System.out.println("velocity: " + Math.sqrt(ux*ux+uy*uy)); + + // adjust the scale and angle change + adjustScale(Math.sqrt(ux*ux + uy*uy), theta); + System.out.println("\nscale factor changed to: " + _scaleFactor); + _trajSet = false; + } + + /* Calculate the y-coordinate of a point on the set trajectory + * + * @param sling - bounding rectangle of the slingshot + * releasePoint - point the mouse click is released from + * x - x-coordinate (on screen) of the requested point + * @return y-coordinate (on screen) of the requested point + */ + public int getYCoordinate(Rectangle sling, Point releasePoint, int x) + { + setTrajectory(sling, releasePoint); + + // find the normalised coordinates + double xn = (x - _ref.x) / _scale; + + return _ref.y - (int)((_a * xn * xn + _b * xn) * _scale); + } + + /* + * Modified by Angry-HEX Team + * Added method "fitAngle" + */ + private double fitAngle(double start, double end, double x, double y) + { + double retAngle = 0; + double bestError = 100000; + //System.out.println("ST:"+start+" END:"+end); + for (double theta = start; theta <= end; theta += 0.0005) + { + double velocity = getVelocity(theta); + + // initial velocities + double u_x = velocity * Math.cos(theta); + double u_y = velocity * Math.sin(theta); + + // the normalised coefficients + double a = -0.5 / (u_x * u_x); + double b = u_y / u_x; + + // the error in y-coordinate + double error = Math.abs(a*x*x + b*x - y); + if (error < bestError) + { + retAngle = theta; + bestError = error; + } + } + return retAngle; + } + + /* Estimate launch points given a desired target point using maximum velocity + * If there are two launch point for the target, they are both returned in + * the list {lower point, higher point) + * Note - angles greater than 75 are not considered + * + * @param slingshot - bounding rectangle of the slingshot + * targetPoint - coordinates of the target to hit + * @return A list containing 2 possible release points + */ + public ArrayList estimateLaunchPoint(Rectangle slingshot, Point targetPoint) { + + // calculate relative position of the target (normalised) + double scale = getSceneScale(slingshot); + //System.out.println("scale " + scale); + Point ref = getReferencePoint(slingshot); + + double x = (targetPoint.x - ref.x) / scale; + double y = -(targetPoint.y - ref.y) / scale; + // System.out.println("X:"+y+" Y:"+y); + + //commented out because it's not used +// double bestError = 1000; + double theta1 = 0; + double theta2 = 0; + + // first estimate launch angle using the projectile equation (constant velocity) + double v = _scaleFactor * _launchVelocity[6]; + double v2 = v * v; + double v4 = v2 * v2; + /* + * Modified by Angry-HEX Team + * Added Math.abs + */ + double tangent1 = (v2 - Math.sqrt(Math.abs(v4 - (x * x + 2 * y * v2)))) / x; + double tangent2 = (v2 + Math.sqrt(Math.abs(v4 - (x * x + 2 * y * v2)))) / x; + + //System.out.println("TANGENTS: "+tangent1+" "+tangent2); + + double t1 = actualToLaunch(Math.atan(tangent1)); + double t2 = actualToLaunch(Math.atan(tangent2)); + + /* + * Modified by Angry-HEX Team + * Moved code to fitAngle method + * Added call to fitAngle method + */ + theta1 = fitAngle(t1-BOUND,t1+BOUND,x,y); + theta2 = fitAngle(t2-BOUND,t2+BOUND,x,y); + //System.out.println("FORMER THETAS: "+Math.toDegrees(theta1)+" "+Math.toDegrees(theta2)); + + theta1 = actualToLaunch(theta1); + theta2 = actualToLaunch(theta2); + + //System.out.println("NEW THETAS: " + Math.toDegrees(theta1) + ", " + Math.toDegrees(theta2)); + + // add launch points to the list + ArrayList pts = new ArrayList(); + pts.add(findReleasePoint(slingshot, theta1)); + + // add the higher point if it is below 75 degrees and not same as first + if (theta2 < Math.toRadians(75) && theta2 != theta1) + pts.add(findReleasePoint(slingshot, theta2)); + + return pts; + } + + + /* the estimated tap time given the tap point + * + * @param sling - bounding box of the slingshot + * release - point the mouse clicked was released from + * tapPoint - point the tap should be made + * @return tap time (relative to the release time) in milli-seconds + */ + /* + * Modified by Angry-HEX Team + * Changed modifier to public + */ + public int getTimeByDistance(Rectangle sling, Point release, Point tapPoint) + { + // update trajectory parameters + setTrajectory(sling, release); + + double pullback = _scale * STRETCH * Math.cos(_theta); + double distance = (tapPoint.x - _ref.x + pullback) / _scale; + + //System.out.println("distance " + distance); + //System.out.println("velocity " + _ux); + + return (int)(distance / _ux * _timeUnit); + } + + + /* Choose a trajectory by specifying the sling location and release point + * Derive all related parameters (angle, velocity, equation of the parabola, etc) + * + * @param sling - bounding rectangle of the slingshot + * releasePoint - point where the mouse click was released from + */ + public void setTrajectory(Rectangle sling, Point releasePoint) + { + // don't update parameters if the ref point and release point are the same + if (_trajSet && + _ref != null && _ref.equals(getReferencePoint(sling)) && + _release != null && _release.equals(releasePoint)) + return; + + // set the scene parameters + _scale = sling.height + sling.width; + _ref = getReferencePoint(sling); + + // set parameters for the trajectory + _release = new Point(releasePoint.x, releasePoint.y); + + // find the launch angle + _theta = Math.atan2(_release.y - _ref.y, _ref.x - _release.x); + _theta = launchToActual(_theta); + + // work out initial velocities and coefficients of the parabola + _velocity = getVelocity(_theta); + _ux = _velocity * Math.cos(_theta); + _uy = _velocity * Math.sin(_theta); + _a = -0.5 / (_ux * _ux); + _b = _uy / _ux; + + + // work out points of the trajectory + _trajectory = new ArrayList(); + for (int x = 0; x < X_MAX; x++) { + double xn = x / _scale; + int y = _ref.y - (int)((_a * xn * xn + _b * xn) * _scale); + _trajectory.add(new Point(x + _ref.x, y)); + } + + // turn on the setTraj flag + _trajSet = true; + } + + /* Plot a trajectory + * + * @param canvas - the canvas to draw onto + * slingshot - bounding rectangle of the slingshot + * releasePoint - point where the mouse click was released from + * @return the canvas with trajectory drawn + */ + public BufferedImage plotTrajectory(BufferedImage canvas, Rectangle slingshot, Point releasePoint) { + List trajectory = predictTrajectory(slingshot, releasePoint); + + // draw estimated trajectory + Graphics2D g2d = canvas.createGraphics(); + g2d.setColor(Color.RED); + for (Point p : trajectory) { + if ((p.y > 0) && (p.y < canvas.getHeight(null))) { + g2d.drawRect(p.x, p.y, 1, 1); + } + } + + return canvas; + } + + // plot trajectory given the bounding box of the active bird + public BufferedImage plotTrajectory(BufferedImage canvas, Rectangle slingshot, Rectangle activeBird) { + + // get active bird location + Point bird = new Point((int)(activeBird.x + 0.5 * activeBird.width), + (int)(activeBird.y + 0.85 * activeBird.height)); + + return plotTrajectory(canvas, slingshot, bird); + } + + /* find the release point given the sling location and launch angle, using maximum velocity + * + * @param sling - bounding rectangle of the slingshot + * theta - launch angle in radians (anticlockwise from positive direction of the x-axis) + * @return the release point on screen + */ + public Point findReleasePoint(Rectangle sling, double theta) + { + /* + * Modified by Angry-HEX Team + * Added call to Configuration.getShotMagnitude() + */ + double mag = sling.height * Configuration.getShotMagnitude(); + Point ref = getReferencePoint(sling); + + //System.out.println("SH:"+mag+" THETA:"+theta+" DEG:"+Math.toDegrees(theta)); + Point release = new Point((int)(ref.x - mag * Math.cos(theta)), (int)(ref.y + mag * Math.sin(theta))); + //Point release1 = new Point((int)(ref.x - mag * Math.cos(theta)), (int)(ref.y - mag * Math.sin(theta))); + //System.out.println("REFPOINT:("+ref.x+","+ref.y+") "); + //System.out.println("RELPOINT:("+release.x+","+release.y+") "); + //System.out.println("PPOINT:("+release1.x+","+release1.y+")"); + return release; + } + + /* find the release point given the sling location, launch angle and velocity + * + * @param sling - bounding rectangle of the slingshot + * theta - launch angle in radians (anticlockwise from positive direction of the x-axis) + * v - exit velocity as a proportion of the maximum velocity (maximum STRETCH) + * @return the release point on screen + */ + public Point findReleasePoint(Rectangle sling, double theta, double v) + { + double mag = getSceneScale(sling) * STRETCH * v; + Point ref = getReferencePoint(sling); + Point release = new Point((int)(ref.x - mag * Math.cos(theta)), (int)(ref.y + mag * Math.sin(theta))); + + return release; + } + + // find the reference point given the sling + public Point getReferencePoint(Rectangle sling) + { + Point p = new Point((int)(sling.x + X_OFFSET * sling.width), (int)(sling.y + Y_OFFSET * sling.width)); + return p; + } + + //get release angle + public double getReleaseAngle(Rectangle sling, Point releasePoint ) + { + Point ref = getReferencePoint(sling); + + return -Math.atan2(ref.y - releasePoint.y, ref.x - releasePoint.x); + } + + // predicts a trajectory + public List predictTrajectory(Rectangle slingshot, Point launchPoint) { + setTrajectory(slingshot, launchPoint); + return _trajectory; + } + + // take the initial angle of the desired trajectory and return the launch angle required + private double actualToLaunch(double theta) + { + for (int i = 1; i < _launchAngle.length; i++) + { + if (theta > _launchAngle[i-1] && theta < _launchAngle[i]) + return theta + _changeAngle[i-1]; + } + return theta + _changeAngle[_launchAngle.length-1]; + } + + // take the launch angle and return the actual angle of the resulting trajectory + private double launchToActual(double theta) + { + for (int i = 1; i < _launchAngle.length; i++) + { + if (theta > _launchAngle[i-1] && theta < _launchAngle[i]) + return theta - _changeAngle[i-1]; + } + return theta - _changeAngle[_launchAngle.length-1]; + } + + // adjust the scale setting for this scene + private void adjustScale(double v, double theta) + { + int i = 0; + while (i < _launchVelocity.length && theta > _launchAngle[i]) + i++; + if (i == 0) + i = 1; + + double temp = v / _launchVelocity[i-1]; + + // avoid setting velocity to NaN + if (temp != temp) + return; + + // ignore very large changes + if (temp > 1.1 || temp < 0.9) + { + //System.out.println(" temp : " + temp); + return; + } + + if (theta > Math.toRadians(50)) + _scaleFactor = temp; + else if (theta > Math.toRadians(25)) + _scaleFactor = temp * 0.6 + _scaleFactor * 0.4; + + } + + // get the velocity for the desired angle + public double getVelocity(double theta) + { + if (theta < _launchAngle[0]) + return _scaleFactor * _launchVelocity[0]; + + for (int i = 1; i < _launchAngle.length; i++) + { + if (theta < _launchAngle[i]) + return _scaleFactor * _launchVelocity[i-1]; + } + + return _scaleFactor * _launchVelocity[_launchVelocity.length-1]; + } + + // return scene scale determined by the sling size + /* + * Modified by Angry-HEX Team + * Changed modifier to public + */ + public double getSceneScale(Rectangle sling) + { + return sling.height + sling.width; + } + + // finds the active bird, i.e., the one in the slingshot + public Rectangle findActiveBird(List birds) { + // assumes that the active bird is the bird at the highest position + Rectangle activeBird = null; + for (Rectangle r : birds) { + if ((activeBird == null) || (activeBird.y > r.y)) { + activeBird = r; + } + } + return activeBird; + } + + /* + * Modified by Angry-HEX Team + * Added method "getScaleFactor" + */ + public double getScaleFactor() + { + return _scaleFactor; + } + public int getTapTime(Rectangle sling, Point release, Point target, int tapInterval) + { + if (tapInterval == 0) + return 0; + Point tapPoint = new Point(); + int distance = target.x - sling.x; + double r = ((double)tapInterval/100); + tapPoint.setLocation(new Point((int)(distance * r + sling.x) , target.y)); + return getTimeByDistance(sling, release, tapPoint); + + } + /* the estimated tap time given the tap point + * + * @param sling - bounding box of the slingshot + * release - point the mouse clicked was released from + * tapPoint - point the tap should be made + * @return tap time (relative to the release time) in milli-seconds + */ + public int getTapTime(Rectangle sling, Point release, Point tapPoint) + { + // update trajectory parameters + setTrajectory(sling, release); + + double pullback = _scale * STRETCH * Math.cos(_theta); + double distance = (tapPoint.x - _ref.x + pullback) / _scale; + + //System.out.println("distance " + distance); + //System.out.println("velocity " + _ux); + + return (int)(distance / _ux * _timeUnit); + } + +} diff --git a/framework/src/ab/planner/abTrajectory.java b/framework/src/ab/planner/abTrajectory.java new file mode 100644 index 0000000..6cf8d23 --- /dev/null +++ b/framework/src/ab/planner/abTrajectory.java @@ -0,0 +1,146 @@ +package ab.planner; + +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014, XiaoYu (Gary) Ge, Jochen Renz, Stephen Gould, +** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ + +import java.awt.Color; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.io.ByteArrayInputStream; +import java.io.IOException; +import java.net.UnknownHostException; +import java.util.LinkedList; +import java.util.List; + +import javax.imageio.ImageIO; + +import ab.planner.TrajectoryPlanner; +import ab.server.Proxy; +import ab.server.proxy.message.ProxyScreenshotMessage; +import ab.utils.ImageSegFrame; +import ab.vision.GameStateExtractor; +import ab.vision.VisionMBR; +import ab.vision.VisionUtils; +// User Interface of the trajectory module +public class abTrajectory { + private static Proxy server; + + public abTrajectory() { + if (server == null) { + try { + server = new Proxy(9000) { + @Override + public void onOpen() { + System.out.println("Client connected"); + } + + @Override + public void onClose() { + System.out.println("Client disconnected"); + } + }; + server.start(); + + System.out.println("Server started on port: " + server.getPort()); + + System.out.println("Waiting for client to connect"); + server.waitForClients(1); + + } catch (UnknownHostException e) { + e.printStackTrace(); + } + } + } + + public BufferedImage doScreenShot() { + byte[] imageBytes = server.send(new ProxyScreenshotMessage()); + BufferedImage image = null; + try { + image = ImageIO.read(new ByteArrayInputStream(imageBytes)); + } catch (IOException e) { + // do something + } + + return image; + } + + public static void main(String args[]) { + abTrajectory ar = new abTrajectory(); + + ImageSegFrame frame = null; + GameStateExtractor gameStateExtractor = new GameStateExtractor(); + TrajectoryPlanner trajectory = new TrajectoryPlanner(); + + while (true) { + // capture image + BufferedImage screenshot = ar.doScreenShot(); + final int nHeight = screenshot.getHeight(); + final int nWidth = screenshot.getWidth(); + + System.out.println("captured image of size " + nWidth + "-by-" + nHeight); + + // extract game state + GameStateExtractor.GameState state = gameStateExtractor.getGameState(screenshot); + if (state != GameStateExtractor.GameState.PLAYING) { + continue; + } + + // process image + VisionMBR vision = new VisionMBR(screenshot); + //List pigs = vision.findPigsMBR(); + + List redBirds = vision.findRedBirdsMBRs(); + List yellowBirds = vision.findYellowBirdsMBRs(); + List blueBirds = vision.findBlueBirdsMBRs(); + List whiteBirds = vision.findWhiteBirdsMBRs(); + List blackBirds = vision.findBlackBirdsMBRs(); + List birds = new LinkedList(); + birds.addAll(redBirds); + birds.addAll(yellowBirds); + birds.addAll(blueBirds); + birds.addAll(blackBirds); + birds.addAll(whiteBirds); + + Rectangle sling = vision.findSlingshotMBR(); + if (sling == null) { + System.out.println("...could not find the slingshot"); + continue; + } + // System.out.println("...found " + pigs.size() + " pigs and " + redBirds.size() + " birds"); + System.out.println("...found slingshot at " + sling.toString()); + + // convert screenshot to grey scale and draw bounding boxes + //screenshot = VisionUtils.convert2grey(screenshot); + //VisionUtils.drawBoundingBoxes(screenshot, pigs, Color.GREEN); + VisionUtils.drawBoundingBoxes(screenshot, redBirds, Color.PINK); + VisionUtils.drawBoundingBox(screenshot, sling, Color.ORANGE); + + // find active bird + Rectangle activeBird = trajectory.findActiveBird(birds); + if (activeBird == null) { + System.out.println("...could not find active bird"); + continue; + } + + trajectory.plotTrajectory(screenshot, sling, activeBird); + + // show image + if (frame == null) { + frame = new ImageSegFrame("trajectory", screenshot); + } else { + frame.refresh(screenshot); + } + + try { + Thread.sleep(100); + } catch (InterruptedException e) { + } + } + } +} diff --git a/framework/src/ab/server/Proxy.java b/framework/src/ab/server/Proxy.java new file mode 100644 index 0000000..f07ab08 --- /dev/null +++ b/framework/src/ab/server/Proxy.java @@ -0,0 +1,120 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ + +package ab.server; + +import java.net.InetSocketAddress; +import java.net.UnknownHostException; +import java.util.HashMap; +import java.util.concurrent.SynchronousQueue; + +import org.java_websocket.WebSocket; +import org.java_websocket.handshake.ClientHandshake; +import org.java_websocket.server.WebSocketServer; +import org.json.simple.JSONArray; +import org.json.simple.JSONObject; +import org.json.simple.JSONValue; + +/* Proxy ------------------------------------------------------------------ */ + +public class Proxy extends WebSocketServer { + private Long id = 0L; + private HashMap> results = new HashMap>(); + + private class ProxyResult { + public ProxyMessage message; + public SynchronousQueue queue = new SynchronousQueue(); + } + + public Proxy(int port) throws UnknownHostException { + super(new InetSocketAddress(port)); + } + + public Proxy(InetSocketAddress address) { + super(address); + } + + @Override + public void onOpen(WebSocket conn, ClientHandshake handshake) { + //System.out.println(conn.getRemoteSocketAddress().toString()); + onOpen(); + } + + @Override + public void onClose(WebSocket conn, int code, String reason, boolean remote) { + onClose(); + } + + @Override + public void onMessage(WebSocket conn, String message) { + JSONArray j = (JSONArray) JSONValue.parse(message); + Long id = (Long) j.get(0); + JSONObject data = (JSONObject) j.get(1); + + ProxyResult result = results.get(id); + + if (result != null) { + results.remove(id); + try { + result.queue.put(result.message.gotResponse(data)); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + } + } + + @Override + public void onError(WebSocket conn, Exception ex) { + ex.printStackTrace(); + } + + @SuppressWarnings("unchecked") + public synchronized T send(ProxyMessage message) { + //Long t1 = System.nanoTime(); + JSONArray a = new JSONArray(); + a.add(id); + a.add(message.getMessageName()); + a.add(message.getJSON()); + + ProxyResult result = new ProxyResult(); + result.message = message; + results.put(id, result); + + for (WebSocket conn : connections()) { + conn.send(a.toJSONString()); + } + + + + id++; + + try { + + return (T)result.queue.take(); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + return null; + } + + public void onOpen() { } + + public void onClose() { } + + public void waitForClients(int numClients) { + while (connections().size() < numClients) { + try { + Thread.sleep(100); + } catch (InterruptedException e) { + } + } + } +} diff --git a/framework/src/ab/server/ProxyMessage.java b/framework/src/ab/server/ProxyMessage.java new file mode 100644 index 0000000..f6e3551 --- /dev/null +++ b/framework/src/ab/server/ProxyMessage.java @@ -0,0 +1,19 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ + +package ab.server; + +import org.json.simple.JSONObject; + +// interface for communicating messages between javascript plugin and server +public interface ProxyMessage { + public String getMessageName(); + public JSONObject getJSON(); + public T gotResponse(JSONObject data); +} diff --git a/framework/src/ab/server/proxy/message/ProxyClickMessage.java b/framework/src/ab/server/proxy/message/ProxyClickMessage.java new file mode 100644 index 0000000..84377e6 --- /dev/null +++ b/framework/src/ab/server/proxy/message/ProxyClickMessage.java @@ -0,0 +1,41 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.server.proxy.message; + +import org.json.simple.JSONObject; + +import ab.server.ProxyMessage; + +public class ProxyClickMessage implements ProxyMessage { + private int x, y; + + public ProxyClickMessage(int x, int y) { + this.x = x; + this.y = y; + } + + @Override + public String getMessageName() { + return "click"; + } + + @SuppressWarnings("unchecked") + @Override + public JSONObject getJSON() { + JSONObject o = new JSONObject(); + o.put("x", x); + o.put("y", y); + return o; + } + + @Override + public Object gotResponse(JSONObject data) { + return new Object(); + } +} diff --git a/framework/src/ab/server/proxy/message/ProxyDragMessage.java b/framework/src/ab/server/proxy/message/ProxyDragMessage.java new file mode 100644 index 0000000..e782d81 --- /dev/null +++ b/framework/src/ab/server/proxy/message/ProxyDragMessage.java @@ -0,0 +1,45 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.server.proxy.message; + +import org.json.simple.JSONObject; + +import ab.server.ProxyMessage; + +public class ProxyDragMessage implements ProxyMessage { + private int x, y, dx, dy; + + public ProxyDragMessage(int x, int y, int dx, int dy) { + this.x = x; + this.y = y; + this.dx = dx; + this.dy = dy; + } + + @Override + public String getMessageName() { + return "drag"; + } + + @SuppressWarnings("unchecked") + @Override + public JSONObject getJSON() { + JSONObject o = new JSONObject(); + o.put("x", x); + o.put("y", y); + o.put("dx", dx); + o.put("dy", dy); + return o; + } + + @Override + public Object gotResponse(JSONObject data) { + return new Object(); + } +} diff --git a/framework/src/ab/server/proxy/message/ProxyMouseWheelMessage.java b/framework/src/ab/server/proxy/message/ProxyMouseWheelMessage.java new file mode 100644 index 0000000..8ecad8b --- /dev/null +++ b/framework/src/ab/server/proxy/message/ProxyMouseWheelMessage.java @@ -0,0 +1,44 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.server.proxy.message; + +import org.json.simple.JSONObject; + +import ab.server.ProxyMessage; + +public class ProxyMouseWheelMessage implements ProxyMessage { + private int delta; + + /** + * Simulate a scroll of the mouse wheel + * + * @param delta the direction to scroll (-1 = up, 1 = down) + */ + public ProxyMouseWheelMessage(int delta) { + this.delta = delta; + } + + @Override + public String getMessageName() { + return "mousewheel"; + } + + @SuppressWarnings("unchecked") + @Override + public JSONObject getJSON() { + JSONObject o = new JSONObject(); + o.put("delta", delta); + return o; + } + + @Override + public Object gotResponse(JSONObject data) { + return new Object(); + } +} diff --git a/framework/src/ab/server/proxy/message/ProxyScreenshotMessage.java b/framework/src/ab/server/proxy/message/ProxyScreenshotMessage.java new file mode 100644 index 0000000..cf91461 --- /dev/null +++ b/framework/src/ab/server/proxy/message/ProxyScreenshotMessage.java @@ -0,0 +1,35 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.server.proxy.message; + +import org.apache.commons.codec.binary.Base64; +import org.json.simple.JSONObject; + +import ab.server.ProxyMessage; + +// request a screenshot from the game +public class ProxyScreenshotMessage implements ProxyMessage { + @Override + public String getMessageName() { + return "screenshot"; + } + + @Override + public JSONObject getJSON() { + return new JSONObject(); + } + + @Override + public byte[] gotResponse(JSONObject data) { + String imageStr = (String) data.get("data"); + imageStr = imageStr.split(",", 2)[1]; + byte[] imageBytes = Base64.decodeBase64(imageStr); + return imageBytes; + } +} diff --git a/framework/src/ab/utils/ABUtil.java b/framework/src/ab/utils/ABUtil.java new file mode 100644 index 0000000..83279bf --- /dev/null +++ b/framework/src/ab/utils/ABUtil.java @@ -0,0 +1,81 @@ +package ab.utils; + +import java.awt.Point; +import java.util.LinkedList; +import java.util.List; + +import ab.demo.other.Shot; +import ab.planner.TrajectoryPlanner; +import ab.vision.ABObject; +import ab.vision.Vision; + +public class ABUtil { + + public static int gap = 5; //vision tolerance. + private static TrajectoryPlanner tp = new TrajectoryPlanner(); + + // If o1 supports o2, return true + public static boolean isSupport(ABObject o2, ABObject o1) + { + if(o2.x == o1.x && o2.y == o1.y && o2.width == o1.width && o2.height == o1.height) + return false; + + int ex_o1 = o1.x + o1.width; + int ex_o2 = o2.x + o2.width; + + int ey_o2 = o2.y + o2.height; + if( + (Math.abs(ey_o2 - o1.y) < gap) + && + !( o2.x - ex_o1 > gap || o1.x - ex_o2 > gap ) + ) + return true; + + return false; + } + //Return a link list of ABObjects that support o1 (test by isSupport function ). + //objs refers to a list of potential supporters. + //Empty list will be returned if no such supporters. + public static List getSupporters(ABObject o2, List objs) + { + List result = new LinkedList(); + //Loop through the potential supporters + for(ABObject o1: objs) + { + if(isSupport(o2,o1)) + result.add(o1); + } + return result; + } + + //Return true if the target can be hit by releasing the bird at the specified release point + public static boolean isReachable(Vision vision, Point target, Shot shot) + { + //test whether the trajectory can pass the target without considering obstructions + Point releasePoint = new Point(shot.getX() + shot.getDx(), shot.getY() + shot.getDy()); + int traY = tp.getYCoordinate(vision.findSlingshotMBR(), releasePoint, target.x); + if (Math.abs(traY - target.y) > 100) + { + //System.out.println(Math.abs(traY - target.y)); + return false; + } + boolean result = true; + List points = tp.predictTrajectory(vision.findSlingshotMBR(), releasePoint); + for(Point point: points) + { + if(point.x < 840 && point.y < 480 && point.y > 100 && point.x > 400) + for(ABObject ab: vision.findBlocksMBR()) + { + if( + ((ab.contains(point) && !ab.contains(target))||Math.abs(vision.getMBRVision()._scene[point.y][point.x] - 72 ) < 10) + && point.x < target.x + ) + return false; + } + + } + return result; + } + + +} diff --git a/framework/src/ab/utils/GameImageRecorder.java b/framework/src/ab/utils/GameImageRecorder.java new file mode 100644 index 0000000..a7c8842 --- /dev/null +++ b/framework/src/ab/utils/GameImageRecorder.java @@ -0,0 +1,241 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +/* + * Modified by Angry-HEX Team + * Now implements Runnable + * Removed unused "import" + * Removed Auto-generated TODOs + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.utils; + +import java.awt.image.BufferedImage; +import java.io.BufferedReader; +import java.io.File; +import java.io.IOException; +import java.io.InputStreamReader; +import java.util.concurrent.ArrayBlockingQueue; +import java.util.concurrent.BlockingQueue; + +import javax.imageio.ImageIO; + +import ab.demo.other.ClientActionRobotJava; +import ab.server.Proxy; + +/* GameImageRecorder ------------------------------------------------------ */ + +public class GameImageRecorder implements Runnable { + + /* + * Modified by Angry-HEX Team + * We kept the main method only for compatibility reasons + */ + static public void main(String[] args) { + + // check command line arguments + if (args.length != 1) { + System.err.println("USAGE: java GameImageRecorder "); + System.exit(1); + } + if (!(new File(args[0])).isDirectory()) { + System.err.println("ERROR: directory " + args[0] + " does not exist"); + System.exit(1); + } + } + + /* + * Modified by Angry-HEX Team + * Added new class members + */ + ClientActionRobotJava ar; + String path; + public BufferedImage currentScreenshot; + BlockingQueue queue = new ArrayBlockingQueue(100); + int frameCount; + Proxy proxy; + public static GameImageRecorder theRecorder; + /* + * Modified by Angry-HEX Team + * Added method "captureImage" + */ + //commented out because it's not used +// private BufferedImage captureImage() +// { +// byte[] imageBytes = proxy.send(new ProxyScreenshotMessage()); +// BufferedImage image = null; +// try { +// image = ImageIO.read(new ByteArrayInputStream(imageBytes)); +// } +// catch (IOException e) { e.printStackTrace(); } +// return image; +// } + /* + * Modified by Angry-HEX Team + * Added method "save" + */ + public void save(String inputFile) + + { + frameCount += 1; + + String destFile = String.format(path + File.separator + "program%04d.hex", frameCount); + Process p; + try { + p = Runtime.getRuntime().exec("cp -v "+inputFile+" "+destFile); + p.waitFor(); + + BufferedReader reader = + new BufferedReader(new InputStreamReader( + p.getInputStream())); + String line = reader.readLine(); + while (line != null) { + line = reader.readLine(); + System.out.println(line); + } + saveScreenshot(currentScreenshot); + } catch (Exception e) { + e.printStackTrace(); + } + + } + /* + * Modified by Angry-HEX Team + * Added constructor + */ + public GameImageRecorder(String p,ClientActionRobotJava a) + { + path = p; + ar = a; + //ar = new ClientActionRobotJava("localhost"); + //ar.configure(ClientActionRobot.intToByteArray(1040)); + /* + try { + proxy = new Proxy(9001) { + @Override + public void onOpen() { + System.out.println("Connected to game proxy"); + } + + @Override + public void onClose() { + System.out.println("Disconnected from game proxy"); + } + }; + } catch (UnknownHostException e) { + e.printStackTrace(); + } + proxy.start(); + System.out.println("Proxy Started"); + // proxy.waitForClients(1); + */ + + /* + Thread t = new Thread() { public void run () { + // try { + + //ar.waitConfiguration(); + /* + * while(true) { + + System.out.println("Taking Timed Screenshot"); + //scheduleScreenshot(ar.doScreenShot()); + BufferedImage im = ar.doScreenShot_(); + System.out.println("Scheduling Timed Screenshot"); + scheduleScreenshot(im); + System.out.println("Scheduled Timed Screenshot"); + Thread.sleep(50); + } + } + catch (InterruptedException e) { + e.printStackTrace(); + } + + } + }; + t.start(); + */ + // new Thread(this).start(); + } + public void run() + { + while(true) + { + + try { + //System.out.println("Waiting screenshot request"); + BufferedImage im = queue.take(); + //System.out.println("Performing screenshot PRETAKEN="+(im != null)); + saveScreenshot(im == null ? ar.doScreenShot() : im); + //System.out.println("Processed screenshot"); + } catch (InterruptedException e) { + e.printStackTrace(); + } + } + } + /* + * Modified by Angry-HEX Team + * Added method "scheduleScreenshot" + */ + public void scheduleScreenshot(BufferedImage image) + { + try { + queue.put(image); + } catch (InterruptedException e) { + e.printStackTrace(); + } + } + /* + * Modified by Angry-HEX Team + * Added method "saveScreenshot" + */ + private void saveScreenshot(BufferedImage image) { + + // enter game loop +// ar.waitConfiguration(); + /* + // capture screenshot + byte[] imageBytes = proxy.send(new ProxyScreenshotMessage()); + BufferedImage image = null; + try { + image = ImageIO.read(new ByteArrayInputStream(imageBytes)); + } catch (IOException e) { + e.printStackTrace(); + } + */ + //System.out.println("Saving Screenshot..."); + // write image to disk + //if ((screenshot == null) || + // (VisionUtils.numPixelsDifferent(screenshot, image) > 2048)) { + final String imgFilename = String.format(path + File.separator + "program%04d.png", frameCount); + //System.out.println("saving image to " + imgFilename); + try { + ImageIO.write(image, "png", new File(imgFilename)); + } catch (IOException e) { + System.err.println("failed to save image " + imgFilename); + e.printStackTrace(); + } + + // update frame count + // screenshot = image; + //} + + // sleep for a while + } +}; diff --git a/framework/src/ab/utils/ImageSegFrame.java b/framework/src/ab/utils/ImageSegFrame.java new file mode 100644 index 0000000..4b4f26d --- /dev/null +++ b/framework/src/ab/utils/ImageSegFrame.java @@ -0,0 +1,424 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ +package ab.utils; + +import java.awt.BasicStroke; +import java.awt.Color; +import java.awt.Graphics; +import java.awt.Graphics2D; +import java.awt.GraphicsDevice; +import java.awt.GraphicsEnvironment; +import java.awt.Image; +import java.awt.Insets; +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.event.KeyEvent; +import java.awt.event.KeyListener; +import java.awt.event.MouseAdapter; +import java.awt.event.MouseEvent; +import java.awt.event.MouseListener; +import java.awt.image.BufferedImage; +import java.io.File; +import java.io.FileWriter; +import java.io.IOException; +import java.io.PrintWriter; +import java.util.LinkedList; +import java.util.List; + +import javax.imageio.ImageIO; +import javax.swing.JFrame; +import javax.swing.JPanel; +import javax.swing.JToolTip; +import javax.swing.Popup; +import javax.swing.PopupFactory; +import javax.swing.SwingUtilities; + +import ab.demo.other.ActionRobot; +import ab.vision.VisionUtils; + +public class ImageSegFrame { + + private static int _saveCount = 0; + public static String saveFileDir = ""; + public static volatile boolean recordScreenshot = false; + public static volatile boolean saveAndExit = false; + public class ImagePanel extends JPanel implements KeyListener, MouseListener { + /** + * + */ + private static final long serialVersionUID = -1162922707389749340L; + protected JFrame _parent; + protected Image _img = null; + protected Popup _tip = null; + protected int[][] _meta = null; + protected Boolean _highlightMode = false; + protected int _highlightIndex = -1; + + public Boolean bWaitingForKey = false; + + + public ImagePanel(JFrame parent) { + _parent = parent; + addKeyListener(this); + addMouseListener(this); + setDoubleBuffered(true); + //set focusable then you can use key listener + setFocusable(true); + } + + public void refresh(Image img) { + refresh(img, null); + } + + public void refresh(Image img, int[][] meta) + { + _img = img; + _meta = meta; + repaint(); + } + + public void paint(Graphics g) { + + if (_img != null) { + if ((_meta != null) && (_highlightIndex != -1)) { + BufferedImage canvas = VisionUtils.highlightRegions(_img, _meta, _highlightIndex, Color.RED); + g.drawImage(canvas, 0, 0, null); + } else { + + g.drawImage(_img, 0, 0, null); + } + } + } + public void highlightTarget(Point point) + { + Graphics2D g = (Graphics2D)getGraphics(); + paint(g); + if(_img != null) + { + + g.setColor(Color.red); + g.setStroke(new BasicStroke(3)); + g.drawLine(point.x - 5, point.y - 5, point.x + 5, point.y + 5); + g.drawLine(point.x + 5, point.y - 5, point.x - 5, point.y + 5); + } + } + + public void keyPressed(KeyEvent key) { + // process key + + if (key.getKeyCode() == KeyEvent.VK_ENTER) { + _parent.setVisible(false); + _parent.dispose(); + + } + else if (key.getKeyCode() == KeyEvent.VK_D) { + + String imgFilename = saveFileDir + String.format("img%04d.png", _saveCount); + System.out.println("saving image to " + imgFilename); + BufferedImage bi = new BufferedImage(_img.getWidth(null), _img.getHeight(null), BufferedImage.TYPE_INT_ARGB); + Graphics2D g2d = bi.createGraphics(); + g2d.drawImage(_img, 0, 0, null); + g2d.dispose(); + try { + ImageIO.write(bi, "png", new File(imgFilename)); + } catch (IOException e) { + System.err.println("failed to save image " + imgFilename); + e.printStackTrace(); + } + + if (_meta != null) { + String metaFilename = String.format("meta%04d.txt", _saveCount); + System.out.println("saving meta-data to " + metaFilename); + try { + PrintWriter ofs = new PrintWriter(new FileWriter(metaFilename)); + for (int i = 0; i < _meta.length; i++) { + for (int j = 0; j < _meta[i].length; j++) { + if (j > 0) ofs.print(' '); + ofs.print(_meta[i][j]); + } + ofs.println(); + } + ofs.close(); + + } catch (IOException e) { + e.printStackTrace(); + } + + _saveCount += 1; + } + } else if (key.getKeyCode() == KeyEvent.VK_H) { + // toggle highlight mode + if (_highlightMode) { + _highlightMode = false; + this.repaint(); + } else { + _highlightMode = true; + _highlightIndex = -1; + } + + + } else if (key.getKeyCode() == KeyEvent.VK_S) + { + String imgFilename = String.format("img%04d.png", _saveCount); + System.out.println("saving image to " + imgFilename); + BufferedImage bi = new BufferedImage(_img.getWidth(null), _img.getHeight(null), BufferedImage.TYPE_INT_ARGB); + Graphics2D g2d = bi.createGraphics(); + g2d.drawImage(_img, 0, 0, null); + g2d.dispose(); + try { + ImageIO.write(bi, "png", new File(imgFilename)); + } catch (IOException e) { + System.err.println("failed to save image " + imgFilename); + e.printStackTrace(); + } + _saveCount += 1; + } + + // check if usercode is waiting for a keypress + if (bWaitingForKey) { + bWaitingForKey = false; + return; + } + } + + public void keyTyped(KeyEvent key) { + + } + public void keyReleased(KeyEvent key) { } + + public void mousePressed(MouseEvent e) { } + public void mouseReleased(MouseEvent e) { } + + public void mouseEntered(MouseEvent e) { } + public void mouseExited(MouseEvent e) { } + + public void mouseClicked(MouseEvent e) + { + if (_tip == null) { + JToolTip toolTip = this.createToolTip(); + if (_meta == null) + { + toolTip.setTipText("(" + e.getX() + ", " + e.getY() + ")"); + + } + else { + toolTip.setTipText("(" + e.getX() + ", " + e.getY() + "): " + + _meta[e.getY()][e.getX()]); + + if (_highlightMode) { + _highlightIndex = _meta[e.getY()][e.getX()]; + this.repaint(); + } + } + + Point p = new Point(e.getX(), e.getY()); + SwingUtilities.convertPointToScreen(p, this); + _tip = PopupFactory.getSharedInstance().getPopup(this, toolTip, p.x, p.y); + _tip.show(); + toolTip.addMouseListener(new MouseAdapter(){ + public void mouseClicked(MouseEvent e){ + if (_highlightMode) { + _highlightIndex = -1; + repaint(); + } + _tip.hide(); + _tip = null; + } + }); + } else { + if (_highlightMode) { + _highlightIndex = -1; + this.repaint(); + } + _tip.hide(); + _tip = null; + } + } + } + + protected JFrame frame; + protected ImagePanel panel; + protected Image img; + protected int[][] meta; + protected String name; + protected volatile boolean refresh = false; + private int bound_x = -1; + private int bound_y = -1; + public JFrame getFrame() + { + return frame; + } + public ImageSegFrame(String name, Image img, int[][] meta, int bound_x, int bound_y) + { + this.name = name; + this.img = img; + this.meta = meta; + frame = new JFrame(name); + frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + //frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + frame.setResizable(false); + panel = new ImagePanel(frame); + + frame.getContentPane().add(panel); + + frame.pack(); + Insets insets = frame.getInsets(); + frame.setSize(img.getWidth(null) + insets.left + insets.right, + img.getHeight(null) + insets.top + insets.bottom); + if(bound_x != -1 && bound_y != -1) + frame.setBounds(bound_x, bound_y, frame.getSize().width, frame.getSize().height); + else + { + GraphicsEnvironment ge = GraphicsEnvironment.getLocalGraphicsEnvironment(); + GraphicsDevice defaultScreen = ge.getDefaultScreenDevice(); + Rectangle rect = defaultScreen.getDefaultConfiguration().getBounds(); + int x = (int) rect.getMaxX() - frame.getWidth(); + int y = 0; + //System.out.println(frame.getWidth()); + frame.setLocation(x, y); + + } + frame.setVisible(true); + if(img != null && meta != null) + panel.refresh(img, meta); + } + public ImageSegFrame(String name, Image img, int[][] meta) { + + this.name = name; + this.img = img; + this.meta = meta; + frame = new JFrame(name); + frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + panel = new ImagePanel(frame); + + frame.getContentPane().add(panel); + + frame.pack(); + Insets insets = frame.getInsets(); + frame.setSize(img.getWidth(null) + insets.left + insets.right, + img.getHeight(null) + insets.top + insets.bottom); + if(bound_x != -1 && bound_y != -1) + frame.setBounds(bound_x, bound_y, frame.getSize().width, frame.getSize().height); + else + { + int x = 0; + int y = 0; + frame.setLocation(x, y); + + } + frame.setVisible(true); + frame.setResizable(false); + if(img != null && meta != null) + panel.refresh(img, meta); + + //panel.requestFocus(); + } + + public ImageSegFrame(String name, Image img) { + this(name, img, null); + } + + // set new image + public void refresh(Image img) { + panel.refresh(img); + } + public void refreshNow(Image img, int[][] meta) + { + this.img = img; + this.meta = meta; + refresh = true; + } + // set new image and meta information for tooltip + public void refresh(Image img, int[][] meta) { + + panel.refresh(img, meta); + + } + public void highlightTarget(Point point) + { + panel.highlightTarget(point); + } + // close the window + public void close() { + frame.setVisible(false); + frame.dispose(); + } + + // wait for user input + public void waitForKeyPress() { + panel.bWaitingForKey = true; + while (panel.bWaitingForKey) { + try { + Thread.sleep(100); + } catch (InterruptedException e) { + } + } + } + public static void main(String args[]) throws InterruptedException, IOException + { + long timegap = 0; + if(args.length == 1) + ImageSegFrame.saveFileDir = (args[0]) + ""; + else + if(args.length == 2) + { + ImageSegFrame.saveFileDir = args[0] + ""; + timegap = Long.parseLong(args[1]); + } + + new ActionRobot(); + BufferedImage screenshot = null; + ImageSegFrame frame = null; + screenshot = ActionRobot.doScreenShot(); + frame = new ImageSegFrame(" Screenshots ", screenshot, null); + List images = new LinkedList(); + long time; + long avg = 0; + while(true) + { + if(recordScreenshot){ + time = System.nanoTime(); + screenshot = ActionRobot.doScreenShot(); + images.add(screenshot); + Thread.sleep(timegap); + avg += (System.nanoTime() - time); + } + else + { + screenshot = ActionRobot.doScreenShot(); + } + frame.refresh(screenshot); + if(saveAndExit) + { + saveFileDir += "_" + (avg/images.size()/1000000) + "\\"; + File file = new File(ImageSegFrame.saveFileDir); + if(!file.exists()) + file.mkdir(); + for (BufferedImage image : images) + { + String imgFilename = saveFileDir + String.format("img%04d.png", _saveCount ++); + System.out.println("saving image to " + imgFilename); + ImageIO.write(image, "png", new File(imgFilename)); + } + System.exit(0); + } + } + +/* if(recordScreenshot) + for (BufferedImage image : images) + { + String imgFilename = saveFileDir + String.format("img%04d.png", _saveCount ++); + ImageIO.write(image, "png", new File(imgFilename)); + } + */ + + + } + +} diff --git a/framework/src/ab/utils/StateUtil.java b/framework/src/ab/utils/StateUtil.java new file mode 100644 index 0000000..d9d2794 --- /dev/null +++ b/framework/src/ab/utils/StateUtil.java @@ -0,0 +1,97 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ + +package ab.utils; + +import java.awt.image.BufferedImage; +import java.io.ByteArrayInputStream; +import java.io.IOException; + +import javax.imageio.ImageIO; + +import ab.server.Proxy; +import ab.server.proxy.message.ProxyScreenshotMessage; +import ab.vision.GameStateExtractor; +import ab.vision.GameStateExtractor.GameState; + + +public class StateUtil { + /** + * Get the current game state + * @return GameState: the current state + * */ + public static GameState getGameState(Proxy proxy) + { + byte[] imageBytes = proxy.send(new ProxyScreenshotMessage()); + + BufferedImage image = null; + try { + image = ImageIO.read(new ByteArrayInputStream(imageBytes)); + } catch (IOException e) { + + } + GameStateExtractor gameStateExtractor = new GameStateExtractor(); + GameStateExtractor.GameState state = gameStateExtractor.getGameState(image); + return state; + } + + private static int _getScore(Proxy proxy) + { + byte[] imageBytes = proxy.send(new ProxyScreenshotMessage()); + int score = -1; + + BufferedImage image = null; + try { + image = ImageIO.read(new ByteArrayInputStream(imageBytes)); + } + catch (IOException e) { + e.printStackTrace(); + } + + GameStateExtractor gameStateExtractor = new GameStateExtractor(); + GameState state = gameStateExtractor.getGameState(image); + if (state == GameState.PLAYING) + score = gameStateExtractor.getScoreInGame(image); + else + if(state == GameState.WON) + score = gameStateExtractor.getScoreEndGame(image); + if(score == -1) + System.out.println(" Game score is unavailable "); + return score; + } + /** + * The method checks the score every second, and return when the score is stable (not flashing). + * + * @return score: the current score. + * + * */ + public static int getScore(Proxy proxy) + { + + int current_score = -1; + while (current_score != _getScore(proxy)) + { + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + + e.printStackTrace(); + } + if(getGameState(proxy) == GameState.WON) + { + current_score = _getScore(proxy); + } + else + System.out.println(" Unexpected state: PLAYING"); + } + return current_score; + } + + +} diff --git a/framework/src/ab/utils/VisionPerformanceTest.java b/framework/src/ab/utils/VisionPerformanceTest.java new file mode 100644 index 0000000..76a9f21 --- /dev/null +++ b/framework/src/ab/utils/VisionPerformanceTest.java @@ -0,0 +1,30 @@ +package ab.utils; + +import java.awt.image.BufferedImage; + +import ab.demo.other.ActionRobot; +import ab.vision.Vision; + +public class VisionPerformanceTest { + + private static void log(String message) + { + System.out.println(message); + } + /** + * @param args + */ + public static void main(String[] args) { + + new ActionRobot(); + while(true) + { + long time = System.nanoTime(); + BufferedImage image = ActionRobot.doScreenShot(); + Vision vision = new Vision(image); + vision.findBlocksMBR(); + log((System.nanoTime() - time) + ""); + } + } + +} diff --git a/framework/src/ab/vision/ABObject.java b/framework/src/ab/vision/ABObject.java new file mode 100644 index 0000000..d755307 --- /dev/null +++ b/framework/src/ab/vision/ABObject.java @@ -0,0 +1,66 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision; + +import java.awt.Point; +import java.awt.Rectangle; + +public class ABObject extends Rectangle { + private static final long serialVersionUID = 1L; + private static int counter = 0; + public int id; + //object type + public ABType type; + + public int area = 0; + //For all MBRs, the shape is Rect by default. + public ABShape shape = ABShape.Rect; + +//For all MBRs, the angle is 0 by default. + public double angle = 0; + +//is Hollow or not + public boolean hollow = false; + + +public ABObject(Rectangle mbr, ABType type) { + super(mbr); + this.type = type; + this.id = counter++; +} +public ABObject(Rectangle mbr, ABType type, int id) { + super(mbr); + this.type = type; + this.id = id; +} +public ABObject(ABObject ab) +{ + super(ab.getBounds()); + this.type = ab.type; + this.id = ab.id; +} +public ABObject() +{ + this.id = counter ++; + this.type = ABType.Unknown; +} +public ABType getType() +{ + return type; +} + +public Point getCenter() { + return new Point((int)getCenterX(), (int)getCenterY()); +} + +public static void resetCounter() { + counter = 0; +} + +} diff --git a/framework/src/ab/vision/ABShape.java b/framework/src/ab/vision/ABShape.java new file mode 100644 index 0000000..b739383 --- /dev/null +++ b/framework/src/ab/vision/ABShape.java @@ -0,0 +1,12 @@ +package ab.vision; +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +public enum ABShape { + Rect,Poly,Circle,Triangle +} diff --git a/framework/src/ab/vision/ABType.java b/framework/src/ab/vision/ABType.java new file mode 100644 index 0000000..03bbd25 --- /dev/null +++ b/framework/src/ab/vision/ABType.java @@ -0,0 +1,32 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision; + +public enum ABType { + + Ground(1), + Hill(2), + Sling(3), + RedBird(4), + YellowBird(5), + BlueBird(6), + BlackBird(7), + WhiteBird(8), + Pig(9), + Ice(10), + Wood(11), + Stone(12), + TNT(18), + Unknown(0); + public int id; + private ABType(int id) + { + this.id = id; + } +} diff --git a/framework/src/ab/vision/BirdType.java b/framework/src/ab/vision/BirdType.java new file mode 100644 index 0000000..b2f746c --- /dev/null +++ b/framework/src/ab/vision/BirdType.java @@ -0,0 +1,6 @@ +package ab.vision; + + +public enum BirdType { red, yellow, blue, white, black }; + + diff --git a/framework/src/ab/vision/GameStateExtractor.java b/framework/src/ab/vision/GameStateExtractor.java new file mode 100644 index 0000000..5f01f25 --- /dev/null +++ b/framework/src/ab/vision/GameStateExtractor.java @@ -0,0 +1,347 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ + +package ab.vision; + +import java.awt.Graphics2D; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.io.IOException; +import java.util.Arrays; + +import javax.imageio.ImageIO; + +/* GameStateExtractor ----------------------------------------------------- */ + +public class GameStateExtractor { + + public enum GameState { + UNKNOWN, MAIN_MENU, EPISODE_MENU, LEVEL_SELECTION, LOADING, PLAYING, WON, LOST + } + + static int repeatCount = 0; + static int prevScore = 0; + static boolean saved = false; + + // images for determining game state + private static BufferedImage _mainmenu = null; + private static BufferedImage _episodemenu = null; + private static BufferedImage _levelselection = null; + private static BufferedImage _loading = null; + private static BufferedImage _loading2 = null; + private static BufferedImage _gamewon1 = null; + private static BufferedImage _gamewon2 = null; + private static BufferedImage _gamelost = null; + + // images for classifying end game score + private static BufferedImage _endGame0 = null; + private static BufferedImage _endGame1 = null; + private static BufferedImage _endGame2 = null; + private static BufferedImage _endGame3 = null; + private static BufferedImage _endGame4 = null; + private static BufferedImage _endGame5 = null; + private static BufferedImage _endGame6 = null; + private static BufferedImage _endGame7 = null; + private static BufferedImage _endGame8 = null; + private static BufferedImage _endGame9 = null; + + + + private static class RectLeftOf implements java.util.Comparator { + public int compare(Rectangle rA, Rectangle rB) { + return (rA.x - rB.x); + } + } + + // create a game state extractor and load subimages + public GameStateExtractor() { + try { + _mainmenu = ImageIO.read(getClass().getResource( + "resources/mainmenu.png")); + _episodemenu = ImageIO.read(getClass().getResource( + "resources/episodemenu.png")); + _levelselection = ImageIO.read(getClass().getResource( + "resources/levelselection.png")); + _loading = ImageIO.read(getClass().getResource( + "resources/loading.png")); + _loading2 = ImageIO.read(getClass().getResource( + "resources/loading2.png")); + _gamewon1 = ImageIO.read(getClass().getResource( + "resources/gamewon1.png")); + _gamewon2 = ImageIO.read(getClass().getResource( + "resources/gamewon2.png")); + _gamelost = ImageIO.read(getClass().getResource( + "resources/gamelost.png")); + _endGame0 = ImageIO.read(getClass().getResource( + "resources/0endScreen.png")); + _endGame1 = ImageIO.read(getClass().getResource( + "resources/1endScreen.png")); + _endGame2 = ImageIO.read(getClass().getResource( + "resources/2endScreen.png")); + _endGame3 = ImageIO.read(getClass().getResource( + "resources/3endScreen.png")); + _endGame4 = ImageIO.read(getClass().getResource( + "resources/4endScreen.png")); + _endGame5 = ImageIO.read(getClass().getResource( + "resources/5endScreen.png")); + _endGame6 = ImageIO.read(getClass().getResource( + "resources/6endScreen.png")); + _endGame7 = ImageIO.read(getClass().getResource( + "resources/7endScreen.png")); + _endGame8 = ImageIO.read(getClass().getResource( + "resources/8endScreen.png")); + _endGame9 = ImageIO.read(getClass().getResource( + "resources/9endScreen.png")); + + } catch (IOException e) { + System.err.println("failed to load resources"); + e.printStackTrace(); + } + } + + public GameState getGameState(BufferedImage screenshot) { + + // pixel colour deviation threshold for valid detection + final int avgColourThreshold = 5; + + // check for main menu or episode menu or level selection + BufferedImage wnd = screenshot.getSubimage(636, 24, 192, 26); + + + int numBytes = 3 * wnd.getWidth() * wnd.getHeight(); + if (VisionUtils.imageDifference(wnd, _mainmenu) < numBytes + * avgColourThreshold) { + return GameState.MAIN_MENU; + } else if (VisionUtils.imageDifference(wnd, _episodemenu) < numBytes + * avgColourThreshold) { + return GameState.EPISODE_MENU; + } else if (VisionUtils.imageDifference(wnd, _levelselection) < numBytes + * avgColourThreshold) { + return GameState.LEVEL_SELECTION; + } else if ((VisionUtils.imageDifference(wnd, _loading) < numBytes + * avgColourThreshold) + || (VisionUtils.imageDifference(wnd, _loading2) < numBytes + * avgColourThreshold)) { + return GameState.LOADING; + } + // otherwise check for end game or playing + wnd = screenshot.getSubimage(467, 350, 61, 60); + numBytes = 3 * wnd.getWidth() * wnd.getHeight(); + if (VisionUtils.imageDifference(wnd, _gamewon1) < numBytes + * avgColourThreshold || VisionUtils.imageDifference(wnd, _gamewon2) < numBytes + * avgColourThreshold) { + return GameState.WON; + } + + wnd = screenshot.getSubimage(320, 112, 192, 26); + numBytes = 3 * wnd.getWidth() * wnd.getHeight(); + if (VisionUtils.imageDifference(wnd, _gamelost) < numBytes + * avgColourThreshold) { + return GameState.LOST; + } + + return GameState.PLAYING; + } + + public int getScoreInGame(BufferedImage screenshot) { + // crop score image + BufferedImage scoreImage = screenshot.getSubimage(632, 21, 200, 32); + + // extract characters + int mask[][] = new int[scoreImage.getHeight()][scoreImage.getWidth()]; + for (int y = 0; y < scoreImage.getHeight(); y++) { + for (int x = 0; x < scoreImage.getWidth(); x++) { + final int colour = scoreImage.getRGB(x, y); + mask[y][x] = ((colour & 0x00ffffff) == 0x00ffffff) ? 1 : -1; + } + } + scoreImage = VisionUtils.int2image(mask); + mask = VisionUtils.findConnectedComponents(mask); + Rectangle[] letters = VisionUtils.findBoundingBoxes(mask); + Arrays.sort(letters, new RectLeftOf()); + + // decode letters + int score = 0; + for (int i = 0; i < letters.length; i++) { + if (letters[i].width < 2) + continue; + + BufferedImage letterImage = scoreImage.getSubimage(letters[i].x, + letters[i].y, letters[i].width, letters[i].height); + final String letterHash = VisionUtils.imageDigest(letterImage); + + int value = 0; + if (letterHash.equals("62d05c5ce368be507a096aa6b5c68aeb")) { + value = 1; + } else if (letterHash.equals("518b4a3878a75aad32e23da4781e4c14")) { + value = 2; + } else if (letterHash.equals("be2b93e09c0f94a7c93b1b9cc675b26d")) { + value = 3; + } else if (letterHash.equals("3171f145ff67389b22d50ade7a13b5f7")) { + value = 4; + } else if (letterHash.equals("96c7dc988a5ad5aa50c3958a0f7869f4")) { + value = 5; + } else if (letterHash.equals("049b9aa34adf05ff2cca8cd4057a4d6b")) { + value = 6; + } else if (letterHash.equals("897aca1b39d4e2f6bc58b658e8819191")) { + value = 7; + } else if (letterHash.equals("e66e8aca895a06c1c9200b1b6b781567")) { + value = 8; + } else if (letterHash.equals("41c3010757c2e707146aa5d136e72c7a")) { + value = 9; + } + + score = 10 * score + value; + // System.out.println(i + " : " + letters[i] + " : " + letterHash + + // " : " + value); + } + + /* + * VisionUtils.drawBoundingBoxes(scoreImage, letters, Color.BLUE); if + * (_debug == null) { _debug = new ShowDebuggingImage("score", + * scoreImage); } else { _debug.refresh(scoreImage); } + */ + + return score; + } + + //transform image into black-white format + private static BufferedImage extractNumber(BufferedImage image) { + + int mask[][] = new int[image.getHeight()][image.getWidth()]; + for (int y = 0; y < image.getHeight(); y++) { + for (int x = 0; x < image.getWidth(); x++) { + final int colour = image.getRGB(x, y); + mask[y][x] = (((colour & 0x00ff0000) >> 16) > 192) ? 1 : -1; + } + } + + BufferedImage numberImage = VisionUtils.int2image(mask); + mask = VisionUtils.findConnectedComponents(mask); + Rectangle number[] = VisionUtils.findBoundingBoxes(mask); + + return numberImage.getSubimage(number[0].x, number[0].y, number[0].width, number[0].height); + } + + public int getScoreEndGame(BufferedImage screenshot) { + // crop score image + BufferedImage scoreImage = screenshot.getSubimage(370, 265, 100, 32); + + + + // transform template images into black-white format + BufferedImage[] endGameNumberTemplates = { extractNumber(_endGame0), + extractNumber(_endGame1), extractNumber(_endGame2), + extractNumber(_endGame3), extractNumber(_endGame4), + extractNumber(_endGame5), extractNumber(_endGame6), + extractNumber(_endGame7), extractNumber(_endGame8), + extractNumber(_endGame9) }; + + + // extract characters + int mask[][] = new int[scoreImage.getHeight()][scoreImage.getWidth()]; + for (int y = 0; y < scoreImage.getHeight(); y++) { + for (int x = 0; x < scoreImage.getWidth(); x++) { + final int colour = scoreImage.getRGB(x, y); + mask[y][x] = (((colour & 0x00ff0000) >> 16) > 192) ? 1 : -1; + } + } + scoreImage = VisionUtils.int2image(mask); + mask = VisionUtils.findConnectedComponents(mask); + Rectangle[] letters = VisionUtils.findBoundingBoxes(mask); + Arrays.sort(letters, new RectLeftOf()); + + // decode letters + int score = 0; + for (int i = 0; i < letters.length; i++) { + if (letters[i].width < 2) + continue; + + BufferedImage letterImage = scoreImage.getSubimage(letters[i].x, + letters[i].y, letters[i].width, letters[i].height); + + int value = 0; + + //init min different between target number and template + int minDiff = Integer.MAX_VALUE; + + //loop to find a template with minimum difference + for (int j = 0; j < 10; j++) { + int diff = getPixelDifference(letterImage, endGameNumberTemplates[j]); + if(diff < minDiff){ + minDiff = diff; + value = j; + } + } + score = 10 * score + value; + } + + /* + if (score != prevScore) + { + saved = false; + repeatCount = 0; + prevScore = score; + } + else if (score != 0 && !saved) + { + repeatCount++; + if (repeatCount > 0) + { + saved = true; + try { + File outputfile = new File("scoreImage/" + score + ".png"); + ImageIO.write(saveImage, "png", outputfile); + } catch (IOException e) { + + } + } + }*/ + + /* + * VisionUtils.drawBoundingBoxes(scoreImage, letters, Color.BLUE); if + * (_debug == null) { _debug = new ShowDebuggingImage("score", + * scoreImage); } else { _debug.refresh(scoreImage); } + */ + + return score; + } + + public int getPixelDifference(BufferedImage letter, BufferedImage template) + { + // resize the template image + int height = letter.getHeight(); + int width = (int) ((double) height / template.getHeight() * template.getWidth()); + if (height == 0 || width == 0) + return 0; + template = VisionUtils.resizeImage(template, height, width); + + // fill blank pixels + if (width < letter.getWidth()) + { + int minX = (letter.getWidth() - width) / 2; + width = letter.getWidth(); + BufferedImage temp = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB); + Graphics2D g = temp.createGraphics(); + g.drawImage(template, null, minX, 0); + template = temp; + } + else + { + int minX = (width - letter.getWidth()) / 2; + BufferedImage temp = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB); + Graphics2D g = temp.createGraphics(); + g.drawImage(letter, null, minX, 0); + letter = temp; + } + + // return image difference + return VisionUtils.imageDifference(letter, template); + } +} diff --git a/framework/src/ab/vision/ShowSeg.java b/framework/src/ab/vision/ShowSeg.java new file mode 100644 index 0000000..110d383 --- /dev/null +++ b/framework/src/ab/vision/ShowSeg.java @@ -0,0 +1,301 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ + +package ab.vision; + +import java.awt.Color; +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.io.ByteArrayInputStream; +import java.io.File; +import java.io.FilenameFilter; +import java.io.IOException; +import java.net.UnknownHostException; +import java.util.Arrays; +import java.util.List; + +import javax.imageio.ImageIO; + +import Jama.Matrix; +import ab.demo.other.ActionRobot; +import ab.server.Proxy; +import ab.server.proxy.message.ProxyScreenshotMessage; +import ab.utils.ImageSegFrame; + +/* TestVision ------------------------------------------------------------- */ + +public class ShowSeg implements Runnable { + private static List pigs, redBirds, blueBirds, yellowBirds, blackBirds, whiteBirds, iceBlocks, woodBlocks, stoneBlocks, TNTs; + private static List trajPoints; + public static boolean useRealshape = false; + private static VisionRealShape vision; + static public Proxy getGameConnection(int port) { + Proxy proxy = null; + try { + proxy = new Proxy(port) { + @Override + public void onOpen() { + System.out.println("...connected to game proxy"); + } + + @Override + public void onClose() { + System.out.println("...disconnected from game proxy"); + } + }; + } catch (UnknownHostException e) { + e.printStackTrace(); + } + proxy.start(); + System.out.println("Waiting for proxy to connect..."); + proxy.waitForClients(1); + + return proxy; + } + + static public int[][] computeMetaInformation(BufferedImage screenshot) { + // image size + final int nHeight = screenshot.getHeight(); + final int nWidth = screenshot.getWidth(); + + // meta debugging information + int[][] meta = new int[nHeight][nWidth]; + for (int y = 0; y < nHeight; y++) { + for (int x = 0; x < nWidth; x++) { + final int colour = screenshot.getRGB(x, y); + meta[y][x] = ((colour & 0x00e00000) >> 15) + | ((colour & 0x0000e000) >> 10) + | ((colour & 0x000000e0) >> 5); + } + } + + return meta; + } + public static BufferedImage drawRealshape(BufferedImage screenshot) + { + // get game state + GameStateExtractor game = new GameStateExtractor(); + GameStateExtractor.GameState state = game.getGameState(screenshot); + if (state != GameStateExtractor.GameState.PLAYING) + { + screenshot = VisionUtils.convert2grey(screenshot); + return screenshot; + } + vision = new VisionRealShape(screenshot); + + vision.findObjects(); + vision.findPigs(); + vision.findHills(); + vision.findBirds(); + + vision.findSling(); + + vision.findTrajectory(); + vision.drawObjects(screenshot, true); + + + return screenshot; + + } + public static BufferedImage drawMBRs(BufferedImage screenshot) { + + + // get game state + GameStateExtractor game = new GameStateExtractor(); + GameStateExtractor.GameState state = game.getGameState(screenshot); + if (state != GameStateExtractor.GameState.PLAYING) { + screenshot = VisionUtils.convert2grey(screenshot); + return screenshot; + } + + + // process image + Vision vision = new Vision(screenshot); + pigs = vision.getMBRVision().findPigsMBR(); + redBirds = vision.getMBRVision().findRedBirdsMBRs(); + blueBirds = vision.getMBRVision().findBlueBirdsMBRs(); + yellowBirds = vision.getMBRVision().findYellowBirdsMBRs(); + woodBlocks = vision.getMBRVision().findWoodMBR(); + stoneBlocks = vision.getMBRVision().findStonesMBR(); + iceBlocks = vision.getMBRVision().findIceMBR(); + whiteBirds = vision.getMBRVision().findWhiteBirdsMBRs(); + blackBirds = vision.getMBRVision().findBlackBirdsMBRs(); + TNTs = vision.getMBRVision().findTNTsMBR(); + trajPoints = vision.findTrajPoints(); + + Rectangle sling = vision.findSlingshotMBR(); + + + // draw objects + screenshot = VisionUtils.convert2grey(screenshot); + VisionUtils.drawBoundingBoxes(screenshot, pigs, Color.GREEN); + VisionUtils.drawBoundingBoxes(screenshot, redBirds, Color.RED); + VisionUtils.drawBoundingBoxes(screenshot, blueBirds, Color.BLUE); + VisionUtils.drawBoundingBoxes(screenshot, yellowBirds, Color.YELLOW); + VisionUtils.drawBoundingBoxes(screenshot, woodBlocks, Color.WHITE, + Color.ORANGE); + VisionUtils.drawBoundingBoxes(screenshot, stoneBlocks, Color.WHITE, + Color.GRAY); + VisionUtils.drawBoundingBoxes(screenshot, iceBlocks, Color.WHITE, + Color.CYAN); + VisionUtils.drawBoundingBoxes(screenshot, whiteBirds, Color.WHITE, + Color.lightGray); + VisionUtils.drawBoundingBoxes(screenshot, TNTs, Color.WHITE, + Color.PINK); + VisionUtils.drawBoundingBoxes(screenshot, blackBirds, + Color.BLACK); + if (sling != null) { + VisionUtils.drawBoundingBox(screenshot, sling, Color.ORANGE, + Color.BLACK); + + // generate traj points using estimated parameters + Matrix W = vision.getMBRVision().fitParabola(trajPoints); + int p[][] = new int[2][100]; + int startx = (int) sling.getCenterX(); + for (int i = 0; i < 100; i++) { + p[0][i] = startx; + double tem = W.get(0, 0) * Math.pow(p[0][i], 2) + W.get(1, 0) + * p[0][i] + W.get(2, 0); + p[1][i] = (int) tem; + startx += 10; + } + if (W.get(0, 0) > 0) + VisionUtils.drawtrajectory(screenshot, p, Color.RED); + + } + + return screenshot; + } + + public static void main(String[] args) + { + + ImageSegFrame frame = null; + BufferedImage screenshot = null; + + // check command line arguments + if (args.length > 1) { + System.err.println(" USAGE: java TestVision [( | )]"); + System.exit(1); + } + + // connect to game proxy if no arguments given + if (args.length == 0) { + + Proxy game = getGameConnection(9000); + + while (true) { + // Capture an image + byte[] imageBytes = game.send(new ProxyScreenshotMessage()); + try { + screenshot = ImageIO.read(new ByteArrayInputStream( + imageBytes)); + } catch (IOException e) { + e.printStackTrace(); + } + + // Analyze and show image + screenshot = drawMBRs(screenshot); + //screenshot = drawRealshape(screenshot); + if (frame == null) { + frame = new ImageSegFrame("Vision", screenshot, + null); + } else { + frame.refresh(screenshot, null); + } + // sleep for 50ms + try { + Thread.sleep(50); + } catch (InterruptedException e) { + System.err.println("Thread Interrupted"); + } + } + } + + // Get list of images to process + File[] images = null; + + // Check if argument is a directory or an image + if ((new File(args[0])).isDirectory()) { + images = new File(args[0]).listFiles(new FilenameFilter() { + @Override + public boolean accept(File directory, String fileName) { + return fileName.endsWith(".png"); + } + }); + } else { + images = new File[1]; + images[0] = new File(args[0]); + } + + // Iterate through the images + Arrays.sort(images); + for (File filename : images) { + if (filename.isDirectory()) { + continue; + } + + // Load the screenshot + try { + screenshot = ImageIO.read(filename); + } catch (IOException e) { + System.err.println("ERROR: could not load image " + filename); + System.exit(1); + } + + // analyse and show image + int[][] meta = computeMetaInformation(screenshot); + screenshot = drawMBRs(screenshot); + if (frame == null) { + frame = new ImageSegFrame("Image Segementation", screenshot, meta); + } else { + frame.refresh(screenshot, meta); + } + frame.waitForKeyPress(); + } + + frame.close(); + } + //add for LoadLevel Agent + + @Override + public void run() { + + ImageSegFrame frame = null; + BufferedImage screenshot = null; + while (true) { + // capture an image + screenshot = ActionRobot.doScreenShot(); + // analyse and show image + //int[][] meta = computeMetaInformation(screenshot); + + if(!useRealshape) + screenshot = drawMBRs(screenshot); + else + screenshot = drawRealshape(screenshot); + + if (frame == null) { + + frame = new ImageSegFrame("Image Segmentation", screenshot, + null); + } else { + frame.refresh(screenshot, null); + } + + // sleep for 50ms + try { + Thread.sleep(50); + } catch (InterruptedException e) { + System.err.println(" Thread Interrupt"); + } + } + } + +} diff --git a/framework/src/ab/vision/TestVision.java b/framework/src/ab/vision/TestVision.java new file mode 100644 index 0000000..0b400f4 --- /dev/null +++ b/framework/src/ab/vision/TestVision.java @@ -0,0 +1,291 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2013,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz +** Sahan Abeyasinghe, Jim Keys, Kar-Wai Lim, Zain Mubashir, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. +**To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ +*or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. +*****************************************************************************/ +/* + * Modified by Angry-HEX Team + * Commented because it no longer works due to changes in the framework + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +//package ab.vision; +// +//import java.awt.Color; +//import java.awt.Point; +//import java.awt.Rectangle; +//import java.awt.image.BufferedImage; +//import java.io.ByteArrayInputStream; +//import java.io.File; +//import java.io.FilenameFilter; +//import java.io.IOException; +//import java.net.UnknownHostException; +//import java.util.Arrays; +//import java.util.List; +// +//import javax.imageio.ImageIO; +// +//import Jama.Matrix; +//import ab.demo.other.ActionRobot; +//import ab.demo.util.StateUtil; +//import ab.server.Proxy; +//import ab.server.proxy.message.ProxyScreenshotMessage; +//import ab.utils.ShowDebuggingImage; +// +///* TestVision ------------------------------------------------------------- */ +// +//public class TestVision implements Runnable { +// +// static public Proxy getGameConnection(int port) { +// Proxy proxy = null; +// try { +// proxy = new Proxy(port) { +// @Override +// public void onOpen() { +// System.out.println("...connected to game proxy"); +// } +// +// @Override +// public void onClose() { +// System.out.println("...disconnected from game proxy"); +// } +// }; +// } catch (UnknownHostException e) { +// e.printStackTrace(); +// } +// proxy.start(); +// System.out.println("Waiting for proxy to connect..."); +// proxy.waitForClients(1); +// +// return proxy; +// } +// +// static public int[][] computeMetaInformation(BufferedImage screenshot) { +// // image size +// final int nHeight = screenshot.getHeight(); +// final int nWidth = screenshot.getWidth(); +// +// // meta debugging information +// int[][] meta = new int[nHeight][nWidth]; +// for (int y = 0; y < nHeight; y++) { +// for (int x = 0; x < nWidth; x++) { +// final int colour = screenshot.getRGB(x, y); +// meta[y][x] = ((colour & 0x00e00000) >> 15) +// | ((colour & 0x0000e000) >> 10) +// | ((colour & 0x000000e0) >> 5); +// } +// } +// +// return meta; +// } +// +// static public BufferedImage analyseScreenShot(BufferedImage screenshot) { +// +// +// // get game state +// GameStateExtractor game = new GameStateExtractor(); +// GameStateExtractor.GameState state = game.getGameState(screenshot); +// // System.out.println(state.toString()); +// +// if (state != GameStateExtractor.GameState.PLAYING) { +// System.out.println("End game score : " + game.getScoreEndGame(screenshot)); +// screenshot = VisionUtils.convert2grey(screenshot); +// return screenshot; +// } +// +// System.out.println("In game score : " + game.getScoreInGame(screenshot)); +// // process image +// Vision vision = new Vision(screenshot); +// List pigs = vision.findPigs(); +// List redBirds = vision.findRedBirds(); +// List blueBirds = vision.findBlueBirds(); +// List yellowBirds = vision.findYellowBirds(); +// List woodBlocks = vision.findWoodAsRectangles(); +// List stoneBlocks = vision.findStonesAsRectangles(); +// List iceBlocks = vision.findIceAsRectangles(); +// List whiteBirds = vision.findWhiteBirds(); +// List blackBirds = vision.findBlackBirds(); +// List TNTs = vision.findTNTs(); +// List trajPoints = vision.findTrajPoints(); +// +// Rectangle sling = vision.findSlingshot(); +// +// +// // draw objects +// screenshot = VisionUtils.convert2grey(screenshot); +// VisionUtils.drawBoundingBoxes(screenshot, pigs, Color.GREEN); +// VisionUtils.drawBoundingBoxes(screenshot, redBirds, Color.RED); +// VisionUtils.drawBoundingBoxes(screenshot, blueBirds, Color.BLUE); +// VisionUtils.drawBoundingBoxes(screenshot, yellowBirds, Color.YELLOW); +// VisionUtils.drawBoundingBoxes(screenshot, woodBlocks, Color.WHITE, +// Color.ORANGE); +// VisionUtils.drawBoundingBoxes(screenshot, stoneBlocks, Color.WHITE, +// Color.GRAY); +// VisionUtils.drawBoundingBoxes(screenshot, iceBlocks, Color.WHITE, +// Color.CYAN); +// VisionUtils.drawBoundingBoxes(screenshot, whiteBirds, Color.WHITE, +// Color.lightGray); +// VisionUtils.drawBoundingBoxes(screenshot, TNTs, Color.WHITE, +// Color.PINK); +// VisionUtils.drawBoundingBoxes(screenshot, blackBirds, +// Color.BLACK); +// if (sling != null) { +// VisionUtils.drawBoundingBox(screenshot, sling, Color.ORANGE, +// Color.BLACK); +// +// // generate traj points using estimated parameters +// Matrix W = vision.fitParabola(trajPoints); +// int p[][] = new int[2][100]; +// int startx = (int) sling.getCenterX(); +// for (int i = 0; i < 100; i++) { +// p[0][i] = startx; +// double tem = W.get(0, 0) * Math.pow(p[0][i], 2) + W.get(1, 0) +// * p[0][i] + W.get(2, 0); +// p[1][i] = (int) tem; +// startx += 10; +// } +// if (W.get(0, 0) > 0) +// VisionUtils.drawtrajectory(screenshot, p, Color.RED); +// +// } +// +// return screenshot; +// } +// +// static public void main(String[] args) { +// +// ShowDebuggingImage frame = null; +// BufferedImage screenshot = null; +// StateUtil stateUtil = new StateUtil(); +// // check command line arguments +// if (args.length > 1) { +// System.err.println(" USAGE: java TestVision [( | )]"); +// System.exit(1); +// } +// +// // connect to game proxy if no arguments given +// if (args.length == 0) { +// GameStateExtractor gameStateExtractor = new GameStateExtractor(); +// Proxy game = getGameConnection(9000); +// +// while (true) { +// // capture an image +// byte[] imageBytes = game.send(new ProxyScreenshotMessage()); +// try { +// screenshot = ImageIO.read(new ByteArrayInputStream( +// imageBytes)); +// } catch (IOException e) { +// e.printStackTrace(); +// } +// System.out.println(" The game state is : " + gameStateExtractor.getGameState(screenshot)); +// +// // analyse and show image +// int[][] meta = computeMetaInformation(screenshot); +// screenshot = analyseScreenShot(screenshot); +// +// if (frame == null) { +// frame = new ShowDebuggingImage("TestVision", screenshot, +// meta); +// } else { +// frame.refresh(screenshot, meta); +// } +// +// // sleep for 100ms +// try { +// Thread.sleep(100); +// } catch (InterruptedException e) { +// // do nothing +// } +// } +// } +// +// // get list of images to process +// File[] images = null; +// +// // check if argument is a directory or an image +// if ((new File(args[0])).isDirectory()) { +// images = new File(args[0]).listFiles(new FilenameFilter() { +// @Override +// public boolean accept(File directory, String fileName) { +// return fileName.endsWith(".png"); +// } +// }); +// } else { +// images = new File[1]; +// images[0] = new File(args[0]); +// } +// +// // iterate through the images +// Arrays.sort(images); +// for (File filename : images) { +// if (filename.isDirectory()) { +// continue; +// } +// +// // load the screenshot +// try { +// screenshot = ImageIO.read(filename); +// } catch (IOException e) { +// System.err.println("ERROR: could not load image " + filename); +// System.exit(1); +// } +// +// // analyse and show image +// int[][] meta = computeMetaInformation(screenshot); +// screenshot = analyseScreenShot(screenshot); +// if (frame == null) { +// frame = new ShowDebuggingImage("TestVision", screenshot, meta); +// } else { +// frame.refresh(screenshot, meta); +// } +// frame.waitForKeyPress(); +// } +// +// frame.close(); +// } +// +// //add for LoadLevel Agent +// +// @Override +// public void run() { +// ShowDebuggingImage frame = null; +// BufferedImage screenshot = null; +// +// while (true) { +// // capture an image +// screenshot = ActionRobot.doScreenShot(); +// // analyse and show image +// int[][] meta = computeMetaInformation(screenshot); +// screenshot = analyseScreenShot(screenshot); +// if (frame == null) { +// +// frame = new ShowDebuggingImage("TestVision", screenshot, +// meta); +// } else { +// frame.refresh(screenshot, meta); +// } +// +// // sleep for 100ms +// try { +// Thread.sleep(100); +// } catch (InterruptedException e) { +// // do nothing +// } +// } +// } +// +//} diff --git a/framework/src/ab/vision/Vision.java b/framework/src/ab/vision/Vision.java new file mode 100644 index 0000000..7293581 --- /dev/null +++ b/framework/src/ab/vision/Vision.java @@ -0,0 +1,159 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +/* + * Modified by Angry-HEX Team + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.vision; + +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.List; + +public class Vision { + private BufferedImage image; + private VisionMBR visionMBR = null; + private VisionRealShape visionRealShape = null; + + public Vision(BufferedImage image) + { + this.image = image; + } + + public List findBirdsMBR() + { + if (visionMBR == null) + { + visionMBR = new VisionMBR(image); + } + return visionMBR.findBirds(); + + } + /** + * @return a list of MBRs of the blocks in the screenshot. Blocks: Stone, Wood, Ice + * */ + public List findBlocksMBR() + { + if (visionMBR == null) + { + visionMBR = new VisionMBR(image); + } + return visionMBR.findBlocks(); + } + + public List findTNTs() + { + if(visionMBR == null) + { + visionMBR = new VisionMBR(image); + } + return visionMBR.findTNTs(); + } + public List findPigsMBR() + { + if (visionMBR == null) + { + visionMBR = new VisionMBR(image); + } + return visionMBR.findPigs(); + } + public List findPigsRealShape() + { + if(visionRealShape == null) + { + visionRealShape = new VisionRealShape(image); + } + + return visionRealShape.findPigs(); + } + public List findBirdsRealShape() + { + if(visionRealShape == null) + { + visionRealShape = new VisionRealShape(image); + } + + return visionRealShape.findBirds(); + } + + public List findHills() + { + if(visionRealShape == null) + { + visionRealShape = new VisionRealShape(image); + } + + return visionRealShape.findHills(); + } + + + public Rectangle findSlingshotMBR() + { + if (visionMBR == null) + { + visionMBR = new VisionMBR(image); + } + return visionMBR.findSlingshotMBR(); + } + + + /** + * Modified by Angry-HEX Team + * We added this method for a better recognition of the slingshot + * using the real shape vision after its fixed bug. + */ + public Rectangle findSlingshotRealShape() + { + if (visionRealShape == null) + { + visionRealShape = new VisionRealShape(image); + } + return visionRealShape.findSling(); + } + + public List findTrajPoints() + { + if (visionMBR == null) + { + visionMBR = new VisionMBR(image); + } + return visionMBR.findTrajPoints(); + } + /** + * @return a list of real shapes (represented by Body.java) of the blocks in the screenshot. Blocks: Stone, Wood, Ice + * */ + public List findBlocksRealShape() + { + if(visionRealShape == null) + { + visionRealShape = new VisionRealShape(image); + } + List allBlocks = visionRealShape.findObjects(); + + return allBlocks; + } + public VisionMBR getMBRVision() + { + if(visionMBR == null) + visionMBR = new VisionMBR(image); + return visionMBR; + } +} diff --git a/framework/src/ab/vision/VisionMBR.java b/framework/src/ab/vision/VisionMBR.java new file mode 100644 index 0000000..8e5357d --- /dev/null +++ b/framework/src/ab/vision/VisionMBR.java @@ -0,0 +1,1170 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ + +package ab.vision; + +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.HashSet; +import java.util.LinkedList; +import java.util.List; +import java.util.Set; + +import Jama.Matrix; + +/* Vision ----------------------------------------------------------------- */ + +public class VisionMBR { + + private int _nHeight; // height of the scene + private int _nWidth; // width of the scene + public int _scene[][]; // quantized scene colours + private int _nSegments; // number of segments + private int _segments[][]; // connected components (0 to _nSegments) + private int _colours[]; // colour for each segment + private Rectangle _boxes[]; // bounding box for each segment + private int _regionThreshold = 10; // minimal pixels in a region + + // create a vision object for processing a given screenshot + public VisionMBR(BufferedImage screenshot) { + + //Reset the ID counter for each segmentation + ABObject.resetCounter(); + processScreenShot(screenshot); + } + + //find slingshot + //only return one rectangle + public Rectangle findSlingshotMBR() { + Rectangle obj; + + + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + ignorePixel[i][j] = false; + } + } + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + if ((_scene[i][j] != 345) || ignorePixel[i][j]) + continue; + obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + + LinkedList pointsinRec = new LinkedList(); + + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to slingshot + + //check underneath pixel + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 345 + || _scene[p.y + 1][p.x] == 418 + || _scene[p.y + 1][p.x] == 273 + || _scene[p.y + 1][p.x] == 281 + || _scene[p.y + 1][p.x] == 209 + || _scene[p.y + 1][p.x] == 346 + || _scene[p.y + 1][p.x] == 354 + || _scene[p.y + 1][p.x] == 282 || _scene[p.y + 1][p.x] == 351) + && !ignorePixel[p.y + 1][p.x]) { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + //check right pixel + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 345 + || _scene[p.y][p.x + 1] == 418 + || _scene[p.y][p.x + 1] == 346 + || _scene[p.y][p.x + 1] == 354 + || _scene[p.y][p.x + 1] == 273 + || _scene[p.y][p.x + 1] == 281 + || _scene[p.y][p.x + 1] == 209 + || _scene[p.y][p.x + 1] == 282 || _scene[p.y][p.x + 1] == 351) + && !ignorePixel[p.y][p.x + 1]) { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + //check upper pixel + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 345 + || _scene[p.y - 1][p.x] == 418 + || _scene[p.y - 1][p.x] == 346 + || _scene[p.y - 1][p.x] == 354 + || _scene[p.y - 1][p.x] == 273 + || _scene[p.y - 1][p.x] == 281 + || _scene[p.y - 1][p.x] == 209 + || _scene[p.y - 1][p.x] == 282 || _scene[p.y - 1][p.x] == 351) + && !ignorePixel[p.y - 1][p.x]) { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + //check left pixel + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 345 + || _scene[p.y][p.x - 1] == 418 + || _scene[p.y][p.x - 1] == 346 + || _scene[p.y][p.x - 1] == 354 + || _scene[p.y][p.x - 1] == 273 + || _scene[p.y][p.x - 1] == 281 + || _scene[p.y][p.x - 1] == 209 + || _scene[p.y][p.x - 1] == 282 || _scene[p.y][p.x - 1] == 351) + && !ignorePixel[p.y][p.x - 1]) { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + //ignore checked pixels + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + int[] hist = histogram(obj); + + // abandon shelf underneath + if (obj.height > 10) { + Rectangle col = new Rectangle(obj.x, obj.y, 1, obj.height); + int[] histCol = histogram(col); + + + if (_scene[obj.y][obj.x] == 511 + || _scene[obj.y][obj.x] == 447) { + for (int m = obj.y; m < obj.y + obj.height; m++) { + if (_scene[m][obj.x] == 345 + || _scene[m][obj.x] == 418 + || _scene[m][obj.x] == 346 + || _scene[m][obj.x] == 354 + || _scene[m][obj.x] == 273 + || _scene[m][obj.x] == 281 + || _scene[m][obj.x] == 209 + || _scene[m][obj.x] == 282 + || _scene[m][obj.x] == 351) { + obj.setSize(obj.width, m - obj.y); + break; + } + } + } + + while (histCol[511] >= obj.height * 0.8) { + obj.setBounds(obj.x + 1, obj.y, obj.width - 1, + obj.height); + col = new Rectangle(obj.x + 1, obj.y, 1, obj.height); + histCol = histogram(col); + } + + col = new Rectangle(obj.x + obj.width, obj.y, 1, obj.height); + histCol = histogram(col); + while (histCol[511] >= obj.height * 0.8 && obj.height > 10) { + obj.setSize(obj.width - 1, obj.height); + col = new Rectangle(obj.x + obj.width, obj.y, 1, + obj.height); + histCol = histogram(col); + } + } + + if (obj.width > obj.height) + continue; + + if ((hist[345] > Math.max(32, 0.1 * obj.width * obj.height)) + && (hist[64] != 0)) { + obj.add(new Rectangle(obj.x - obj.width / 10, obj.y + - obj.height / 3, obj.width / 10 * 12, + obj.height / 3 * 4)); + return obj; + } + } + } + return null; + } + + // find pigs in the current scene + public List findPigsMBR() { + ArrayList objects = new ArrayList(); + + // find candidates + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 376) || ignore[n]) + continue; + + // dilate bounding box of colour 376 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], + _boxes[n].width / 2 + 1, _boxes[n].height / 2 + 1); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 376 + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 376) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], _boxes[m].width / 2 + 1, + _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // look for overlapping bounding boxes of colour 250 + Boolean bValidObject = false; + for (int m = 0; m < _nSegments; m++) { + if (_colours[m] != 250) + continue; + if (bounds.intersects(_boxes[m])) { + bValidObject = true; + break; + } + } + + // add object if valid + if (bValidObject) { + obj = VisionUtils.dialateRectangle(obj, obj.width / 2 + 1, + obj.height / 2 + 1); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + objects.add(obj); + } + } + + return objects; + } + + // find birds in the current scene + public List findRedBirdsMBRs() { + ArrayList objects = new ArrayList(); + + // test for red birds (385, 488, 501) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 385) || ignore[n]) + continue; + + // dilate bounding box around colour 385 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 1, + _boxes[n].height / 2 + 1); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 385 + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 385) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 1, _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // look for overlapping bounding boxes of colours 488 and 501 + Boolean bValidObject = false; + for (int m = 0; m < _nSegments; m++) { + if ((_colours[m] != 488) && (_colours[m] != 501)) + continue; + if (bounds.intersects(_boxes[m])) { + obj.add(_boxes[m]); + bValidObject = true; + } + } + + if (bValidObject) { + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + objects.add(obj); + } + } + + return objects; + } + + public List findBlueBirdsMBRs() { + ArrayList objects = new ArrayList(); + + // test for blue birds (238) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 238) || ignore[n]) + continue; + + // dilate bounding box around colour 238 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 1, + _boxes[n].height / 2 + 1); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colours 238, 165, 280, + // 344, 488, 416 + for (int m = n + 1; m < _nSegments; m++) { + if ((_colours[m] != 238) && (_colours[m] != 165) + && (_colours[m] != 280) && (_colours[m] != 344) + && (_colours[m] != 488) && (_colours[m] != 416)) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 238) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) { + ignore[m] = true; + } + } + + // look for overlapping bounding boxes of colours 488 + Boolean bValidObject = false; + for (int m = 0; m < _nSegments; m++) { + if (_colours[m] != 488) + continue; + if (bounds.intersects(_boxes[m])) { + obj.add(_boxes[m]); + bValidObject = true; + } + } + + if (bValidObject && (obj.width > 3)) { + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + objects.add(obj); + } + } + + return objects; + } + + public List findYellowBirdsMBRs() { + ArrayList objects = new ArrayList(); + + // test for blue birds (497) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 497) || ignore[n]) + continue; + + // dilate bounding box around colour 497 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colours 497 + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 497) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // confirm secondary colours 288 + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + int[] hist = histogram(obj); + if (hist[288] > 0) { + objects.add(obj); + } + } + + return objects; + } + + public List findWhiteBirdsMBRs() { + ArrayList objects = new ArrayList(); + + // test for white birds (490) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 490) || ignore[n]) + continue; + + // dilate bounding box around colour 490 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 490 + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 490 + && _colours[m] != 508 + && _colours[m] != 510) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // confirm secondary colour 510 + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + // remove objects too high or too low in the image + // (probably false positives) + if ((obj.y < 60) || (obj.y > 385)) { + continue; + } + int[] hist = histogram(obj); + if (hist[510] > 0 && hist[508] > 0) { + objects.add(obj); + } + } + + return objects; + } + public List findBlocks(){ + List stone = findStonesMBR(); + List wood = findWoodMBR(); + List ice = findIceMBR(); + List objects = new LinkedList(); + objects.addAll(constructABObjects(stone,ABType.Stone)); + objects.addAll(constructABObjects(wood,ABType.Wood)); + objects.addAll(constructABObjects(ice,ABType.Ice)); + return objects; + } + public List findBirds(){ + + List rbirds = findRedBirdsMBRs(); + List ybirds = findYellowBirdsMBRs(); + List blbirds = findBlueBirdsMBRs(); + List blackbirds = findBlackBirdsMBRs(); + List wbirds = findWhiteBirdsMBRs(); + List objects = new LinkedList(); + objects.addAll(constructABObjects(rbirds, ABType.RedBird)); + objects.addAll(constructABObjects(ybirds,ABType.YellowBird)); + objects.addAll(constructABObjects(blbirds,ABType.BlueBird)); + objects.addAll(constructABObjects(blackbirds,ABType.BlackBird)); + objects.addAll(constructABObjects(wbirds,ABType.WhiteBird)); + return objects; + } + + public List findPigs(){ + + return constructABObjects(findPigsMBR(), ABType.Pig); + } + + private List constructABObjects(List mbrs, ABType type) + { + + List objects = new LinkedList(); + if(type == ABType.Wood || type == ABType.Ice || type == ABType.Stone || type == ABType.TNT) + for(Rectangle rec: mbrs) + objects.add(new ABObject(rec, type)); + else + if(type == ABType.Pig) + for(Rectangle rec: mbrs) + objects.add(new ABObject(rec, type)); + else + for(Rectangle rec: mbrs) + objects.add(new ABObject(rec, type)); + return objects; + } + public List findBlackBirdsMBRs() { + ArrayList objects = new ArrayList(); + + // test for white birds (488) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 488) || ignore[n]) + continue; + + // dilate bounding box around colour 488 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 488 + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 488 + && _colours[m] != 146 + && _colours[m] != 64 + && _colours[m] != 0) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // confirm secondary colour + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + int[] hist = histogram(obj); + if ((hist[0] > Math.max(32, 0.1 * obj.width * obj.height))&& hist[64] > 0 && hist[385] == 0) { + objects.add(obj); + } + } + + return objects; + } + public List findStonesMBR() { + ArrayList objects = new ArrayList(); + + + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + ignorePixel[i][j] = false; + } + } + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + if ((_scene[i][j] != 365) || ignorePixel[i][j]) + continue; + Rectangle obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to stone + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 365) + && !ignorePixel[p.y + 1][p.x]) { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + } + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 365) + && !ignorePixel[p.y][p.x + 1]) { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + } + + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 365) + && !ignorePixel[p.y - 1][p.x]) { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + } + + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 365) + && !ignorePixel[p.y][p.x - 1]) { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + } + + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + if (obj.width * obj.height > _regionThreshold + && !(new Rectangle(0, 0, 190, 55).contains(obj))) + objects.add(obj); + } + } + return objects; + } + + public List findIceMBR() { + ArrayList objects = new ArrayList(); + + + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + ignorePixel[i][j] = false; + } + + } + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + if ((_scene[i][j] != 311) || ignorePixel[i][j]) + continue; + Rectangle obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to ice + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 311 + || _scene[p.y + 1][p.x] == 247 || _scene[p.y + 1][p.x] == 183) + && !ignorePixel[p.y + 1][p.x]) { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + } + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 311 + || _scene[p.y][p.x + 1] == 247 || _scene[p.y][p.x + 1] == 183) + && !ignorePixel[p.y][p.x + 1]) { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + } + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 311 + || _scene[p.y - 1][p.x] == 247 || _scene[p.y - 1][p.x] == 183) + && !ignorePixel[p.y - 1][p.x]) { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + } + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 311 + || _scene[p.y][p.x - 1] == 247 || _scene[p.y][p.x - 1] == 183) + && !ignorePixel[p.y][p.x - 1]) { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + } + + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + if (obj.width * obj.height > _regionThreshold + && !(new Rectangle(0, 0, 190, 55).contains(obj))) + objects.add(obj); + } + } + return objects; + } + + public List findWoodMBR() { + ArrayList objects = new ArrayList(); + + + // Boolean ignore[] = new Boolean[_nSegments]; + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + ignorePixel[i][j] = false; + } + + } + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + if ((_scene[i][j] != 481) || ignorePixel[i][j]) + continue; + Rectangle obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + List pointBag = new ArrayList(); + l.add(new Point(j, i)); + pointBag.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to wood + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 481 + || _scene[p.y + 1][p.x] == 408 || _scene[p.y + 1][p.x] == 417) + && !ignorePixel[p.y + 1][p.x]) { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + pointBag.add(new Point(p.x, p.y + 1)); + } + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 481 + || _scene[p.y][p.x + 1] == 408 || _scene[p.y][p.x + 1] == 417) + && !ignorePixel[p.y][p.x + 1]) { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + pointBag.add(new Point(p.x + 1, p.y)); + } + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 481 + || _scene[p.y - 1][p.x] == 408 || _scene[p.y - 1][p.x] == 417) + && !ignorePixel[p.y - 1][p.x]) { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + pointBag.add(new Point(p.x, p.y - 1)); + } + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 481 + || _scene[p.y][p.x - 1] == 408 || _scene[p.y][p.x - 1] == 417) + && !ignorePixel[p.y][p.x - 1]) { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + pointBag.add(new Point(p.x - 1, p.y)); + } + + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + if (obj.width * obj.height > _regionThreshold + && !(new Rectangle(0, 0, 190, 55).contains(obj))) + objects.add(obj); + } + } + + return objects; + } + + public List findTNTs() + { + List tnts = findTNTsMBR(); + return constructABObjects(tnts, ABType.TNT); + } + public List findTNTsMBR() { + ArrayList objects = new ArrayList(); + + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) { + if ((_colours[n] != 410) || ignore[n]) + continue; + + // dilate bounding box around colour 410 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 410 + for (int m = n + 1; m < _nSegments; m++) { + if (_colours[m] != 410 + && _colours[m] != 418) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + + //check secondary colour + int[] hist = histogram(obj); + if (hist[457] > 0 && hist[511] > 0) { + objects.add(obj); + } + } + + return objects; + } + + + + // find trajectory points + @SuppressWarnings("unchecked") + public ArrayList findTrajPoints() { + ArrayList objects = new ArrayList(); + ArrayList objectsRemovedNoise; + + + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + ignorePixel[i][j] = false; + } + + } + + for (int i = 0; i < _nHeight; i++) { + for (int j = 0; j < _nWidth; j++) { + if ((_scene[i][j] != 365 && _scene[i][j] != 366 && _scene[i][j] != 438) + || ignorePixel[i][j]) + continue; + Rectangle obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to traj Points + if (p.y < _nHeight - 1 && p.x < _nWidth - 1 && p.y > 0 + && p.x > 0) { + if ((_scene[p.y + 1][p.x] == 365 + || _scene[p.y + 1][p.x] == 366 || _scene[p.y + 1][p.x] == 438) + && !ignorePixel[p.y + 1][p.x]) { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + } + + if ((_scene[p.y][p.x + 1] == 365 + || _scene[p.y][p.x + 1] == 366 || _scene[p.y][p.x + 1] == 438) + && !ignorePixel[p.y][p.x + 1]) { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + } + + if ((_scene[p.y - 1][p.x] == 365 + || _scene[p.y - 1][p.x] == 366 || _scene[p.y - 1][p.x] == 438) + && !ignorePixel[p.y - 1][p.x]) { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + } + + if ((_scene[p.y][p.x - 1] == 365 + || _scene[p.y][p.x - 1] == 366 || _scene[p.y][p.x - 1] == 438) + && !ignorePixel[p.y][p.x - 1]) { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + } + + if ((_scene[p.y - 1][p.x - 1] == 365 + || _scene[p.y - 1][p.x - 1] == 366 || _scene[p.y - 1][p.x - 1] == 438) + && !ignorePixel[p.y - 1][p.x - 1]) { + l.add(new Point(p.x - 1, p.y - 1)); + obj.add(p.x - 1, p.y - 1); + } + + if ((_scene[p.y - 1][p.x + 1] == 365 + || _scene[p.y - 1][p.x + 1] == 366 || _scene[p.y - 1][p.x + 1] == 438) + && !ignorePixel[p.y - 1][p.x + 1]) { + l.add(new Point(p.x + 1, p.y - 1)); + obj.add(p.x + 1, p.y - 1); + } + + if ((_scene[p.y + 1][p.x + 1] == 365 + || _scene[p.y + 1][p.x + 1] == 366 || _scene[p.y + 1][p.x + 1] == 438) + && !ignorePixel[p.y + 1][p.x + 1]) { + l.add(new Point(p.x + 1, p.y + 1)); + obj.add(p.x + 1, p.y + 1); + } + + if ((_scene[p.y + 1][p.x - 1] == 365 + || _scene[p.y + 1][p.x - 1] == 366 || _scene[p.y + 1][p.x - 1] == 438) + && !ignorePixel[p.y + 1][p.x - 1]) { + l.add(new Point(p.x - 1, p.y + 1)); + obj.add(p.x - 1, p.y + 1); + } + + } + if (p.y < _nHeight - 1 && p.x < _nWidth - 1 && p.y > 0 + && p.x > 0) { + ignorePixel[p.y + 1][p.x] = true; + ignorePixel[p.y][p.x + 1] = true; + + ignorePixel[p.y - 1][p.x] = true; + ignorePixel[p.y][p.x - 1] = true; + + ignorePixel[p.y + 1][p.x + 1] = true; + ignorePixel[p.y - 1][p.x + 1] = true; + ignorePixel[p.y + 1][p.x - 1] = true; + ignorePixel[p.y - 1][p.x - 1] = true; + } + } + + + if (obj.height * obj.width <= 25) + objects.add(new Point((int) obj.getCenterX(), (int) obj + .getCenterY())); + } + } + + objectsRemovedNoise = (ArrayList) objects.clone(); + + // remove noise points + Matrix W = fitParabola(objects); + double maxError = 10; + Rectangle menu = new Rectangle(0, 0, 205, 60); + + for (Point o : objects) { + if (Math.abs(W.get(0, 0) * Math.pow(o.x, 2) + W.get(1, 0) * o.x + + W.get(2, 0) - o.y) > maxError) { + objectsRemovedNoise.remove(o); + } + + if (menu.contains(o)) { + objectsRemovedNoise.remove(o); + } + } + + return objectsRemovedNoise; + } + + //fit parabola using maximum likelihood + // vector W = (w0,w1,w2)T , y = w0*x^2 + w1*x + w2 + public Matrix fitParabola(List objects) { + int trainingSize = 60; + double arrayPhiX[][] = new double[trainingSize][3]; // Training set + double arrayY[][] = new double[trainingSize][1]; + + Rectangle sling = this.findSlingshotMBR(); + + Matrix PhiX, Y; + Matrix W = new Matrix(new double[] { 0, 0, 0 }, 3); + int i = 0; + for (Point p : objects) { + + //if slingshot not detected, abandon side noises + if (sling == null) { + if (Math.abs(p.x - _nWidth / 2) <= _nWidth / 6 + && p.y <= _nHeight / 5 * 3 && i < trainingSize) { + arrayPhiX[i][0] = Math.pow(p.x, 2); + arrayPhiX[i][1] = p.x; + arrayPhiX[i][2] = 1; + arrayY[i][0] = p.y; + i++; + } + } + + // if slingshot detected, abandon noises to the left of slingshot + else { + if (p.x >= sling.getCenterX() + sling.width * 2 + && p.x <= sling.getCenterX() + _nWidth / 3 + && p.y <= sling.getCenterY() && i < trainingSize) { + arrayPhiX[i][0] = Math.pow(p.x, 2); + arrayPhiX[i][1] = p.x; + arrayPhiX[i][2] = 1; + arrayY[i][0] = p.y; + i++; + } + } + } + + PhiX = new Matrix(arrayPhiX); + Y = new Matrix(arrayY); + + // Maximum likelihood + try { + W = PhiX.transpose().times(PhiX).inverse().times(PhiX.transpose()) + .times(Y); + } catch (Exception e) { + // if Matrix is singular + // do nothing + } + return W; + } + + // train parabola using gradient descent + public Matrix trainParabola(ArrayList objects) { + + double points[][] = new double[objects.size()][2]; + double alpha = 1e-10; + int trainingSize = 100; + + double trainingSet[][] = new double[trainingSize][2]; + double SquareError; + Matrix deltaError; + + int i = 0, j = 0; + for (Rectangle p : objects) { + points[i][0] = p.getCenterX(); + points[i][1] = p.getCenterY(); + if (Math.abs(p.getCenterX() - _nWidth / 2) <= _nWidth / 4 + && Math.abs(p.getCenterY() - _nHeight / 2) <= _nHeight / 5 + && j < trainingSize) { + trainingSet[j][0] = points[i][0]; + trainingSet[j][1] = points[i][1]; + j++; + } + i++; + } + + + Matrix W = new Matrix(new double[] { 0, 0, 0 }, 3);// parabola + // parameters + + Matrix phiX; + for (int x = -50; x < 50; x++) { + if (x + 50 < trainingSize) { + trainingSet[x + 50][0] = x; + trainingSet[x + 50][1] = -x * x + 20 * x + 1; + } + } + + for (int it = 0; it < 50000; it++) { + SquareError = 0.; + for (int n = 0; n < trainingSize; n++) { + if (trainingSet[n][0] > 0) { + double xn = trainingSet[n][0]; + double yn = trainingSet[n][1]; + phiX = new Matrix(new double[] { Math.pow(xn, 2), xn, 1. }, + 3); + + deltaError = phiX.times((yn - W.transpose().times(phiX) + .get(0, 0))); + + + W = W.plus(deltaError.times(alpha)); + SquareError += Math.pow( + yn - phiX.transpose().times(W).get(0, 0), 2); + + } + } + if (it % 1000 == 0) { + System.out.print(SquareError + "\n"); + W.print(1, 30); + } + } + + return W; + } + + // find bounding boxes around an arbitrary colour code + public List findColour(int colourCode) { + ArrayList objects = new ArrayList(); + + for (int n = 0; n < _nSegments; n++) { + if (_colours[n] == colourCode) { + objects.add(_boxes[n]); + } + } + + return objects; + } + + // query the colour at given pixel + public Integer query(Point p) { + if ((p.x >= _nWidth) || (p.y >= _nHeight)) { + System.err.println("pixel (" + p.x + ", " + p.y + + ") is out of range"); + return null; + } + + return _colours[_segments[p.y][p.x]]; + } + + // query colours within given bounding box + public Set query(Rectangle r) { + Set s = new HashSet(); + for (int n = 0; n < _nSegments; n++) { + if (r.contains(_boxes[n])) { + s.add(_colours[n]); + } + } + return s; + } + + // compute a histogram of colours within a given bounding box + public int[] histogram(Rectangle r) { + int[] h = new int[512]; + Arrays.fill(h, 0); + + for (int y = r.y; y < r.y + r.height; y++) { + if ((y < 0) || (y >= _nHeight)) + continue; + for (int x = r.x; x < r.x + r.width; x++) { + if ((x < 0) || (x >= _nWidth)) + continue; + h[_colours[_segments[y][x]]] += 1; + } + } + + return h; + } + + // perform preprocessing of a new screenshot + private void processScreenShot(BufferedImage screenshot) { + // extract width and height + _nHeight = screenshot.getHeight(); + _nWidth = screenshot.getWidth(); + if ((_nHeight != 480) && (_nWidth != 840)) { + System.err.println("ERROR: expecting 840-by-480 image"); + System.exit(1); + } + + // quantize to 3-bit colour + _scene = new int[_nHeight][_nWidth]; + for (int y = 0; y < _nHeight; y++) { + for (int x = 0; x < _nWidth; x++) { + final int colour = screenshot.getRGB(x, y); + _scene[y][x] = ((colour & 0x00e00000) >> 15) + | ((colour & 0x0000e000) >> 10) + | ((colour & 0x000000e0) >> 5); + //System.out.println(" x " + x + " y " + y + " 3-bit rgb " + _scene[y][x]); + } + } + + // find connected components + _segments = VisionUtils.findConnectedComponents(_scene); + _nSegments = VisionUtils.countComponents(_segments); + // System.out.println("...found " + _nSegments + " components"); + + _colours = new int[_nSegments]; + for (int y = 0; y < _nHeight; y++) { + for (int x = 0; x < _nWidth; x++) { + _colours[_segments[y][x]] = _scene[y][x]; + } + } + + // find bounding boxes and segment colours + _boxes = VisionUtils.findBoundingBoxes(_segments); + } + + +} diff --git a/framework/src/ab/vision/VisionRealShape.java b/framework/src/ab/vision/VisionRealShape.java new file mode 100644 index 0000000..7979288 --- /dev/null +++ b/framework/src/ab/vision/VisionRealShape.java @@ -0,0 +1,385 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +/* + * Modified by Angry-HEX Team + */ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package ab.vision; + +import java.awt.Color; +import java.awt.Font; +import java.awt.Graphics2D; +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.List; + +import ab.demo.other.ActionRobot; +import ab.vision.real.ConnectedComponent; +import ab.vision.real.ImageSegmenter; +import ab.vision.real.shape.Body; +import ab.vision.real.shape.Circle; + +public class VisionRealShape +{ + // offset constants for calculating reference point + private static double X_OFFSET = 0.188; + private static double Y_OFFSET = 0.156; + private final static int unassigned = -1; + // image segmenter + private ImageSegmenter _seg; + + // all connected components in the scene + private ArrayList _components = null; + + // detected game objects + private Rectangle _sling = null; + private List _birds = null; + + + // connected component and shapes for drawing purposes + private ArrayList _draw = null; + private ArrayList _drawShape = null; + + // the reference point (point birds are launched from) + private Point _ref = null; + + // size of the screen + private int _width = 0; + private int _height = 0; + + // ground level + private int _ground = 0; + + public VisionRealShape(BufferedImage screenshot) + { + // initialise screen size + _width = screenshot.getWidth(); + _height = screenshot.getHeight(); + + // Reset object counter + ABObject.resetCounter(); + + // find ground level and all connected components in scene + _seg = new ImageSegmenter(screenshot); + _ground = _seg.findGroundLevel(); + _components = _seg.findComponents(); + + // initialise drawing objects + _draw = new ArrayList(); + _drawShape = new ArrayList(); + + // find the slingshot and reference point + findSling(); + + } + + /* + * Modified by Angry-HEX Team + * Fixed bug which caused recognition of wrong object as sling + */ + // find the slingshot + public Rectangle findSling() + { + if (_sling != null) return _sling; + + // best found height-width ratio so far + double bestRatio = 0; + // height-width ratio of sling according to Shapes.json + double goalRatio = 5; + + // use the highest sling typed component: e.g. frame + int minY = 999999; + ConnectedComponent sling = null; + for (ConnectedComponent c : _components) + { + int top = c.boundingBox()[1]; + int left = c.boundingBox()[0]; + if (c.getType() == ImageSegmenter.SLING + && top < minY && left < 300) + { + // look for bounding box which has the ratio closest to the optimal one + int[] bb = c.boundingBox(); + double ratio = (double)(bb[3] - bb[1]) / (double)(bb[2] - bb[0]); + if (goalRatio - ratio < goalRatio - bestRatio) + { + bestRatio = ratio; + minY = top; + sling = c; + } + } + } + if (sling == null) + return null; + + _draw.add(sling); + _drawShape.add(sling.getBody()); + + // find bounding box of the slingshot and reference point + int bound[] = sling.boundingBox(); + _sling = new Rectangle(bound[0], bound[1], bound[2]-bound[0], bound[3]-bound[1]); + _ref = new Point(); + _ref.x = (int) (_sling.x + _sling.height * X_OFFSET); + _ref.y = (int) (_sling.y + _sling.height * Y_OFFSET); + + return _sling; + } + + // find all birds in the scene, listed from left to right + public List findBirds() + { + if (_birds != null) return _birds; + if (_sling == null) return null; + + _birds = new LinkedList(); + + // scan the birds from left to right + int xMax = -2; + final int BIRD_DISTANCE = 150; + for (ConnectedComponent c : _components) + { + if (c.getType() > ImageSegmenter.SLING && c.getType() < ImageSegmenter.PIG) + { + int bound[] = c.boundingBox(); + + // exit if next component is far from the last bird detected + if (bound[2] > _width / 2 || (xMax != -2 && bound[0] - xMax > BIRD_DISTANCE)) + break; + + // add if not overlapping with previous bird + if ((bound[0] + bound[2]) / 2 > xMax + 1) + { + Circle b = (Circle) c.getBody(); + _birds.add(b); + _draw.add(c); + _drawShape.add(b); + xMax = bound[2]; + } + } + } + //System.out.println(_birds.size() + " birds found"); + return _birds; + } + + public List findPigs() + { + int xMin = 0; + if (_sling != null) + xMin = _sling.x + 100; + List pigs = new LinkedList(); + for (ConnectedComponent c : _components) + { + if (c.getType() == ImageSegmenter.PIG) + { + Body b = c.getBody(); + if (b == null || ( b.centerX < xMin)) + continue; + pigs.add(b); + _draw.add(c); + _drawShape.add(b); + } + + } + return pigs; + } + public List findHills() + { + int xMin = 0; + if (_sling != null) + xMin = _sling.x + 100; + List hills = new LinkedList(); + for (ConnectedComponent c : _components) + { + if (c.getType() == ImageSegmenter.HILLS) + { + Body b = c.getBody(); + if (b == null || ( b.centerX < xMin)) + continue; + hills.add(b); + _draw.add(c); + _drawShape.add(b); + } + + } + return hills; + } + // find all objects in the scene beside slingshot, birds, pigs. and hills. + public List findObjects() + { + int xMin = 0; + if (_sling != null) + xMin = _sling.x + 100; + + List blocks = new LinkedList(); + for (ConnectedComponent c : _components) + { + if ((c.getType() > ImageSegmenter.PIG && c.getType() <= ImageSegmenter.DUCK)) + { + Body b = c.getBody(); + if (b == null || ( b.centerX < xMin)) + continue; + blocks.add(b); + _draw.add(c); + _drawShape.add(b); + + } + + } + return blocks; + } + + // find the trajectory points + public ArrayList findTrajectory() + { + if (_sling == null) return null; + + ArrayList traj = _seg.findTrajectory(); + ArrayList pts = new ArrayList(); + + // use distance from previous point to remove noise + final int THRESHOLD = 30; + final int TAP_SIZE = 20; + final int MAX_ERROR = 3; + Point prev = _ref; + for (ConnectedComponent c : traj) + { + int bound[] = c.boundingBox(); + + // validate bounding box is roughly a square + if (Math.abs((bound[2]-bound[0]) - (bound[3]-bound[1])) > MAX_ERROR) + continue; + + // add the point if it is close to the previous trajectory point + Point np = new Point((bound[0]+bound[2])/2, (bound[1]+bound[3])/2); + if (np.x > _sling.x && distance(prev, np) < THRESHOLD) + { + pts.add(np); + prev = np; + _draw.add(c); + _drawShape.add(c.getBody()); + + // break if the tap point is found (special ability is used) + if (c.getArea() > TAP_SIZE) + break; + } + } + return pts; + } + + /* draw all objects found so far + * @param canvas + * fill - if true, internal points of the components will be drawn + */ + public void drawObjects(BufferedImage canvas, boolean fill) + { + BufferedImage image = new BufferedImage(_width, _height, BufferedImage.TYPE_INT_RGB); + Graphics2D g = image.createGraphics(); + + g.drawImage(VisionUtils.convert2grey(canvas), 0, 0, null); + + // draw ground level + for (int x = 0; x < _width; x++) + { + image.setRGB(x, _ground, 0xff0000); + } + + if (fill) + { + //draw connected components + for (ConnectedComponent d : _draw) + d.draw(image, false, false); + } + //System.out.println(" draw shape " + _gameObjects.size()); + for (Body b : _drawShape) + { + //System.out.println(" draw shape"); + if (b != null) + b.draw(g, false, Color.RED); + } + canvas.createGraphics().drawImage(image, 0, 0, null); + } + public void drawObjectsWithID(BufferedImage canvas, boolean fill) + { + BufferedImage image = new BufferedImage(_width, _height, BufferedImage.TYPE_INT_RGB); + Graphics2D g = image.createGraphics(); + + g.drawImage(VisionUtils.convert2grey(canvas), 0, 0, null); + g.setFont(new Font("TimesRoman", Font.PLAIN, 10)); + // draw ground level + for (int x = 0; x < _width; x++) + { + image.setRGB(x, _ground, 0xff0000); + } + + + if (fill) + { + //draw connected components + for (ConnectedComponent d : _draw) + d.draw(image, false, false); + } + // for (Body b : _drawShape) + for(Body b : _drawShape) + if (b != null) + { + b.draw(g, false, Color.RED); + g.setColor(Color.black); + if(b.id != unassigned) + g.drawString(b.id + "", (int)b.centerX - 5, (int)b.centerY + 5);// 10: font size + } + + canvas.createGraphics().drawImage(image, 0, 0, null); + } + // return the reference point + public Point getReferencePoint() + { + return _ref; + } + + // return the scene scale + public int getSceneScale() + { + return _sling.height; + } + + // calculate Euclidean distance between two points + public static double distance(Point p1, Point p2) + { + int x = p1.x - p2.x; + int y = p1.y - p2.y; + return Math.sqrt(x*x + y*y); + } + + + public static void main(String args[]) + { + new ActionRobot(); + BufferedImage screenshot = ActionRobot.doScreenShot(); + Vision vision = new Vision(screenshot); + //List objs = vision.findBlocksRealShape(); + List objs = vision.findHills(); +// Rectangle obj = vision.findSlingshotMBR(); +// System.out.println(obj); + for (ABObject obj : objs) + System.out.println(obj); + } +} diff --git a/framework/src/ab/vision/VisionUtils.java b/framework/src/ab/vision/VisionUtils.java new file mode 100644 index 0000000..3aa0d11 --- /dev/null +++ b/framework/src/ab/vision/VisionUtils.java @@ -0,0 +1,618 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ + +package ab.vision; + +import java.awt.Color; +import java.awt.Graphics; +import java.awt.Graphics2D; +import java.awt.Image; +import java.awt.Point; +import java.awt.Polygon; +import java.awt.Rectangle; +import java.awt.geom.AffineTransform; +import java.awt.image.AffineTransformOp; +import java.awt.image.BufferedImage; +import java.io.ByteArrayOutputStream; +import java.io.IOException; +import java.security.MessageDigest; +import java.security.NoSuchAlgorithmException; +import java.util.Arrays; +import java.util.LinkedList; +import java.util.List; +import java.util.Queue; + +import javax.imageio.ImageIO; + +import Jama.Matrix; + +/* VisionUtils ------------------------------------------------------------ */ + +public class VisionUtils { + public static Color fontColor = Color.blue; + public static Color boxesColor = Color.ORANGE; + // crops a bounding box to be within an image + public static Rectangle cropBoundingBox(Rectangle r, Image img) { + return cropBoundingBox(r, img.getWidth(null), img.getHeight(null)); + } + + // crops a bounding box to be within an image of size width-by-height + public static Rectangle cropBoundingBox(Rectangle r, int width, int height) { + if (r.x < 0) + r.x = 0; + if (r.y < 0) + r.y = 0; + if ((r.x + r.width) > width) + r.width = width - r.x; + if ((r.y + r.height) > height) + r.height = height - r.y; + + return r; + } + // compute the number of pixels different in two images + public static int numPixelsDifferent(BufferedImage imgA, BufferedImage imgB) { + + int height = Math.min(imgA.getHeight(), imgB.getHeight()); + int width = Math.min(imgA.getWidth(), imgB.getWidth()); + int n = imgA.getWidth() * imgA.getHeight() + imgB.getWidth() * imgB.getHeight() - 2 * width * height; + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + if (imgA.getRGB(x, y) != imgB.getRGB(x, y)) { + n += 1; + } + } + } + + return n; + } + + + // compute the absolute difference between two images + public static int imageDifference(BufferedImage imgA, BufferedImage imgB) { + + int height = Math.min(imgA.getHeight(), imgB.getHeight()); + int width = Math.min(imgA.getWidth(), imgB.getWidth()); + + int n = imgA.getWidth() * imgA.getHeight() + imgB.getWidth() * imgB.getHeight() - 2 * width * height; + int diff = 3 * 255 * n; + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + final int colourA = imgA.getRGB(x, y); + final int colourB = imgB.getRGB(x, y); + + diff += Math.abs((int)((colourA & 0x00ff0000) >> 16) - (int)((colourB & 0x00ff0000) >> 16)); + diff += Math.abs((int)((colourA & 0x0000ff00) >> 8) - (int)((colourB & 0x0000ff00) >> 8)); + diff += Math.abs((int)(colourA & 0x000000ff) - (int)(colourB & 0x000000ff)); + } + } + + return diff; + } + + // compute an image digest + public static String imageDigest(BufferedImage img) { + + // write image to byte stream + ByteArrayOutputStream os = new ByteArrayOutputStream(); + try { + ImageIO.write(img, "png", os); + os.flush(); + } catch (IOException e) { + e.printStackTrace(); + return null; + } + byte[] data = os.toByteArray(); + + // compute md5 hash + byte[] hash = null; + try { + MessageDigest md = MessageDigest.getInstance("MD5"); + md.update(data); + hash = md.digest(); + } catch (NoSuchAlgorithmException e) { + e.printStackTrace(); + return null; + } + + // convert to string + String hexString = ""; + for (int i = 0; i < hash.length; i++) { + hexString += Integer.toString((hash[i] & 0xff) + 0x100, 16) + .substring(1); + } + return hexString; + } + + // compute column checksums + public static int[] columnChecksums(BufferedImage img) { + + int[] sums = new int[img.getWidth()]; + Arrays.fill(sums, 0); + + for (int y = 0; y < img.getHeight(); y++) { + for (int x = 0; x < img.getWidth(); x++) { + final int colour = img.getRGB(x, y); + sums[x] += (int) ((colour & 0x00ff0000) >> 16); + sums[x] += (int) ((colour & 0x0000ff00) >> 8); + sums[x] += (int) (colour & 0x000000ff); + } + } + + for (int x = 0; x < img.getWidth(); x++) { + sums[x] %= 256; + } + + return sums; + } + + // compute shape descriptor + public static double[] shapeMoments(int[][] mask) { + + final int nHeight = mask.length; + final int nWidth = mask[0].length; + + int nArea = 0; + int xMoment = 0; + int yMoment = 0; + int xyMoment = 0; + for (int y = 0; y < nHeight; y++) { + for (int x = 0; x < nWidth; x++) { + if (mask[y][x] != 0) { + nArea += 1; + xMoment += (x - nWidth / 2); + yMoment += (y - nHeight / 2); + xyMoment += (x - nWidth / 2) * (y - nHeight / 2); + } + } + } + + double[] moments = new double[5]; + + moments[0] = (double) nWidth / (double) (nHeight + nWidth); + moments[1] = (double) nArea / (double) (nHeight * nWidth); + moments[2] = (double) xMoment / (double) (nArea * nWidth / 2); + moments[3] = (double) yMoment / (double) (nArea * nHeight / 2); + moments[4] = (double) xyMoment + / (double) (nArea * nWidth / 2 * nHeight / 2); + + return moments; + } + + // converts an 2d integer array to image + public static BufferedImage int2image(int[][] scene) { + int maxValue = -1; + int minValue = Integer.MAX_VALUE; + for (int y = 0; y < scene.length; y++) { + for (int x = 0; x < scene[y].length; x++) { + maxValue = Math.max(maxValue, scene[y][x]); + minValue = Math.min(minValue, scene[y][x]); + } + } + + if (maxValue == minValue) + maxValue = minValue + 1; + final double scale = 255.0 / (maxValue - minValue); + + BufferedImage image = new BufferedImage(scene[0].length, scene.length, + BufferedImage.TYPE_INT_RGB); + for (int y = 0; y < scene.length; y++) { + for (int x = 0; x < scene[y].length; x++) { + final int c = (int) (scale * (scene[y][x] - minValue)); + image.setRGB(x, y, c << 16 | c << 8 | c); + } + } + + return image; + } + + // convert a colour image to greyscale but retain 3-channels + public static BufferedImage convert2grey(BufferedImage image) { + BufferedImage grey = new BufferedImage(image.getWidth(), + image.getHeight(), BufferedImage.TYPE_BYTE_GRAY); + Graphics g = grey.getGraphics(); + g.drawImage(image, 0, 0, null); + g.dispose(); + BufferedImage rgb = new BufferedImage(image.getWidth(), + image.getHeight(), BufferedImage.TYPE_INT_RGB); + g = rgb.getGraphics(); + g.drawImage(grey, 0, 0, null); + g.dispose(); + return rgb; + } + + // computes a hamming distance map to non-zero pixels + public static int[][] computeDistanceMap(int[][] image) { + + // first pass: top-left to bottom-right + for (int y = 0; y < image.length; y++) { + for (int x = 0; x < image[y].length; x++) { + if (image[y][x] != 0) { + image[y][x] = 0; + } else { + image[y][x] = image.length + image[y].length; + if (y > 0) + image[y][x] = Math + .min(image[y][x], image[y - 1][x] + 1); + if (x > 0) + image[y][x] = Math + .min(image[y][x], image[y][x - 1] + 1); + } + } + } + + // second pass: bottom-right to top-left + for (int y = image.length - 1; y >= 0; y--) { + for (int x = image[y].length - 1; x >= 0; x--) { + if (y < image.length - 1) + image[y][x] = Math.min(image[y][x], image[y + 1][x] + 1); + if (x < image[y].length - 1) + image[y][x] = Math.min(image[y][x], image[y][x + 1] + 1); + } + } + + return image; + } + + // inverts binary image (i.e., swaps values zero and non-zero) + public static int[][] invertRegions(int[][] image) { + for (int y = 0; y < image.length; y++) { + for (int x = 0; x < image[y].length; x++) { + if (image[y][x] == 0) { + image[y][x] = 1; + } else { + image[y][x] = 0; + } + } + } + return image; + } + + // dilates non-zero regions image by k pixels + public static int[][] dilateRegions(int[][] image, int k) { + int[][] dimage = computeDistanceMap(image); + for (int y = 0; y < dimage.length; y++) { + for (int x = 0; x < dimage[y].length; x++) { + dimage[y][x] = (dimage[y][x] <= k) ? 1 : 0; + } + } + + return dimage; + } + + // erodes non-zero regions image by k pixels + public static int[][] erodeRegions(int[][] image, int k) { + return invertRegions(dilateRegions(invertRegions(image), k)); + } + + // dialates a bounding box by (dx, dy) pixels all around + public static Rectangle dialateRectangle(Rectangle r, int dx, int dy) { + return new Rectangle(r.x - dx, r.y - dy, r.width + 2 * dx, r.height + 2 + * dy); + } + + // finds 4-connected components by breadth first search (and renumbers + // from zero); pixels with negative value are ignored + public static int[][] findConnectedComponents(int[][] image) { + + // renumbered components + final int nHeight = image.length; + final int nWidth = image[0].length; + + int n = -1; + int[][] cc = new int[nHeight][nWidth]; + for (int y = 0; y < nHeight; y++) { + for (int x = 0; x < nWidth; x++) { + cc[y][x] = -1; + } + } + + // iterate over all pixels + for (int y = 0; y < nHeight; y++) { + for (int x = 0; x < nWidth; x++) { + // skip negative pixels + if (image[y][x] == -1) + continue; + + // check if component was already numbered + if (cc[y][x] != -1) + continue; + + // number the new component + n = n + 1; + Queue q = new LinkedList(); + q.add(new Point(x, y)); + cc[y][x] = n; + while (!q.isEmpty()) { + Point p = q.poll(); + if ((p.y > 0) && (image[p.y - 1][p.x] == image[p.y][p.x]) + && (cc[p.y - 1][p.x] == -1)) { + q.add(new Point(p.x, p.y - 1)); + cc[p.y - 1][p.x] = n; + } + if ((p.x > 0) && (image[p.y][p.x - 1] == image[p.y][p.x]) + && (cc[p.y][p.x - 1] == -1)) { + q.add(new Point(p.x - 1, p.y)); + cc[p.y][p.x - 1] = n; + } + if ((p.y < nHeight - 1) + && (image[p.y + 1][p.x] == image[p.y][p.x]) + && (cc[p.y + 1][p.x] == -1)) { + q.add(new Point(p.x, p.y + 1)); + cc[p.y + 1][p.x] = n; + } + if ((p.x < nWidth - 1) + && (image[p.y][p.x + 1] == image[p.y][p.x]) + && (cc[p.y][p.x + 1] == -1)) { + q.add(new Point(p.x + 1, p.y)); + cc[p.y][p.x + 1] = n; + } + } + } + } + + return cc; + } + + // returns number of components + public static int countComponents(int[][] image) { + int n = 0; + for (int y = 0; y < image.length; y++) { + for (int x = 0; x < image[y].length; x++) { + n = Math.max(n, image[y][x] + 1); + } + } + return n; + } + + // returns bounding boxes for all connected components + public static Rectangle[] findBoundingBoxes(int[][] image) { + Rectangle[] boxes = new Rectangle[countComponents(image)]; + for (int y = 0; y < image.length; y++) { + for (int x = 0; x < image[y].length; x++) { + final int n = image[y][x]; + if (n < 0) + continue; + if (boxes[n] == null) { + boxes[n] = new Rectangle(x, y, 1, 1); + } else { + boxes[n].add(x, y); + } + } + } + return boxes; + } + + // draws a bounding box onto an image + public static BufferedImage drawBoundingBox(BufferedImage canvas, + Rectangle box, Color fgColour, Color bgColour) { + Graphics2D g2d = canvas.createGraphics(); + g2d.setColor(bgColour); + g2d.drawRect(box.x - 1, box.y - 1, box.width + 2, box.height + 2); + g2d.drawRect(box.x + 1, box.y + 1, box.width - 2, box.height - 2); + g2d.setColor(fgColour); + g2d.drawRect(box.x, box.y, box.width, box.height); + + return canvas; + } + + // draws a bounding box onto an image + public static BufferedImage drawBoundingBox(BufferedImage canvas, + Rectangle box, Color fgColour) { + return drawBoundingBox(canvas, box, fgColour, Color.WHITE); + } + + // draws bounding boxes onto an image + public static BufferedImage drawBoundingBoxes(BufferedImage canvas, + Rectangle[] boxes, Color fgColour, Color bgColour) { + Graphics2D g2d = canvas.createGraphics(); + for (int i = 0; i < boxes.length; i++) { + g2d.setColor(bgColour); + g2d.drawRect(boxes[i].x - 1, boxes[i].y - 1, boxes[i].width + 2, + boxes[i].height + 2); + g2d.drawRect(boxes[i].x + 1, boxes[i].y + 1, boxes[i].width - 2, + boxes[i].height - 2); + g2d.setColor(fgColour); + g2d.drawRect(boxes[i].x, boxes[i].y, boxes[i].width, + boxes[i].height); + } + + return canvas; + } + + // draws bounding boxes onto an image + public static BufferedImage drawBoundingBoxes(BufferedImage canvas, + Rectangle[] boxes, Color fgColour) { + return drawBoundingBoxes(canvas, boxes, fgColour, Color.WHITE); + } + + // draw trajectory parabola + public static BufferedImage drawtrajectory(BufferedImage canvas, + int parabola[][], Color bgColour) { + Graphics2D g2d = canvas.createGraphics(); + g2d.setColor(bgColour); + g2d.drawPolyline(parabola[0], parabola[1], parabola[0].length); + return canvas; + } + + // draws bounding boxes onto an image + public static BufferedImage drawBoundingBoxes(BufferedImage canvas, + List boxes, Color fgColour, Color bgColour) { + Graphics2D g2d = canvas.createGraphics(); + for (Rectangle r : boxes) { + g2d.setColor(bgColour); + g2d.drawRect(r.x - 1, r.y - 1, r.width + 2, r.height + 2); + g2d.drawRect(r.x + 1, r.y + 1, r.width - 2, r.height - 2); + g2d.setColor(fgColour); + g2d.drawRect(r.x, r.y, r.width, r.height); + } + + return canvas; + } + //draw bounding boxes with IDs onto an image + public static BufferedImage drawBoundingBoxesWithID(BufferedImage canvas, Listboxes, + Color bgColour) + { + Graphics2D g2d = canvas.createGraphics(); + for (ABObject r : boxes) { + g2d.setColor(bgColour); + g2d.drawRect(r.x - 1, r.y - 1, r.width + 2, r.height + 2); + g2d.drawRect(r.x + 1, r.y + 1, r.width - 2, r.height - 2); + g2d.setColor(fontColor); + g2d.drawRect(r.x, r.y, r.width, r.height); + g2d.drawString(r.id + "", (int)r.getCenterX(), (int)r.getCenterY()); + } + return canvas; + } + + // draws bounding boxes onto an image + public static BufferedImage drawBoundingPolygon(BufferedImage canvas, + Polygon p, Color fgColour) { + Graphics2D g2d = canvas.createGraphics(); + g2d.setColor(fgColour); + g2d.drawPolygon(p); + return canvas; + } + + // draws bounding boxes onto an image + public static BufferedImage drawBoundingBoxes(BufferedImage canvas, + List boxes, Color fgColour) { + return drawBoundingBoxes(canvas, boxes, fgColour, Color.WHITE); + } + + // highlight regions with a given id + public static synchronized BufferedImage highlightRegions(Image img, int[][] regions, + int regionId, Color fgColour) { + BufferedImage canvas = new BufferedImage(img.getWidth(null), + img.getHeight(null), BufferedImage.TYPE_INT_ARGB); + Graphics2D g2d = canvas.createGraphics(); + g2d.drawImage(img, 0, 0, null); + g2d.setColor(fgColour); + for (int y = 0; y < regions.length; y++) { + for (int x = 0; x < regions[y].length; x++) { + if (regions[y][x] == regionId) { + g2d.drawRect(x, y, 1, 1); + } + } + } + + return canvas; + } + + public static BufferedImage resizeImage(BufferedImage image, int height, + int width) { + int imageWidth = image.getWidth(); + int imageHeight = image.getHeight(); + + double scaleX = (double) width / imageWidth; + double scaleY = (double) height / imageHeight; + AffineTransform scaleTransform = AffineTransform.getScaleInstance( + scaleX, scaleY); + AffineTransformOp bilinearScaleOp = new AffineTransformOp( + scaleTransform, AffineTransformOp.TYPE_BILINEAR); + + return bilinearScaleOp.filter(image, new BufferedImage(width, height, + image.getType())); + } + + + public static int[][] computeMetaInformation(BufferedImage screenshot) { + // image size + final int nHeight = screenshot.getHeight(); + final int nWidth = screenshot.getWidth(); + + // meta debugging information + int[][] meta = new int[nHeight][nWidth]; + for (int y = 0; y < nHeight; y++) { + for (int x = 0; x < nWidth; x++) { + final int colour = screenshot.getRGB(x, y); + meta[y][x] = ((colour & 0x00e00000) >> 15) + | ((colour & 0x0000e000) >> 10) + | ((colour & 0x000000e0) >> 5); + } + } + + return meta; + } + + + public static BufferedImage analyseScreenShot(BufferedImage screenshot) { + + + // get game state + GameStateExtractor game = new GameStateExtractor(); + GameStateExtractor.GameState state = game.getGameState(screenshot); + // System.out.println(state.toString()); + + if (state != GameStateExtractor.GameState.PLAYING) { + //System.out.println("End game score : " + game.getScoreEndGame(screenshot)); + screenshot = VisionUtils.convert2grey(screenshot); + return screenshot; + } + + //System.out.println("In game score : " + game.getScoreInGame(screenshot)); + // process image + VisionMBR vision = new VisionMBR(screenshot); + List pigs = vision.findPigsMBR(); + List redBirds = vision.findRedBirdsMBRs(); + List blueBirds = vision.findBlueBirdsMBRs(); + List yellowBirds = vision.findYellowBirdsMBRs(); + List woodBlocks = vision.findWoodMBR(); + List stoneBlocks = vision.findStonesMBR(); + List iceBlocks = vision.findIceMBR(); + List whiteBirds = vision.findWhiteBirdsMBRs(); + List blackBirds = vision.findBlackBirdsMBRs(); + List TNTs = vision.findTNTsMBR(); + List trajPoints = vision.findTrajPoints(); + + Rectangle sling = vision.findSlingshotMBR(); + + + // draw objects + screenshot = VisionUtils.convert2grey(screenshot); + VisionUtils.drawBoundingBoxes(screenshot, pigs, Color.GREEN); + VisionUtils.drawBoundingBoxes(screenshot, redBirds, Color.RED); + VisionUtils.drawBoundingBoxes(screenshot, blueBirds, Color.BLUE); + VisionUtils.drawBoundingBoxes(screenshot, yellowBirds, Color.YELLOW); + VisionUtils.drawBoundingBoxes(screenshot, woodBlocks, Color.WHITE, + Color.ORANGE); + VisionUtils.drawBoundingBoxes(screenshot, stoneBlocks, Color.WHITE, + Color.GRAY); + VisionUtils.drawBoundingBoxes(screenshot, iceBlocks, Color.WHITE, + Color.CYAN); + VisionUtils.drawBoundingBoxes(screenshot, whiteBirds, Color.WHITE, + Color.lightGray); + VisionUtils.drawBoundingBoxes(screenshot, TNTs, Color.WHITE, + Color.PINK); + VisionUtils.drawBoundingBoxes(screenshot, blackBirds, + Color.BLACK); + if (sling != null) { + VisionUtils.drawBoundingBox(screenshot, sling, Color.ORANGE, + Color.BLACK); + + // generate traj points using estimated parameters + Matrix W = vision.fitParabola(trajPoints); + int p[][] = new int[2][100]; + int startx = (int) sling.getCenterX(); + for (int i = 0; i < 100; i++) { + p[0][i] = startx; + double tem = W.get(0, 0) * Math.pow(p[0][i], 2) + W.get(1, 0) + * p[0][i] + W.get(2, 0); + p[1][i] = (int) tem; + startx += 10; + } + if (W.get(0, 0) > 0) + VisionUtils.drawtrajectory(screenshot, p, Color.RED); + + } + + return screenshot; + } + +} diff --git a/framework/src/ab/vision/real/ConnectedComponent.java b/framework/src/ab/vision/real/ConnectedComponent.java new file mode 100644 index 0000000..ecadf0c --- /dev/null +++ b/framework/src/ab/vision/real/ConnectedComponent.java @@ -0,0 +1,572 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ + +package ab.vision.real; + +import java.awt.Point; +import java.awt.Polygon; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.List; +import java.util.Queue; + +import ab.vision.ABType; +import ab.vision.real.shape.Body; +import ab.vision.real.shape.Circle; +import ab.vision.real.shape.Poly; +import ab.vision.real.shape.Rect; + +public class ConnectedComponent { + + // neighbour lookup table + private static Point _connectedPoint[][][] = null; + private static boolean _firstTime = true; + + // atan lookup table + private static double atan[][]; + public final static double ANGLE_UNDEFINED = 2 * Math.PI; + private final static int WINDOW_SIZE = 10; + + // types of points in the image + private final static int EMPTY = 0; + private final static int FILLED = 1; + private final static int EDGE = 2; + + // define small object as min(width, height) < constant + private final static int SMALL = 20; + + // smoothing constant + private final static int SMOOTH = 3; + + // component parameters + private int _area; + private int _perimeter; + private int _type; + private int _image[][]; + private double _angleThreshold = 0; + + // points and lines in the component + private ArrayList _lines = null; + private ArrayList _edgePoints = null; + + // size of the bounding box + private int _left, _top, _width, _height; + + // extreme points + private Point _extrema[]; + + /* Create a new connected component + * @param map - class map of the screenshot + * x,y - starting coordinate of the connected component + * ignore - points on the map to ignore + * isEightConnect - whether the component is eight-connected or four-connected + */ + public ConnectedComponent(final int map[][], int x, int y, boolean ignore[][], boolean isEightConnect) + { + // initialise the neighbour map + initialise(map); + + // set object type and size + _type = map[y][x]; + _extrema = new Point[4]; + _extrema[0] = _extrema[1] = _extrema[2] = _extrema[3] = new Point(x, y); + + // apply BFS to find all connected pixels + boolean searched[][] = new boolean[map.length][map[0].length]; + Queue q = new LinkedList(); + q.add(new Point(x, y)); + searched[y][x] = true; + + int connectivity = isEightConnect ? 1 : 2; + + _edgePoints = new ArrayList(); + ArrayList points = new ArrayList(); + while (!q.isEmpty()) + { + Point p = q.poll(); + + if (map[p.y][p.x] == _type || + (_type == ImageSegmenter.ICE && map[p.y][p.x] == ImageSegmenter.BLUE_BIRD) || + (_type == ImageSegmenter.WHITE_BIRD && map[p.y][p.x] == ImageSegmenter.TRAJECTORY)) + { + points.add(p); + ignore[p.y][p.x] = true; + boolean added = false; + for (int i = 0; i < 8; i+=connectivity) + { + Point np = _connectedPoint[p.y][p.x][i]; + + // test for image boundaries + if (np.x == p.x && np.y == p.y & !added) + { + _edgePoints.add(p); + added = true; + } + if (!searched[np.y][np.x]) + { + q.add(np); + searched[np.y][np.x] = true; + } + } + } + // add point to edge + else + _edgePoints.add(p); + } + + // update extremas + for (Point p : _edgePoints) + { + if (p.x < _extrema[0].x) + _extrema[0] = p; + if (p.x > _extrema[1].x) + _extrema[1] = p; + if (p.y < _extrema[2].y) + _extrema[2] = p; + if (p.y > _extrema[3].y) + _extrema[3] = p; + } + + // set size and location + _top = _extrema[2].y - 2; + _left = _extrema[0].x - 2; + _height = _extrema[3].y - _top + 3; + _width = _extrema[1].x - _left + 3; + _area = points.size(); + + for (int i = 0; i < 4; i++) + _extrema[i] = new Point(_extrema[i].x - _left, _extrema[i].y - _top); + + // generate the image + _image = new int[_height][_width]; + for (Point p : points) + _image[p.y-_top][p.x-_left] = FILLED; + for (Point p : _edgePoints) + _image[p.y-_top][p.x-_left] = EDGE; + + _perimeter = _edgePoints.size(); + } + + /* Trace the contour using Moore-Neighbour tracing + * and partition contour points into line segments + * @return list of line segments which form a cycle around + * outer border of the connected component + */ + private ArrayList findLines() + { + if (_type == ImageSegmenter.HILLS) + _angleThreshold = Math.toRadians(150); + else + _angleThreshold = Math.toRadians(85); + + // tracing points for Moore-Neighbour algorithm + Point current = null; + Point prev = null; + Point next = null; + + // search for starting point + for (int x = 0; x < _width && current == null; x++) + for (int y = 0; y < _height; y++) + { + if (_image[y][x] != EMPTY) + { + current = new Point(x, y); + prev = new Point(x, y-1); + break; + } + } + + Point path[] = new Point[_perimeter]; + path[0] = current; + int length = 1; + + // walk in the anticlockwise direction until initial point + // is returned to + next = clockwise(current, prev); + while (!(next.equals(path[0]))) + { + if (_image[next.y][next.x] != EMPTY) + { + current = next; + next = prev; + path[length] = current; + length++; + } + else + { + prev = next; + next = clockwise(current, next); + } + } + + // partition contour into line segments + _lines = new ArrayList(); + LineSegment line = new LineSegment(path[0], ANGLE_UNDEFINED); + for (int i = 1; i < length - SMOOTH; i++) + { + // approximate local angle by looking ahead + Point p = path[i]; + Point ahead = path[i + SMOOTH]; + + int yDiff = ahead.y - p.y; + int xDiff = ahead.x - p.x; + double angle = atan[yDiff + WINDOW_SIZE][xDiff + WINDOW_SIZE]; + + // if point adding unsuccessful + double change = line.addPoint(p, angle, _angleThreshold); + if (change != 0) + { + line.removeEndPoint(); + _lines.add(line); + + line = new LineSegment(path[i-1], angle); + } + } + _lines.add(line); + + // join lines with similar angle + if (_lines != null) + { + // join _lines with similar angle + ArrayList newlines = new ArrayList(); + LineSegment prevline = _lines.get(0); + for (int i = 1; i < _lines.size(); i++) + { + if (!prevline.join(_lines.get(i))) + { + newlines.add(prevline); + prevline = _lines.get(i); + } + } + newlines.add(prevline); + _lines = newlines; + } + return _lines; + } + + /* Determine if the connected component is a Rectangle, + * Circle or in fact multiple objects stacked together. + * + * @param list of corners the component contains + * (points where contour orientation changes) + * @return Most likely shape of the object, null if it is noise + */ + private Body findShape(List corners) + { + final int RESOLUTION = 50; + final double res = Math.PI / 2 / RESOLUTION; + double width = 0; + double height = 0; + double angle = 0; + double areaMin = 99999; + double areaMax = 0; + + for (int i = 0; i < RESOLUTION; i++) + { + double theta = i * res; + double min1 = 99999; + double max1 = -99999; + double min2 = 99999; + double max2 = -99999; + + // rotate each point about the origin and record min/max x,y coordinates + for (Point p : corners) + { + double p1 = p.x * Math.cos(theta) + p.y * Math.sin(theta); + double p2 = p.x * Math.sin(theta) - p.y * Math.cos(theta); + + if (p1 < min1) min1 = p1; + if (p1 > max1) max1 = p1; + if (p2 < min2) min2 = p2; + if (p2 > max2) max2 = p2; + } + + // width and height are calculated as difference between + // min and max distances + double h = max1 - min1; + double w = max2 - min2; + double a = w * h; + + if (a < areaMin) + { + height = h; + width = w; + angle = theta; + areaMin = a; + } + if (a > areaMax) + areaMax = a; + } + + final double JOIN_THRESHOLD = 1.2;//1.4; + final int SMALL_SIZE = 14; + + // relax circle threshold for objects with larger size + // and objects which are lying at angles close to 45 degrees + double tc; + if (Math.max(width, height) > SMALL_SIZE || Math.abs(angle - Math.PI/4) < Math.PI/8) + tc = 1.2; //1.3 + else + tc = 1.1; + + double x = _left + _width / 2.0 - 0.5; + double y = _top + _height / 2.0 - 0.5; + + // test for noise + if (width <= 3 || height <= 3) + return null; + + + Poly poly = new Poly(findLines(), _left, _top, assignType(_type), _left + _width/2, _top + _height/2); + int polyArea = getArea(poly.polygon); + int actualArea = Math.max((_area + _perimeter), polyArea); + + // test for joined component + + //if (areaMin > (_area + _perimeter) * JOIN_THRESHOLD) + if (areaMin > actualArea * JOIN_THRESHOLD) + { + + if ( (_area + _perimeter) > 400 ) + { + return poly; + } + else + { + if (polyArea > (_area ) * 1.1) + poly.hollow = true; + return poly; + + } + + } + // test for circle + if (areaMin * tc > areaMax && Math.abs(_width - _height) <= 3) + { + int r = (_width + _height) / 4 - 2; + return new Circle(x, y, r, assignType(_type)); + } + Rect rect = new Rect(x, y, width, height, angle, assignType(_type)); + double HOLLOW_THRESHOLD = 1.2; + if (areaMin > (_area + _perimeter) * HOLLOW_THRESHOLD) + { + rect.hollow = true; + } + return rect; + } + + + public int getArea(Polygon poly) + { + int area = 0; + Rectangle rect = poly.getBounds(); + for (int x = rect.x; x < rect.x + rect.width; x++) + for (int y = rect.y; y < rect.y + rect.height; y++) + { + if (poly.contains(x, y)) + area ++; + } + return area; + + } + //public boolean testHollow(Shape shape){} + + /* find the most likely shape of the component + * @return most likely shape, null if it is noise + */ + public Body getBody() + { + if (_type == ImageSegmenter.SLING) + return new Rect(boundingBox(), assignType(_type)); + + if ((_type > ImageSegmenter.SLING && + _type <= ImageSegmenter.PIG) || + _type == ImageSegmenter.TRAJECTORY) + return new Circle(boundingBox(), assignType(_type)); + + if (_type == ImageSegmenter.HILLS) + return new Poly(findLines(), _left, _top, assignType(_type), _left+_width/2, _top+_height/2); + + ArrayList corners = new ArrayList(); + // use all edge points if the shape is small + if (_width < SMALL || _height < SMALL) + { + corners = _edgePoints; + } + else + { + // otherwise find corners first by border tracking + findLines(); + + for (LineSegment line : _lines) + { + corners.add(line._start); + corners.add(line._end); + } + for (Point p : _extrema) + if (!corners.contains(p)) + corners.add(p); + + + } + return findShape(corners); + } + + + + // return number of internal points in the component + public int getArea() + { + return _area; + } + + // number of border points + public int getType() + { + return _type; + } + + /* the bounding box {left, top, right, bottom} */ + public int[] boundingBox() + { + return new int[] { _left + 2, _top + 2, _left + _width - 3, _top + _height - 3}; + } + + /* draw the connected component + * @param canvas + * drawEdge - if border should be drawn + * drawCorner - if the corner points should be drawn + */ + public void draw(BufferedImage canvas, boolean drawEdge, boolean drawCorners) + { + for (int y = 2; y < _height-2; y++) + for (int x = 2; x < _width-2; x++) + { + if (_image[y][x] == FILLED) + { + canvas.setRGB(x + _left, y + _top, ImageSegmenter._drawColor[_type]); + } + else if (drawEdge && _image[y][x] == EDGE) + { + canvas.setRGB(x+_left, y+_top, 0x000000); + } + } + + + if (drawCorners) + { + findLines(); + if (_lines != null) + for (LineSegment line : _lines) + line.draw(canvas.createGraphics(), _left, _top); + } + } + + + /* initialise neighbour and atan lookup table + * @param class map of the current game + */ + private static void initialise(int map[][]) + { + if (_connectedPoint != null && + _connectedPoint.length == map.length && + _connectedPoint[0].length == map[0].length) + return; + + // initialise atan lookup + if (_firstTime) + { + atan = new double[WINDOW_SIZE * 2][WINDOW_SIZE * 2]; + + for (int y = 0; y < 2*WINDOW_SIZE; y++) + for (int x = 0; x < 2*WINDOW_SIZE; x++) + { + if (x-WINDOW_SIZE == 0 && y-WINDOW_SIZE == 0) + atan[y][x] = ANGLE_UNDEFINED; + else if (x-WINDOW_SIZE == 0) + atan[y][x] = Math.PI / 2; + else + { + atan[y][x] = Math.atan((double)(y-WINDOW_SIZE) / (x-WINDOW_SIZE)); + + if (atan[y][x] < 0) + atan[y][x] += Math.PI; + } + } + _firstTime = false; + } + + // initialise neighbour point map + int width = map[0].length; + int height = map.length; + _connectedPoint = new Point[height][width][8]; + for (int y = 0; y < height; y++) + { + for (int x = 0; x < width; x++) + { + _connectedPoint[y][x][0] = new Point(x, y-1); + _connectedPoint[y][x][1] = new Point(x+1, y-1); + _connectedPoint[y][x][2] = new Point(x+1, y); + _connectedPoint[y][x][3] = new Point(x+1, y+1); + _connectedPoint[y][x][4] = new Point(x, y+1); + _connectedPoint[y][x][5] = new Point(x-1, y+1); + _connectedPoint[y][x][6] = new Point(x-1, y); + _connectedPoint[y][x][7] = new Point(x-1, y-1); + for (int i = 0; i < 8; i++) + { + Point p = _connectedPoint[y][x][i]; + if (p.x >= width || p.y >= height || p.x < 0 || p.y < 0) + { + _connectedPoint[y][x][i] = new Point(x, y); + } + } + } + } + } + public ABType assignType(int vision_type) + { + ABType type = ABType.Unknown; + switch(vision_type) + { + case ImageSegmenter.PIG: type = ABType.Pig; break; + case ImageSegmenter.STONE: type = ABType.Stone;break; + case ImageSegmenter.WOOD: type = ABType.Wood; break; + case ImageSegmenter.ICE: type = ABType.Ice; break; + case ImageSegmenter.HILLS: type = ABType.Hill; break; + case ImageSegmenter.RED_BIRD: type = ABType.RedBird; break; + case ImageSegmenter.YELLOW_BIRD: type = ABType.YellowBird; break; + case ImageSegmenter.BLUE_BIRD: type = ABType.BlueBird; break; + case ImageSegmenter.BLACK_BIRD: type = ABType.BlackBird; break; + case ImageSegmenter.WHITE_BIRD: type = ABType.WhiteBird; break; + default: type = ABType.Unknown; + } + return type; + } + + private final static int xClock[][] = {{0, -1, -1}, + {0, 0, 0}, + {1, 1, 0}}; + private final static int yClock[][] = {{1, 0, 0}, + {1, 0, -1}, + {0, 0, -1}}; + /* find the next point to trace in Moore-Neighbourhood + * @param p - the current contour point + * prev - point just examined + * @return point connected to p which is in the anticlockwise + * direction from p to prev + */ + private static Point clockwise(Point p, Point prev) + { + int dx = prev.x - p.x + 1; + int dy = prev.y - p.y + 1; + return new Point(prev.x + xClock[dy][dx], prev.y + yClock[dy][dx]); + } +} diff --git a/framework/src/ab/vision/real/ImageSegmenter.java b/framework/src/ab/vision/real/ImageSegmenter.java new file mode 100644 index 0000000..82dc0b9 --- /dev/null +++ b/framework/src/ab/vision/real/ImageSegmenter.java @@ -0,0 +1,720 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision.real; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Point; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.Queue; + + +public class ImageSegmenter { + + // objects in game + public static final int BACKGROUND = 0; + public static final int GROUND = 1; + public static final int HILLS = 2; + public static final int SLING = 3; + public static final int RED_BIRD = 4; + public static final int YELLOW_BIRD = 5; + public static final int BLUE_BIRD = 6; + public static final int BLACK_BIRD = 7; + public static final int WHITE_BIRD = 8; + public static final int PIG = 9; + public static final int ICE = 10; + public static final int WOOD = 11; + public static final int STONE = 12; + public static final int DUCK = 13; + public static final int EDGE = 14; + public static final int WATERMELON = 15; + public static final int TRAJECTORY = 16; + public static final int CLASS_COUNT = 17; + + public static final int MAX_DIST = 100; + + // training color points + private static final int _trainData[][] = { + {144, 200, 216, BACKGROUND}, + {216, 232, 248, BACKGROUND}, + {208, 224, 240, BACKGROUND}, + {240, 248, 248, BACKGROUND}, + {184, 200, 240, BACKGROUND}, + {216, 232, 240, BACKGROUND}, + {168, 208, 224, BACKGROUND}, + {176, 216, 248, BACKGROUND}, + {208, 232, 248, BACKGROUND}, + {112, 160, 176, BACKGROUND}, + {8, 16, 56, GROUND}, + {24, 40, 96, GROUND}, + {48, 104, 16, GROUND}, + {192, 248, 8, GROUND}, + {24, 48, 11, GROUND}, + {64, 40, 24, HILLS}, + {48, 32, 16, HILLS}, + {144, 112, 80, HILLS}, + {104, 72, 48, HILLS}, + {120, 88, 64, HILLS}, + {160, 120, 88, HILLS}, + {88, 56, 40, HILLS}, + {72, 48, 32, HILLS}, + {48, 16, 8, SLING}, + {80, 40, 8, SLING}, + {120, 64, 32, SLING}, + {160, 112, 48, SLING}, + {200, 144, 88, SLING}, + {152, 88, 40, SLING}, + {176, 128, 64, SLING}, + {168, 112, 64, SLING}, + {208, 0, 40, RED_BIRD}, + {240, 216, 32, YELLOW_BIRD}, + {232, 176, 0, YELLOW_BIRD}, + {96, 168, 192, BLUE_BIRD}, + {80, 144, 168, BLUE_BIRD}, + {232, 232, 200, WHITE_BIRD}, + {248, 184, 72, WHITE_BIRD}, + {104, 224, 72, PIG}, + {160, 232, 0, PIG}, + {88, 176, 32, PIG}, + {110, 176, 12, PIG}, + {56, 104, 8, PIG}, + {88, 192, 240, ICE}, + {104, 192, 240, ICE}, + {120, 200, 240, ICE}, + {192, 240, 248, ICE}, + {144, 216, 240, ICE}, + {136, 208, 248, ICE}, + {128, 208, 248, ICE}, + {168, 224, 248, ICE}, + {69, 163, 187, ICE}, + {40, 160, 224, ICE}, + {176, 224, 248, ICE}, + {224, 144, 32, WOOD}, + {248, 184, 96, WOOD}, + {192, 112, 32, WOOD}, + {176, 88, 32, WOOD}, + {168, 96, 8, WOOD}, + {232, 160, 72, WOOD}, + {248, 192, 96, WOOD}, + {248, 176, 72, WOOD}, + {156, 112, 83, WOOD}, + {168, 88, 32, WOOD}, + {216, 146, 64, BACKGROUND}, + {80, 152, 8, BACKGROUND}, + {48, 56, 16, BACKGROUND}, + {40, 40, 8, BACKGROUND}, + {162, 126, 105, BACKGROUND}, + {168, 147, 139, BACKGROUND}, + {160, 112, 72, BACKGROUND}, + {152, 80, 24, BACKGROUND}, + {112, 112, 112, BACKGROUND}, + {160, 88, 24, BACKGROUND}, + {184, 160, 144, BACKGROUND}, + {136, 64, 16, BACKGROUND}, + {64, 176, 40, BACKGROUND}, + {184, 120, 48, BACKGROUND}, + {80, 80, 80, BACKGROUND}, + {0, 0, 0, BACKGROUND}, + {127, 138, 177, BACKGROUND}, + {81, 190, 232, BACKGROUND}, + {40, 160, 232, BACKGROUND}, + {248, 224, 80, DUCK}, + {248, 208, 32, DUCK}, + {248, 136, 32, DUCK}, + {240, 176, 16, DUCK}, + {128, 168, 24, WATERMELON}, + {88, 112, 16, WATERMELON}, + {56, 88, 16, WATERMELON} + }; + + private static int MIN_SIZE[]; + private static int MAX_SIZE[]; + + // table mapping each 15 bit color code to a type + private static int _assignedType[]; + + // drawing color for different objects + public static int _drawColor[]; + public static Color _colors[]; + private static boolean _firstTime = true; + + // edge detection thresholds + private static final int EDGE_THRESHOLD1 = 300; + private static final int EDGE_THRESHOLD2 = 125; + + // weights for edge strength calculation and maximum single response + private static final int wh = 400; + private static final int ws = 12; + private static final int wv = 7; + private static final int EDGE_BOUND = 180; + + private static final int NEIGHBOURS[][] = { + {0, -1, 0, 1, 0, 0}, // horizontal neighbours + {1, -1, -1, 1, 0, 0}, // 45 degress + {-1, 0, 1, 0, 0, 0}, // vertical + {-1, -1, 1, 1, 0, 0} // 135 degrees + }; + + // dimension of the image + private int _width; + private int _height; + + // ground level + private int _groundLevel = 0; + + // the labelled image using integer colours, indexed as [y][x] + private int [][] _class = null; + private boolean [][] _edges = null; + + // the compressed image + public int [][] _image = null; + private int [][] _val = null; + private int [][] _hue = null; + private int [][] _sat = null; + + + // connected components in the scene + private ArrayList _components = null; + + /* Build a segmentation from the given screenshot + * @param screenshot of the game + */ + public ImageSegmenter(BufferedImage screenshot) + { + // if the structure builder is run for the first time + if (_firstTime) + { + initialise(); + _firstTime = false; + } + + // parse the screenshot + _width = screenshot.getWidth(); + _height = screenshot.getHeight(); + _image = compressImage(screenshot); + + _hue = new int[_height][_width]; + _sat = new int[_height][_width]; + _val = new int[_height][_width]; + for (int y = 0; y < _height; y++) + for (int x = 0; x < _width; x++) + { + int color = screenshot.getRGB(x, y); + int r = (color >> 16) & 0xff; + int g = (color >> 8) & 0xff; + int b = color & 0xff; + + _hue[y][x] = getHue(r, g, b); + _sat[y][x] = getSaturation(r, g, b); + _val[y][x] = getValue(r, g, b); + } + classifyPixels(); + findGroundLevel(); + } + + /* Assign a class label to every point in the screenshot + */ + private void classifyPixels() + { + _class = new int[_height][_width]; + + for (int y = 0; y < _height; y++) + for (int x = 0; x < _width; x++) + _class[y][x] = _assignedType[_image[y][x]]; + } + + /* find edges in the image, using the custom edge detector + * @return boolean map in the form isEdge[y][x], where isEdge[y][x] + * means point (x, y) is an edge + */ + private boolean[][] findEdges() + { + int G[][][] = new int[_height][_width][4]; + int G1[][][] = new int[_height][_width][4]; + int G2[][][] = new int[_height][_width][4]; + boolean isEdge[][][] = new boolean[_height][_width][4]; + + // calculate individual edge strength in each direction + for (int y = _height - 2; y > 0; y--) + for (int x = 1; x < _width - 1; x++) + { + for (int o = 0; o < 4; o++) + { + int x2 = x + NEIGHBOURS[o][0]; + int y2 = y + NEIGHBOURS[o][1]; + int x3 = x + NEIGHBOURS[o][2]; + int y3 = y + NEIGHBOURS[o][3]; + + G[y][x][o] = distance(x, y, x2, y2) + distance(x, y, x3, y3); + } + G[y][x][0] *= 1.5; + G[y][x][2] *= 1.5; + } + + // cross-correlate with neighbouring points + for (int y = _height - 3; y > 1; y--) + for (int x = 2; x < _width - 2; x++) + { + for (int o = 0; o < 4; o++) + { + int o2 = (o + 2) % 4; + int x2 = x + NEIGHBOURS[o2][0]; + int y2 = y + NEIGHBOURS[o2][1]; + int x3 = x + NEIGHBOURS[o2][2]; + int y3 = y + NEIGHBOURS[o2][3]; + + G1[y][x][o] = (G[y][x][o] + G[y2][x2][o] + G[y3][x3][o]) / 3; + } + } + + // apply non-maximum suppression for each direction + for (int y = _height-3; y > 1; y--) + for (int x = 2; x < _width-2; x++) + { + for (int o = 0; o < 4; o++) + { + G2[y][x][o] = G1[y][x][o]; + + int x1 = x + NEIGHBOURS[o][0]; + int y1 = y + NEIGHBOURS[o][1]; + int x2 = x + NEIGHBOURS[o][2]; + int y2 = y + NEIGHBOURS[o][3]; + + if (G1[y][x][o] <= G1[y1][x1][o] || G1[y][x][o] < G1[y2][x2][o]) + G2[y][x][o] = 0; + } + } + + // Trace edge using two thresholds + for (int y = _height - 3; y > 1; y--) + for (int x = 2; x < _width - 2; x++) + { + // add pixel if gradient is greater than threshold1 + for (int o = 0; o < 4; o++) + if (G2[y][x][o] > EDGE_THRESHOLD1 && !isEdge[y][x][o]) + { + isEdge[y][x][o] = true; + + // perform BFS for edge pixels + Queue q = new LinkedList(); + q.add(new Point(x, y)); + + while (!q.isEmpty()) + { + Point p = q.poll(); + + for (int i = -1; i < 2; i++) + for (int j = -1; j < 2; j++) + { + if (i == 0 && j == 0) + continue; + + int ny = p.y + i; + int nx = p.x + j; + + // if the gradient is greater than threshold2 + if (G2[ny][nx][o] > EDGE_THRESHOLD2 && !isEdge[ny][nx][o]) + { + isEdge[ny][nx][o] = true; + q.add(new Point(nx, ny)); + } + } + } + } + } + + // combine edge in all four directions + boolean ret[][] = new boolean[_height][_width]; + for (int y = _height - 3; y > 1; y--) + for (int x = 2; x < _width - 2; x++) + { + if (isEdge[y][x][0] || isEdge[y][x][1] || + isEdge[y][x][2] || isEdge[y][x][3]) + ret[y][x] = true; + } + + return ret; + } + + /* find all connected components in the game + */ + public ArrayList findComponents() + { + // find edges and add to the class map + _edges = findEdges(); + for (int y = _groundLevel-1; y > 0; y--) + for (int x = 0; x < _width; x++) + { + if (!(_class[y][x] >= ICE && _class[y][x] <= STONE)) + continue; + + if (_edges[y][x]) + _class[y][x] = EDGE; + } + + // search for connected components + _components = new ArrayList(); + boolean searched[][] = new boolean[_height][_width]; + + for (int x = 50; x < _width - 50; x++) + for (int y = _groundLevel - 1; y > _height * 0.2; y--) + { + int cls = _class[y][x]; + if (!searched[y][x] && cls > GROUND && cls < EDGE) + { + ConnectedComponent cc; + + // use 8-connect for birds and sling, 4-connect otherwise + if (cls >= SLING && cls <= BLACK_BIRD) + cc = new ConnectedComponent(_class, x, y, searched, true); + else + cc = new ConnectedComponent(_class, x, y, searched, false); + + // verify component has the correct size + if (cc.getArea() >= MIN_SIZE[cls] && cc.getArea() <= MAX_SIZE[cls]) + _components.add(cc); + } + } + //_edges = null; + return _components; + } + + /* find all connected components with type trajectory */ + public ArrayList findTrajectory() + { + ArrayList traj = new ArrayList(); + + boolean searched[][] = new boolean[_height][_width]; + for (int x = 50; x < _width - 50; x++) + for (int y = _groundLevel - 1; y > _height * 0.1; y--) + { + int cls = _class[y][x]; + if (!searched[y][x] && cls == TRAJECTORY) + { + ConnectedComponent cc; + cc = new ConnectedComponent(_class, x, y, searched, false); + + if (cc.getArea() >= MIN_SIZE[TRAJECTORY] && cc.getArea() <= MAX_SIZE[TRAJECTORY]) + traj.add(cc); + } + } + return traj; + } + + /* find the ground level */ + public int findGroundLevel() + { + if (_groundLevel != 0) + return _groundLevel; + + for (int y = _height-1; y > 0; y--) + { + int counter = 0; + for (int x = 0; x < _width; x++) + { + if (_class[y][x] == GROUND) + counter++; + } + if (counter < _width * 0.8) + { + _groundLevel = y; + break; + } + } + return _groundLevel; + } + + /* draw all found components + * @param canvas to draw onto + * if the corners should be indicated + */ + public void drawComponents(BufferedImage canvas, boolean drawCorner) + { + if (_components == null) + findComponents(); + + BufferedImage image = new BufferedImage(_width, _height, BufferedImage.TYPE_INT_RGB); + + for (int x = 0; x < _width; x++) + for (int y = 0; y < _height; y++) + image.setRGB(x, y, 0xffffff); + + // draw connected components + for (ConnectedComponent cc : _components) + cc.draw(image, true, drawCorner); + + canvas.createGraphics().drawImage(image, 0, 0, null); + } + + // draw the segmentation onto canvas + public void drawClassification(BufferedImage canvas) + { + BufferedImage image = new BufferedImage(_width, _height, BufferedImage.TYPE_INT_RGB); + + for (int y = 0; y < _height; y++) + { + for (int x = 0; x < _width; x++) + { + int c = _class[y][x]; + image.setRGB(x, y, _drawColor[c]); + } + } + Graphics2D g = canvas.createGraphics(); + g.drawImage(image, 0, 0, null); + } + + // draw the edge image onto canvas + public void drawEdges(BufferedImage canvas) + { + BufferedImage image = new BufferedImage(_width, _height, BufferedImage.TYPE_INT_RGB); + + _edges = findEdges(); + for (int y = 0; y < _height; y++) + { + for (int x = 0; x < _width; x++) + { + if (_edges[y][x]) + image.setRGB(x, y, 0x000000); + else + image.setRGB(x, y, 0xffffff); + } + } + Graphics2D g = canvas.createGraphics(); + g.drawImage(image, 0, 0, null); + } + + // draw the compressed image + public void drawImage(BufferedImage canvas) + { + BufferedImage image = decompressImage(_image); + Graphics2D g = canvas.createGraphics(); + g.drawImage(image, 0, 0, null); + } + + /* compress the given image to 15 bit per pixel + * @param image to be compressed (type RGB) + * @return compressed bits (indexed as [y][x]) + */ + public static int[][] compressImage(BufferedImage image) + { + int height = image.getHeight(); + int width = image.getWidth(); + + int ret[][] = new int[height][width]; + for (int y = 0; y < height; y++) + { + for (int x = 0; x < width; x++) + { + // decode the integer color to and compress it to 15 bits + int color = image.getRGB(x, y); + int r = (color >> 19) & 31; + int g = (color >> 11) & 31; + int b = (color >> 3) & 31; + + ret[y][x] = (r << 10) | (g << 5) | b; + } + } + return ret; + } + + /* reconstruct the image from 15 bit compression + * @param compressed image (15 bit integer array indexed as [y][x]) + * @return reconstructed BufferedImage object + */ + public static BufferedImage decompressImage(int map[][]) + { + int height = map.length; + int width = map[0].length; + + BufferedImage image = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB); + + for (int y = 0; y < height; y++) + { + for (int x = 0; x < width; x++) + { + int c = map[y][x]; + int r = (c >> 10) & 31; + int g = (c >> 5) & 31; + int b = c & 31; + int color = (r << 19) | (g << 11) | (b << 3); + image.setRGB(x, y, color); + } + } + return image; + } + + /* - Calculate the corresponding class for every possible 15-bit color + * - Initialise the drawing color for each types + * - Set minimum and maximum size of each type of object + */ + public static void initialise() + { + // initialise drawing colors + _drawColor = new int[CLASS_COUNT]; + _colors = new Color[CLASS_COUNT]; + _drawColor[BACKGROUND] = 0xdddddd; + _drawColor[GROUND] = 0x152053; + _drawColor[HILLS] = 0x342213; + _drawColor[SLING] = 0x7f4120; + _drawColor[EDGE] = 0x000000; + _drawColor[STONE] = 0xa0a0a0; + _drawColor[ICE] = 0x6ecdf8; + _drawColor[WOOD] = 0xe09020; + _drawColor[PIG] = 0x60e048; + _drawColor[TRAJECTORY] = 0xffffff; + _drawColor[BLUE_BIRD] = 0x60a8c0; + _drawColor[RED_BIRD] = 0xd00028; + _drawColor[YELLOW_BIRD] = 0xf0d820; + _drawColor[BLACK_BIRD] = 0x0f0f0f; + _drawColor[WHITE_BIRD] = 0xe8e8c8; + _drawColor[DUCK] = 0xf0d820; + _drawColor[WATERMELON] = 0x80a818; + + for (int i = 0; i < CLASS_COUNT; i++) + _colors[i] = new Color(_drawColor[i]); + + // initialse minimum sizes + MIN_SIZE = new int[CLASS_COUNT]; + MAX_SIZE = new int[CLASS_COUNT]; + for (int i = 0; i < CLASS_COUNT; i++) + { + MIN_SIZE[i] = 15; + MAX_SIZE[i] = 4000; + } + MIN_SIZE[PIG] = 30; + MIN_SIZE[HILLS] = 250; + MAX_SIZE[HILLS] = 1000000; + MIN_SIZE[SLING] = 150; + MIN_SIZE[BLUE_BIRD] = 2; + MAX_SIZE[BLUE_BIRD] = 30; + MIN_SIZE[RED_BIRD] = 20; + MIN_SIZE[YELLOW_BIRD] = 20; + MIN_SIZE[BLACK_BIRD] = 20; + MIN_SIZE[TRAJECTORY] = 1; + MAX_SIZE[TRAJECTORY] = 60; + + _assignedType = new int[(1 << 15)]; + for (int color = 0; color < (1 << 15); color++) + { + _assignedType[color] = assignType(color); + } + } + + /* Assign the 15-bit color to the most likely type + * using nearest neighbour in the training data + * @param color - color code of the pixel + * @return the assigned type + */ + private static int assignType(int color) + { + int type = BACKGROUND; + int minDist = 999999; + + + // extract the r,g,b components + int r = color >> 10; + int g = (color >> 5) & 31; + int b = color & 31; + + // convert to 8 bit per component + r = r << 3; + g = g << 3; + b = b << 3; + + // special cases where pixel is grayscale + if (r == g && r == b) + { + if (r >= 88 && r <= 208) + return STONE; + if (r > 232) + return TRAJECTORY; + if (r == 64) + return BLACK_BIRD; + } + + for (int i = 0; i < _trainData.length; i++) + { + // calculate squared distance between the color and training data + int d1 = r - _trainData[i][0]; + int d2 = g - _trainData[i][1]; + int d3 = b - _trainData[i][2]; + int dist = d1 * d1 + d2 * d2 + d3 * d3; + + // assign pixel to the types with shortest distance + if (dist < minDist && dist < MAX_DIST*MAX_DIST) + { + minDist = dist; + type = _trainData[i][3]; + } + } + return type; + } + + private static final double ROOT3 = Math.sqrt(3); + + // calculate hue from the r, g, b color + public static int getHue(int r, int g, int b) + { + double alpha = 2 * r - g - b; + double beta = ROOT3 * (g - b); + + int hue = (int) Math.toDegrees(Math.atan2(beta, alpha)); + if (hue < 0) + hue += 360; + return hue; + } + + // calculate saturation from the r, g, b color + public static int getSaturation(int r, int g, int b) + { + int V = Math.max(Math.max(r, g), b); + int C = V - Math.min(Math.min(r, g), b); + + if (V != 0) + return C * 100 / V; + else + return 0; + } + + // calculate intensity from the r, g, b color + public static int getValue(int r, int g, int b) + { + return 100 * (r + g + b) / 768; + } + + + /* custom defined distance metric + * @param coordinates of the two point to compare + * @return weighted distance between color of the points in HSV space + */ + private int distance(int x1, int y1, int x2, int y2) + { + int d; + + // if hue is undefined + if (_hue[y1][x1] == 0 && _hue[y2][x2] == 0) + { + int dv = _val[y1][x1] - _val[y2][x2]; + d = wv * Math.abs(dv); + } + else + { + int ds = _sat[y1][x1] - _sat[y2][x2]; + int dh = _hue[y1][x1] - _hue[y2][x2]; + d = (int) Math.sqrt(wh*dh*dh + ws*ds*ds); + } + + return d > EDGE_BOUND ? EDGE_BOUND : d; + } + + + +} diff --git a/framework/src/ab/vision/real/LineSegment.java b/framework/src/ab/vision/real/LineSegment.java new file mode 100644 index 0000000..c4f54dd --- /dev/null +++ b/framework/src/ab/vision/real/LineSegment.java @@ -0,0 +1,174 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision.real; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Point; + +public class LineSegment { + + public static int NO_CHANGE = 0; + public static int CLOCKWISE = 1; + public static int ANTICLOCKWISE = -1; + + private static double THRESHOLD1 = Math.toRadians(20); + private static double JOIN_THRESHOLD = Math.toRadians(5); + private static double JOIN_THRESHOLD2 = 40;//40; + + // angle tracking parameters + private double prevAngle; + private double accumChange; + private int dirChange; + + public Point _start = null; + public Point _end = null; + public Point _prevEnd = null; + + public LineSegment(Point start, double angle) + { + // initialise start and end points + _start = start; + _end = start; + _prevEnd = start; + + // tracking parameters + prevAngle = angle; + accumChange = 0; + dirChange = NO_CHANGE; + } + + + public double addPoint(Point p, double angle, double THRESHOLD2) + { + if (angle != ConnectedComponent.ANGLE_UNDEFINED) + { + // test point is not a corner + double diff = angleDiff(angle, prevAngle); + + // if the sign of angle change is reversed + if (sign(diff) != dirChange) + { + // corner detected + if (accumChange >= THRESHOLD1) + { + return angleDiff(angle, approximateAngle()); + } + + // reset cummulated results + if (diff != 0) + { + accumChange = Math.abs(diff); + dirChange = sign(diff); + } + } + else + { + accumChange += Math.abs(diff); + if (accumChange >= THRESHOLD2) + return angleDiff(angle, approximateAngle()); + } + prevAngle = angle; + } + _prevEnd = _end; + _end = p; + + return 0; + } + + /* draw start point of the line onto canvas */ + public void draw(Graphics2D g, int left, int top) + { + g.setColor(Color.CYAN); + g.fillOval(_start.x + left - 2, _start.y + top - 2, 4, 4); + //g.fillOval(_end.x + left - 1, _end.y + top - 1, 2, 2); + } + + public double approximateAngle() + { + double xDiff = _start.x - _end.x; + double yDiff = _start.y - _end.y; + + if (xDiff == 0) + return Math.PI / 2; + else + { + if (Math.atan(yDiff / xDiff) < 0) + return Math.atan(yDiff / xDiff) + Math.PI; + else + return Math.atan(yDiff / xDiff); + } + } + + public boolean join(LineSegment line) + { + double angle = approximateAngle(); + double angle2 = line.approximateAngle(); + double diff = Math.abs(angleDiff(angle, angle2)); + double minD = Math.min(distance(_start, _end), distance(line._start, line._end)); + if (diff < JOIN_THRESHOLD || + minD * 2 + Math.toDegrees(diff) < JOIN_THRESHOLD2) + { + _end = line._end; + return true; + } + + return false; + } + + /* calculate angle difference a - b + * @param a, b - angles (radians) in range [0, PI) + * @return difference a - b (positive for clockwise) + */ + public static double angleDiff(double a, double b) + { + double diff = a - b; + + if (diff < - Math.PI / 2) + diff += Math.PI; + else if (diff > Math.PI / 2) + diff -= Math.PI; + + return diff; + } + + /* convert the angle a to a representation which is close + * to the target by adding/subtracting PI + * - e.g closeAngle(179, 0) = -1 + */ + public static double closeAngle(double a, double target) + { + return target + angleDiff(a, target); + } + + + /* return direction of the angle change, + clockwise for positive changes */ + public static int sign(double diff) + { + if (diff > 0) + return CLOCKWISE; + else if (diff < 0) + return ANTICLOCKWISE; + else + return NO_CHANGE; + } + + public static double distance(Point a, Point b) + { + int x = a.x - b.x; + int y = a.y - b.y; + return Math.sqrt(x*x + y*y); + } + + public void removeEndPoint() + { + _end = _prevEnd; + } +} diff --git a/framework/src/ab/vision/real/shape/Body.java b/framework/src/ab/vision/real/shape/Body.java new file mode 100644 index 0000000..a1b4143 --- /dev/null +++ b/framework/src/ab/vision/real/shape/Body.java @@ -0,0 +1,53 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision.real.shape; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Point; + +import ab.vision.ABObject; + +public abstract class Body extends ABObject + +{ + private static final long serialVersionUID = 1L; + public Body() + { + super(); + } + // position (x, y) as center of the object + public double centerX = 0; + public double centerY = 0; + + + public static int round(double i) + { + return (int) (i + 0.5); + } + @Override + public Point getCenter() + { + Point point = new Point(); + point.setLocation(centerX, centerY); + return point; + } + @Override + public double getCenterX() + { + return centerX; + } + @Override + public double getCenterY() + { + return centerY; + } + + public abstract void draw(Graphics2D g, boolean fill, Color boxColor); +} diff --git a/framework/src/ab/vision/real/shape/Circle.java b/framework/src/ab/vision/real/shape/Circle.java new file mode 100644 index 0000000..c5135f2 --- /dev/null +++ b/framework/src/ab/vision/real/shape/Circle.java @@ -0,0 +1,90 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision.real.shape; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Rectangle; + +import ab.vision.ABShape; +import ab.vision.ABType; +import ab.vision.real.ImageSegmenter; + +public class Circle extends Body +{ + + /** + * + */ + private static final long serialVersionUID = 1L; + // radius of the circle + public double r; + public Rectangle bounds; + /* Create a new circle + * @param xs, ys - coordinate of the circle centre + * radius - circle radius + * t - type of the object + */ + public Circle(double xs, double ys, double radius, ABType type) + { + + centerX = xs; + centerY = ys; + r = radius; + shape = ABShape.Circle; + bounds = new Rectangle((int)(xs - r * Math.sin(Math.PI/4)), (int)(ys - r * Math.sin(Math.PI/4)), + (int)(2 * r * Math.sin(Math.PI/4)), (int)(2 * r * Math.sin(Math.PI/4))); + this.type = type; + angle = 0; + area = (int)(Math.PI * r * r); + super.setBounds(bounds); + + } + + @Override + public Rectangle getBounds() + { + return bounds; + } + + + + public Circle(int box[], ABType type) + { + centerX = (box[0] + box[2]) / 2.0; + centerY = (box[1] + box[3]) / 2.0; + r = (box[2] - box[0] + box[3] - box[1]) / 4.0; + area = (int)(Math.PI * r * r); + bounds = new Rectangle((int)(centerX - r * Math.sin(Math.PI/4)), (int)(centerY - r * Math.sin(Math.PI/4)), + (int)(2 * r * Math.sin(Math.PI/4)), (int)(2 * r * Math.sin(Math.PI/4))); + angle = 0; + this.type = type; + super.setBounds(bounds); + } + + /* draw the circle onto canvas */ + public void draw(Graphics2D g, boolean fill, Color boxColor) + { + if (fill) + { + g.setColor(ImageSegmenter._colors[type.id]); + g.fillOval(round(centerX - r), round(centerY - r), round(r * 2), round(r * 2)); + } + else + { + g.setColor(boxColor); + g.drawOval(round(centerX - r), round(centerY - r), round(r * 2), round(r * 2)); + } + } + + public String toString() + { + return String.format("Circ: id:%d type:%s r:%7.3f at x:%5.1f y:%5.1f", id, type, r, centerX, centerY); + } +} diff --git a/framework/src/ab/vision/real/shape/Poly.java b/framework/src/ab/vision/real/shape/Poly.java new file mode 100644 index 0000000..6e4ba70 --- /dev/null +++ b/framework/src/ab/vision/real/shape/Poly.java @@ -0,0 +1,72 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision.real.shape; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Point; +import java.awt.Polygon; +import java.awt.Rectangle; +import java.util.ArrayList; + +import ab.vision.ABShape; +import ab.vision.ABType; +import ab.vision.real.ImageSegmenter; +import ab.vision.real.LineSegment; + +public class Poly extends Body +{ + /** + * + */ + private static final long serialVersionUID = 1L; + public Polygon polygon = null; + + + public Poly(ArrayList lines, int left, int top, ABType type, double xs, double ys) + { + polygon = new Polygon(); + shape = ABShape.Poly; + if (lines != null) + { + for (LineSegment l : lines) + { + Point start = l._start; + polygon.addPoint(start.x + left, start.y + top); + } + } + centerX = xs; + centerY = ys; + angle = 0; + area = getBounds().height * getBounds().width; + this.type = type; + super.setBounds(polygon.getBounds()); + } + @Override + public Rectangle getBounds() + { + return polygon.getBounds(); + } + public void draw(Graphics2D g, boolean fill, Color boxColor) + { + if (fill) { + g.setColor(ImageSegmenter._colors[type.id]); + g.fillPolygon(polygon); + } + else { + g.setColor(boxColor); + g.drawPolygon(polygon); + } + } + + public String toString() + { + return String.format("Poly: id:%d type:%s hollow:%b %dpts at x:%3.1f y:%3.1f", id, type, hollow, polygon.npoints, centerX, centerY); + } +} diff --git a/framework/src/ab/vision/real/shape/Rect.java b/framework/src/ab/vision/real/shape/Rect.java new file mode 100644 index 0000000..8d65c09 --- /dev/null +++ b/framework/src/ab/vision/real/shape/Rect.java @@ -0,0 +1,185 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2014, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang + ** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ +package ab.vision.real.shape; + +import java.awt.Color; +import java.awt.Graphics2D; +import java.awt.Polygon; +import java.awt.Rectangle; + +import ab.vision.ABType; +import ab.vision.real.ImageSegmenter; + +public class Rect extends Body +{ + private static final long serialVersionUID = 1L; + // width and height of the rectangle + public Polygon p; + protected double pwidth = -1, plength = -1; + + public double getpWidth() + { + if(pwidth != -1) + return pwidth; + return width; + } + + public double getpLength() + { + if(plength != -1) + return plength; + return height; + } + public Rect(double xs, double ys, double w, double h, double theta, ABType type) + { + + + if (h >= w) + { + angle = theta; + pwidth = w; + plength = h; + } + else + { + angle = theta + Math.PI / 2; + pwidth = h; + plength = w; + } + + centerY = ys; + centerX = xs; + + + area = (int) (pwidth * plength); + this.type = type; + + createPolygon(); + super.setBounds(p.getBounds()); + width = p.getBounds().width; + height = p.getBounds().height; + + } + + + + private void createPolygon() + { + + double angle1 = angle; + double angle2 = perpendicular(angle1); + + // starting point for drawing + double _xs, _ys; + _ys = centerY + Math.sin(angle) * plength / 2 + + Math.sin(Math.abs(Math.PI/2 - angle)) * pwidth / 2; + if (angle < Math.PI / 2) + _xs = centerX + Math.cos(angle) * plength / 2 - + Math.sin(angle) * pwidth / 2; + else if (angle > Math.PI / 2) + _xs = centerX + Math.cos(angle) * plength / 2 + + Math.sin(angle) * pwidth / 2; + else + _xs = centerX - pwidth / 2; + + p = new Polygon(); + p.addPoint(round(_xs), round(_ys)); + + + + _xs -= Math.cos(angle1) * plength; + _ys -= Math.sin(angle1) * plength; + p.addPoint(round(_xs), round(_ys)); + + + + _xs -= Math.cos(angle2) * pwidth; + _ys -= Math.sin(angle2) * pwidth; + p.addPoint(round(_xs), round(_ys)); + + + + _xs += Math.cos(angle1) * plength; + _ys += Math.sin(angle1) * plength; + p.addPoint(round(_xs), round(_ys)); + + } + @Override + public Rectangle getBounds() + { + return p.getBounds(); + } + + public Rect(int box[], ABType type) + { + centerX = (box[0] + box[2]) / 2.0; + centerY = (box[3] + box[1]) / 2.0; + pwidth = box[2] - box[0]; + plength = box[3] - box[1]; + angle = Math.PI / 2; + + if (plength < pwidth) + { + pwidth = plength; + plength = box[2] - box[0]; + angle = 0; + } + + + width = (int)pwidth; + height = (int)plength; + + this.type = type; + + area = width * height; + createPolygon(); + + } + public Rect(double centerX, double centerY, double pwidth, double plength, double angle, ABType type, int area) + { + this.centerX = centerX; + this.centerY = centerY; + this.pwidth = pwidth; + this.plength = plength; + this.type = type; + this.angle = angle; + this.area = area; + createPolygon(); + super.setBounds(p.getBounds()); + width = p.getBounds().width; + height = p.getBounds().height; + + } + + + /* draw the rectangle onto canvas */ + public void draw(Graphics2D g, boolean fill, Color boxColor) + { + + + if (fill) { + g.setColor(ImageSegmenter._colors[type.id]); + g.fillPolygon(p); + } + else { + g.setColor(boxColor); + g.drawPolygon(p); + } + } + + public static double perpendicular(double angle) + { + return angle > Math.PI / 2 ? angle - Math.PI / 2 : angle + Math.PI / 2; + } + + public String toString() + { + return String.format("Rect: id:%d type:%s hollow:%b Area:%d w:%7.3f h:%7.3f a:%3.3f at x:%3.1f y:%3.1f", id, type, hollow, area, pwidth, plength, angle, centerX, centerY); + } +} diff --git a/framework/src/ab/vision/resources/0endScreen.png b/framework/src/ab/vision/resources/0endScreen.png new file mode 100644 index 0000000000000000000000000000000000000000..bb0a1cc3f10f5c05c870ee7029508e1abcf231ea GIT binary patch literal 1771 zcmV;P)Px#24YJ`L;(K){{a7>y{D4^000SaNLh0L01FcU01FcV0GgZ_00007bV*G`2iyw{ z1t%^nO5%9{00wJGL_t(o!=;#QY+F|u$A9<5b{r>;<1}`fC641JbCQ}ZX@D$i%c@oD 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published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ + *****************************************************************************/ + +package external; + +/*encode the messages to byte[]*/ +public class ClientMessageEncoder { + + //encode screenshot message + public static byte[] encodeDoScreenShot() { + byte[] message = { ClientMessageTable + .getValue(ClientMessageTable.doScreenShot) }; + return message; + + } + + //encode configure message + public static byte[] configure(byte[] id) { + byte[] message = new byte[1 + id.length]; + message = mergeArray( + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.configure) }, + id); + + return message; + } + + //encode loadlevel message + //allow 0 or 1 input argument + public static byte[] loadLevel(byte... level) { + byte[] message = { + ClientMessageTable.getValue(ClientMessageTable.loadLevel), + ((level.length == 0) ? 0 : level[0]) }; + return message; + } + + //encode restart message + public static byte[] restart() { + byte[] message = { ClientMessageTable + .getValue(ClientMessageTable.restartLevel) }; + return message; + } + + //encode cshoot message (safe mode) + public static byte[] cshoot(byte[] fx, byte[] fy, byte[] dx, byte[] dy, + byte[] t1, byte[] t2) { + byte[] message = new byte[1 + fx.length + fy.length + dx.length + + dy.length + t1.length + t2.length]; + message = mergeArray( + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.cshoot) }, + fx, fy, dx, dy, t1, t2); + return message; + + } + + //encode pshoot message (safe mode) + public static byte[] pshoot(byte[] fx, byte[] fy, byte[] dx, byte[] dy, + byte[] t1, byte[] t2) { + byte[] message = new byte[1 + fx.length + fy.length + dx.length + + dy.length + t1.length + t2.length]; + message = mergeArray( + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.pshoot) }, + fx, fy, dx, dy, t1, t2); + return message; + } + //encode pshoot message in fast mode + public static byte[] pFastshoot(byte[] fx, byte[] fy, byte[] dx, byte[] dy, + byte[] t1, byte[] t2) { + byte[] message = new byte[1 + fx.length + fy.length + dx.length + + dy.length + t1.length + t2.length]; + message = mergeArray( + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.pFastshoot) }, + fx, fy, dx, dy, t1, t2); + return message; + } + //encode cshoot message in fast mode + public static byte[] cFastshoot(byte[] fx, byte[] fy, byte[] dx, byte[] dy, + byte[] t1, byte[] t2) { + byte[] message = new byte[1 + fx.length + fy.length + dx.length + + dy.length + t1.length + t2.length]; + message = mergeArray( + new byte[] { ClientMessageTable + .getValue(ClientMessageTable.cFastshoot) }, + fx, fy, dx, dy, t1, t2); + return message; + + } + + //encode fully zoom out message + public static byte[] fullyZoomOut() { + byte[] message = { ClientMessageTable + .getValue(ClientMessageTable.fullyZoomOut) }; + return message; + + } + public static byte[] fullyZoomIn() { + byte[] message = { ClientMessageTable + .getValue(ClientMessageTable.fullyZoomIn) }; + return message; + + } + public static byte[] clickInCenter() + { + byte[] message = { ClientMessageTable + .getValue(ClientMessageTable.clickInCentre) }; + return message; + } + //encode getState message + public static byte[] getState() { + byte[] message = { ClientMessageTable + .getValue(ClientMessageTable.getState) }; + return message; + } + //encode get best scores message + public static byte[] getBestScores() + { + byte[] message = {ClientMessageTable.getValue(ClientMessageTable.getBestScores)}; + return message; + } + //get my score message + public static byte[] getMyScore() + { + byte[] message = {ClientMessageTable.getValue(ClientMessageTable.getMyScore)}; + return message; + } + //merge byte arrays into one array + public static byte[] mergeArray(final byte[]... arrays) { + int size = 0; + for (byte[] a : arrays) { + size += a.length; + } + byte[] res = new byte[size]; + + int destPos = 0; + for (int i = 0; i < arrays.length; i++) { + if (i > 0) + destPos += arrays[i - 1].length; + int length = arrays[i].length; + System.arraycopy(arrays[i], 0, res, destPos, length); + } + return res; + } +} diff --git a/framework/src/external/ClientMessageTable.java b/framework/src/external/ClientMessageTable.java new file mode 100644 index 0000000..78df468 --- /dev/null +++ b/framework/src/external/ClientMessageTable.java @@ -0,0 +1,111 @@ +/***************************************************************************** +** ANGRYBIRDS AI AGENT FRAMEWORK +** Copyright (c) 2014, XiaoYu (Gary) Ge, Jochen Renz, Stephen Gould, +** Sahan Abeyasinghe,Jim Keys, Andrew Wang, Peng Zhang +** All rights reserved. +**This work is licensed under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. +**To view a copy of this license, visit http://www.gnu.org/licenses/ +*****************************************************************************/ + +package external; +/** + * This class maintains all the client messages and its corresponding MIDs. + * */ +public enum ClientMessageTable { + configure(1), doScreenShot(11),loadLevel(51),restartLevel(52),cshoot(31), pshoot(32), + cFastshoot(41), pFastshoot(42), shootSeqFast(43),clickInCentre(36), + getState(12), getMyScore(23),fullyZoomOut(34),fullyZoomIn(35), + getCurrentLevel(14), getBestScores(13) , shootSeq(33); + + @SuppressWarnings("unused") + private int message_code; + private ClientMessageTable(int message_code) + { + this.message_code = message_code; + } + //map message from int to enum + public static ClientMessageTable getValue(int message_code) + { + switch (message_code) + { + case 1: + return configure; + case 11: + return doScreenShot; + case 51: + return loadLevel; + case 52: + return restartLevel; + case 31: + return cshoot; + case 32: + return pshoot; + case 12: + return getState; + case 34: + return fullyZoomOut; + case 35: + return fullyZoomIn; + case 14: + return getCurrentLevel; + case 13: + return getBestScores; + case 23: + return getMyScore; + case 33: + return shootSeq; + case 41: + return cFastshoot; + case 42: + return pFastshoot; + case 43: + return shootSeqFast; + case 36: + return clickInCentre; + + } + return null; + } +//map message from enum to byte + public static byte getValue(ClientMessageTable message) + { + switch (message) + { + case doScreenShot: + return 11; + case configure : + return 1; + case loadLevel: + return 51; + case restartLevel: + return 52; + case cshoot : + return 31; + case pshoot : + return 32; + case getState: + return 12; + case fullyZoomOut: + return 34; + case getCurrentLevel: + return 14; + case getBestScores: + return 13; + case shootSeq: + return 33; + case cFastshoot: + return 41; + case pFastshoot: + return 42; + case shootSeqFast: + return 43; + case getMyScore: + return 23; + case clickInCentre: + return 36; + case fullyZoomIn: + return 35; + } + return 0; + } +} diff --git a/old.angryhex.sh b/old.angryhex.sh new file mode 100644 index 0000000..1c7da03 --- /dev/null +++ b/old.angryhex.sh @@ -0,0 +1,53 @@ +#!/bin/bash + +# This file serves as single interface to the other +# setup and run scripts in the scripts directory. +# +# Keep the arguments to the script as simple as possible! +# FIXME 'setupandrun' not working yet + +if [[ $# -ne 1 ]]; then + echo "This script expects exactly one argument from the following list:" + echo " setupandrun To install AngryHex (from scratch) and run it" + echo " setup To install AngryHex (from scratch)" + echo " rebuild Rebuilds the AngryHEX client (excluding the dlvhex-plugin)" + echo " run To run the AngryHEX client" + echo " runserver To run the AngryBirds AI Competition server" + echo " clean Remove temporary files" + exit 1 +fi + +SCR=scripts +AGT=agent +FWK=framework + +function agtpack { + ./${SCR}/pkg-agent.sh +} + +function agtbuild { + cd ${AGT} && ./rebuild.sh && cd .. +} + +function agtrun { + cd ${AGT} && ./client.sh ; cd .. +} + +function agtclean { + rm -rf ${AGT} +} + +function srvrun { + java -jar ${FWK}/ABServer.jar +} + +case $1 in + "setupandrun") cd ./${SCR} && ./install-angryhex.sh && agtpack && agtbuild && agtrun ;; + "setup") cd ./${SCR} && ./install-angryhex.sh ;; + "rebuild") agtpack && agtbuild ;; + "run") agtrun ;; + "runserver") srvrun ;; + "clean") agtclean ;; + *) echo "Invalid option: $1" && exit 1 ;; +esac + diff --git a/scripts/client.sh b/scripts/client.sh new file mode 100644 index 0000000..c4a198a --- /dev/null +++ b/scripts/client.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +LD_LIBRARY_PATH=framework/external/:/usr/lib/pymodules/python2.7/:/usr/local/share/OpenCV/java/:/usr/local/share/OpenCV/java/:/usr/local/lib/ java -jar Client.jar $1 diff --git a/scripts/initenv.sh b/scripts/initenv.sh new file mode 100644 index 0000000..446a363 --- /dev/null +++ b/scripts/initenv.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +cd .. + +ROOT=$(pwd) +FWK=${ROOT}/framework +AGENT=${ROOT}/agent + +# Run server/client +# start server of framework to make 'buildandrun' possible even if server is running +alias runserver='java -jar ${FWK}/ABServer.jar' +alias runclient='DIR=$(pwd) ; cd ${AGENT} ; ./client.sh ; cd ${DIR}' + +# Build client +alias buildclient='DIR=$(pwd) && cd ${AGENT} && ./rebuild.sh && cd ${DIR}' + +# Package agent +alias pkgagent='DIR=$(pwd) && cd ${ROOT} && ./pkg-agent.sh && cd ${DIR}' + +# Package > Build > Run client +alias buildandrun='pkgagent && buildclient && runclient' + +# TODO Archive agent diff --git a/scripts/install-abirdsplugin.sh b/scripts/install-abirdsplugin.sh new file mode 100644 index 0000000..884d257 --- /dev/null +++ b/scripts/install-abirdsplugin.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +cd .. + +OUTNAME=angrybirds-box2dplugin.tar.gz + +aptitude install g++-4.4 +cd /tmp +rm $OUTNAME +wget http://www.kr.tuwien.ac.at/staff/michael/$OUTNAME -O $OUTNAME +tar zxvf $OUTNAME +cd angrybirds-box2dplugin +./compile.sh +cd diff --git a/scripts/install-angryhex.sh b/scripts/install-angryhex.sh new file mode 100644 index 0000000..bed2d79 --- /dev/null +++ b/scripts/install-angryhex.sh @@ -0,0 +1,31 @@ +#!/bin/bash + +./install-hex.sh +./install-box2d.sh +./install-opencv.sh +./install-abirdsplugin.sh + + + +exit 0 + +PLUGINFILE=angrybirds-box2dplugin.tar.gz +AGENTFILE=angryhex-agent.tar.gz + +if test -e /tmp/$PLUGINFILE; then + rm /tmp/$PLUGINFILE +fi + +if test -e $AGENTFILE; then + rm $AGENTFILE +fi +OLDDIR=$(pwd) +cd /tmp +wget http://www.kr.tuwien.ac.at/staff/michael/$PLUGINFILE -O $PLUGINFILE +tar zxvf $PLUGINFILE +cd angrybirds-box2dplugin +./compile.sh +cd $OLDDIR + +./install-angryhex.sh +./rebuild.sh diff --git a/scripts/install-box2d.sh b/scripts/install-box2d.sh new file mode 100644 index 0000000..113ba6c --- /dev/null +++ b/scripts/install-box2d.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +cd .. + +aptitude install libglu-dev libxi-dev build-essential unzip +BOX2D=Box2D_v2.2.1 +rm -rf /usr/local/include/Box2D/ +cd /tmp +wget http://box2d.googlecode.com/files/$BOX2D.zip -O $BOX2D.zip +unzip $BOX2D +cd $BOX2D/Build +cmake -DBOX2D_INSTALL=ON -DBOX2D_BUILD_SHARED=ON -DBOX2D_BUILD_STATIC=OFF -DBOX2D_BUILD_EXAMPLES=OFF .. +make -j4 +make install +cd diff --git a/scripts/install-hex.sh b/scripts/install-hex.sh new file mode 100644 index 0000000..de646d9 --- /dev/null +++ b/scripts/install-hex.sh @@ -0,0 +1,20 @@ +#!/bin/bash + +cd .. + +apt-get install aptitude +aptitude install git-core g++ autoconf automake wget cmake pkg-config libtool libcurl4-openssl-dev libzip-dev libbz2-dev libboost-all-dev bmagic + +cd /tmp +wget http://www.dlvsystem.com/files/dlv.x86-64-linux-elf-static.bin +chmod +x dlv.x86-64-linux-elf-static.bin +cp dlv.x86-64-linux-elf-static.bin /usr/local/bin/dlv + +git clone --recursive https://github.com/hexhex/core.git +cd core +./bootstrap.sh +./configure --without-buildclaspgringo +make -j4 +make install +cd + diff --git a/scripts/install-opencv.sh b/scripts/install-opencv.sh new file mode 100644 index 0000000..9cca44f --- /dev/null +++ b/scripts/install-opencv.sh @@ -0,0 +1,38 @@ +#!/bin/bash + +cd .. + +aptitude install default-jdk ant + +cd /tmp +rm -Rf opencv +rm -Rf opencv-2.4.6.* +#git clone https://github.com/Itseez/opencv.git +wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.6.1/opencv-2.4.6.1.tar.gz/download -O OpenCV.2.4.6.tar.gz +tar zxvf OpenCV.2.4.6.tar.gz +#cd opencv +cd opencv-2.4.6.1 +#git checkout 2.4 +mkdir build +cd build +#export JAVA_HOME=/usr/lib/jvm/default-java +#export JAVA_ROOT=/usr/lib/jvm/default-java +#export JDK_HOME=/usr/lib/jvm/default-java +#export JAVA_BINDIR=/usr/lib64/jvm/default-java/bin +#which ant +#which java +#which javac +cmake -DBUILD_SHARED_LIBS=OFF .. +make -j4 +make install +cd + +# install cv2.so +echo "Checking if cv2.so was built" +if [ $(find /tmp/opencv-2.4.6.1/build -name cv2.so | wc -l) -ge 1 ]; then + echo "Yes: installing cv2.so" + cp $(find /tmp/opencv-2.4.6.1/build -name cv2.so | head) /usr/local/share/OpenCV/java/ +else + echo "No: no installation required" +fi + diff --git a/scripts/install-update.sh b/scripts/install-update.sh new file mode 100644 index 0000000..c8d7a06 --- /dev/null +++ b/scripts/install-update.sh @@ -0,0 +1,24 @@ +#!/bin/bash + +cd .. + +PLUGINFILE=angrybirds-box2dplugin.tar.gz +AGENTFILE=angryhex-agent.tar.gz + +if test -e /tmp/$PLUGINFILE; then + rm /tmp/$PLUGINFILE +fi + +if test -e $AGENTFILE; then + rm $AGENTFILE +fi +OLDDIR=$(pwd) +cd /tmp +wget http://www.kr.tuwien.ac.at/staff/michael/$PLUGINFILE -O $PLUGINFILE +tar zxvf $PLUGINFILE +cd angrybirds-box2dplugin +./compile.sh +cd $OLDDIR + +./install-angryhex.sh +./rebuild.sh diff --git a/scripts/pkg-agent.sh b/scripts/pkg-agent.sh new file mode 100644 index 0000000..056febf --- /dev/null +++ b/scripts/pkg-agent.sh @@ -0,0 +1,36 @@ +#!/bin/bash + +SRC=src # source +SCR=scripts # scripts +FWK=framework # framework +ENC=dlv # encodings of hex programs +OUT=angryhex # out directory + +function pack { + rsync -r --cvs-exclude $1 ${OUT} +} + +function packsrc { + rsync -r --cvs-exclude $1 ${OUT}/src +} + +rm -rf ${OUT} +mkdir ${OUT} +mkdir ${OUT}/src + +packsrc ${SRC}/angryhexclient +packsrc ${FWK}/src/ +pack ${FWK}/external +pack ${ENC} + +pack build.xml +pack ${SCR}/rebuild.sh +pack ${SCR}/client.sh +pack ${SCR}/server.sh + +pack ${FWK}/plugin +pack ${FWK}/ABServer.jar + +# TODO where is config.properties.tournament used??? +pack config.properties +pack config.properties.tournament diff --git a/scripts/provide-agent.sh b/scripts/provide-agent.sh new file mode 100644 index 0000000..b85b523 --- /dev/null +++ b/scripts/provide-agent.sh @@ -0,0 +1,11 @@ +#!/bin/bash + +cd .. + +cd angryhex-agent +tar zcvf angryhex-agent.tar.gz * +mv angryhex-agent.tar.gz ../ +cd .. +cp angryhex-agent.tar.gz /home/staff/michael/public_html/ + + diff --git a/scripts/provide-plugin.sh b/scripts/provide-plugin.sh new file mode 100644 index 0000000..0954b60 --- /dev/null +++ b/scripts/provide-plugin.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +cd .. + +tar zcvf angrybirds-box2dplugin.tar.gz angrybirds-box2dplugin/compile.sh angrybirds-box2dplugin/config.h angrybirds-box2dplugin/libdlvhexplugin-hexagentplugin.cpp + +cp angrybirds-box2dplugin.tar.gz /home/staff/michael/public_html/ + + diff --git a/scripts/rebuild.sh b/scripts/rebuild.sh new file mode 100644 index 0000000..8f5f231 --- /dev/null +++ b/scripts/rebuild.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +PYTHONLIBS=/usr/lib/pymodules/python2.7 +OPENCVLIBS=/usr/local/share/OpenCV/java +OPENCVJAR=/usr/local/share/OpenCV/java +BOX2DLIBS=/usr/local/lib + +ant -f build.xml clean + +ant -lib framework/external/:$PYTHONLIBS/:$OPENCVJAR/opencv-246.jar:$OPENCVLIBS/:$BOX2DLIBS/ -f build.xml compile + +cp /usr/local/share/OpenCV/java/opencv-24*.jar external/ + +ant -lib framework/external/:$PYTHONLIBS/:$OPENCVJAR/opencv-246.jar:$OPENCVLIBS/:$BOX2DLIBS/ -f build.xml jar + diff --git a/scripts/server.sh b/scripts/server.sh new file mode 100644 index 0000000..2266879 --- /dev/null +++ b/scripts/server.sh @@ -0,0 +1,5 @@ +#!/bin/bash + +cd .. + +java -jar ABServer.jar diff --git a/scripts/update-angryhex-agent.sh b/scripts/update-angryhex-agent.sh new file mode 100644 index 0000000..91f7835 --- /dev/null +++ b/scripts/update-angryhex-agent.sh @@ -0,0 +1,44 @@ +#!/bin/bash + +cd .. + +cp ./abV1.2/extractBirdsTypesAndScreenshotsNamesFromLog.pl ./angryhex-agent/ +cp ./abV1.2/extractOnGoingScoresFromLog.pl ./angryhex-agent/ +cp ./abV1.2/syntaxcheck ./angryhex-agent/ +cp ./abV1.2/install.sh ./angryhex-agent/ +cp ./abV1.2/algorithm* ./angryhex-agent/ +cp ./abV1.2/build.xml ./angryhex-agent/ +cp ./abV1.2/calibrate.dlv ./angryhex-agent/ +cp ./abV1.2/asparse.dlv ./angryhex-agent/ +cp ./abV1.2/debugger ./angryhex-agent/ +cp ./abV1.2/config.properties.tournament ./angryhex-agent/config.properties +cp ./TestServer/Server.jar ./angryhex-agent/ +cp ./abV1.1/server.sh ./angryhex-agent/ + +cp ./abV1.2/external/*.jar ./angryhex-agent/external/ +rm ./angryhex-agent/external/opencv-24*.jar +cp ./abV1.2/external/*.zip ./angryhex-agent/external/ + +cp ./abV1.1/plugin/*.js ./angryhex-agent/plugin/ +cp ./abV1.1/plugin/*.css ./angryhex-agent/plugin/ +cp ./abV1.1/plugin/*.json ./angryhex-agent/plugin/ + +cp ./abV1.2/doc/*.pdf ./angryhex-agent/doc/ + +cp -R ./abV1.2/src/ab/* ./angryhex-agent/src/ab/ +rm -Rf ./angryhex-agent/src/ab/CVS +rm -Rf ./angryhex-agent/src/ab/demo/CVS +rm -Rf ./angryhex-agent/src/ab/demo/other/CVS +rm -Rf ./angryhex-agent/src/ab/demo/util/CVS +rm -Rf ./angryhex-agent/src/ab/planner/CVS +rm -Rf ./angryhex-agent/src/ab/server/CVS +rm -Rf ./angryhex-agent/src/ab/server/proxy/CVS +rm -Rf ./angryhex-agent/src/ab/server/proxy/message/CVS +rm -Rf ./angryhex-agent/src/ab/utils/CVS +rm -Rf ./angryhex-agent/src/ab/vision/CVS +rm -Rf ./angryhex-agent/src/ab/vision/resources/CVS + +cp -R ./abV1.2/src/external/* ./angryhex-agent/src/external/ +rm -Rf ./angryhex-agent/src/external/CVS + + diff --git a/src/angrybirds-box2dplugin/Makefile b/src/angrybirds-box2dplugin/Makefile new file mode 100644 index 0000000..bbb63f3 --- /dev/null +++ b/src/angrybirds-box2dplugin/Makefile @@ -0,0 +1,24 @@ + +OUTFILE=libdlvhexplugin-hexagentplugin.so +PLUGIN_DIR=/usr/local/lib/dlvhex/plugins/ + +INCLUDES= \ + -isystem /usr/local/include \ + -isystem /usr/local/include/dlvhex2/bm3.7.0 + +LIBS=-lBox2D -lboost_system -ldlvhex2-base + +.PHONY: all compile install clean + +all: compile + +compile: + # IMPORTANT the hex plugin has to be built with g++-4.4, otherwise it cannot be loaded by dlvhex + g++-4.4 -fPIC -shared ${INCLUDES} ${LIBS} -o $(OUTFILE) libdlvhexplugin-hexagentplugin.cpp -g -O0 -Wall -Wextra -pedantic + +install: compile + mkdir -p ${PLUGIN_DIR} + cp ${OUTFILE} ${PLUGIN_DIR} + +clean: + rm -rf ${OUTFILE}* diff --git a/src/angrybirds-box2dplugin/compile.sh b/src/angrybirds-box2dplugin/compile.sh new file mode 100644 index 0000000..5e38fc2 --- /dev/null +++ b/src/angrybirds-box2dplugin/compile.sh @@ -0,0 +1,12 @@ +HEXPREFIX=/usr/local +HEXINSTALL=/usr/local/lib +BOX2DINSTALL=/usr/local +OUTFILE=libdlvhexplugin-hexagentplugin.so +INSTALLPATH=$HEXINSTALL/dlvhex/plugins/ + +mkdir $HEXINSTALL/dlvhex +mkdir $INSTALLPATH + +g++-4.4 -fPIC -shared -isystem $HEXPREFIX/include -isystem $BOX2DINSTALL/include -L $BOX2DINSTALL/lib -lBox2D -o $OUTFILE libdlvhexplugin-hexagentplugin.cpp -g -O0 -Wall -Wextra -pedantic 2>&1 + +cp $OUTFILE $INSTALLPATH diff --git a/src/angrybirds-box2dplugin/config.h b/src/angrybirds-box2dplugin/config.h new file mode 100644 index 0000000..9dda857 --- /dev/null +++ b/src/angrybirds-box2dplugin/config.h @@ -0,0 +1,43 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +#ifndef CONFIG_H +#define CONFIG_H + +//Defines the factor, by which objects from the dlv program will be scaled for physics calculations. The numbers will be divided by this constant. +#define SCALE_FACTOR 10 + +//The arguments of a simulation step. +#define TIME_STEP 1.0f / 30.0f +#define VELOCITY_ITERATIONS 6 +#define POSITION_ITERATIONS 2 + +//Densities for mass calculation +#define PIG_DENSITY 1 +#define ICE_DENSITY 1 +#define WOOD_DENSITY 2 +#define STONE_DENSITY 3 +#define TNT_DENSITY 2 + +#define RED_SIZE 10 +#define YELLOW_SIZE 14 +#define BLUE_SIZE 9 +#define BLACK_SIZE 18 +#define WHITE_SIZE 18 + +//This flag enables the saving of various debug images. Look in debugFolder for SVGs. +const bool debug = false; + +//The folder for all file debug output, if so enabled in other flags. Please be sure to append the trailing sperator (e.g. '/'). +const char debugFolder[] = "/home/Angry-HEX/plugintest/svg/"; + +#endif diff --git a/src/angrybirds-box2dplugin/libdlvhexplugin-hexagentplugin.cpp b/src/angrybirds-box2dplugin/libdlvhexplugin-hexagentplugin.cpp new file mode 100644 index 0000000..701d289 --- /dev/null +++ b/src/angrybirds-box2dplugin/libdlvhexplugin-hexagentplugin.cpp @@ -0,0 +1,2305 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +#include +#include "config.h" +#include +#include +#include + +using namespace dlvhex; + +enum Type { ice, wood, stone, pig, ground, tnt }; + + +struct Sling +{ + float x; + float y; + float w; + float h; +}; + +struct Object +{ + int id; + float cx; + float cy; + float w; + float h; + float angle; + + Type type; + + Object() + { + id = -1; + cx = 0; + cy = 0; + w = 0; + h = 0; + angle = 0; + } + + b2Vec2 getCentroid() const + { + b2Vec2 v; + v.Set(cx, cy); + + return v; + } + b2Vec2 getLeftFaceCenter() const + { + b2Vec2 v; + v.Set(cx-w/2, cy); + return v; + } + b2Vec2 getTopFaceCenter() const + { + b2Vec2 v; + v.Set(cx, cy-h/2); + return v; + } + b2Vec2 getRightFaceCenter() const + { + b2Vec2 v; + v.Set(cx+w/2, cy); + return v; + } + b2Vec2 getBottomFaceCenter() const + { + b2Vec2 v; + v.Set(cx, cy+h/2); + return v; + } + + + + void scale(float factor) + { + cx = cx/factor; + cy = cy/factor; + w = w/factor; + h = h/factor; + } + + float getMass() + { + float area = w*h; + + switch (type) + { + case pig : + return PIG_DENSITY * area; + case ice : + return ICE_DENSITY * area; + case wood : + return WOOD_DENSITY * area; + case stone : + return STONE_DENSITY * area; + case tnt : + return TNT_DENSITY * area; + default: + return 0; + } + } + + static Object findById(const std::vector & objects, int id) + { + for(std::vector::const_iterator i = objects.begin(); i != objects.end(); ++i) + if ((*i).id == id) + return (*i); + + Object ret; + ret.id = -1; + return ret; + } + + static void removeById(std::vector & objects, int id) + { + for(std::vector::iterator i = objects.begin(); i != objects.end(); ++i) + if ((*i).id == id) + { + objects.erase(i); + return; + } + } +}; + +class Calculation +{ +public: + + static void fillVector(const ComfortInterpretation & i, std::vector & objects) + { + for (ComfortInterpretation::iterator c = i.begin(); c != i.end(); ++c) + { + Object o; + + o.id = c->getArgument(1).intval; + + if (c->getArgument(2).getUnquotedString() == "ice") + o.type = ice; + else if (c->getArgument(2).getUnquotedString() == "wood") + o.type = wood; + else if (c->getArgument(2).getUnquotedString() == "stone") + o.type = stone; + else if (c->getArgument(2).getUnquotedString() == "pig") + o.type = pig; + else if (c->getArgument(2).getUnquotedString() == "ground") + o.type = ground; + else if (c->getArgument(2).getUnquotedString() == "tnt") + o.type = tnt; + else + { + std::cerr << "Unknown object type \"" << c->getArgument(2).getUnquotedString() << + "\"."; + assert(true); + } + + o.cx = c->getArgument(3).intval; + o.cy = c->getArgument(4).intval; + o.w = c->getArgument(5).intval; + o.h = c->getArgument(6).intval; + o.angle = std::atof(c->getArgument(7).getUnquotedString().c_str()); + + objects.push_back(o); + } + } +}; + +#define BOUND 0.1 +#define _scaleFactor 1.005 +#define _angleAdjust 0.0 + +class TrajectoryPlanner +{ + static double x_offset; + static double y_offset; + + static double _launchAngle []; + static double _changeAngle []; + static double _launchVelocity[]; + + /* + static double BOUND // = 0.1; + // small modification to the scale and angle + static double _scaleFactor // = 1.005; + static double _angleAdjust // = 0.0; + */ + + // return scene scale determined by the sling size + static double getSceneScale(Sling sling) + { + return sling.h + sling.w; + } + + // find the reference point given the sling + static b2Vec2 getReferencePoint(Sling sling) + { + return b2Vec2((int)(sling.x + x_offset * sling.w), (int)(sling.y + y_offset * sling.w)); + } + + static double getVelocity(double theta) + { + if (theta < _launchAngle[0]) + return _scaleFactor * _launchVelocity[0]; + + for (int i = 1; i < 13; i++) + { + if (theta < _launchAngle[i]) + return _scaleFactor * _launchVelocity[i-1]; + } + + return _scaleFactor * _launchVelocity[13 /*_launchVelocity.length*/-1]; + } + + // get the velocity for the desired angle + static double getVelocity(double _velocity, double theta) + { + if (theta < _launchAngle[0]) + return _velocity * _launchVelocity[0]; + + for (int i = 1; i < 13 /*_launchAngle.length*/; i++) + { + if (theta < _launchAngle[i]) + return _velocity * _launchVelocity[i-1]; + } + + return _velocity * _launchVelocity[13 /*_launchVelocity.length*/-1]; + } + + // take the initial angle of the desired trajectory and return the launch angle required + static double actualToLaunch(double theta) + { + for (int i = 1; i < 13 /*_launchAngle.length*/; i++) + { + if (theta > _launchAngle[i-1] && theta < _launchAngle[i]) + return theta + _changeAngle[i-1]; + } + return theta + _changeAngle[13/*_launchAngle.length*/-1]; + } + + // take the launch angle and return the actual angle of the resulting trajectory + static double launchToActual(double theta) + { + for (int i = 1; i < 13 /*_launchAngle.length*/; i++) + { + if (theta > _launchAngle[i-1] && theta < _launchAngle[i]) + return theta - _changeAngle[i-1]; + } + return theta - _changeAngle[/*_launchAngle.length*/-1]; + } + + // find the release point given the sling and launch angle + // theta - the launch angle in radians (positive means up) + static b2Vec2 findReleasePoint(Sling sling, double theta) + { + double mag = sling.h * 10; + b2Vec2 ref = getReferencePoint(sling); + b2Vec2 release((int)(ref.x - mag * std::cos(theta)), (int)(ref.y + mag * std::sin(theta))); + + return release; + } + + public: + + // predicts a trajectory + static std::vector predictTrajectory(Sling slingshot, b2Vec2 launchPoint, int x_max, double _velocity) + { + + // get slingshot reference point + b2Vec2 slingLocation = getReferencePoint(slingshot); + + // launch vector + b2Vec2 launchVector(slingLocation.x - launchPoint.x, launchPoint.y - slingLocation.y); + if (launchVector.x < slingshot.w) + { + return std::vector(); + } + + // estimate scene scale + double sceneScale = getSceneScale(slingshot); + double theta = launchToActual(std::atan2(launchVector.y, launchVector.x)); + double velocity = getVelocity(_velocity, theta); + + //System.out.println("launch angle " + Math.toDegrees(theta)); + + // initial velocities + double u_x = velocity * std::cos(theta); + double u_y = velocity * std::sin(theta); + + // the normalised coefficients + double a = -0.5 / (u_x * u_x); + double b = u_y / u_x; + + //System.out.println("plot trajectory: " + a + "x^2 + " + b + "x"); + + std::vector trajectory; + for (int x = 0; x < x_max; x++) + { + double xn = x / sceneScale; + int y = slingLocation.y - (int)((a * xn * xn + b * xn) * sceneScale); + trajectory.push_back(b2Vec2(x + slingLocation.x, y)); + } + + return trajectory; + } + + static double fitAngle(double start, double end, double x, double y) + { + double retAngle = 0; + double bestError = 100000; + for (double theta = start; theta <= end; theta += 0.0001) + { + double velocity = getVelocity(theta); + + // initial velocities + double u_x = velocity * std::cos(theta); + double u_y = velocity * std::sin(theta); + + // the normalised coefficients + double a = -0.5 / (u_x * u_x); + double b = u_y / u_x; + + // the error in y-coordinate + double error = std::abs(a*x*x + b*x - y); + if (error < bestError) + { + retAngle = theta; + bestError = error; + } + } + return retAngle; + } + + /* Estimate launch points given a desired target point using maximum velocity + * If there are two launch point for the target, they are both returned in + * the list {lower point, higher point) + * Note - angles greater than 75 are not considered + * + * @param slingshot - bounding rectangle of the slingshot + * targetPoint - coordinates of the target to hit + * @return A list containing 2 possible release points + */ + static std::vector estimateLaunchPoint_new(const Sling& slingshot, const b2Vec2& targetPoint, double _velocity) + + { + // calculate relative position of the target (normalized) + _velocity++; // ;) + double scale = getSceneScale(slingshot); + b2Vec2 ref = getReferencePoint(slingshot); + + double x = (targetPoint.x - ref.x) / scale; + double y = -(targetPoint.y - ref.y) / scale; + double theta1 = 0; + double theta2 = 0; + + // first estimate launch angle using the projectile equation (constant velocity) + double v = _scaleFactor * _launchVelocity[6]; + double v2 = v * v; + double v4 = v2 * v2; + double tangent1 = (v2 - std::sqrt(std::abs(v4 - (x * x + 2 * y * v2)))) / x; + double tangent2 = (v2 + std::sqrt(std::abs(v4 - (x * x + 2 * y * v2)))) / x; + double t1 = actualToLaunch(std::atan(tangent1)); + double t2 = actualToLaunch(std::atan(tangent2)); + + + theta1 = fitAngle(t1-BOUND,t1+BOUND,x,y); + theta2 = fitAngle(t2-BOUND,t2+BOUND,x,y); + + //System.out.println("FORMER THETAS: "+Math.toDegrees(theta1)+" "+Math.toDegrees(theta2)); + + theta1 = actualToLaunch(theta1); + theta2 = actualToLaunch(theta2); + + //System.out.println("NEW THETAS: " + Math.toDegrees(theta1) + ", " + Math.toDegrees(theta2)); + + + // add launch points to the list + std::vector pts; + pts.push_back(findReleasePoint(slingshot, theta1)); + + + // add the higher point if it is below 75 degrees and not same as first + if (theta2 < (75)*(M_PI/180) && theta2 != theta1) + pts.push_back(findReleasePoint(slingshot, theta2)); + + return pts; + } + + + + // estimate launch point given a desired target point + // if there are two launch point for the target, they are both returned in + // the list {lower point, higher point) + // Note - angles greater than 80 are not considered due to their low initial velocity + static std::vector estimateLaunchPoint(const Sling& slingshot, const b2Vec2& targetPoint, double _velocity) + { + // calculate relative position of the target (normalised) + double scale = getSceneScale(slingshot); + + b2Vec2 ref = getReferencePoint(slingshot); + + double x = (targetPoint.x - ref.x) / scale; + double y = -(targetPoint.y - ref.y) / scale; + + double bestError = 1000; + double theta1 = 0; + double theta2 = 0; + + // search tangents from -0.5 to 1.0 + //for (double tangent = -0.5; tangent < 1.0; tangent += 0.0001) + for(double theta = -30*(M_PI/180); theta < 45*(M_PI/180); theta += 0.01*(M_PI/180) ) + { + //double theta = std::atan(tangent); + double velocity = getVelocity(_velocity, theta); + + // initial velocities + double u_x = velocity * std::cos(theta); + double u_y = velocity * std::sin(theta); + + // the normalised coefficients + double a = -0.5 / (u_x * u_x); + double b = u_y / u_x; + + // the error in y-coordinate + double error = std::abs(a*x*x + b*x - y); + if (error < bestError) + { + theta1 = theta; + bestError = error; + } + } + + bestError = 1000; + + //for (double tangent = -1.0; tangent < 4.0; tangent += 0.0001) + for(double theta = 45*(M_PI/180); theta < 75*(M_PI/180); theta += 0.01*(M_PI/180) ) + + { + // double theta = std::atan(tangent); + double velocity = getVelocity(_velocity, theta); + + // initial velocities + double u_x = velocity * std::cos(theta); + double u_y = velocity * std::sin(theta); + + // the normalised coefficients + double a = -0.5 / (u_x * u_x); + double b = u_y / u_x; + + // the error in y-coordinate + double error = std::abs(a*x*x + b*x - y); + if (error < bestError) + { + theta2 = theta; + bestError = error; + } + } + + theta1 = actualToLaunch(theta1); + theta2 = actualToLaunch(theta2); + + //System.out.println("Two angles: " + Math.toDegrees(theta1) + ", " + Math.toDegrees(theta2)); + + // add launch points to the list + std::vector pts; + pts.push_back(findReleasePoint(slingshot, theta1)); + + // add the higher point if it is below 75 degrees and not same as first + if (theta2 < 75 * (M_PI/180) && std::abs(theta1 - theta2) > 0.01) + pts.push_back(findReleasePoint(slingshot, theta2)); + + return pts; + } +}; + +double TrajectoryPlanner::x_offset = 0.5; +double TrajectoryPlanner::y_offset = 0.65; +// 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70 +double TrajectoryPlanner::_launchAngle [] = {0.13, 0.215, 0.296, 0.381, 0.476, 0.567, 0.657, 0.741, 0.832, 0.924, 1.014, 1.106, 1.197}; +double TrajectoryPlanner::_changeAngle [] = {0.052, 0.057, 0.063, 0.066, 0.056, 0.054, 0.050, 0.053, 0.052, 0.047, 0.043, 0.038, 0.034}; +double TrajectoryPlanner::_launchVelocity[] = {2.9, 2.88, 2.866, 2.838, 2.810, 2.800, 2.790, 2.773, 2.753, 2.749, 2.744, 2.736, 2.728}; + + +class WorldCreation +{ +public: + ///Creates a world. The objects are scaled wit scaleFactor, and if createAutoGround is specified, a ground plate is created below the objects. Each body has one fixture. createAutoGround specifies that we want to use automatically generated ground and not the one provided. + static b2World createWorld(std::vector & objects, int scaleFactor, bool createAutoGround = false) + { + // Define the gravity vector. + b2Vec2 gravity(0.0f, 9.8f); + + // Construct a world Object, which will hold and simulate the rigid bodies. + b2World world(gravity); + + //First we add all the objects of the object list to the world, scaling them. At the end, we add the floor, based on the scaled objects. + for(std::vector::iterator it = objects.begin(); it != objects.end(); ++it) + { + Object* o = &(*it); + + if (createAutoGround && o->type == ground) + continue; + + o->scale(scaleFactor); + + // Define the dynamic body. We set its position and call the body factory. + b2BodyDef bodyDef; + bodyDef.type = b2_dynamicBody; + bodyDef.position = o->getCentroid(); + b2Body* body = world.CreateBody(&bodyDef); + + // Define another box shape for our dynamic body. + b2PolygonShape dynamicBox; + dynamicBox.SetAsBox(o->w/2.0f, o->h/2.0f); + + // Define the dynamic body fixture. + b2FixtureDef fixtureDef; + fixtureDef.shape = &dynamicBox; + + // Set the box density to be non-zero, so it will be dynamic. + fixtureDef.density = 1.0f; + fixtureDef.restitution = 0; + + // Add the shape to the body. + body->CreateFixture(&fixtureDef); + + // Change the rotation + body->SetTransform(body->GetPosition(), o->angle); + + //The back link from body to object. + if (o->type != ground) + body->SetUserData(&(o->id)); + } + + if (createAutoGround) + { + // Define the ground body. + b2BodyDef groundBodyDef; + groundBodyDef.position.Set(0.0f, maxYPlusH(world)); + b2Body* groundBody = world.CreateBody(&groundBodyDef); + groundBody->SetUserData(NULL); + b2PolygonShape groundBox; + groundBox.SetAsBox(1000.0f, 0.0f); + groundBody->CreateFixture(&groundBox, 1.0f); + } + + return world; + } + + static int GetId(const b2Body* body) + { + if (body->GetUserData() == NULL) + return -1; + + return *(int*)body->GetUserData(); + } + + static float maxXPlusW(const b2World& world) + { + float m = 0; + + for (const b2Body * b = world.GetBodyList(); b != NULL; b = b->GetNext()) + for (const b2Fixture * f = b->GetFixtureList(); f != NULL; f = f->GetNext()) + m = std::max(f->GetAABB(0).upperBound.x, m); + + return m; + } + +private: + + static float maxYPlusH(const b2World& world) + { + float m = 0; + + for (const b2Body * b = world.GetBodyList(); b != NULL; b = b->GetNext()) + for (const b2Fixture * f = b->GetFixtureList(); f != NULL; f = f->GetNext()) + m = std::max(f->GetAABB(0).upperBound.y, m); + + return m; + } +}; + + + + +class DebugImage +{ + private: + std::ofstream file; + public: + DebugImage(const char* filename) + { + file.open(filename); + + file << "" << std::endl << + "" << std::endl << + std::endl << + "" << std::endl; + + file << "" << + " " << + "" << + "" << + ""; + } + + void Save() + { + file << "" << std::endl; + + file.close(); + } + + void DrawWorld(const b2World& world, int highlightId, int scaleFactor = 1) + { + + for (const b2Body * b = world.GetBodyList(); b != NULL; b = b->GetNext()) + for (const b2Fixture * f = b->GetFixtureList(); f != NULL; f = f->GetNext()) + { + b2PolygonShape* s = (b2PolygonShape *)f->GetShape(); + std::vector vertices; + for (int i = 0; i < s->GetVertexCount(); ++i) + vertices.push_back(b->GetWorldPoint(s->GetVertex(i))); + vertices.push_back(b->GetWorldPoint(s->GetVertex(0))); + + int id = WorldCreation::GetId(b); + + if (id != -1) + { + DrawPath(vertices, false, id == highlightId ? "#FF0000" : "none", scaleFactor); + + //Label + b2Vec2 centroid = b->GetWorldCenter(); + file << "" << id << "" << std::endl; + } + else + DrawPath(vertices, false, "fill", scaleFactor); + } + } + + void DrawPath(std::vector path, const bool& drawArrow = false, std::string fill = "none", const int& scaleFactor = 1, const std::string& color = "#000000") + { + file << "::iterator i = path.begin(); i != path.end(); ++i) + file << i->x * scaleFactor << "," << i->y * scaleFactor << " "; + + if (drawArrow) + file << "m -1,-1 2,0 0,2"; + + file << "\" style=\"fill:" << fill << ";stroke:" << color << ";stroke-width:1px;stroke-opacity:1"; + file << "\" />" << std::endl; + } + + template + void DrawText(const T& text) + { + file << "" << text << "" << std::endl; + } + + template + void DrawVector(const std::vector& vector) + { + std::stringstream s; + + s << "{"; + + for (typename std::vector::const_iterator i = vector.begin(); i != vector.end(); ++i) + { + if (i != vector.begin()) + s << "; "; + + s << *i; + } + + s << "}"; + + DrawText(s.str()); + } + + void DrawGraph(const std::vector >& graph, const b2World& world, const int& scaleFactor) + { + for(std::vector >::const_iterator i = graph.begin(); i != graph.end(); ++i) + { + std::vector line; + + line.push_back(getCentroidForId(world,(*i).first)); + line.push_back(getCentroidForId(world,(*i).second)); + + DrawPath(line, true, "none", scaleFactor, "#FF0000"); + } + } + + private: + + static b2Vec2 getCentroidForId(const b2World& world, const int& id) + { + for (const b2Body * b = world.GetBodyList(); b != NULL; b = b->GetNext()) + if (WorldCreation::GetId(b) == id) + return b->GetWorldCenter(); + + return b2Vec2_zero; + } +}; + +std::map > > onTopCache; + +class OnTop +{ +public: + + static std::vector > calculateCached(std::vector & objects) + { + if (objects.size() <= 1) + return std::vector >(); + + long hash = calculateHash(objects); + + //Cache miss + if (onTopCache.find(hash) == onTopCache.end()) + onTopCache[hash] = calculate(objects); + + return onTopCache[hash]; + } + +private: + + static std::vector > calculate(std::vector & objects) + { + b2World world = WorldCreation::createWorld(objects, SCALE_FACTOR, true); + + if (debug) + { + DebugImage before("ontop-before.svg"); + before.DrawWorld(world, -1, SCALE_FACTOR); + before.Save(); + } + + //Now we run the simulation until everything has settled. Box2D sets bodys asleep after they have been idle for a short amount of time. We loop the simulation until all objects have fallen asleep. + bool allAsleep = false; + while (!allAsleep) + { + world.Step(TIME_STEP, VELOCITY_ITERATIONS, POSITION_ITERATIONS); + + allAsleep = true; + + for(b2Body * b = world.GetBodyList(); b != NULL; b = b->GetNext()) + { + //After each step, we set the speed of the objects to zero, because otherwise they would gain a lot of speed, crash in the ground and explode a little, thereby destroying a lot of similarity between original objects (in the game world) and the objects used for calculations. We want the objects to settle very slow. + b->SetLinearVelocity(b2Vec2_zero); + b->SetAngularVelocity(0); + + if (b->IsAwake() && b->GetType() == b2_dynamicBody) + allAsleep = false; + } + } + + //Contacts can only be calculated while objects are awake. + world.SetAllowSleeping(false); + //Final step to wake all objects. + world.Step(TIME_STEP, VELOCITY_ITERATIONS, POSITION_ITERATIONS); + + std::vector > graph; + + //Now we can extract all the contacts from the world, filter them, and add them to our little graph. + for (b2Contact* c = world.GetContactList(); c != NULL; c = c->GetNext()) + { + //Filter contacts, that do not constitute a touch. Contacts are created as soon as two objects axis aligned bounding rectangles overlap. It is sometimes the case that the rectangles overlap while the objects are not touching (yet). + if (!c->IsTouching()) + continue; + + //Extract the object ids. + int a = WorldCreation::GetId(c->GetFixtureA()->GetBody()); + int b = WorldCreation::GetId(c->GetFixtureB()->GetBody()); + + //If either of the objects is a static objects, which get their user data filled with NULL, we can filter the contact, because we don't reason about the floor. + if (a == -1 || b == -1) + continue; + + //We need to use the world manifold, for the direction of the normal may be in some local coordinate system and therefore incorrect. + b2WorldManifold worldManifold; + c->GetWorldManifold(&worldManifold); + + //If the x part of the contact normal is not 0, the touch is not on top or bottom, but on the side. We do not consider these. Based on observations, even if one object is on top of a slightly inclined object, the contact normal will be straight up, so we can disregard any normals with x != 0 (>0.1 for floating point errors). + if (worldManifold.normal.x > 0.1) + continue; + + //The normal vector points from body a to body b, and we want the on_top_of(a,b) + //relation to be true, if a is on top of b. If an object is nearer to the ground, and + //therefore the bottom of the picture, it has a higher x value. Therefore the vector + //a -> b needs to be positive, so that it points from the higher to the lower object. + //Only then can we use on_top_of(a,b). Otherwise, the object b is actually on top of a. + if (worldManifold.normal.y > 0) + graph.push_back(std::pair(a,b)); + else + graph.push_back(std::pair(b,a)); + + } + + if (debug) + { + DebugImage after("ontop-after.svg"); + after.DrawWorld(world, -1, SCALE_FACTOR); + after.DrawGraph(graph, world, SCALE_FACTOR); + after.Save(); + } + + return graph; + } + + + static long calculateHash(std::vector & objects) + { + long hash = 0; + + for(std::vector::iterator i = objects.begin(); i != objects.end(); ++i) + { + hash += (*i).id; + hash += (*i).cx; + hash += (*i).cy; + hash += (*i).w; + hash += (*i).h; + hash += (*i).angle; + } + + return hash; + } +}; + +class StabilityAtom : public ComfortPluginAtom +{ +public: + + StabilityAtom() : ComfortPluginAtom("stability") + { + setOutputArity(1); + addInputConstant(); //object w + addInputConstant(); //object h + addInputConstant(); //ojbect angle + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + Object o; + o.w = ((ComfortTerm)(query.input[0])).intval; + o.h = ((ComfortTerm)(query.input[1])).intval; + o.angle = std::atof(((ComfortTerm)(query.input[2])).getUnquotedString().c_str()); + + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(getStability(o))); + answer.insert(ct); + } + +private: + + int getStability(const Object& o) + { + std::vector objects; + objects.push_back(o); + b2World world = WorldCreation::createWorld(objects, 1); + + b2AABB rect = world.GetBodyList()->GetFixtureList()->GetAABB(0); + + float width = rect.upperBound.x - rect.lowerBound.x; + float height = rect.upperBound.y - rect.lowerBound.y; + + return std::min((int)((width / height)*50.0), 100); + } +}; + +class ClearSkyAtom : public ComfortPluginAtom +{ +public: + + ClearSkyAtom() : ComfortPluginAtom("clearsky") + { + setOutputArity(1); + addInputConstant(); //object id + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int oid = ((ComfortTerm)(query.input[0])).intval; + + std::vector objects; + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&firstbelow: Called with no objects." << std::endl; + + Object object = Object::findById(objects, oid); + if (object.id == -1) + { + std::cerr << "&firstbelow: Called with invalid target id " << oid << "." << std::endl; + return; + } + + b2Vec2 face = object.getTopFaceCenter(); + double width = object.w; + int olx = object.getLeftFaceCenter().x; + int orx = object.getRightFaceCenter().x; + bool clearsky = true; + const float OVERLAP_PERCENT = 0.7; + if (debug) + std::cerr << "OBJ:" << object.id << " " << width << std::endl; + for(std::vector::const_iterator i = objects.begin(); i != objects.end(); ++i) + { + b2Vec2 bot = i->getBottomFaceCenter(); + int lx = i->getLeftFaceCenter().x; + int rx = i->getRightFaceCenter().x; + if(debug) + std::cerr << "CK:" << i->id << "=" << lx << ":" << rx << ":" << olx << ":" << orx; + double overlap = std::max(0,(-std::max(lx,olx)+std::min(rx,orx))) / width; + if (debug) + std::cerr << " OVL:" << overlap << " " << OVERLAP_PERCENT << std::endl; + if (bot.y < face.y && overlap >= OVERLAP_PERCENT ) + { + clearsky = false; + break; + } + } + + if (clearsky) + { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(1)); + answer.insert(ct); + } + } + +}; + + +class FirstBelowAtom : public ComfortPluginAtom +{ +public: + + FirstBelowAtom() : ComfortPluginAtom("firstbelow") + { + setOutputArity(1); + addInputConstant(); //object id + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int oid = ((ComfortTerm)(query.input[0])).intval; + + std::vector objects; + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&firstbelow: Called with no objects." << std::endl; + + Object object = Object::findById(objects, oid); + if (object.id == -1) + { + std::cerr << "&firstbelow: Called with invalid target id " << oid << "." << std::endl; + return; + } + + int firstaboveid = getFirstBelow(object, objects); + + if (firstaboveid != -1) + { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(firstaboveid)); + answer.insert(ct); + } + } + +private: + class RCCB : public b2RayCastCallback + { + public: + int firstAbove; + + RCCB() + { + firstAbove = -1; + } + + virtual float32 ReportFixture(b2Fixture* fixture, const b2Vec2&, const b2Vec2&, float32 fraction) + { + firstAbove = WorldCreation::GetId(fixture->GetBody()); + return fraction; + } + }; + + int getFirstBelow(const Object& target, std::vector& objects) + { + //Now we create the world, scale factor 1 because we don't do any physics calculation anyways. + Object::removeById(objects, target.id); + b2World world = WorldCreation::createWorld(objects, 1); + + b2Vec2 start = target.getCentroid(); + b2Vec2 end(start.x,start.y+600); + RCCB cb; + + world.RayCast(&cb, start, end); + + drawDebug(world, target, cb.firstAbove); + return cb.firstAbove; + } + + ///This function creates an svg image for a target, trajectory, and index, so you can visualize the processes and debug. + static void drawDebug(const b2World& world, const Object& target, int result) + { + if (!debug) + return; + + std::stringstream name; + name << debugFolder << "firstbelow-" << target.id << "-"; + if (result == -1) + name << "reject"; + else + name << result; + name << ".svg"; + + DebugImage d(name.str().c_str()); + + d.DrawWorld(world, -1); + + std::vector ray; + ray.push_back(target.getCentroid()); + ray.push_back(b2Vec2(target.getCentroid().x,target.getCentroid().y+500)); + d.DrawPath(ray); + + d.Save(); + } +}; + + + + +class FirstAboveAtom : public ComfortPluginAtom +{ +public: + + FirstAboveAtom() : ComfortPluginAtom("firstabove") + { + setOutputArity(1); + addInputConstant(); //object id + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int oid = ((ComfortTerm)(query.input[0])).intval; + + std::vector objects; + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&firstabove: Called with no objects." << std::endl; + + Object object = Object::findById(objects, oid); + if (object.id == -1) + { + std::cerr << "&firstabove: Called with invalid target id " << oid << "." << std::endl; + return; + } + + int firstaboveid = getFirstAbove(object, objects); + + if (firstaboveid != -1) + { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(firstaboveid)); + answer.insert(ct); + } + } + +private: + class RCCB : public b2RayCastCallback + { + public: + int firstAbove; + + RCCB() + { + firstAbove = -1; + } + + virtual float32 ReportFixture(b2Fixture* fixture, const b2Vec2&, const b2Vec2&, float32 fraction) + { + firstAbove = WorldCreation::GetId(fixture->GetBody()); + return fraction; + } + }; + + int getFirstAbove(const Object& target, std::vector& objects) + { + //Now we create the world, scale factor 1 because we don't do any physics calculation anyways. + Object::removeById(objects, target.id); + b2World world = WorldCreation::createWorld(objects, 1); + + b2Vec2 start = target.getCentroid(); + b2Vec2 end(start.x,0); + RCCB cb; + + world.RayCast(&cb, start, end); + + drawDebug(world, target, cb.firstAbove); + return cb.firstAbove; + } + + ///This function creates an svg image for a target, trajectory, and index, so you can visualize the processes and debug. + static void drawDebug(const b2World& world, const Object& target, int result) + { + if (!debug) + return; + + std::stringstream name; + name << debugFolder << "firstabove-" << target.id << "-"; + if (result == -1) + name << "reject"; + else + name << result; + name << ".svg"; + + DebugImage d(name.str().c_str()); + + d.DrawWorld(world, -1); + + std::vector ray; + ray.push_back(target.getCentroid()); + ray.push_back(b2Vec2(target.getCentroid().x,0)); + d.DrawPath(ray); + + d.Save(); + } +}; + + +class ShootableAtom : public ComfortPluginAtom +{ +public: + + ShootableAtom() : ComfortPluginAtom("shootable") + { + setOutputArity(3); + addInputConstant(); //target id + addInputConstant(); //trajectory identifier, low or high + addInputConstant(); //velocity + addInputConstant(); //slingshot x + addInputConstant(); //slingshot y + addInputConstant(); //slingshot width + addInputConstant(); //slingshot height + addInputConstant(); // birdtype + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int targetid = ((ComfortTerm)(query.input[0])).intval; + std::string trajectory = ((ComfortTerm)(query.input[1])).getUnquotedString(); + double velocity = std::atof(((ComfortTerm)(query.input[2])).getUnquotedString().c_str()); + + Sling slingshot; + + slingshot.x = ((ComfortTerm)(query.input[3])).intval; + slingshot.y = ((ComfortTerm)(query.input[4])).intval; + slingshot.w = ((ComfortTerm)(query.input[5])).intval; + slingshot.h = ((ComfortTerm)(query.input[6])).intval; + + std::string birdType = ((ComfortTerm)(query.input[7])).getUnquotedString(); + int size; + if(birdType == "redbird") + size = RED_SIZE; + else if (birdType == "yellowbird") + size = YELLOW_SIZE; + else if (birdType == "bluebird") + size = BLUE_SIZE; + else if (birdType == "blackbird") + size = BLACK_SIZE; + else if (birdType == "whitebird") + size = WHITE_SIZE; + + + std::vector objects; + + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&next: Called with no objects." << std::endl; + + Object target = Object::findById(objects, targetid); + if (target.id == -1) + { + std::cerr << "&next: Called with invalid target id " << targetid << "." << std::endl; + return; + } + + //Ground is not shootable and nothing can be hit behind it. + if (target.type == ground) + return; + + const int POINTS = 9; + const int GUARD = 2; + int c[POINTS]; + b2Vec2 p[POINTS]; + + b2Vec2 left = target.getLeftFaceCenter(); + b2Vec2 top = target.getTopFaceCenter(); + b2Vec2 right = target.getRightFaceCenter(); + b2Vec2 bottom = target.getBottomFaceCenter(); + + if(trajectory == "high") + { + p[0] = top; + for(int i = 1; i < POINTS; i++) + p[i] = p[0]; + // + // p[2] is middle + // + // Group 1 + p[0].x = (int) left.x + GUARD; + p[1].x = (int) std::min(left.x +GUARD + size/2,right.x); + p[2].x = (int) std::min(left.x +GUARD+ size,right.x); + + // Group 2 + p[3].x = (int) std::max(top.x - size/2,left.x); + p[4].x = (int) top.x; + p[5].x = (int) std::min(top.x + size/2,right.x); + + // Group 3 + p[6].x = (int) std::max(right.x - GUARD - size, left.x);; + p[7].x = (int) std::max(right.x - GUARD - size/2, left.x); + p[8].x = (int) right.x - GUARD; + + + } + else // low trajectory. Alternatives are computed from the middle point upwards. + { + + p[0] = left; + for(int i = 1; i < POINTS; i++) + p[i] = p[0]; + + // Group 1 + p[0].y = (int) (bottom.y-GUARD); + p[1].y = (int) std::max(bottom.y- GUARD- size/2,top.y); + p[2].y = (int) std::max(bottom.y- GUARD - size,top.y);; + + // Group 2 + p[3].y = (int) std::max(left.y - size/2,top.y); + p[4].y = (int) left.y; + p[5].y = (int) std::min(left.y + size/2,bottom.y);; + + // Group 3 + p[6].y = (int) std::min(top.y + GUARD + size, bottom.y); + p[7].y = (int) std::min(top.y + GUARD + size/2,bottom.y); + p[8].y = (int) (top.y + GUARD); + + +// Y axis growing downwards + //p[1].y = (int)(std::max(p[0].y - size/2, top.y)); + //p[2].y = (int)(std::max(p[0].y - size, top.y)); + //p[3].y = (int)(std::max((p[0].y - size/2 - size), top.y)); + //p[4].y = (int)(std::max( (p[0].y - size*2), top.y)); + +// p[1].y = std::min(p[0].y + size/2, top.y); +// p[2].y = std::min(p[0].y + size, top.y); +// p[3].y = std::min((p[0].y + size/2 - size), top.y); +// p[4].y = std::min( (p[0].y + size*2), top.y); + + + } + + if (debug) + std::cerr << "Object:" << targetid << " -> " << target.cx << ":" << target.cy << ":" << target.w << ":" << target.h << std::endl; + + + if (debug) { + std::cerr << (trajectory == "high" ? "H=" : "L="); + for(int i = 0; i < POINTS; i++) + std::cerr << p[i].x << ":" << p[i].y << " "; + std::cerr << std::endl; + } + + + for(int i = 0; i < POINTS; i++) + { + if (debug) + std::cerr << "GFO:" << targetid << " " << p[i].x << ":" << p[i].y ; + + c[i] = getFrontObject(p[i], trajectory, slingshot, velocity, objects); + if(debug) + std::cerr << "==>" << c[i] << std::endl; + } + if(debug) + std::cerr << std::endl; + + int shift = -1; + int retValues[POINTS/3]; + + for (int i = 0; i < POINTS/3; i++) + retValues[i] = -1; + + for (int i = 0; i < POINTS/3; i++) + + if (targetid == c[i*3] && c[i*3] == c[i*3+1] && c[i*3] == c[i*3+2]) + { + retValues[i] = shift = (trajectory == "high" ? p[i*3+1].x : p[i*3+1].y); + if (debug) std::cerr << "TP:" << i << "=" << retValues[i] << std::endl; + } + + +/* + if (c[0] == c[1] && c[0] == c[2]) + { + if (debug) std::cerr << " Downwards"; + retValues[0] = shift = trajectory == "high" ? p[1].x : p[1].y; + } + if (c[2] == c[3] && c[2] == c[4]) + { + if (debug) std::cerr << " Upwards"; + retValues[2] = shift = trajectory == "high" ? p[3].x : p[3].y ; + } + if (c[1] == c[2] && c[1] == c[3]) + { + if (debug) std::cerr << " Center"; + retValues[1] = shift = trajectory == "high" ? p[2].x : p[2].y; + } + */ + if (debug) std::cerr << std::endl; + // + // shift will contain in priority order, either center, upwards or downwards point. + // For low trajectories the downwards point is the middle of left face + // For high trajectories downwards is meant to be leftmost Y point + // + // The worst point of the three (the downward one) is never returned unless it is the unique + // + bool targetHit = false; + for(int i = 0; i < POINTS; i++) + { + targetHit = targetHit || c[i] == targetid; + } + + if (targetHit && shift >= 0 ) { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(targetid)); + + // + // For low trajectories we propose center and upper trajectory first (the third one only if none is avail + // + if (trajectory == "low") + { + ct.push_back(ComfortTerm::createInteger(retValues[POINTS/3-2] >= 0 ? retValues[POINTS/3-2] : shift)); + ct.push_back(ComfortTerm::createInteger(retValues[POINTS/3-1] >= 0 ? retValues[POINTS/3-1] : shift)); + } + // + // For high trajectories we propose center and leftward trajectory first (the third one only if none is avail + // + + else + { + ct.push_back(ComfortTerm::createInteger(retValues[POINTS/3-2] >= 0 ? retValues[POINTS/3-2] : shift)); + ct.push_back(ComfortTerm::createInteger(retValues[POINTS/3-3] >= 0 ? retValues[POINTS/3-3] : shift)); + + } + //std::cerr << "RETURNING " << c[0] << " " << retValues[2] << shift << " " << targetid << std::endl; + answer.insert(ct); + } + } + +private: +class RCCB : public b2RayCastCallback +{ + public: + ///The hits reported by the ray cast. Key is a float for sorting in hit order, value is the object id. Note that though we try to minimize the number of objects reported behind floor, there might still be some of them in the map. + std::map hits; + + virtual float32 ReportFixture(b2Fixture* fixture, const b2Vec2&, const b2Vec2&, float32 fraction) + { + int id = WorldCreation::GetId(fixture->GetBody()); + + hits[fraction] = id; + + //In this case (when the floor is hit) we tell Box2D that henceforth we only want objects before this floor hit. Box2D takes the return value of this function, and afterwards only notifies intersections that have a lower fraction than the returned one. + if (id == -1) + return fraction; + + return 1; + } +}; + +/** + * Gets front object in a given trajectory. + */ + + static int getFrontObject(const b2Vec2& hitPoint, const std::string& trajectory, const Sling& slingshot, const double& velocity, std::vector& objects) + { + //First, we calculate the two possible release points (if there are two). + std::vector launchPoints = TrajectoryPlanner::estimateLaunchPoint(slingshot, hitPoint, velocity); + + //If only one trajectory is possible, it is always the lower one. + if (launchPoints.size() == 1 && trajectory == "high") + return -3; + + //Extracting the correct launch point. + b2Vec2 launchPoint; + if (trajectory == "high") + launchPoint = launchPoints[1]; + else + launchPoint = launchPoints[0]; + + //Now we create the world, scale factor 1 because we don't do any physics calculation anyways. + b2World world = WorldCreation::createWorld(objects, 1); + + //And we calculate all the points in the trajectory. + int x_max = WorldCreation::maxXPlusW(world); + std::vector traj = TrajectoryPlanner::predictTrajectory(slingshot, launchPoint, x_max, velocity); + + traj = simplifyTrajectory(traj); + + //Now we fill the result vector. We step through the points of the trajectory one by one and check if any point intersects with an object. If so, we add the object to the result vector. + std::vector result; + + for (std::vector::iterator i = traj.begin(); i + 1 != traj.end(); ++i) + { + RCCB cb; + + world.RayCast(&cb, *i, *(i + 1)); + + for (std::map::const_iterator hit = cb.hits.begin(); hit != cb.hits.end(); ++hit) + { + if ((*hit).second == -1) + { + + return -1; + } + + return ((*hit).second); + } + } + return -2; + } + + static std::vector simplifyTrajectory(const std::vector& vector) + { + const unsigned int size = vector.size(); + + //We initilize the vector to size/10, the number of vertices that we will keep, plus one for the last vertex. + std::vector result; + result.reserve(size/10 + 1); + + for (unsigned int i = 0; i < size; i += 10) + { + result.push_back(vector[i]); + + //If we hit the last point of the trajectory, we can return, so that it will not be added twice. + if (i == size - 1) + { + assert(size/10 + 1 < result.max_size()); + return result; + } + } + + //Add the last point of the trajectory. + result.push_back(vector[size - 1]); + + //Make sure there have not been any resize operations. If there had been any, we would need to readjust our starting values. + assert(size/10 + 1 < result.max_size()); + + return result; + } +}; +/* + * Takes a target and finds the lowest usable trajectory for a white bird iterating from the object y up in 10 pixel steps. + */ + +class BestWhiteAtom : public ComfortPluginAtom +{ +public: + + BestWhiteAtom() : ComfortPluginAtom("bestwhite") + { + setOutputArity(1); + addInputConstant(); //target id + addInputConstant(); //trajectory identifier, low or high + addInputConstant(); //velocity + addInputConstant(); //slingshot x + addInputConstant(); //slingshot y + addInputConstant(); //slingshot width + addInputConstant(); //slingshot height + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int targetid = ((ComfortTerm)(query.input[0])).intval; + std::string trajectory = ((ComfortTerm)(query.input[1])).getUnquotedString(); + double velocity = std::atof(((ComfortTerm)(query.input[2])).getUnquotedString().c_str()); + + Sling slingshot; + + slingshot.x = ((ComfortTerm)(query.input[3])).intval; + slingshot.y = ((ComfortTerm)(query.input[4])).intval; + slingshot.w = ((ComfortTerm)(query.input[5])).intval; + slingshot.h = ((ComfortTerm)(query.input[6])).intval; + + std::string birdType = ((ComfortTerm)(query.input[7])).getUnquotedString(); + int size; + if(birdType == "redbird") + size = RED_SIZE; + else if (birdType == "yellowbird") + size = YELLOW_SIZE; + else if (birdType == "bluebird") + size = BLUE_SIZE; + else if (birdType == "blackbird") + size = BLACK_SIZE; + else if (birdType == "whitebird") + size = WHITE_SIZE; + + + std::vector objects; + + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&next: Called with no objects." << std::endl; + + Object target = Object::findById(objects, targetid); + if (target.id == -1) + { + std::cerr << "&next: Called with invalid target id " << targetid << "." << std::endl; + return; + } + + //Ground is not shootable and nothing can be hit behind it. + if (target.type == ground) + return; + + const int POINTS = 3; + const int GUARD = 2; + int c[POINTS]; + Object ob[POINTS]; + b2Vec2 p[POINTS]; + + b2Vec2 left = target.getLeftFaceCenter(); + b2Vec2 top = target.getTopFaceCenter(); + b2Vec2 right = target.getRightFaceCenter(); + b2Vec2 bottom = target.getBottomFaceCenter(); + + int shift = -1; + int X_THRESHOLD = top.x + 20; + for (p[0].y = top.y-10; p[0].y >= 40; p[0].y -= 20) + { + + for(int i = 1; i < POINTS; i++) + p[i] = p[0]; + + p[0].x = (int) std::max(top.x - size/2,left.x); + p[1].x = (int) top.x; + p[2].x = (int) std::min(top.x + size/2,right.x); + + + if (debug) + std::cerr << "Object:" << targetid << " -> " << target.cx << ":" << target.cy << ":" << target.w << ":" << target.h << std::endl; + + + if (debug) { + std::cerr << (trajectory == "high" ? "H=" : "L="); + for(int i = 0; i < POINTS; i++) + std::cerr << p[i].x << ":" << p[i].y << " "; + std::cerr << std::endl; + } + + for(int i = 0; i < POINTS; i++) + { + if (debug) + std::cerr << "BW:" << targetid << " " << p[i].x << ":" << p[i].y ; + + c[i] = getFrontObject(p[i], trajectory, slingshot, velocity, objects); + ob[i] = Object::findById(objects, c[i]); + + if(debug) + std::cerr << "==>" << c[i] << std::endl; + } + if(debug) + std::cerr << std::endl; + + shift = -1; + + if (ob[0].getLeftFaceCenter().x > X_THRESHOLD && ob[0].getLeftFaceCenter().x > X_THRESHOLD && ob[0].getLeftFaceCenter().x > X_THRESHOLD) + { + shift = p[1].y; + if (debug) std::cerr << "TP << " << shift << std::endl; + break; + } + + } // for + if (debug) std::cerr << std::endl; + + + if (shift >= 0 ) { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(shift)); + answer.insert(ct); + } + } + +private: +class RCCB : public b2RayCastCallback +{ + public: + ///The hits reported by the ray cast. Key is a float for sorting in hit order, value is the object id. Note that though we try to minimize the number of objects reported behind floor, there might still be some of them in the map. + std::map hits; + + virtual float32 ReportFixture(b2Fixture* fixture, const b2Vec2&, const b2Vec2&, float32 fraction) + { + int id = WorldCreation::GetId(fixture->GetBody()); + + hits[fraction] = id; + + //In this case (when the floor is hit) we tell Box2D that henceforth we only want objects before this floor hit. Box2D takes the return value of this function, and afterwards only notifies intersections that have a lower fraction than the returned one. + if (id == -1) + return fraction; + + return 1; + } +}; + +/** + * Gets front object in a given trajectory. + */ + + static int getFrontObject(const b2Vec2& hitPoint, const std::string& trajectory, const Sling& slingshot, const double& velocity, std::vector& objects) + { + //First, we calculate the two possible release points (if there are two). + std::vector launchPoints = TrajectoryPlanner::estimateLaunchPoint(slingshot, hitPoint, velocity); + + //If only one trajectory is possible, it is always the lower one. + if (launchPoints.size() == 1 && trajectory == "high") + return -3; + + //Extracting the correct launch point. + b2Vec2 launchPoint; + if (trajectory == "high") + launchPoint = launchPoints[1]; + else + launchPoint = launchPoints[0]; + + //Now we create the world, scale factor 1 because we don't do any physics calculation anyways. + b2World world = WorldCreation::createWorld(objects, 1); + + //And we calculate all the points in the trajectory. + int x_max = WorldCreation::maxXPlusW(world); + std::vector traj = TrajectoryPlanner::predictTrajectory(slingshot, launchPoint, x_max, velocity); + + traj = simplifyTrajectory(traj); + + //Now we fill the result vector. We step through the points of the trajectory one by one and check if any point intersects with an object. If so, we add the object to the result vector. + std::vector result; + + for (std::vector::iterator i = traj.begin(); i + 1 != traj.end(); ++i) + { + RCCB cb; + + world.RayCast(&cb, *i, *(i + 1)); + + for (std::map::const_iterator hit = cb.hits.begin(); hit != cb.hits.end(); ++hit) + { + if ((*hit).second == -1) + { + + return -1; + } + + return ((*hit).second); + } + } + return -2; + } + + static std::vector simplifyTrajectory(const std::vector& vector) + { + const unsigned int size = vector.size(); + + //We initilize the vector to size/10, the number of vertices that we will keep, plus one for the last vertex. + std::vector result; + result.reserve(size/10 + 1); + + for (unsigned int i = 0; i < size; i += 10) + { + result.push_back(vector[i]); + + //If we hit the last point of the trajectory, we can return, so that it will not be added twice. + if (i == size - 1) + { + assert(size/10 + 1 < result.max_size()); + return result; + } + } + + //Add the last point of the trajectory. + result.push_back(vector[size - 1]); + + //Make sure there have not been any resize operations. If there had been any, we would need to readjust our starting values. + assert(size/10 + 1 < result.max_size()); + + return result; + } +}; + + + +class NextAtom : public ComfortPluginAtom +{ +public: + + NextAtom() : ComfortPluginAtom("next") + { + setOutputArity(2); + addInputConstant(); //object id + + addInputConstant(); //target hitting offset + addInputConstant(); //trajectory identifier, low or high + addInputConstant(); //velocity + addInputConstant(); //slingshot x + addInputConstant(); //slingshot y + addInputConstant(); //slingshot width + addInputConstant(); //slingshot height + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int targetid = ((ComfortTerm)(query.input[0])).intval; + int targetOffset = ((ComfortTerm)(query.input[1])).intval; + std::string trajectory = ((ComfortTerm)(query.input[2])).getUnquotedString(); + double velocity = std::atof(((ComfortTerm)(query.input[3])).getUnquotedString().c_str()); + + Sling slingshot; + + slingshot.x = ((ComfortTerm)(query.input[4])).intval; + slingshot.y = ((ComfortTerm)(query.input[5])).intval; + slingshot.w = ((ComfortTerm)(query.input[6])).intval; + slingshot.h = ((ComfortTerm)(query.input[7])).intval; + + std::vector objects; + + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&next: Called with no objects." << std::endl; + + Object target = Object::findById(objects, targetid); + if (target.id == -1) + { + std::cerr << "&next: Called with invalid target id " << targetid << "." << std::endl; + return; + } + + //Ground is not shootable and nothing can be hit behind it. + if (target.type == ground) + return; + + std::vector inTrajectory = getNext(target,targetOffset, trajectory, slingshot, velocity, objects); + + + //dlvhex2 allows to return multiple results per retrieve. This is sensible here, because in order to calculate the second intersection, we need to check the whole trajectory up until the second intersection and skip the first intersection. By calculating all intersections in one go, we can save a lot of time. + int index = 0; + for(std::vector::const_iterator obj = inTrajectory.begin(); + obj != inTrajectory.end(); ++obj, ++index) + { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(index)); + ct.push_back(ComfortTerm::createInteger(*obj)); + answer.insert(ct); + } + } + +private: +class RCCB : public b2RayCastCallback +{ + public: + ///The hits reported by the ray cast. Key is a float for sorting in hit order, value is the object id. Note that though we try to minimize the number of objects reported behind floor, there might still be some of them in the map. + std::map hits; + + virtual float32 ReportFixture(b2Fixture* fixture, const b2Vec2&, const b2Vec2&, float32 fraction) + { + int id = WorldCreation::GetId(fixture->GetBody()); + + hits[fraction] = id; + + //In this case (when the floor is hit) we tell Box2D that henceforth we only want objects before this floor hit. Box2D takes the return value of this function, and afterwards only notifies intersections that have a lower fraction than the returned one. + if (id == -1) + return fraction; + + return 1; + } +}; + + static std::vector getNext(const Object& target, int targetOffset, const std::string& trajectory, const Sling& slingshot, const double& velocity, std::vector& objects) + { + //First, we calculate the two possible release points (if there are two). +// std::vector launchPoints = trajectory == "high" ? +// TrajectoryPlanner::estimateLaunchPoint(slingshot, target.getTopFaceCenter(), velocity) : +// TrajectoryPlanner::estimateLaunchPoint(slingshot, target.getLeftFaceCenter(), velocity); + + // + // targetOffset is precomputed by the shootable module. + // + b2Vec2 realTarget = trajectory == "high" ? target.getTopFaceCenter() : target.getLeftFaceCenter(); + if(trajectory == "high") + realTarget.x = targetOffset; + else + realTarget.y = targetOffset; + + if (debug) + std::cerr << "getNext:" << target.id << ":" << targetOffset << std::endl; + + std::vector launchPoints = TrajectoryPlanner::estimateLaunchPoint(slingshot, realTarget, velocity); + //If only one trajectory is possible, it is always the lower one. + if (launchPoints.size() == 1 && trajectory == "high") + return std::vector(); + + //Extracting the correct launch point. + b2Vec2 launchPoint; + if (trajectory == "high") + launchPoint = launchPoints[1]; + else + launchPoint = launchPoints[0]; + + //Now we create the world, scale factor 1 because we don't do any physics calculation anyways. + b2World world = WorldCreation::createWorld(objects, 1); + + //And we calculate all the points in the trajectory. + int x_max = WorldCreation::maxXPlusW(world); + std::vector traj = TrajectoryPlanner::predictTrajectory(slingshot, launchPoint, x_max, velocity); + + traj = simplifyTrajectory(traj); + + DebugImage * di; + if (debug) + { + std::stringstream name; + name << debugFolder << "next-" << target.id << "-" << trajectory << ".svg"; + di = new DebugImage(name.str().c_str()); + di->DrawWorld(world, target.id); + di->DrawPath(traj); + } + + //Now we fill the result vector. We step through the points of the trajectory one by one and check if any point intersects with an object. If so, we add the object to the result vector. + std::vector result; + + for (std::vector::iterator i = traj.begin(); i + 1 != traj.end(); ++i) + { + RCCB cb; + + world.RayCast(&cb, *i, *(i + 1)); + + for (std::map::const_iterator hit = cb.hits.begin(); hit != cb.hits.end(); ++hit) + { + if ((*hit).second == -1) + { + if (debug) + { + di->DrawVector(result); + di->Save(); + delete di; + } + + return result; + } + + result.push_back((*hit).second); + } + } + + + if (debug) + { + di->DrawVector(result); + di->Save(); + delete di; + } + + return result; + } + + static std::vector simplifyTrajectory(const std::vector& vector) + { + const unsigned int size = vector.size(); + + //We initilize the vector to size/10, the number of vertices that we will keep, plus one for the last vertex. + std::vector result; + result.reserve(size/10 + 1); + + for (unsigned int i = 0; i < size; i += 10) + { + result.push_back(vector[i]); + + //If we hit the last point of the trajectory, we can return, so that it will not be added twice. + if (i == size - 1) + { + assert(size/10 + 1 < result.max_size()); + return result; + } + } + + //Add the last point of the trajectory. + result.push_back(vector[size - 1]); + + //Make sure there have not been any resize operations. If there had been any, we would need to readjust our starting values. + assert(size/10 + 1 < result.max_size()); + + return result; + } +}; + +class CanPushAtom : public ComfortPluginAtom +{ +public: + + CanPushAtom() : ComfortPluginAtom("canpush") + { + setOutputArity(2); + addInputPredicate(); //objects + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + + std::vector objects; + + Calculation::fillVector(query.interpretation, objects); + if (objects.empty()) + std::cerr << "&next: Called with no objects." << std::endl; + + for(std::vector::iterator it = objects.begin(); it != objects.end(); ++it) + { + Object* o = &(*it); + + if (o->type == ground) + continue; + for(std::vector::iterator it2 = objects.begin(); it2 != objects.end(); ++it2) + { + Object* i = &(*it2); + if (o->type == ground && o->id == i->id) + continue; + + // + // Angle penalty: should we assume a too much inclined object is not that lean to push anything? + // + //const float angle_threshold = 30; + b2Vec2 bottomO = o->getBottomFaceCenter(); + b2Vec2 rightO = o->getRightFaceCenter(); + + b2Vec2 topI = i->getTopFaceCenter(); + b2Vec2 bottomI = i->getBottomFaceCenter(); + b2Vec2 leftI = i->getLeftFaceCenter(); + // + // Assumes a rotation of 90° degrees clock wise of object o + // + float rotatedX = bottomO.x + o->h + o->w/2; + + //std::cerr << "rightO.x <= leftI.x && rotatedX > leftI.x && bottomO.y >= topI.y && bottomO.y <= bottomI.y " << std::endl; + //std::cerr << o->h << ":" << o->w << ":" << o->angle << "|" << rightO.x << ":" << leftI.x << ":" << rotatedX << ":" < leftI.x && bottomO.y >= topI.y && bottomO.y <= bottomI.y ) + { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(o->id)); + ct.push_back(ComfortTerm::createInteger(i->id)); + answer.insert(ct); + //std::cerr << o->id << " CAN PUSH " << i->id << std::endl; + } + // else + // std::cerr << o->id << " CANNOT PUSH " << i->id << std::endl; + + + } // for o + } // for i + } // method + + +}; + + + +class OnTopMassAtom : public ComfortPluginAtom +{ +public: + + OnTopMassAtom() : ComfortPluginAtom("on_top_mass") + { + setOutputArity(1); + addInputConstant(); + addInputPredicate(); + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the object whose mass should be calculated. + int object = ((ComfortTerm)(query.input[0])).intval; + + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger(onTopMass(query.interpretation, object))); + answer.insert(ct); + } + +private: + static int onTopMass(ComfortInterpretation i, int oid) + { + std::vector objects; + + Calculation::fillVector(i, objects); + + std::vector > graph = OnTop::calculateCached(objects); + + std::vector transitiveHull = calculateTransitiveHull(graph, oid); + float total = 0; + + for(std::vector::iterator i = transitiveHull.begin(); i != transitiveHull.end(); ++i) + { + total = mass(objects, (*i)); + } + + + return (int)total; + } + + static float mass(std::vector objects, int oid) + { + for(std::vector::iterator i = objects.begin(); i != objects.end(); ++i) + { + if ((*i).id == oid) + return (*i).getMass(); + } + + return 0; + } + + static std::vector calculateTransitiveHull(std::vector > graph, int oid) + { + std::vector hull; + + hull.push_back(oid); + + for(std::vector >::iterator i = graph.begin(); i != graph.end(); i++) + { + if ((*i).second == oid) + { + int first = (*i).first; + i = graph.erase(i); + --i; + + std::vector subhull = calculateTransitiveHull(graph, first); + + hull.insert(hull.end(), subhull.begin(), subhull.end()); + } + } + + return hull; + } +}; + +class OnTopOfAtom : public ComfortPluginAtom +{ +public: + + OnTopOfAtom() : ComfortPluginAtom("on_top_of") + { + setOutputArity(0); + addInputConstant(); + addInputConstant(); + addInputPredicate(); + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + // First we retrieve the two objects whose difference should be calculated. + int firstObject = ((ComfortTerm)(query.input[0])).intval; + int secondObject = ((ComfortTerm)(query.input[1])).intval; + + if(isOnTopOf(query.interpretation, firstObject, secondObject)) + answer.insert(ComfortTuple()); + } + +private: + + bool isOnTopOf(ComfortInterpretation i, int a, int b) + { + std::vector objects; + + Calculation::fillVector(i, objects); + + std::vector > graph = OnTop::calculateCached(objects); + + return contains(graph, a, b); + } + + bool contains(std::vector > graph, int a, int b) + { + for (std::vector >::iterator i = graph.begin(); i != graph.end(); ++i) + if ((*i).first == a && (*i).second == b) + return true; + + return false; + } +}; + +class OnTopAllAtom : public ComfortPluginAtom +{ +public: + + OnTopAllAtom() : ComfortPluginAtom("on_top_all") + { + setOutputArity(2); + addInputPredicate(); + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + + std::vector objects; + + Calculation::fillVector(query.interpretation, objects); + + std::vector > graph = OnTop::calculateCached(objects); + + for (std::vector >::iterator i = graph.begin(); i != graph.end(); ++i) { + ComfortTuple ct; + ct.push_back(ComfortTerm::createInteger((*i).first)); + ct.push_back(ComfortTerm::createInteger((*i).second)); + answer.insert(ct); + } + + } + +}; + +class DistanceAtom : public ComfortPluginAtom +{ +public: + + DistanceAtom() : ComfortPluginAtom("distance") + { + setOutputArity(1); + addInputConstant(); + addInputConstant(); + addInputPredicate(); + } + + virtual void retrieve(const ComfortQuery& query, ComfortAnswer& answer) + { + ComfortTuple tu; + + // First we retrieve the two objects whose difference should be calculated. + int firstObject = ((ComfortTerm)(query.input[0])).intval; + int secondObject = ((ComfortTerm)(query.input[1])).intval; + + //If there are no objects found, the programmer most likely called the predicated wrong. + //We issue a usage information. + if (query.interpretation.size() == 0) + { + std::cerr << "Please call \"distance\" like this: &distance[ID1, ID2, objects](X)." << std::endl; + assert(true); + } + + bool found[] = {false,false}; + int x[2]; + int y[2]; + + //Now we go through each of the predicates (each "object(...)") and check if it denotes one of the + //objects we need. If so, we save the coordinates of the center of the rectangle (coordinate of + //left top corner plus half of width or height). firstObject may be equal to secondObject. + for (ComfortInterpretation::iterator c = query.interpretation.begin(); c != query.interpretation.end(); ++c) + { + if (c->getArgument(1).intval == firstObject) + { + x[0] = c->getArgument(2).intval + c->getArgument(4).intval/2; + y[0] = c->getArgument(3).intval + c->getArgument(5).intval/2; + found[0] = true; + } + if (c->getArgument(1).intval == secondObject) + { + x[1] = c->getArgument(2).intval + c->getArgument(4).intval/2; + y[1] = c->getArgument(3).intval + c->getArgument(5).intval/2; + found[1] = true; + } + } + + //If either of the coordinates could not be found, issue warnings. + if (found[0] == false) + { + std::cerr << "&distance: The object id " << firstObject << " was not found." << std::endl; + assert(true); + } + + if (found[1] == false) + { + std::cerr << "&distance: The object id " << secondObject << " was not found." << std::endl; + assert(true); + } + + //Calculate the distance and append. + ComfortTerm ct = ComfortTerm::createInteger(DistanceAtom::distance(x[0],y[0],x[1],y[1])); + + tu.push_back(ct); + + answer.insert(tu); + } + +private: + static int distance(int x0, int y0, int x1, int y1) + { + double distance; + + double distance_x = x0-x1; + + double distance_y = y0- y1; + + distance = sqrt( (distance_x * distance_x) + (distance_y * distance_y)); + + return (int)distance; + } + +}; + +class TestPlugin: + public PluginInterface +{ + +public: + TestPlugin(): + PluginInterface() + { + setNameVersion("hexagentplugin", 0, 0, 1); + } + + virtual std::vector createAtoms(ProgramCtx&) const + { + std::vector ret; + + // return smart pointer with deleter (i.e., delete code compiled into this plugin) + ret.push_back(PluginAtomPtr(new DistanceAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new OnTopOfAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new OnTopAllAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new OnTopMassAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new NextAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new ShootableAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new FirstAboveAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new FirstBelowAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new CanPushAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new ClearSkyAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new StabilityAtom, PluginPtrDeleter())); + ret.push_back(PluginAtomPtr(new BestWhiteAtom, PluginPtrDeleter())); + + return ret; + } +}; + +TestPlugin theTestplugin; + +/* Major version number of DLVHEX_ABI */ +#define DLVHEX_ABI_VERSION_MAJOR 7 + +/* Micro version number of DLVHEX_ABI */ +#define DLVHEX_ABI_VERSION_MICRO 0 + +/* Minor version number of DLVHEX_ABI */ +#define DLVHEX_ABI_VERSION_MINOR 1 + +//IMPLEMENT_PLUGINABIVERSIONFUNCTION + +extern "C" int getDlvhex2ABIVersion() +{ + return 7*10000+ 1*100+ 0; +} + + +// return plain C type s.t. all compilers and linkers will like this code +extern "C" void * PLUGINIMPORTFUNCTION() +{ + return reinterpret_cast(& theTestplugin); +} + diff --git a/src/angrybirds-box2dplugin/libpeerconnection.log b/src/angrybirds-box2dplugin/libpeerconnection.log new file mode 100644 index 0000000..e69de29 diff --git a/src/angryhexclient/Configuration.java b/src/angryhexclient/Configuration.java new file mode 100644 index 0000000..0cfe6c4 --- /dev/null +++ b/src/angryhexclient/Configuration.java @@ -0,0 +1,157 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.io.FileInputStream; +import java.io.IOException; +import java.util.Properties; + +import ab.vision.BirdType; + +public class Configuration +{ + private static Properties prop = null; + + private static void initialize() + { + + //if (prop == null) { + try { + prop = new Properties(); + prop.load(new FileInputStream("config.properties")); + } + catch(IOException e) + { + System.err.println("Could not open configuration file."); + System.err.println(e); + + System.err.println("Falling back to defaults."); + + prop = null; + } + //} + } + + public static double getSpeedRatio() + { + initialize(); + if (prop == null) return 0.0; + + return Double.parseDouble(prop.getProperty("speedRatio")); + + } + public static double getSpeedRatioByBird(BirdType b) + { + initialize(); + if (prop == null) return 0.0; + + return Double.parseDouble(prop.getProperty("speedRatio."+b.name())); + + } + public static boolean getUseDlv() + { + initialize(); + + if (prop == null) return true; + + return !prop.getProperty("usedlv").equals("false") && !prop.getProperty("usedlv").equals("no"); + } + + public static String getOpencvNativePath() + { + initialize(); + + if (prop == null) return null; + + return prop.getProperty("opencvnativepath").equals("USELDPATH") ? null : prop.getProperty("opencvnativepath"); + } + + public static String getHexpath() + { + initialize(); + + if (prop == null) return "dlvhex2"; + + return prop.getProperty("hexpath"); + } + + public static String getHexAdditionalArguments() + { + initialize(); + + if (prop == null) return ""; + + return prop.getProperty("hexaditionalarguments"); + } + + public static boolean isCalibrationMode() { + initialize(); + String b = prop.getProperty("calibrationmode"); + boolean retVal = !b.equals("false") && !b.equals("no") && !b.equals("0"); +// System.out.println("Calibration mode:"+b+"->"+retVal); + return retVal; + } + + public static String getReasoningFilename() + { + initialize(); + return prop.getProperty("reasoningfilename"); + + } + + public static String getReasoningWhiteFilename() + { + initialize(); + return prop.getProperty("reasoningWhitefilename"); + + } + + public static double getTargetYOffset() { + initialize(); + return Double.parseDouble(prop.getProperty("targetyoffset")); + } + + public static int getTeamID() { + initialize(); + if (prop == null) return 0; + return Integer.parseInt(prop.getProperty("teamID")); + } + + public static boolean getTournamentMode() { + initialize(); + if (prop == null) return false; + String b = prop.getProperty("tournamentmode"); + boolean retVal = !b.equals("false") && !b.equals("no") && !b.equals("0"); + return retVal; + } + + public static int getFastshootThreshold() { + initialize(); + if (prop == null) return 0; + return Integer.parseInt(prop.getProperty("fastshootthreshold")); + } + + public static boolean isDebugMode() { + initialize(); + String b = prop.getProperty("debug"); + boolean retVal = !b.equals("false") && !b.equals("no") && !b.equals("0"); + return retVal; + } + + public static int getShotMagnitude() { + initialize(); + if (prop == null) return 0; + return Integer.parseInt(prop.getProperty("shotmagnitude")); + } + +} diff --git a/src/angryhexclient/HexActionRobot.java b/src/angryhexclient/HexActionRobot.java new file mode 100644 index 0000000..159c9d9 --- /dev/null +++ b/src/angryhexclient/HexActionRobot.java @@ -0,0 +1,29 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import ab.demo.other.ClientActionRobotJava; + +public class HexActionRobot extends ClientActionRobotJava { + + public HexActionRobot(String ip) { + super(ip); + } + +// public byte[] fastshoot(int fx, int fy, int dx, int dy, int t1, int t2, +// boolean polar) { +// return super.shootFast(intToByteArray(fx), intToByteArray(fy), +// intToByteArray(dx), intToByteArray(dy), intToByteArray(t1), +// intToByteArray(t2), polar); +// } +} diff --git a/src/angryhexclient/HexAgent.java b/src/angryhexclient/HexAgent.java new file mode 100644 index 0000000..5579678 --- /dev/null +++ b/src/angryhexclient/HexAgent.java @@ -0,0 +1,670 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2013, 2015, XiaoYu (Gary) Ge, Stephen Gould, Jochen Renz + ** Sahan Abeyasinghe,Jim Keys, Kar-Wai Lim, Zain Mubashir, Andrew Wang, Peng Zhang + ** All rights reserved. + **This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. + **To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ + *or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. + *****************************************************************************/ +package angryhexclient; + +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.geom.Point2D; +import java.awt.image.BufferedImage; +import java.io.IOException; +import java.util.ArrayList; +import java.util.List; +import java.util.Random; +import java.util.logging.Logger; + +//commented out because it's not used +//import org.opencv.core.RotatedRect; + +import ab.demo.other.ClientActionRobot; +import ab.demo.other.Env; +import ab.planner.TrajectoryPlanner; +import ab.vision.ABObject; +import ab.vision.ABType; +import ab.vision.GameStateExtractor; +import ab.vision.GameStateExtractor.GameState; +import ab.vision.Vision; +import ab.vision.VisionUtils; +import angryhexclient.strategy.BenchmarkStrategy; +import angryhexclient.strategy.DeclarativeStrategy; +import angryhexclient.strategy.StrategyManager; +import angryhexclient.util.DebugUtils; + +public class HexAgent implements Runnable { + + private static final Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + private static final GameStateExtractor gse = new GameStateExtractor(); + + private final ABType DEFAULT_BIRD_ON_SLINGSHOT = ABType.BlueBird; + + // focus point + private int focus_x; + private int focus_y; + // Wrapper of the communicating messages + private HexActionRobot ar; + + private TrajectoryPlanner tp; + + private StrategyManager strategyManager; + + private boolean firstShoot; + + private BufferedImage screenshot; + + //commented out because it's not used +// private Rectangle currentBirdRect; + + public HexAgent(HexActionRobot ar) throws Exception { + this(ar, (byte)1); + } + + public HexAgent(HexActionRobot ar, byte startingLevel) throws Exception { + this.ar = ar; + this.tp = new TrajectoryPlanner(); + this.firstShoot = true; + + byte[] configureData = ar.configure(ClientActionRobot + .intToByteArray(Configuration.getTeamID())); + if (BenchmarkStrategy.BENCHMARK) { + this.strategyManager = new BenchmarkStrategy(ar, startingLevel, configureData); + } else { + this.strategyManager = new DeclarativeStrategy(ar, startingLevel, configureData); + } + + DebugUtils.init(this.strategyManager); + + Memory.init(); + } + + /** + * Run the Client (Naive Agent) + */ + public void run() { + + Log.info("Starting client..."); + + // load the initial level (default 1) + strategyManager.loadCurrentLevel(); + + while (true) { + + if (DebugUtils.DEBUG) { + DebugUtils.initBenchmarkParametersValues(); + DebugUtils.addTime(System.nanoTime()); + DebugUtils.setCurrentLevel(strategyManager.getCurrentLevel()); + DebugUtils.setCurrentTurn(strategyManager.getCurrentTurn()); + } + + Log.info("Solve step."); + GameState state = solve(); + strategyManager.increaseCurrentTurn(); + firstShoot = false; + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + if (state == GameState.WON || state == GameState.LOST) { + + if (BenchmarkStrategy.BENCHMARK) { + if (state == GameState.WON) { + int score = gse.getScoreEndGame(ar.doScreenShot()); + strategyManager.updateScore(score); + Log.fine("WON|score: " + score); + } else { + strategyManager.updateScore(0); + Log.fine("LOST|score: 0"); + } + } + + strategyManager.loadNewLevel(state); + + if (state == GameState.WON && DebugUtils.DEBUG) { + try { + strategyManager.saveScores("scores.csv"); + } catch (IOException e) { + Log.warning("cannot save scores: " + e.getMessage()); + } + + } + // make a new trajectory planner whenever a new level is entered + tp = new TrajectoryPlanner(); + firstShoot = true; + } else if (state == GameState.LEVEL_SELECTION) { + Log.info("unexpected level selection page, go to the last current level : " + + strategyManager.getCurrentLevel()); + ar.loadLevel(strategyManager.getCurrentLevel()); + + firstShoot = true; + } else if (state == GameState.MAIN_MENU) { + Log.info("unexpected main menu page, reload the level : " + + strategyManager.getCurrentLevel()); + ar.loadLevel(strategyManager.getCurrentLevel()); + + firstShoot = true; + } else if (state == GameState.EPISODE_MENU) { + Log.info("unexpected episode menu page, reload the level: " + + strategyManager.getCurrentLevel()); + ar.loadLevel(strategyManager.getCurrentLevel()); + + firstShoot = true; + } + + if (DebugUtils.DEBUG) { + DebugUtils.addTime(System.nanoTime()); + DebugUtils.saveBenchmark(); + } + + } + } + + /** + * Solve a particular level by shooting birds directly to pigs + * + * @return GameState: the game state after shots. + */ + public GameState solve() { + + // capture Image + screenshot = ar.doScreenShot(); + // process image + Vision vision = new Vision(screenshot); + //just for ground + OurVision ourVision = new OurVision(screenshot); + + Rectangle sling = vision.findSlingshotRealShape(); + ABType currentBird; + // + // Tries to use more precision for understanding the current Bird Color + // + // ar.clickInCenter(); + ar.fullyZoomIn(); + Vision birdVision = new Vision(ar.doScreenShot()); + Rectangle sling2 = birdVision.findSlingshotRealShape(); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + // + // Determines the bird type at hand. + // + currentBird = getBirdType(birdVision, sling2); + //If the first recognition failed, try to recognize the bird again + if (currentBird == null){ + ar.fullyZoomOut(); + try { + Thread.sleep(1500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + Log.info("Re-do bird recognition."); + ar.fullyZoomIn(); + birdVision = new Vision(ar.doScreenShot()); + sling2 = birdVision.findSlingshotRealShape(); + currentBird = getBirdType(birdVision, sling2); + if (currentBird == null){ + currentBird = DEFAULT_BIRD_ON_SLINGSHOT; + } + } + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + // If the level is loaded (in PLAYING state)but no slingshot detected, + // then the agent will request to fully zoom out. + Log.info("Zooming out again.."); + ar.fullyZoomOut(); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + while (sling == null && ar.checkState() == GameState.PLAYING) { + Log.info("no slingshot detected. Please remove pop up or zoom out"); + ar.fullyZoomOut(); + screenshot = ar.doScreenShot(); + vision = new Vision(screenshot); + sling = vision.findSlingshotRealShape(); + } + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + Log.info("Checking state.."); + GameState state = ar.checkState(); + Log.info("State is.." + state.name()); + int tap_time = 0; + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + // if there is a sling, then play, otherwise skip. + if (sling != null) { + + ar.fullyZoomOut(); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + if (!vision.findPigsMBR().isEmpty()) { + Point releasePoint; + { + Target result; + + if (DebugUtils.DEBUG) { + DebugUtils.setCurrentBird(currentBird.name()); + DebugUtils.addBirds(birdVision.findBirdsMBR()); + DebugUtils.setN_pigs(vision.findPigsMBR().size()); + DebugUtils.addBlocks(vision.findBlocksRealShape()); + DebugUtils.setN_hills(ourVision.detectGround().size()); + DebugUtils.setN_tnt(vision.findTNTs().size()); + } + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + try { + // invoke reasoner + result = reason(vision, ourVision, tp, currentBird); + } + // If there is an exception just return the game state, + // so the shot will be attempted again. + catch (UnsupportedOperationException e) { + Log.severe("error calling reasoner: " + e.getMessage()); + return ar.checkState(); + } catch (IOException e) { + Log.severe("error calling reasoner: " + e.getMessage()); + return ar.checkState(); + } catch (InterruptedException e) { + Log.severe("error calling reasoner: " + e.getMessage()); + return ar.checkState(); + } + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + Point _tpt = result.target; + + Log.info(String.format("TGT: %s TR: %s", _tpt, (result.trajectory == 0) ? "low" : "high")); + + // estimate the trajectory + ArrayList pts = tp.estimateLaunchPoint(sling, _tpt); + if (pts.size() == 1) { + releasePoint = pts.get(0); + } else { + releasePoint = pts.get(result.trajectory); + } + + Point refPoint = tp.getReferencePoint(sling); + // focus_x = (int) currentBirdRect.getCenterX(); + // focus_y = (int) currentBirdRect.getCenterY(); + // Get the center of the active bird as focus point + focus_x = (int) ((Env.getFocuslist() + .containsKey(strategyManager.getCurrentLevel())) ? Env + .getFocuslist() + .get(strategyManager.getCurrentLevel()).getX() + : refPoint.x); + focus_y = (int) ((Env.getFocuslist() + .containsKey(strategyManager.getCurrentLevel())) ? Env + .getFocuslist() + .get(strategyManager.getCurrentLevel()).getY() + : refPoint.y); + // System.out.print("FX:"+focus_x+" FY:"+focus_y+" RP: " + + // releasePoint+" "); + + // Get the release point from the trajectory prediction + // module + if (releasePoint != null) { + //commented out because it's not used +// double releaseAngle = tp.getReleaseAngle(sling, +// releasePoint); + //System.out.print("ANG : " + // + Math.toDegrees(releaseAngle)+ " Tap Coeff:"+result.tapCoeff+" "); + + // Tap Coefficient now comes from reasoning + tap_time = getTapTime((int) _tpt.x, tp, sling, + releasePoint, result.tapCoeff / 100.0, + currentBird); + Log.info("Tap time: " + tap_time); + } else { + Log.severe("releasePoint is null!"); + } + } + + // checks whether the slingshot is changed. the change of the + // slingshot indicates a change in the scale. + { + +// ar.fullyZoomOut(); +// screenshot = ar.doScreenShot(); +// vision = new Vision(screenshot); +// Rectangle _sling = vision.findSlingshot(); +// if (sling.equals(_sling)) +// { +// +// // make the shot +// ar.shoot(focus_x, focus_y, (int) releasePoint.getX() +// - focus_x, (int) releasePoint.getY() - focus_y, +// 0, tap_time, false); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + // New method, tries to improve performance by not waiting + // 15 still not losing shoots. + quickShoot(focus_x, focus_y, (int) releasePoint.getX() + - focus_x, (int) releasePoint.getY() - focus_y, 0, + tap_time, false); + Log.info("Shot done."); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + // additional screenshot + screenshot = ar.doScreenShot(); + // check the state after the shot + state = ar.checkState(); + //screenshot = ar.doScreenShot(); + // update parameters after a shot is made + if (state == GameState.PLAYING) { + vision = new Vision(screenshot); + List traj = vision.findTrajPoints(); + tp.adjustTrajectory(traj, sling, releasePoint); + } +// else +// System.out +// .println("scale is changed, can not execute the shot, will re-segement the image"); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + } + } + } + return state; + } + + private void quickShoot(int focus_x2, int focus_y2, int i, int j, int k, + int tap_time, boolean polar) { + ar.fastshoot(focus_x2, focus_y2, i, j, k, tap_time, polar); + BufferedImage screenshot = ar.doScreenShot(); + BufferedImage image = null; + int waitSeconds = 0; + while ((image == null) + || (waitSeconds <= 15 && VisionUtils.numPixelsDifferent( + screenshot, image) > Configuration + .getFastshootThreshold())) { + + // update frame count + image = screenshot; + try { + Thread.sleep(1000); + waitSeconds++; + } catch (InterruptedException e) { + Log.severe(e.getMessage()); + } + screenshot = ar.doScreenShot_(); + } + } + + //commented out because it's not used +// private static final double speedRatio = 3.1115090723; + //commented out because it's not used +// private static final double speedRatioX = Configuration.getSpeedRatio(); + + /** + * This function gets the tap time. It calculates the waiting time needed so + * that the bird will be tapped at approximately the position tapX. + */ + private int getTapTime(int targetX, TrajectoryPlanner tp, + Rectangle slingshot, Point launchPoint, double fraction, ABType b) { + //double dist = getDistance(tp, slingshot, launchPoint, targetX); + Point tapPoint = getAnticipatedPoint(tp,slingshot, launchPoint, targetX, fraction); + //return (int) ((dist / (tp.getSceneScale(slingshot) * speedRatio)) * 1000); + //commented out because it's not used +// double angle = tp.getReleaseAngle(slingshot,launchPoint); + // + // Our estimate + // + //return (int) (tapPoint.getX() / (Configuration.getSpeedRatioByBird(b) * Math.cos(angle) * tp.getVelocity(angle)) * 10); + // + // Organizers estimate + // + return tp.getTapTime(slingshot, launchPoint, tapPoint); + + } + + private Point getAnticipatedPoint(TrajectoryPlanner tp2, Rectangle slingshot, + Point launchPoint, int targetX, double fraction) { + // + // Follows the parabola perimeter and find the X coordinate closer to the fraction*parabola + // + + List ps = tp + .predictTrajectory(slingshot, launchPoint); + double dist = 0; + for (int i = 0; i < ps.size() - 1 && ps.get(i).x < targetX; i++) { + dist += Math.sqrt(Math.pow(ps.get(i).x - ps.get(i + 1).x, 2) + + Math.pow(ps.get(i).y - ps.get(i + 1).y, 2)); + } + double targetDist = dist*fraction; + Log.info("Points:"+ps.size()+" Dist: "+dist+" TargetDist:"+targetDist); + dist = 0; + Point lastX = new Point(); + for (int i = 0; i < ps.size() - 1 && dist < targetDist; i++) { + dist += Math.sqrt(Math.pow(ps.get(i).x - ps.get(i + 1).x, 2) + + Math.pow(ps.get(i).y - ps.get(i + 1).y, 2)); + + // FIXME Check if precision is enough without averaging between x and x+1 + lastX = ps.get(i); + } + System.out.println("TargetX: "+targetX+" TapX:"+lastX); + return lastX; + } + + //commented out because it's not used +// private double getDistance(TrajectoryPlanner tp, Rectangle slingshot, +// Point launchPoint, int xPosition) { +// List ps = tp +// .predictTrajectory(slingshot, launchPoint); +// double dist = 0; +// for (int i = 0; i < ps.size() - 1 && ps.get(i).x < xPosition; i++) { +// dist += Math.sqrt(Math.pow(ps.get(i).x - ps.get(i + 1).x, 2) +// + Math.pow(ps.get(i).y - ps.get(i + 1).y, 2)); +// } +// return dist; +// } + + /** + * The method that does all the reasoning. It takes the vision component and + * returns the best shot according to our HEX program. + * + * @param tp + * + * @return A result instance, containing the target and the trajectory to be + * used. + * @throws IOException + * @throws UnsupportedOperationException + * @throws InterruptedException + */ + private Target reason(Vision vision, OurVision ourVision, TrajectoryPlanner tp, ABType currentBird) + throws UnsupportedOperationException, IOException, InterruptedException { + Log.info("Reasoning..."); + + VisionFact visionFacts = new VisionFact(vision, ourVision, TargetReasoner.getInstance(),tp); + visionFacts.createFacts(currentBird); + + BufferedImage img = DebugUtils.drawObjectsWithID(screenshot, visionFacts.getABObjects()); + DebugUtils.showImage(img); + DebugUtils.saveScreenshot(img, String.format("level_%d_%d", (int)strategyManager.getCurrentLevel(), strategyManager.getCurrentTurn())); + + // If it's the first shoot it load the targets selected before + if (firstShoot) { + // load memory for current level + List targets = Memory.load(strategyManager.getCurrentLevel()); + // It finds the objects more similar to the previous targets + for (Point.Double point : targets) { + for (int i = 0; i < visionFacts.getABObjects().size(); i++) { + ABObject rr = visionFacts.getABObject(i); + if (rr.contains(point)) { + String ss = String.format(":- target(%s,_).", i); + TargetReasoner.getInstance().addFact(ss); + break; + } + } + } + } + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + Log.info("Calling HEX..."); + // Now we call HEX to evaluate our program. + TargetReasoner.getInstance().reason(currentBird); + Log.info("Called HEX"); + + if (DebugUtils.DEBUG) + DebugUtils.addTime(System.nanoTime()); + + // We extract the solution(s) of the program and select a random one. + // All solutions to the hex program should be reasonably reasonable. No + // solution should be significantly worse than the others and the best + // solutions should be included. Therefore we can just select any one of + // them at random. + List answers = TargetReasoner.getInstance() + .getTargets(); + + if (answers.size() == 0) { + Log.warning("No answer set found"); + List pigs = vision.findPigsMBR(); + + ABObject pig = pigs.get((new Random()).nextInt(pigs.size())); + return new Target(new Point((int) pig.getCenterX(), + (int) pig.getCenterY()), (new Random()).nextInt(2), + 80 + (new Random()).nextInt(31)); + } + + TargetReasoner.TargetData answer = answers.get(new Random() + .nextInt(answers.size())); + + ABObject answerObject = visionFacts.getABObject(answer.id); + Log.info("///////////"); + Log.info(answer.toString()); + Log.info("///////////"); + + // If it's the first shoot it saves on file the target + if (firstShoot) { + Memory.store(strategyManager.getCurrentLevel(), + answerObject.getCenter()); + } + + // + // Builds target point depending on trajectory and offset: right face for low traj, upper face for high traj + // +// double x_target = answer.trajectory == 0 ? answerRectangle.center.x - answerRectangle.size.width/2 : answerRectangle.center.x; +// double y_target = answer.trajectory == 1 ? answerRectangle.center.y + answerRectangle.size.height/2 : +// Math.max(0,answerRectangle.center.y-answerRectangle.size.height*answer.yoffsetRatio/2); +// + double x_target; + double y_target; + if (answer.eggMode) { + x_target = answerObject.getCenterX(); + y_target = answer.yoffsetRatio; + } else { + x_target = answer.trajectory == 0 ? answerObject.getCenterX() - answerObject.width/2 : answer.yoffsetRatio; + y_target = answer.trajectory == 1 ? answerObject.getCenterY() - answerObject.height/2 : answer.yoffsetRatio; + } + + return new Target(new Point((int) x_target, (int) y_target), answer.trajectory, answer.tapCoeff); + } + +// public boolean targetProbablyEquals(RotatedRect r1, RotatedRect r2) { +// +// boolean equals = false; +// +// if (Math.sqrt(Math.pow(r1.center.x - r2.center.x, 2) +// + Math.pow(r1.center.y - r2.center.y, 2)) < 3) +// equals = true; +// +// return equals; +// +// } + + // + // Gets bird type, side effect updates currentBird. + // + private ABType getBirdType(Vision vision, Rectangle slingshot) { + ABType type = null; + try { + //commented out because it's not used +// Rectangle closest = null; + double bestDist = 0; + List birds = vision.findBirdsMBR(); + // Log.info(b.name() + ":" + birds.size() + " "); + + for (ABObject bird : birds) { + // + // Purposely considers the (centerX, minY) coordinate for + // the slingshot. + // + double val = Point2D.distance(bird.getCenterX(), + bird.getCenterY(), slingshot.getCenterX(), + slingshot.getY()); + if (val < bestDist || bestDist == 0) { + type = bird.type; + bestDist = val; + //commented out because it's not used +// closest = bird; + } + } + //commented out because it's not used +// currentBirdRect = closest; + Log.info("BT:" + type.name()); + } catch (NullPointerException e) { + // TODO catching a NullPointerException is very bad practice + // check if null via 'if' + Log.severe("No bird type recognized."); + } + return type; + } + + /** + * A class that serves as the return value of the reasoning function, + * because not only the target point but also the trajectory needs to be + * returned. + */ + class Target { + /** + * The trajectory, 0 for low, 1 for high. + */ + public int trajectory; + /** + * Tap coefficient, percentage variation on the tap time. + */ + public int tapCoeff; + /** + * The target point that the bird will be shot at. + */ + public Point target; + + //public double yoffsetRatio; + + public Target(Point ta, int tr, int tap) { + trajectory = tr; + target = ta; + tapCoeff = tap; + //yoffsetRatio = yoffset; + } + } + + //commented out because it's not used +// private static RotatedRect convertRectangleToRotatedRect(Rectangle r) { +// return new RotatedRect(new org.opencv.core.Point(r.getCenterX(), +// r.getCenterY()), new org.opencv.core.Size(r.getSize() +// .getWidth(), r.getSize().getHeight()), 0); +// } +} diff --git a/src/angryhexclient/HexMainEntry.java b/src/angryhexclient/HexMainEntry.java new file mode 100644 index 0000000..af6a9a3 --- /dev/null +++ b/src/angryhexclient/HexMainEntry.java @@ -0,0 +1,72 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.io.IOException; +import java.util.logging.Level; +import java.util.logging.Logger; + +import angryhexclient.util.LogFormatter; +import angryhexclient.util.OutConsoleHandler; + +public class HexMainEntry { + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + // the entry of the software + public static void main(String args[]) { + + // setup logger + // TODO distinguish debug levels + OutConsoleHandler ch = new OutConsoleHandler(); + ch.setFormatter(new LogFormatter()); + ch.setLevel(Level.ALL); + Log.addHandler(ch); + Log.setLevel(Level.ALL); + + // // load OpenCV + if (Configuration.getOpencvNativePath() == null) { + System.loadLibrary("opencv_java246"); + } else { + System.load(Configuration.getOpencvNativePath()); + } + + // Rips off any dlvhex2 processes which were left + try { + Runtime.getRuntime().exec("killall -9 dlvhex2"); + } catch (IOException e1) { + Log.warning("cannot killall dlvhex2"); + } + + // check arguments for ip address and initial level + byte initialLevel = 1; + String ipaddress = "127.0.0.1"; + if (args.length > 0) { + ipaddress = args[0]; + + if (args.length > 2 && args[1].equals("-level")) { + initialLevel = (byte) Integer.parseInt(args[2]); + } + } + + // setup agent + try { + HexActionRobot ar = new HexActionRobot(ipaddress); + HexAgent ha = new HexAgent(ar, initialLevel); + Thread haThread = new Thread(ha); + haThread.start(); + } catch (Exception e) { + Log.severe("Cannot init agent: " + e.getMessage()); + } + } +} diff --git a/src/angryhexclient/Memory.java b/src/angryhexclient/Memory.java new file mode 100644 index 0000000..98b3932 --- /dev/null +++ b/src/angryhexclient/Memory.java @@ -0,0 +1,92 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.awt.Point; +import java.io.BufferedReader; +import java.io.File; +import java.io.FileNotFoundException; +import java.io.FileReader; +import java.io.FileWriter; +import java.io.IOException; +import java.io.PrintWriter; +import java.util.LinkedList; +import java.util.List; +import java.util.logging.Logger; + +import angryhexclient.util.Utils; + +public class Memory { + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + final public static String MEMORY_DIR = System.getProperty("user.dir") + File.separator + "memory"; + final public static String DELIMITER = ";"; + + public static void init() { + try { + // it's not needed because we delete the directory in the StrategyManager +// if (DebugUtils.DEBUG) { +// Utils.deleteDir(MEMORY_DIR); +// } + if (!new File(MEMORY_DIR).exists()) { + Utils.createDir(MEMORY_DIR); + } + } catch (IOException e) { + Log.severe("cannot init memory"); + } catch (InterruptedException e) { + Log.severe("cannot init memory"); + } + } + + private static String getMemFilename(int level) { + return String.format("%s%slevel%d.mem", MEMORY_DIR, File.separator, level); + } + + public static List load(int level) { + List points = new LinkedList(); + + File file = new File(getMemFilename(level)); + if (!file.exists()) { + Log.info("memory file does not exist: " + file.getName()); + return points; + } + BufferedReader reader = null; + try { + reader = new BufferedReader(new FileReader(file)); + String line; + while ((line = reader.readLine()) != null) { + String[] coord = line.split(DELIMITER); + double x = Double.parseDouble(coord[0]); + double y = Double.parseDouble(coord[1]); + points.add(new Point.Double(x, y)); + } + reader.close(); + } catch (FileNotFoundException e) { + Log.warning("could not read memory: " + e.getMessage()); + } catch (IOException e) { + Log.warning("could not read memory: " + e.getMessage()); + } + return points; + } + + public static void store(int level, Point p) { + try { + PrintWriter printer = new PrintWriter(new FileWriter(getMemFilename(level), true)); + printer.println(p.x + DELIMITER + p.y); + printer.close(); + } catch (IOException e) { + Log.warning("could not store point for level " + level); + } + } +} diff --git a/src/angryhexclient/OurVision.java b/src/angryhexclient/OurVision.java new file mode 100644 index 0000000..97f767b --- /dev/null +++ b/src/angryhexclient/OurVision.java @@ -0,0 +1,1476 @@ +/***************************************************************************** + ** ANGRYBIRDS AI AGENT FRAMEWORK + ** Copyright (c) 2013, 2015,XiaoYu (Gary) Ge, Stephen Gould,Jochen Renz + ** Sahan Abeyasinghe, Jim Keys, Kar-Wai Lim, Zain Mubashir, Andrew Wang, Peng Zhang + ** All rights reserved. + **This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. + **To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ + *or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. + *****************************************************************************/ + +package angryhexclient; + +import java.awt.Point; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.HashSet; +import java.util.LinkedList; +import java.util.List; +import java.util.Set; +import java.util.logging.Logger; + +import org.opencv.core.CvType; +import org.opencv.core.Mat; +import org.opencv.core.MatOfPoint; +import org.opencv.core.MatOfPoint2f; +import org.opencv.core.RotatedRect; +import org.opencv.core.Scalar; +import org.opencv.core.Size; +import org.opencv.imgproc.Imgproc; + +import Jama.Matrix; +import ab.vision.BirdType; +import ab.vision.VisionUtils; + +/* OurVision ----------------------------------------------------------------- */ + +public class OurVision +{ + + private int _nHeight; // height of the scene + private int _nWidth; // width of the scene + private int _scene[][]; // quantized scene colours + private int _nSegments; // number of segments + private int _segments[][]; // connected components (0 to _nSegments) + private int _colours[]; // colour for each segment + private Rectangle _boxes[]; // bounding box for each segment + private int _regionThreshold = 10; // minimal pixels in a region + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + // create a vision object for processing a given screenshot + public OurVision(BufferedImage screenshot) + { + processScreenShot(screenshot); + } + + // find slingshot + // only return one rectangle + public Rectangle findSlingshot() + { + Rectangle obj; + + // test for slingshot (mainly 345) + //commented out because it's not used +// int nPixel = _nWidth * _nHeight; + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + ignorePixel[i][j] = false; + } + } + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + if ((_scene[i][j] != 345) || ignorePixel[i][j]) + continue; + obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + + LinkedList pointsinRec = new LinkedList(); + + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) + { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to slingshot + + // check underneath pixel + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 345 + || _scene[p.y + 1][p.x] == 418 + || _scene[p.y + 1][p.x] == 273 + || _scene[p.y + 1][p.x] == 281 + || _scene[p.y + 1][p.x] == 209 + || _scene[p.y + 1][p.x] == 346 + || _scene[p.y + 1][p.x] == 354 + || _scene[p.y + 1][p.x] == 282 || _scene[p.y + 1][p.x] == 351) + && !ignorePixel[p.y + 1][p.x]) + { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + // check right pixel + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 345 + || _scene[p.y][p.x + 1] == 418 + || _scene[p.y][p.x + 1] == 346 + || _scene[p.y][p.x + 1] == 354 + || _scene[p.y][p.x + 1] == 273 + || _scene[p.y][p.x + 1] == 281 + || _scene[p.y][p.x + 1] == 209 + || _scene[p.y][p.x + 1] == 282 || _scene[p.y][p.x + 1] == 351) + && !ignorePixel[p.y][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + // check upper pixel + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 345 + || _scene[p.y - 1][p.x] == 418 + || _scene[p.y - 1][p.x] == 346 + || _scene[p.y - 1][p.x] == 354 + || _scene[p.y - 1][p.x] == 273 + || _scene[p.y - 1][p.x] == 281 + || _scene[p.y - 1][p.x] == 209 + || _scene[p.y - 1][p.x] == 282 || _scene[p.y - 1][p.x] == 351) + && !ignorePixel[p.y - 1][p.x]) + { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + // check left pixel + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 345 + || _scene[p.y][p.x - 1] == 418 + || _scene[p.y][p.x - 1] == 346 + || _scene[p.y][p.x - 1] == 354 + || _scene[p.y][p.x - 1] == 273 + || _scene[p.y][p.x - 1] == 281 + || _scene[p.y][p.x - 1] == 209 + || _scene[p.y][p.x - 1] == 282 || _scene[p.y][p.x - 1] == 351) + && !ignorePixel[p.y][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + pointsinRec.add(new Point(p.x, p.y + 1)); + } + + // ignore checked pixels + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + int[] hist = histogram(obj); + + // abandon shelf underneath + if (obj.height > 10) + { + Rectangle col = new Rectangle(obj.x, obj.y, 1, obj.height); + int[] histCol = histogram(col); + //commented out because it's not used +// int ColColour = histCol[345] + histCol[418] + histCol[346] +// + histCol[354] + histCol[273] + histCol[281] +// + histCol[209] + histCol[280] + histCol[351]; + + if (_scene[obj.y][obj.x] == 511 + || _scene[obj.y][obj.x] == 447) + { + for (int m = obj.y; m < obj.y + obj.height; m++) + { + if (_scene[m][obj.x] == 345 + || _scene[m][obj.x] == 418 + || _scene[m][obj.x] == 346 + || _scene[m][obj.x] == 354 + || _scene[m][obj.x] == 273 + || _scene[m][obj.x] == 281 + || _scene[m][obj.x] == 209 + || _scene[m][obj.x] == 282 + || _scene[m][obj.x] == 351) + { + obj.setSize(obj.width, m - obj.y); + break; + } + } + } + + while (histCol[511] >= obj.height * 0.8) + { + obj.setBounds(obj.x + 1, obj.y, obj.width - 1, + obj.height); + col = new Rectangle(obj.x + 1, obj.y, 1, obj.height); + histCol = histogram(col); + } + + col = new Rectangle(obj.x + obj.width, obj.y, 1, obj.height); + histCol = histogram(col); + while (histCol[511] >= obj.height * 0.8 && obj.height > 10) + { + obj.setSize(obj.width - 1, obj.height); + col = new Rectangle(obj.x + obj.width, obj.y, 1, + obj.height); + histCol = histogram(col); + } + } + + if (obj.width > obj.height) + continue; + + if ((hist[345] > Math.max(32, 0.1 * obj.width * obj.height)) + && (hist[64] != 0)) + { + obj.add(new Rectangle(obj.x - obj.width / 10, obj.y + - obj.height / 3, obj.width / 10 * 12, + obj.height / 3 * 4)); + return obj; + } + } + } + return null; + } + + // find pigs in the current scene + public List findPigs() + { + ArrayList objects = new ArrayList(); + + // find candidates + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 376) || ignore[n]) + continue; + + // dilate bounding box of colour 376 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], + _boxes[n].width / 2 + 1, _boxes[n].height / 2 + 1); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 376 + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 376) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], _boxes[m].width / 2 + 1, + _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // look for overlapping bounding boxes of colour 250 + Boolean bValidObject = false; + for (int m = 0; m < _nSegments; m++) + { + if (_colours[m] != 250) + continue; + if (bounds.intersects(_boxes[m])) + { + bValidObject = true; + break; + } + } + + // add object if valid + if (bValidObject) + { + obj = VisionUtils.dialateRectangle(obj, obj.width / 2 + 1, + obj.height / 2 + 1); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + objects.add(obj); + } + } + + return objects; + } + + public List findBirds(BirdType b) + { + //System.out.println("Finding "+b.name()+" birds."); + switch (b) + { + case red: + return findRedBirds(); + case yellow: + return findYellowBirds(); + case blue: + return findBlueBirds(); + case white: + return findWhiteBirds(); + case black: + return findBlackBirds(); + default: + // very useful to understand if someone (perhaps the organizers) + // changes the enum BirdType and we forgot to update this switch + Log.warning("Unknown Bird Type"); + return null; + } + } + + // find birds in the current scene + public List findRedBirds() + { + ArrayList objects = new ArrayList(); + + // test for red birds (385, 488, 501) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 385) || ignore[n]) + continue; + + // dilate bounding box around colour 385 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 1, + _boxes[n].height / 2 + 1); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 385 + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 385) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 1, _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // look for overlapping bounding boxes of colours 488 and 501 + Boolean bValidObject = false; + for (int m = 0; m < _nSegments; m++) + { + if ((_colours[m] != 488) && (_colours[m] != 501)) + continue; + if (bounds.intersects(_boxes[m])) + { + obj.add(_boxes[m]); + bValidObject = true; + } + } + + if (bValidObject) + { + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + objects.add(obj); + } + } + + return objects; + } + + public List findBlueBirds() + { + ArrayList objects = new ArrayList(); + + // test for blue birds (238) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 238) || ignore[n]) + continue; + + // dilate bounding box around colour 238 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 1, + _boxes[n].height / 2 + 1); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colours 238, 165, 280, + // 344, 488, 416 + for (int m = n + 1; m < _nSegments; m++) + { + if ((_colours[m] != 238) && (_colours[m] != 165) + && (_colours[m] != 280) && (_colours[m] != 344) + && (_colours[m] != 488) && (_colours[m] != 416)) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 238) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, _boxes[m].height / 2 + 1); + if (bounds.intersects(bounds2)) + { + ignore[m] = true; + } + } + + // look for overlapping bounding boxes of colours 488 + Boolean bValidObject = false; + for (int m = 0; m < _nSegments; m++) + { + if (_colours[m] != 488) + continue; + if (bounds.intersects(_boxes[m])) + { + obj.add(_boxes[m]); + bValidObject = true; + } + } + + if (bValidObject && (obj.width > 3)) + { + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + objects.add(obj); + } + } + + return objects; + } + + public List findYellowBirds() + { + ArrayList objects = new ArrayList(); + + // test for blue birds (497) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 497) || ignore[n]) + continue; + + // dilate bounding box around colour 497 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colours 497 + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 497) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // confirm secondary colours 288 + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + int[] hist = histogram(obj); + if (hist[288] > 0) + { + objects.add(obj); + } + } + + return objects; + } + + public List findWhiteBirds() + { + ArrayList objects = new ArrayList(); + + // test for white birds (490) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 490) || ignore[n]) + continue; + + // dilate bounding box around colour 490 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 490 + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 490 && _colours[m] != 508 + && _colours[m] != 510) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // confirm secondary colour 510 + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + + // Jochen's patch July 25th 2013 + // remove objects too high or too low in the image + // (probably false positives) + if ((obj.y < 60) || (obj.y > 385)) { + continue; + } + + + int[] hist = histogram(obj); + if (hist[510] > 0 && hist[508] > 0) + { + objects.add(obj); + } + } + + return objects; + } + + public List findBlackBirds() + { + ArrayList objects = new ArrayList(); + + // test for white birds (488) + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 488) || ignore[n]) + continue; + + // dilate bounding box around colour 488 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + // look for overlapping bounding boxes of colour 488 + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 488 && _colours[m] != 146 + && _colours[m] != 64 && _colours[m] != 0) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + // confirm secondary colour + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + int[] hist = histogram(obj); + if ((hist[0] > Math.max(32, 0.1 * obj.width * obj.height)) + && hist[64] > 0 && hist[385] == 0) + { + objects.add(obj); + } + } + + return objects; + } + + public List findStonesAsRectangles() + { + List retValue = new ArrayList(); + for (Block b : findStones()) + { + retValue.add(b.rectangle); + } + return retValue; + + } + + public List findStones() + { + ArrayList objects = new ArrayList(); + + // test for stone (mainly 365) + //commented out because it's not used +// int nPixel = _nWidth * _nHeight; + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + ignorePixel[i][j] = false; + } + } + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + if ((_scene[i][j] != 365) || ignorePixel[i][j]) + continue; + Block obj = new Block(j, i); + LinkedList l = new LinkedList(); + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) + { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to stone + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 365) + && !ignorePixel[p.y + 1][p.x]) + { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + } + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 365) + && !ignorePixel[p.y][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + } + + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 365) + && !ignorePixel[p.y - 1][p.x]) + { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + } + + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 365) + && !ignorePixel[p.y][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + } + + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + if (obj.rectangle.width * obj.rectangle.height > _regionThreshold + && !(new Rectangle(0, 0, 190, 55) + .contains(obj.rectangle))) + objects.add(obj); + } + } + return objects; + } + + public List findIceAsRectangles() + { + List retValue = new ArrayList(); + for (Block b : findIce()) + { + retValue.add(b.rectangle); + } + return retValue; + + } + + + public List findIce() + { + ArrayList objects = new ArrayList(); + + // test for ice (mainly 311) + //commented out because it's not used +// int nPixel = _nWidth * _nHeight; + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + ignorePixel[i][j] = false; + } + + } + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + if ((_scene[i][j] != 311) || ignorePixel[i][j]) + continue; + Block obj = new Block(j, i); + LinkedList l = new LinkedList(); + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) + { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to ice + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 311 + || _scene[p.y + 1][p.x] == 247 || _scene[p.y + 1][p.x] == 183) + && !ignorePixel[p.y + 1][p.x]) + { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + } + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 311 + || _scene[p.y][p.x + 1] == 247 || _scene[p.y][p.x + 1] == 183) + && !ignorePixel[p.y][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + } + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 311 + || _scene[p.y - 1][p.x] == 247 || _scene[p.y - 1][p.x] == 183) + && !ignorePixel[p.y - 1][p.x]) + { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + } + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 311 + || _scene[p.y][p.x - 1] == 247 || _scene[p.y][p.x - 1] == 183) + && !ignorePixel[p.y][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + } + + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + if (obj.rectangle.width * obj.rectangle.height > _regionThreshold + && !(new Rectangle(0, 0, 190, 55) + .contains(obj.rectangle))) + objects.add(obj); + } + } + return objects; + } + + public List findWoodAsRectangles() + { + List retValue = new ArrayList(); + for (Block b : findWood()) + { + retValue.add(b.rectangle); + } + return retValue; + } + + public List findWood() + { + ArrayList objects = new ArrayList(); + + // test for wood (mainly 481) + //commented out because it's not used +// int nPixel = _nWidth * _nHeight; + // Boolean ignore[] = new Boolean[_nSegments]; + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + ignorePixel[i][j] = false; + } + + } + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + if ((_scene[i][j] != 481) || ignorePixel[i][j]) + continue; + Block obj = new Block(j, i); + LinkedList l = new LinkedList(); + List pointBag = new ArrayList(); + l.add(new Point(j, i)); + pointBag.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) + { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to wood + if (p.y < _nHeight - 1) + if ((_scene[p.y + 1][p.x] == 481 + || _scene[p.y + 1][p.x] == 408 || _scene[p.y + 1][p.x] == 417) + && !ignorePixel[p.y + 1][p.x]) + { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + pointBag.add(new Point(p.x, p.y + 1)); + } + if (p.x < _nWidth - 1) + if ((_scene[p.y][p.x + 1] == 481 + || _scene[p.y][p.x + 1] == 408 || _scene[p.y][p.x + 1] == 417) + && !ignorePixel[p.y][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + pointBag.add(new Point(p.x + 1, p.y)); + } + if (p.y > 0) + if ((_scene[p.y - 1][p.x] == 481 + || _scene[p.y - 1][p.x] == 408 || _scene[p.y - 1][p.x] == 417) + && !ignorePixel[p.y - 1][p.x]) + { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + pointBag.add(new Point(p.x, p.y - 1)); + } + if (p.x > 0) + if ((_scene[p.y][p.x - 1] == 481 + || _scene[p.y][p.x - 1] == 408 || _scene[p.y][p.x - 1] == 417) + && !ignorePixel[p.y][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + pointBag.add(new Point(p.x - 1, p.y)); + } + + if (p.y < _nHeight - 1) + ignorePixel[p.y + 1][p.x] = true; + if (p.x < _nWidth - 1) + ignorePixel[p.y][p.x + 1] = true; + if (p.y > 0) + ignorePixel[p.y - 1][p.x] = true; + if (p.x > 0) + ignorePixel[p.y][p.x - 1] = true; + + } + if (obj.rectangle.width * obj.rectangle.height > _regionThreshold + && !(new Rectangle(0, 0, 190, 55) + .contains(obj.rectangle))) + objects.add(obj); + } + } + + return objects; + } + + public List findTNTs() + { + ArrayList objects = new ArrayList(); + + Boolean ignore[] = new Boolean[_nSegments]; + Arrays.fill(ignore, false); + + for (int n = 0; n < _nSegments; n++) + { + if ((_colours[n] != 410) || ignore[n]) + continue; + + // dilate bounding box around colour 410 + Rectangle bounds = VisionUtils.dialateRectangle(_boxes[n], 2, 2); + Rectangle obj = _boxes[n]; + + + // look for overlapping bounding boxes of colour 410 + for (int m = n + 1; m < _nSegments; m++) + { + if (_colours[m] != 410 && _colours[m] != 418) + continue; + final Rectangle bounds2 = VisionUtils.dialateRectangle( + _boxes[m], 2, 2); + if (bounds.intersects(bounds2)) + { + bounds.add(bounds2); + obj.add(_boxes[m]); + ignore[m] = true; + } + } + + obj = VisionUtils.dialateRectangle(obj, 2, 2); + obj = VisionUtils.cropBoundingBox(obj, _nWidth, _nHeight); + + // check secondary colour + int[] hist = histogram(obj); + if (hist[457] > 0 && hist[511] > 0) + { + objects.add(obj); + } + } + + return objects; + } + + // find trajectory points + public ArrayList findTrajPoints() + { + ArrayList objects = new ArrayList(); + ArrayList objectsRemovedNoise; + + // test for trajectory points + //commented out because it's not used +// int nPixel = _nWidth * _nHeight; + Boolean ignorePixel[][] = new Boolean[_nHeight][_nWidth]; + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + ignorePixel[i][j] = false; + } + + } + + for (int i = 0; i < _nHeight; i++) + { + for (int j = 0; j < _nWidth; j++) + { + if ((_scene[i][j] != 365 && _scene[i][j] != 366 && _scene[i][j] != 438) + || ignorePixel[i][j]) + continue; + Rectangle obj = new Rectangle(j, i, 0, 0); + LinkedList l = new LinkedList(); + l.add(new Point(j, i)); + ignorePixel[i][j] = true; + while (true) + { + if (l.isEmpty()) + break; + Point p = l.pop(); + // check if the colours of the adjacent points of p is + // belong to traj Points + if (p.y < _nHeight - 1 && p.x < _nWidth - 1 && p.y > 0 + && p.x > 0) + { + if ((_scene[p.y + 1][p.x] == 365 + || _scene[p.y + 1][p.x] == 366 || _scene[p.y + 1][p.x] == 438) + && !ignorePixel[p.y + 1][p.x]) + { + l.add(new Point(p.x, p.y + 1)); + obj.add(p.x, p.y + 1); + } + + if ((_scene[p.y][p.x + 1] == 365 + || _scene[p.y][p.x + 1] == 366 || _scene[p.y][p.x + 1] == 438) + && !ignorePixel[p.y][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y)); + obj.add(p.x + 1, p.y); + } + + if ((_scene[p.y - 1][p.x] == 365 + || _scene[p.y - 1][p.x] == 366 || _scene[p.y - 1][p.x] == 438) + && !ignorePixel[p.y - 1][p.x]) + { + l.add(new Point(p.x, p.y - 1)); + obj.add(p.x, p.y - 1); + } + + if ((_scene[p.y][p.x - 1] == 365 + || _scene[p.y][p.x - 1] == 366 || _scene[p.y][p.x - 1] == 438) + && !ignorePixel[p.y][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y)); + obj.add(p.x - 1, p.y); + } + + if ((_scene[p.y - 1][p.x - 1] == 365 + || _scene[p.y - 1][p.x - 1] == 366 || _scene[p.y - 1][p.x - 1] == 438) + && !ignorePixel[p.y - 1][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y - 1)); + obj.add(p.x - 1, p.y - 1); + } + + if ((_scene[p.y - 1][p.x + 1] == 365 + || _scene[p.y - 1][p.x + 1] == 366 || _scene[p.y - 1][p.x + 1] == 438) + && !ignorePixel[p.y - 1][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y - 1)); + obj.add(p.x + 1, p.y - 1); + } + + if ((_scene[p.y + 1][p.x + 1] == 365 + || _scene[p.y + 1][p.x + 1] == 366 || _scene[p.y + 1][p.x + 1] == 438) + && !ignorePixel[p.y + 1][p.x + 1]) + { + l.add(new Point(p.x + 1, p.y + 1)); + obj.add(p.x + 1, p.y + 1); + } + + if ((_scene[p.y + 1][p.x - 1] == 365 + || _scene[p.y + 1][p.x - 1] == 366 || _scene[p.y + 1][p.x - 1] == 438) + && !ignorePixel[p.y + 1][p.x - 1]) + { + l.add(new Point(p.x - 1, p.y + 1)); + obj.add(p.x - 1, p.y + 1); + } + + } + if (p.y < _nHeight - 1 && p.x < _nWidth - 1 && p.y > 0 + && p.x > 0) + { + ignorePixel[p.y + 1][p.x] = true; + ignorePixel[p.y][p.x + 1] = true; + + ignorePixel[p.y - 1][p.x] = true; + ignorePixel[p.y][p.x - 1] = true; + + ignorePixel[p.y + 1][p.x + 1] = true; + ignorePixel[p.y - 1][p.x + 1] = true; + ignorePixel[p.y + 1][p.x - 1] = true; + ignorePixel[p.y - 1][p.x - 1] = true; + } + } + + //commented out because it's not used +// Rectangle menu = new Rectangle(0, 0, 205, 60); + if (obj.height * obj.width <= 25) + objects.add(new Point((int) obj.getCenterX(), (int) obj + .getCenterY())); + } + } + + objectsRemovedNoise = (ArrayList) objects.clone(); + + // remove noise points + Matrix W = fitParabola(objects); + double maxError = 10; + Rectangle menu = new Rectangle(0, 0, 205, 60); + + for (Point o : objects) + { + if (Math.abs(W.get(0, 0) * Math.pow(o.x, 2) + W.get(1, 0) * o.x + + W.get(2, 0) - o.y) > maxError) + { + objectsRemovedNoise.remove(o); + } + + if (menu.contains(o)) + { + objectsRemovedNoise.remove(o); + } + } + + return objectsRemovedNoise; + } + + // fit parabola using maximum likelihood + // vector W = (w0,w1,w2)T , y = w0*x^2 + w1*x + w2 + public Matrix fitParabola(List objects) + { + int trainingSize = 60; + double arrayPhiX[][] = new double[trainingSize][3]; // Training set + double arrayY[][] = new double[trainingSize][1]; + + Rectangle sling = this.findSlingshot(); + + Matrix PhiX, Y; + Matrix W = new Matrix(new double[] { 0, 0, 0 }, 3); + int i = 0; + for (Point p : objects) + { + + // if slingshot not detected, abandon side noises + if (sling == null) + { + if (Math.abs(p.x - _nWidth / 2) <= _nWidth / 6 + && p.y <= _nHeight / 5 * 3 && i < trainingSize) + { + arrayPhiX[i][0] = Math.pow(p.x, 2); + arrayPhiX[i][1] = p.x; + arrayPhiX[i][2] = 1; + arrayY[i][0] = p.y; + i++; + } + } + + // if slingshot detected, abandon noises to the left of slingshot + else + { + if (p.x >= sling.getCenterX() + sling.width * 2 + && p.x <= sling.getCenterX() + _nWidth / 3 + && p.y <= sling.getCenterY() && i < trainingSize) + { + arrayPhiX[i][0] = Math.pow(p.x, 2); + arrayPhiX[i][1] = p.x; + arrayPhiX[i][2] = 1; + arrayY[i][0] = p.y; + i++; + } + } + } + + PhiX = new Matrix(arrayPhiX); + Y = new Matrix(arrayY); + + // Maximum likelihood + try + { + W = PhiX.transpose().times(PhiX).inverse().times(PhiX.transpose()) + .times(Y); + } + catch (Exception e) + { + // if Matrix is singular + // do nothing + } + return W; + } + + // train parabola using gradient descent + public Matrix trainParabola(ArrayList objects) + { + + double points[][] = new double[objects.size()][2]; + double alpha = 1e-10; + int trainingSize = 100; + + double trainingSet[][] = new double[trainingSize][2]; + double SquareError; + Matrix deltaError; + + int i = 0, j = 0; + for (Rectangle p : objects) + { + points[i][0] = p.getCenterX(); + points[i][1] = p.getCenterY(); + if (Math.abs(p.getCenterX() - _nWidth / 2) <= _nWidth / 4 + && Math.abs(p.getCenterY() - _nHeight / 2) <= _nHeight / 5 + && j < trainingSize) + { + trainingSet[j][0] = points[i][0]; + trainingSet[j][1] = points[i][1]; + j++; + } + i++; + } + + //commented out because it's not used +// Matrix T = new Matrix(trainingSet);// possible traj points matrix + Matrix W = new Matrix(new double[] { 0, 0, 0 }, 3);// parabola + // parameters + //commented out because it's not used +// Matrix oldW; + Matrix phiX; + for (int x = -50; x < 50; x++) + { + if (x + 50 < trainingSize) + { + trainingSet[x + 50][0] = x; + trainingSet[x + 50][1] = -x * x + 20 * x + 1; + } + } + + for (int it = 0; it < 50000; it++) + { + SquareError = 0.; + for (int n = 0; n < trainingSize; n++) + { + if (trainingSet[n][0] > 0) + { + double xn = trainingSet[n][0]; + double yn = trainingSet[n][1]; + phiX = new Matrix(new double[] { Math.pow(xn, 2), xn, 1. }, + 3); + + deltaError = phiX.times((yn - W.transpose().times(phiX) + .get(0, 0))); + //commented out because it's not used +// oldW = W; + + W = W.plus(deltaError.times(alpha)); + SquareError += Math.pow( + yn - phiX.transpose().times(W).get(0, 0), 2); + + } + } + if (it % 1000 == 0) + { + System.out.print(SquareError + "\n"); + W.print(1, 30); + } + } + + return W; + } + + // find bounding boxes around an arbitrary colour code + public List findColour(int colourCode) + { + ArrayList objects = new ArrayList(); + + for (int n = 0; n < _nSegments; n++) + { + if (_colours[n] == colourCode) + { + objects.add(_boxes[n]); + } + } + + return objects; + } + + // query the colour at given pixel + public Integer query(Point p) + { + if ((p.x >= _nWidth) || (p.y >= _nHeight)) + { + System.err.println("pixel (" + p.x + ", " + p.y + + ") is out of range"); + return null; + } + + return _colours[_segments[p.y][p.x]]; + } + + // query colours within given bounding box + public Set query(Rectangle r) + { + Set s = new HashSet(); + for (int n = 0; n < _nSegments; n++) + { + if (r.contains(_boxes[n])) + { + s.add(_colours[n]); + } + } + return s; + } + + // compute a histogram of colours within a given bounding box + public int[] histogram(Rectangle r) + { + int[] h = new int[512]; + Arrays.fill(h, 0); + + for (int y = r.y; y < r.y + r.height; y++) + { + if ((y < 0) || (y >= _nHeight)) + continue; + for (int x = r.x; x < r.x + r.width; x++) + { + if ((x < 0) || (x >= _nWidth)) + continue; + h[_colours[_segments[y][x]]] += 1; + } + } + + return h; + } + + // perform preprocessing of a new screenshot + private void processScreenShot(BufferedImage screenshot) + { + // extract width and height + _nHeight = screenshot.getHeight(); + _nWidth = screenshot.getWidth(); + if ((_nHeight != 480) && (_nWidth != 840)) + { + System.err.println("ERROR: expecting 840-by-480 image"); + System.exit(1); + } + + // quantize to 3-bit colour + _scene = new int[_nHeight][_nWidth]; + for (int y = 0; y < _nHeight; y++) + { + for (int x = 0; x < _nWidth; x++) + { + final int colour = screenshot.getRGB(x, y); + _scene[y][x] = ((colour & 0x00e00000) >> 15) + | ((colour & 0x0000e000) >> 10) + | ((colour & 0x000000e0) >> 5); + } + } + + // find connected components + _segments = VisionUtils.findConnectedComponents(_scene); + _nSegments = VisionUtils.countComponents(_segments); + // System.out.println("...found " + _nSegments + " components"); + + _colours = new int[_nSegments]; + for (int y = 0; y < _nHeight; y++) + { + for (int x = 0; x < _nWidth; x++) + { + _colours[_segments[y][x]] = _scene[y][x]; + } + } + + // find bounding boxes and segment colours + _boxes = VisionUtils.findBoundingBoxes(_segments); + } + + /** + * Detects the ground in the image. + * @return A list of blocks representing the ground. + */ + public List detectGround() + { + Mat binaryImage = new Mat(new Size(_nWidth, _nHeight), CvType.CV_8U, + new Scalar(1)); + + // We only detect right of this margin. The slingshot has some ground + // colors and would partly be detected as ground. This is not what we + // want. Trajectories originate at the slingshot, and if there is ground + // detected at the slingshot, the agent will think, that none of its + // trajectories are valid. Therefore we start with detecting due right + // of the slingshot. + int startAtX = findSlingshot().x + findSlingshot().width * 2; + + // Now we create a binary image of the ground areas. White where there + // is ground, black otherwise. + for (int y = 0; y < _nHeight; y++) + { + for (int x = 0; x < _nWidth; x++) + { + if (x > startAtX && isGround(x, y)) + binaryImage.put(y, x, 255); + else + binaryImage.put(y, x, 0); + } + } + + Mat smoothedImage = new Mat(new Size(_nWidth, _nHeight), CvType.CV_8U, + new Scalar(1)); + + // This median filter improves the detection tremendously. There are a + // whole lot of single pixels that carry ground colors spread all over + // the image. We remove them here. + Imgproc.medianBlur(binaryImage, smoothedImage, 7); + + List contours = new ArrayList(); + + // We use OpenCV to find the contours. Contours are lines, that + // represent the boundaries of the objects in the binary image. + Imgproc.findContours(smoothedImage, contours, new Mat(), + Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE); + + ArrayList result = new ArrayList(); + + //Now for every contour, we convert it to blocks for communicating them to DLV. + for (MatOfPoint mp : contours) + { + org.opencv.core.Point[] pts = mp.toArray(); + + for (int i = 0; i < pts.length - 1; i++) + { + Block b = new Block((int) pts[i].x, (int) pts[i].y); + b.add((int) pts[i + 1].x, (int) pts[i + 1].y); + result.add(b); + } + + //One block for the first vertex to the last vertex. + Block b = new Block((int) pts[pts.length - 1].x, + (int) pts[pts.length - 1].y); + b.add((int) pts[0].x, (int) pts[0].y); + result.add(b); + } + + return result; + } + + /** + * Returns true if the pixel at the given location has typical ground + * colors. Colors have been determined manually by retrieving the color of + * ground pixels. + */ + private boolean isGround(int x, int y) + { + return _scene[y][x] == 64 || _scene[y][x] == 72 || _scene[y][x] == 136 + || _scene[y][x] == 209 || _scene[y][x] == 210 + || _scene[y][x] == 282 || _scene[y][x] == 346; + } + + /** + * Information about a block, contains not only the bounding rectangle, but + * also all the pixels that make it up, so that they can also be used. + */ + public class Block + { + /** + * The bounding rectangle of the block. + */ + public Rectangle rectangle; + + /** + * All the pixels belonging to the block. + */ + public List pixels = new LinkedList(); + + /** + * Adds the point to the rectangle as well as the pixel list. + */ + public void add(int x, int y) + { + rectangle.add(x, y); + pixels.add(new org.opencv.core.Point(x, y)); + } + + public MatOfPoint2f getMatOfPoint2f() + { + MatOfPoint2f matrix = new MatOfPoint2f(); + matrix.fromList(pixels); + return matrix; + } + + public RotatedRect getRBoundingBox() + { + return Imgproc.minAreaRect(getMatOfPoint2f()); + } + + public Block(int x, int y) + { + rectangle = new Rectangle(x, y, 0, 0); + pixels.add(new org.opencv.core.Point(x, y)); + } + } + +} diff --git a/src/angryhexclient/OurVisionFact.java b/src/angryhexclient/OurVisionFact.java new file mode 100644 index 0000000..2300b02 --- /dev/null +++ b/src/angryhexclient/OurVisionFact.java @@ -0,0 +1,151 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.awt.Rectangle; +import java.util.LinkedList; +import java.util.List; + +import org.opencv.core.RotatedRect; + +import ab.planner.TrajectoryPlanner; +import ab.vision.BirdType; + +public class OurVisionFact { + + private OurVision vision; + private TargetReasoner reasoner; + private TrajectoryPlanner planner; + private List objects; + + public OurVisionFact(OurVision vision, TargetReasoner reasoner, TrajectoryPlanner planner) { + this.vision = vision; + this.reasoner = reasoner; + this.planner = planner; + this.objects = new LinkedList(); + } + + public RotatedRect getObject(int index) { + return objects.get(index); + } + + public List getObjects() { + return objects; + } + + public void createFacts(BirdType currentBird) { + addPigsToExecutor(vision.findPigs()); + + addBlocksToExecutor(vision.findIce(), "ice"); + addBlocksToExecutor(vision.findStones(), "stone"); + addBlocksToExecutor(vision.findWood(), "wood"); + addBlocksToExecutor(vision.detectGround(), "ground"); + addTNTs(vision.findTNTs()); + + addBirdTypeToExecutor(currentBird); + addTrajectoryInfoToExecutor(vision.findSlingshot()); + } + + /** + * Adds facts for the pigs to the executor. + */ + private void addPigsToExecutor(List pigs) { + for (Rectangle r : pigs) { + RotatedRect rr = convertRectangleToRotatedRect(r); + addRotatedRectToExecutor(objects.size(), "pig", rr); + objects.add(rr); + } + } + + /** + * Adds the facts for the blocks to the executor. + * + * @param blocks + * The list of blocks as returned by the vision component. Each + * List Member must be a block with at least one pixel. + */ + private void addBlocksToExecutor(List blocks, String type) { + for (OurVision.Block b : blocks) { + // Each list member must be a block with at least one pixel. + assert (!b.pixels.isEmpty()); + + RotatedRect rr = b.getRBoundingBox(); + // Enlarge Rectangles by 2 pixels, as they are frequently "seen" + // too small. + rr.size.height += 2; + rr.size.width += 2; + + addRotatedRectToExecutor(objects.size(), type, rr); + objects.add(rr); + } + } + + /** + * Adds facts for the TNT boxes to the executor. + */ + private void addTNTs(List TNTs) { + for (Rectangle r : TNTs) { + RotatedRect rr = convertRectangleToRotatedRect(r); + addRotatedRectToExecutor(objects.size(), "tnt", rr); + objects.add(rr); + } + } + + private RotatedRect convertRectangleToRotatedRect(Rectangle r) { + return new RotatedRect(new org.opencv.core.Point(r.getCenterX(), + r.getCenterY()), new org.opencv.core.Size(r.getSize() + .getWidth(), r.getSize().getHeight()), 0); + } + + private void addRotatedRectToExecutor(int index, String type, + RotatedRect rr) { + // + // GB: avoids strange 90 or -90 degrees rotations + // + int width, height, angle; + if (rr.angle >= 45) { + width = (int) rr.size.height; + height = (int) rr.size.width; + angle = (int) rr.angle - 90; + } else if (rr.angle <= -45) { + width = (int) rr.size.height; + height = (int) rr.size.width; + angle = (int) rr.angle + 90; + } else { + width = (int) rr.size.width; + height = (int) rr.size.height; + angle = (int) rr.angle; + } + String fact = String.format("object(%d, %s, %d, %d, %d, %d, \"%f\").", + index, type, (int) rr.center.x, (int) rr.center.y, width, + height, Math.toRadians(angle)); + reasoner.addFact(fact); + } + + private void addBirdTypeToExecutor(BirdType type) { + String ss = String.format("birdType(%s).", type.name()); + reasoner.addFact(ss); + } + + private void addTrajectoryInfoToExecutor(Rectangle slingshot) { + // In previous versions, the scale factor was dubbed velocity. + reasoner.addFact( + "velocity(\"" + planner.getScaleFactor() + "\")."); + + String ss = String.format("slingshot(%d, %d, %d, %d).", + (int) slingshot.getX(), (int) slingshot.getY(), + (int) slingshot.getWidth(), (int) slingshot.getHeight()); + + reasoner.addFact(ss); + } +} diff --git a/src/angryhexclient/Reasoner.java b/src/angryhexclient/Reasoner.java new file mode 100644 index 0000000..053adf2 --- /dev/null +++ b/src/angryhexclient/Reasoner.java @@ -0,0 +1,133 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.io.BufferedReader; +import java.io.File; +import java.io.IOException; +import java.io.InputStreamReader; +import java.io.PrintWriter; +import java.util.ArrayList; +import java.util.List; +import java.util.logging.Logger; +import java.util.regex.Matcher; +import java.util.regex.Pattern; + +public abstract class Reasoner { + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + // dlvhex arguments + protected static String DLVHEX_CMDARGS = join(new String[] { + Configuration.getHexpath(), + Configuration.getUseDlv() ? "--solver=dlv" : "", + Configuration.getHexAdditionalArguments(), + Configuration.isCalibrationMode() ? "-n=1" : "", "-e easy", + "--weak-enable", "--silent", "--verbose=0" }); + + // parent dir of dlv files + protected static String clientDir = System.getProperty("user.dir") + + System.getProperty("file.separator"); + + protected String filterPred; + protected Pattern filterRegex; + protected String encFile; + protected List facts; + protected String dlvhexOutput; + protected int callCount; + + public Reasoner(String filterPred, Pattern filterRegex) { + this.filterPred = filterPred; + this.filterRegex = filterRegex; + this.facts = new ArrayList(); + } + + public void setEncodingFile(String encFile) { + this.encFile = encFile; + } + + public void addFact(String fact) { + facts.add(fact); + } + + public void reason() throws UnsupportedOperationException, IOException, InterruptedException { + + // create file containing just facts + String factsFile = clientDir + + getFactFilename(); + PrintWriter writer = new PrintWriter(factsFile, "UTF-8"); + for (String string : facts) { + writer.println(string); + } + writer.close(); + + // call dlvhex + String cmd = String.format("%s --filter=%s %s %s", DLVHEX_CMDARGS, + filterPred, factsFile, encFile); + System.out.println("Calling dlvhex2: " + cmd); + Process process = Runtime.getRuntime().exec(cmd); + process.waitFor(); + System.out.println("Called dlvhex2"); + + // read output of dlvhex and store in dlvhexOutput + BufferedReader bufferedReader = new BufferedReader( + new InputStreamReader(process.getInputStream())); + BufferedReader hexerr = new BufferedReader(new InputStreamReader( + process.getErrorStream())); + + dlvhexOutput = ""; + String currentLine; + String currentErrLine; + while ((currentLine = bufferedReader.readLine()) != null) { + dlvhexOutput += currentLine + "\n"; + } + while ((currentErrLine = hexerr.readLine()) != null) { + Log.severe(currentErrLine); + } + + // cleanup + facts.clear(); + // keep facts file if debug mode + saveDebugHexWithInfo(factsFile); + // delete facts file + new File(factsFile).delete(); + // parse response of dlvhex + parseOutput(); + } + + protected void parseOutput() { + clear(); + Matcher m = filterRegex.matcher(dlvhexOutput); + while (m.find()) { + storeAtom(m); + } + } + + protected String getFactFilename() { + return String.format("program%d.hex", callCount++); + } + + protected abstract void clear(); + + protected abstract void storeAtom(Matcher m); + + private static String join(String[] arr) { + String str = ""; + for (String s : arr) { + str += s + " "; + } + return str; + } + + protected abstract void saveDebugHexWithInfo(String file); +} diff --git a/src/angryhexclient/TargetReasoner.java b/src/angryhexclient/TargetReasoner.java new file mode 100644 index 0000000..4481da7 --- /dev/null +++ b/src/angryhexclient/TargetReasoner.java @@ -0,0 +1,120 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.io.File; +import java.io.IOException; +import java.util.ArrayList; +import java.util.List; +import java.util.regex.Matcher; +import java.util.regex.Pattern; + +import ab.vision.ABType; +import angryhexclient.util.DebugUtils; +import angryhexclient.util.Utils; + +public class TargetReasoner extends Reasoner { + + private static String filterPred = "targetData"; + private static Pattern filterRegex = Pattern + .compile("\\{targetData\\((\\d+),(high|low),(\\d+),(\\d+),(\\d+)\\)\\}"); + + private static TargetReasoner instance; + + public static TargetReasoner getInstance() { + if (instance == null) { + instance = new TargetReasoner(); + } + return instance; + } + + private List targets; + private int callCount; + + private TargetReasoner() { + super(filterPred, filterRegex); + + this.targets = new ArrayList(); + this.callCount = 0; + } + + public List getTargets() { + return targets; + } + + public void reason(ABType birdType) throws UnsupportedOperationException, + IOException, InterruptedException { + // get suitable encoding file + String encFile = clientDir + Utils.DLV_DIR + File.separator; + if (Configuration.isCalibrationMode()) { + encFile += "calibrate.dlv"; + } else if (birdType == ABType.WhiteBird) { + encFile += Configuration.getReasoningWhiteFilename(); + } else { + encFile += Configuration.getReasoningFilename(); + } + setEncodingFile(encFile); + reason(); + } + + @Override + protected String getFactFilename() { + return String.format("targetData%d.hex", callCount++); + } + + @Override + protected void clear() { + targets.clear(); + } + + @Override + protected void storeAtom(Matcher m) { + int id = Integer.parseInt(m.group(1)); + int trajectory = m.group(2).equals("low") ? 0 : 1; + int tapCoeff = Integer.parseInt(m.group(3)); + int yoffset = Integer.parseInt(m.group(4)); + int eggMode = Integer.parseInt(m.group(5)); + + TargetData a = new TargetData(id, trajectory, tapCoeff, yoffset, + eggMode != 0); + targets.add(a); + } + + public class TargetData { + // The trajectory, 0 for low, 1 for high. + public int trajectory; + // The target point that the bird will be shot at. + public int id; + public int tapCoeff; + public int yoffsetRatio; + public boolean eggMode; + + public TargetData(int id, int tr, int tap, int yoffset, boolean eggMode) { + this.trajectory = tr; + this.id = id; + this.tapCoeff = tap; + this.yoffsetRatio = yoffset; + this.eggMode = eggMode; + } + + public String toString() { + return "ID:" + id + " TRAJ:" + trajectory + " TAP:" + tapCoeff + + " YOFF:" + yoffsetRatio + " MODE:" + eggMode; + } + } + + @Override + protected void saveDebugHexWithInfo(String file){ + DebugUtils.saveHexWithInfo(file,"Target"); + } +} diff --git a/src/angryhexclient/VisionFact.java b/src/angryhexclient/VisionFact.java new file mode 100644 index 0000000..4bfd5ae --- /dev/null +++ b/src/angryhexclient/VisionFact.java @@ -0,0 +1,289 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient; + +import java.awt.Rectangle; +import java.util.LinkedList; +import java.util.List; +import java.util.logging.Logger; + +import org.opencv.core.RotatedRect; + +import ab.planner.TrajectoryPlanner; +import ab.vision.ABObject; +import ab.vision.ABType; +import ab.vision.Vision; +import ab.vision.real.shape.Circle; +import ab.vision.real.shape.Poly; +import ab.vision.real.shape.Rect; +import angryhexclient.OurVision.Block; + +public class VisionFact { + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + private Vision vision; + private TargetReasoner reasoner; + private List abobjects; + private TrajectoryPlanner planner; + + //just for ground + private OurVision ourVision; + + public VisionFact(Vision vision, OurVision ourVision, TargetReasoner reasoner, + TrajectoryPlanner planner) { + this.vision = vision; + this.ourVision = ourVision; + this.reasoner = reasoner; + this.abobjects = new LinkedList(); + this.planner = planner; + } + + public ABObject getABObject(int i) { + return abobjects.get(i); + } + + public List getABObjects() { + return abobjects; + } + + private int addABObject(ABObject ab) { + ab.id = abobjects.size(); + abobjects.add(ab); + return ab.id; + } + + public void createFacts(ABType currentBird) { + addBirdTypeToExecutor(currentBird); + addTrajectoryInfoToExecutor(vision.findSlingshotRealShape()); + addPigs(vision.findPigsMBR()); + addBlocks(vision.findBlocksRealShape()); + addTNTs(vision.findTNTs()); + addGround(ourVision.detectGround()); + } + + private void addPigs(List objs) + throws UnsupportedOperationException { + if (objs.isEmpty()) { + throw new UnsupportedOperationException( + "No pigs found in the scene."); + } + //at the moment pigs are blocks since we don't care about their + //circle shape (they don't roll like stones etc..) + addBlocks(objs); + } + + private void addTNTs(List objs) { + //TODO if TNTs are treated the same way as blocks, remove this method + addBlocks(objs); + } + + private void addBlocks(List objs) { + for (ABObject ab : objs) { + if (ab.type != ABType.Unknown){ + switch (ab.shape) { + case Circle: + addCircle(ab); + break; + case Poly: + addPoly(ab); + break; + case Rect: + addRect(ab); + break; + case Triangle: + addTriangle(ab); + break; + default: + Log.warning("unknown ABShape"); + break; + } + } else{ + Log.warning("Found an Unknown object type. This object has been avoided."); + } + } + } + + private void addCircle(ABObject ab) { + int index = addABObject(ab); + String fact = String.format("circle(%d, %d, %d, \"%f\" ).", + index, (int) ab.getCenter().x, (int) ab.getCenter().y, ((Circle)ab).r); + + reasoner.addFact(fact); + String type = VisionFact.getABTypeString(ab.getType()).toLowerCase(); + addBoundingBox(((Circle)ab).getBounds(), type, index,0.f); + + + } + + private void addPoly(ABObject ab) { + // FIXME identification of a triangle(three points) may be not enough as vision can recognize a triangle as a poly line (and it can be imprecise) + String type = VisionFact.getABTypeString(ab.getType()).toLowerCase(); + Poly poly = (Poly) ab; + //If the poly line has three points, it is a triangle + if (poly.polygon.xpoints.length == poly.polygon.ypoints.length && poly.polygon.xpoints.length == 3){ + addTriangle(ab); + }else{ + //If not, we save the bounding box + //FIXME potentially wrong: saving a bounding box without its shape + int index = addABObject(ab); + addBoundingBox(ab.getBounds(), type, index, 0.f); + } + + } + + private void addBoundingBox(Rectangle obj, String type, int index, double angle){ + String fact = String.format("boundingBox(%d, %s, %d, %d, %d, %d, \"%f\").", + index, type, (int) obj.getCenterX(), (int) obj.getCenterY(), obj.width, + obj.height, angle); + + reasoner.addFact(fact); + } + + private void addRect(ABObject obj) { + //get the type of the object + String type = VisionFact.getABTypeString(obj.getType()).toLowerCase(); + + int width = obj.width; + int height = obj.height; + double angle = obj.angle; + if (obj instanceof Rect){ + Rect rr = (Rect)obj; + width = (int) rr.getpWidth(); + height = (int) rr.getpLength(); + //adjust the angle for box2d representation + angle = obj.angle - Math.toRadians(90); + //System.out.print(rr.getpWidth() + " " + rr.getpLength() + " " + rr.angle); + } + + int index = addABObject(obj); + //System.out.print(" at " + obj.getCenter().x + " , " + obj.getCenter().y); + //System.out.println(" " + index); + String fact = String.format("rectangle(%d, %s, %d, %d, %d, %d, \"%f\").", + index, type, (int) obj.getCenter().x, (int) obj.getCenter().y, width, + height, angle); + + reasoner.addFact(fact); + Rectangle boundingBox = new Rectangle (obj.getCenter().x - width/2, obj.getCenter().y - height/2, width, height); + addBoundingBox(boundingBox,type, index,angle); + } + + private void addTriangle(ABObject ab) { + int index = addABObject(ab); + Poly triangle = (Poly) ab; + String fact = String.format("triangle(%d, %d, %d, %d, %d, %d, %d ).", index, + triangle.polygon.xpoints[0], triangle.polygon.ypoints[0], + triangle.polygon.xpoints[1], triangle.polygon.ypoints[1], + triangle.polygon.xpoints[2], triangle.polygon.ypoints[2]); + + + reasoner.addFact(fact); + addBoundingBox(triangle.getBounds(), fact, index,0.f); + } + + private void addBirdTypeToExecutor(ABType type) { + String ss = String.format("birdType(%s).", type.name().toLowerCase()); + reasoner.addFact(ss); + } + + private void addTrajectoryInfoToExecutor(Rectangle slingshot) { + // In previous versions, the scale factor was dubbed velocity. + reasoner.addFact("velocity(\"" + planner.getScaleFactor() + "\")."); + + String ss = String.format("slingshot(%d, %d, %d, %d).", + (int) slingshot.getX(), (int) slingshot.getY(), + (int) slingshot.getWidth(), (int) slingshot.getHeight()); + + reasoner.addFact(ss); + } + + public static String getABTypeString(ABType type) { + switch (type) { + case BlackBird: + break; + case BlueBird: + break; + case Ground: + return "ground"; + case Hill: + return "hill"; + case Ice: + return "ice"; + case Pig: + return "pig"; + case RedBird: + break; + case Sling: + return "sling"; + case Stone: + return "stone"; + case TNT: + return "tnt"; + case Unknown: + return "unknown"; + case WhiteBird: + break; + case Wood: + return "wood"; + case YellowBird: + break; + default: + break; + + } + Log.warning("unknown ABType"); + return null; + } + +//Needed for ground. To be deleted once ground is computed by the new vision + private void addGround(List blocks){ + int count = abobjects.size(); + for (OurVision.Block b : blocks) { + // Each list member must be a block with at least one pixel. + assert (!b.pixels.isEmpty()); + + RotatedRect rr = b.getRBoundingBox(); + // Enlarge Rectangles by 2 pixels, as they are frequently "seen" + // too small. + rr.size.height += 2; + rr.size.width += 2; + + addRotatedRectToExecutor(count++,rr); + } + } + + //Needed for ground. To be deleted once ground is computed by the new vision + private void addRotatedRectToExecutor(int index,RotatedRect rr) { + // + // GB: avoids strange 90 or -90 degrees rotations + // + int width, height, angle; + if (rr.angle >= 45) { + width = (int) rr.size.height; + height = (int) rr.size.width; + angle = (int) rr.angle - 90; + } else if (rr.angle <= -45) { + width = (int) rr.size.height; + height = (int) rr.size.width; + angle = (int) rr.angle + 90; + } else { + width = (int) rr.size.width; + height = (int) rr.size.height; + angle = (int) rr.angle; + } + String fact = String.format("boundingBox(%d, %s, %d, %d, %d, %d, \"%f\").", + index, "ground", (int) rr.center.x, (int) rr.center.y, width, + height, Math.toRadians(angle)); + reasoner.addFact(fact); + } +} diff --git a/src/angryhexclient/strategy/BenchmarkStrategy.java b/src/angryhexclient/strategy/BenchmarkStrategy.java new file mode 100644 index 0000000..88dac2e --- /dev/null +++ b/src/angryhexclient/strategy/BenchmarkStrategy.java @@ -0,0 +1,120 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.strategy; + +import java.io.FileWriter; +import java.io.IOException; +import java.io.PrintWriter; +import java.util.logging.Logger; + +import ab.demo.other.ClientActionRobotJava; + +public class BenchmarkStrategy extends StrategyManager { + + final public static boolean BENCHMARK = false; + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + private static String BENCHMARK_FILE = "benchmark.csv"; + + // levels to benchmark + private int[] levels = new int[] { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, + 13, 14, 15, 16, 17, 18, 19, 20, 21 }; + // number of runs per level + private int runs = 5; + // index of current level in array 'levels' + private int currIdx = 0; + // count of runs of levels[currIdx] + private int currRun = 0; + + int[][] scores = new int[levels.length][runs]; + + public BenchmarkStrategy(ClientActionRobotJava ar, byte startingLevel, + byte[] configureData) throws Exception { + super(ar, startingLevel, configureData); + if (levels.length < 1) { + throw new Exception("No levels for benchmark specified"); + } else if (runs < 1) { + throw new Exception("No runs for benchmark specified"); + } + } + + @Override + protected byte findNextLevelToPlay() { + if (currRun < runs) { + currRun++; + return (byte) levels[currIdx]; + } else if (currIdx < levels.length - 1) { + currRun = 1; + currIdx++; + return (byte) levels[currIdx]; + } + saveResult(); + Log.warning("All levels in benchmark strategy covered."); + return (byte) -1; + } + + @Override + public void updateScore(int score) { + scores[currIdx][currRun] = score; + } + + private int[][] evaluate() { + int[][] res = new int[levels.length][4]; + for (int i = 0; i < levels.length; i++) { + int sum = 0; + int won = 0; + int best = 0; + for (int j = 0; j < runs; j++) { + if (scores[i][j] > 0) { + won++; + } + if (scores[i][j] > best) { + best = scores[i][j]; + } + sum += scores[i][j]; + } + res[i][0] = won; + res[i][1] = sum / won; + res[i][2] = sum / runs; + res[i][3] = best; + } + return res; + } + + //commented out because it's not used +// private void printResult() { +// int[][] res = evaluate(); +// for (int i = 0; i < res.length; i++) { +// Log.warning(String.format("L%d %d %d %d %d", levels[i], +// res[i][0], res[i][1], res[i][2], res[i][3])); +// } +// } + + private void saveResult() { + int[][] res = evaluate(); + try { + PrintWriter wr = new PrintWriter(new FileWriter(BENCHMARK_FILE, + false)); + wr.println(String + .format("Level;Number of WON runs;AVG excl. LOST;AVG incl. LOST;Best score")); + for (int i = 0; i < res.length; i++) { + + wr.println(String.format("%d;%d;%d;%d;%d", levels[i], + res[i][0], res[i][1], res[i][2], res[i][3])); + } + wr.close(); + } catch (IOException e) { + Log.warning("couldn't save benchmark results"); + } + } +} diff --git a/src/angryhexclient/strategy/DeclarativeStrategy.java b/src/angryhexclient/strategy/DeclarativeStrategy.java new file mode 100644 index 0000000..5e5b100 --- /dev/null +++ b/src/angryhexclient/strategy/DeclarativeStrategy.java @@ -0,0 +1,99 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.strategy; + +import java.io.IOException; +import java.util.Random; +import java.util.logging.Logger; + +import ab.demo.other.ClientActionRobotJava; + +/** + * @author Stefano, Dasha + * + */ +public class DeclarativeStrategy extends StrategyManager { + + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + public DeclarativeStrategy(ClientActionRobotJava ar, byte startingLevel, + byte[] configureData) throws Exception { + super(ar, startingLevel, configureData); + } + + /** + * Find the next level to play + * + * @return next level to play + */ + protected byte findNextLevelToPlay() { + + System.out.println("SM: searching for the next level to play"); + + byte newLevel = (byte) (1); + + String fact; + + // add facts diff(i,j,k) reflecting the difference j between best scores + // and ours for level i if k=1 that we played best, otherwise k=0. + for (int i = 0; i < bestScores.length; i++) { + int diff = bestScores[i] - myScores[i]; + if (diff > 0) { + fact = "diff(" + i + "," + diff + "," + 0 + ")."; + } else { + fact = "diff(" + i + "," + Math.abs(diff) + "," + 1 + ")."; + } + + StrategyReasoner.getInstance().addFact(fact); + } + + // add facts timeslevelplayed(i,j) reflecting that level i was played j + // times + for (int i = 0; i < howManyTimes.length; i++) { + fact = "timeslevelplayed(" + i + "," + howManyTimes[i] + ")."; + StrategyReasoner.getInstance().addFact(fact); + } + + // add facts myscore(i,j) reflecting our score j for level i + for (int i = 0; i < myScores.length; i++) { + fact = "myscore(" + i + "," + myScores[i] + ")."; + StrategyReasoner.getInstance().addFact(fact); + } + + // add fact with round info + fact = "roundinfo(" + roundInfo + ")."; + StrategyReasoner.getInstance().addFact(fact); + + // call hex to compute next level to be played + try { + StrategyReasoner.getInstance().reason(); + } catch (UnsupportedOperationException e) { + Log.severe("could not call dlvhex: " + e.getMessage()); + } catch (IOException e) { + Log.severe("could not call dlvhex: " + e.getMessage()); + } catch (InterruptedException e) { + Log.severe("could not call dlvhex: " + e.getMessage()); + } + + newLevel = StrategyReasoner.getInstance().getNewLevel(); + if (newLevel!=111) + newLevel+=1; + else { + newLevel = (byte) (1 + (new Random()).nextInt(21)); + } + + System.out.println("SM: next level to be played " + newLevel); + + return newLevel; + } +} diff --git a/src/angryhexclient/strategy/JavaStrategy.java b/src/angryhexclient/strategy/JavaStrategy.java new file mode 100644 index 0000000..45ca22f --- /dev/null +++ b/src/angryhexclient/strategy/JavaStrategy.java @@ -0,0 +1,81 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.strategy; + +import java.util.Random; + +import ab.demo.other.ClientActionRobotJava; + +/** + * @author Stefano + * + */ +public class JavaStrategy extends StrategyManager { + + public JavaStrategy(ClientActionRobotJava ar, byte startingLevel, + byte[] configureData) throws Exception { + super(ar, startingLevel, configureData); + } + + /** + * Find the next level to play + * + * @return next level to play + */ + protected byte findNextLevelToPlay() { + + /** + * First it tries to play each level one time + */ + for (int i = 0; i < numberOfLevels; i++) + if (myScores[i] == 0 && howManyTimes[i] == 0) + return (byte) (i + 1); + + /** + * Next it tries to play the levels that have the maximum difference + * from the best scores + */ + int maxDifference = 0; + byte newLevel = (byte) (1); + + for (int i = 0; i < numberOfLevels; i++) { + int difference = bestScores[i] - myScores[i]; + if (difference >= maxDifference && howManyTimes[i] < 3) { + maxDifference = difference; + newLevel = (byte) (i + 1); + } + } + + if (maxDifference != 0) + return newLevel; + + /** + * Finally it tries to play the levels that we perform better than best + * scores and that have the minimum difference from the best score + */ + int minDifference = 500000; + newLevel = (byte) (new Random().nextInt(numberOfLevels) + 1); + + for (int i = 0; i < numberOfLevels; i++) { + int difference = myScores[i] - bestScores[i]; + if (difference >= 0 && difference < minDifference + && howManyTimes[i] < 5) { + minDifference = difference; + newLevel = (byte) (i + 1); + } + } + + return newLevel; + + } +} diff --git a/src/angryhexclient/strategy/StrategyManager.java b/src/angryhexclient/strategy/StrategyManager.java new file mode 100644 index 0000000..f13dc2b --- /dev/null +++ b/src/angryhexclient/strategy/StrategyManager.java @@ -0,0 +1,302 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.strategy; + +import java.io.File; +import java.io.FileWriter; +import java.io.IOException; +import java.io.PrintWriter; + +import ab.demo.other.ClientActionRobotJava; +import ab.vision.GameStateExtractor.GameState; +import angryhexclient.Configuration; +import angryhexclient.Memory; + +/** + * @author Stefano + * + */ +public abstract class StrategyManager { + + protected byte currentLevel; + + /** + * Each bird launch corresponds to a turn. + */ + protected int currentTurn; + + /** + * Round Info: a byte indicates the ongoing round of the competition. 1: 1st + * qualification round 2: 2nd qualification round 3: Group round (group of + * 4) 4: Knock-out round (group of 2) 0: Reject + */ + protected byte roundInfo; + + /** + * Time_limit: a byte indicates the time limit in minutes + */ + protected byte timeLimit; + + /** + * Number of Levels: a byte indicates the number of available levels. + */ + protected byte numberOfLevels; + + /** + * Our best scores for each level + */ + protected int[] myScores; + + /** + * Global best scores for each level + */ + protected int[] bestScores; + + /** + * How many times was played each level + */ + protected int[] howManyTimes; + + protected ClientActionRobotJava ar; + + public StrategyManager(ClientActionRobotJava ar, byte startingLevel, + byte[] configureData) throws Exception { + + this.ar = ar; + + this.currentLevel = startingLevel; + + this.currentTurn = 0; + + roundInfo = configureData[0]; + // based on its value we can choose a different strategy + + System.out.println("roundInfo: " + roundInfo); + + if (roundInfo != 2) + try { + + File theDir = new File(Memory.MEMORY_DIR); + // if the directory exist, we remove it + if (theDir.exists()) { + Process p = Runtime.getRuntime().exec("rm -rf " + Memory.MEMORY_DIR); + p.waitFor(); + // boolean result = theDir.delete(); + // System.out.println(result); + // if (result) + // System.out.println("DIR memory deleted"); + } + } catch (Exception e) { + e.printStackTrace(); + } + + timeLimit = configureData[1]; + // based on this variable we can decide to play in a different way + + System.out.println("timeLimit: " + timeLimit); + + numberOfLevels = configureData[2]; + + System.out.println("numberOfLevels: " + numberOfLevels); + + if (numberOfLevels > 21) + throw new Exception( + "*** Number of Levels not allowed by the rule of the Angry Birds AI Competition ***"); + + myScores = new int[numberOfLevels]; + + initializeMyScores(); + + bestScores = new int[numberOfLevels]; + + updateBestScores(); + + howManyTimes = new int[numberOfLevels]; + + initializeHowManyTimes(); + + } + + /** + * Initialize myScores + */ + private void initializeMyScores() { + + int[] myNewScores = ar.checkMyScore(); + + for (int i = 0; i < numberOfLevels; i++) + myScores[i] = myNewScores[i]; + + } + + /** + * Update myScores + * + * @throws MyScoreUpdateException + */ + private void updateMyScores() { + + int[] myNewScores = ar.checkMyScore(); + + // System.out.println("CURRENT LEVEL " + currentLevel); + // for (int i = 0; i < numberOfLevels; i++) + // System.out.println("SCORE " + (i + 1) + ": " + myNewScores[i]); + + myScores[currentLevel - 1] = myNewScores[currentLevel - 1]; + + } + + /** + * Update bestScores + */ + private void updateBestScores() { + + int[] newBestScores = ar.checkScore(); + + for (int i = 0; i < numberOfLevels; i++) + bestScores[i] = newBestScores[i]; + + } + + /** + * Initialize howManyTimes + */ + private void initializeHowManyTimes() { + for (int i = 0; i < numberOfLevels; i++) + howManyTimes[i] = 0; + } + + /** + * Returns the current level + * + * @return the currentLevel + */ + public byte getCurrentLevel() { + return currentLevel; + } + + /** + * Update currentLevel + * + * @param state + * @return + */ + public boolean updateCurrentLevel(GameState state) { + + byte tentativeCurrentLevel = currentLevel; + + if (state == GameState.WON) { + + tentativeCurrentLevel = findNextLevelToPlay(); + // System.out.println("tentativeCurrentLevel: " + + // tentativeCurrentLevel); + ar.loadLevel(tentativeCurrentLevel); + + updateMyScores(); + + System.out.println("\nLevel: " + currentLevel + " NEW score: " + + myScores[currentLevel - 1]); + + } + + currentLevel = findNextLevelToPlay(); + + System.out.println("NEW currentLevel: " + currentLevel + "\n"); + + if (state == GameState.LOST || currentLevel != tentativeCurrentLevel) + return true; + + return false; + + } + + /** + * Find the next level to play + * + * @return next level to play + */ + protected abstract byte findNextLevelToPlay(); + + /** + * Load the current level + */ + public void loadCurrentLevel() { + ar.loadLevel((byte) currentLevel); + } + + /** + * Load the next level to play + * + * @param state + */ + public void loadNewLevel(GameState state) { + + if (roundInfo == 3 || roundInfo == 4) + updateBestScores(); + + boolean iHaveToLoadTheLevel = true; + + if (!Configuration.getTournamentMode()) { + if (state == GameState.WON) + currentLevel++; + } else { + + howManyTimes[currentLevel - 1]++; + + iHaveToLoadTheLevel = updateCurrentLevel(state); + + // System.out.println("iHaveToLoadTheLevel: " + + // iHaveToLoadTheLevel); + + } + + if (iHaveToLoadTheLevel) + ar.loadLevel(currentLevel); + + currentTurn = 0; + + } + + /** + * Save myScores on file + * + * @param fileName + * @throws IOException + */ + public void saveScores(String fileName) throws IOException { + + PrintWriter log = new PrintWriter(new FileWriter(fileName, false)); + + for (int i = 0; i < numberOfLevels; i++) + log.println("Level " + (i + 1) + ";" + myScores[i]); + + log.close(); + + } + + public int getCurrentTurn(){ + return currentTurn; + } + + public void increaseCurrentTurn(){ + currentTurn++; + } + + public int getHowManyTimesCurrentLevel(){ + return howManyTimes[(int)currentLevel]; + } + + // updates score of current level + public void updateScore(int score) { + } +} diff --git a/src/angryhexclient/strategy/StrategyReasoner.java b/src/angryhexclient/strategy/StrategyReasoner.java new file mode 100644 index 0000000..29b9378 --- /dev/null +++ b/src/angryhexclient/strategy/StrategyReasoner.java @@ -0,0 +1,74 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.strategy; + +import java.io.File; +import java.util.regex.Matcher; +import java.util.regex.Pattern; + +import angryhexclient.Reasoner; +import angryhexclient.util.DebugUtils; +import angryhexclient.util.Utils; + +public class StrategyReasoner extends Reasoner { + + private static final String filterPred = "newlevel"; + private static final Pattern filterRegex = Pattern + .compile("\\{newlevel\\((\\d+)\\)\\}"); + private static final String encodingFile = Utils.DLV_DIR + File.separator + "strategy.dlv"; + + private static StrategyReasoner instance; + + public static StrategyReasoner getInstance() { + if (instance == null) { + instance = new StrategyReasoner(); + } + return instance; + } + + private byte newLevel; + private int callCount; + + public StrategyReasoner() { + super(filterPred, filterRegex); + setEncodingFile(encodingFile); + + this.newLevel = 0; + this.callCount = 0; + } + + public byte getNewLevel() { + return newLevel; + } + + @Override + protected String getFactFilename() { + return String.format("strategy%d.hex", callCount++); + } + + @Override + protected void clear() { + newLevel = 0; + } + + @Override + protected void storeAtom(Matcher m) { + // FIXME always just one answer set??? + newLevel = Byte.parseByte(m.group(1)); + } + + @Override + protected void saveDebugHexWithInfo(String file){ + DebugUtils.saveHexWithInfo(file,"Strategy"); + } +} diff --git a/src/angryhexclient/util/DebugUtils.java b/src/angryhexclient/util/DebugUtils.java new file mode 100644 index 0000000..baaa5ac --- /dev/null +++ b/src/angryhexclient/util/DebugUtils.java @@ -0,0 +1,415 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.util; + +import java.awt.Color; +import java.awt.Graphics; +import java.awt.Graphics2D; +import java.awt.Rectangle; +import java.awt.image.BufferedImage; +import java.io.File; +import java.io.FileWriter; +import java.io.IOException; +import java.io.PrintWriter; +import java.util.LinkedList; +import java.util.List; +import java.util.logging.Logger; + +import javax.imageio.ImageIO; + +import ab.utils.ImageSegFrame; +import ab.vision.ABObject; +import ab.vision.VisionMBR; +import ab.vision.VisionRealShape; +import ab.vision.VisionUtils; +import angryhexclient.Configuration; +import angryhexclient.strategy.StrategyManager; + +public class DebugUtils { + private static Logger Log = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME); + + final public static String DEBUG_DIR = System.getProperty("user.dir") + + File.separator + "debugutils"; + final public static String SCREENSHOT_DIR = DEBUG_DIR + File.separator + + "screenshots" + File.separator; + final public static String HEX_DIR = DEBUG_DIR + File.separator + "hex" + + File.separator; + final public static String BENCHMARK_FILE = DEBUG_DIR + File.separator + "benchmark.csv"; + + final public static boolean DEBUG; + + private static ImageSegFrame imgFrame; + + private static StrategyManager strategyManager; + + private static byte currentLevel; + private static int currentTurn; + private static List timeList = new LinkedList(); + private static String currentBird; + private static int n_redBirds; + private static int n_yellowBirds; + private static int n_blueBirds; + private static int n_blackBirds; + private static int n_whiteBirds; + private static int n_pigs; + private static int n_ice; + private static int n_stone; + private static int n_wood; + private static int n_hills; + private static int n_tnt; + private static int n_unknown; + + static { + if (Configuration.isDebugMode()) { + DEBUG = true; + try { + Utils.deleteDir(DEBUG_DIR); + Utils.createDir(DEBUG_DIR); + Utils.createDir(SCREENSHOT_DIR); + Utils.createDir(HEX_DIR); + } catch (IOException e) { + Log.warning("cannot create " + DEBUG_DIR); + } catch (InterruptedException e) { + Log.warning("cannot create " + DEBUG_DIR); + } + } else { + DEBUG = false; + } + + PrintWriter log = null; + try { + log = new PrintWriter(new FileWriter(BENCHMARK_FILE, true)); + log.print("Level;"); + log.print("Turn;"); + log.print("Current Bird;"); + log.print("Number of Red Birds;"); + log.print("Number of Yellow Birds;"); + log.print("Number of Blue Birds;"); + log.print("Number of Black Birds;"); + log.print("Number of White Birds;"); + log.print("Number of Birds;"); + log.print("Number of Pigs;"); + log.print("Number of Ice Blocks;"); + log.print("Number of Stone Blocks;"); + log.print("Number of Wood Blocks;"); + log.print("Number of Hills (ex Ground) objects;"); + log.print("Number of TNT objects;"); + log.print("Number of Unknown objects;"); + log.print("Estimated Total Time (nanoseconds);"); + log.println(); + } catch (IOException e) { + Log.warning("cannot write " + BENCHMARK_FILE); + } finally { + if (log != null) + log.close(); + } + + } + + public static void init(StrategyManager smanager){ + System.out.println("Init"); + strategyManager = smanager; + } + + public static void saveScreenshot(BufferedImage img, String fileName) { + if (!DEBUG) { + return; + } + + String file = SCREENSHOT_DIR + fileName + ".png"; + try { + File dest = new File(file); + ImageIO.write(img, "png", dest); + Log.fine("saved " + dest.getName()); + } catch (IOException e) { + Log.warning("cannot save " + file); + } + } + + public static void saveScreenshot(String file) { + if (!DEBUG) { + return; + } + File src = new File(file); + File dest = new File(SCREENSHOT_DIR + src.getName()); + try { + Utils.copy(src, dest); + Log.fine("saved " + dest.getName()); + } catch (IOException e) { + Log.warning("cannot copy " + file); + } + } + + public static void saveHex(String file) { + if (!DEBUG) { + return; + } + File src = new File(file); + File dest = new File(HEX_DIR + src.getName()); + try { + Utils.copy(src, dest); + Log.fine("saved " + dest.getName()); + } catch (IOException e) { + Log.warning("cannot copy " + file); + } + } + + public static void saveHexWithInfo (String originalFile, String reasoner){ + if (!DEBUG){ + return; + } + File src = new File(originalFile); + File dest = new File(HEX_DIR + + String.format("level[%s]%d_%d_#%d.hex",reasoner,(int)strategyManager.getCurrentLevel(),strategyManager.getCurrentTurn(), + strategyManager.getHowManyTimesCurrentLevel())); + try { + Utils.copy(src, dest); + Log.fine("saved " + dest.getName()); + } catch (IOException e) { + Log.warning("cannot copy " + originalFile); + } + } + + + public static void showImage(BufferedImage img) { + if (!DEBUG) { + return; + } + if (imgFrame == null) { + imgFrame = new ImageSegFrame("Rotated rectangles.", img); + } + imgFrame.refresh(img); + } + + public static BufferedImage drawMBRs(BufferedImage img) { + if (!DEBUG) { + return img; + } + VisionMBR v = new VisionMBR(img); + img = VisionUtils.convert2grey(img); + VisionUtils.drawBoundingBoxes(img, v.findPigsMBR(), Color.GREEN); + VisionUtils.drawBoundingBoxes(img, v.findRedBirdsMBRs(), Color.RED); + VisionUtils.drawBoundingBoxes(img, v.findBlueBirdsMBRs(), Color.BLUE); + VisionUtils.drawBoundingBoxes(img, v.findYellowBirdsMBRs(), + Color.YELLOW); + VisionUtils.drawBoundingBoxes(img, v.findWoodMBR(), Color.WHITE, + Color.ORANGE); + VisionUtils.drawBoundingBoxes(img, v.findStonesMBR(), Color.WHITE, + Color.GRAY); + VisionUtils.drawBoundingBoxes(img, v.findIceMBR(), Color.WHITE, + Color.CYAN); + VisionUtils.drawBoundingBoxes(img, v.findWhiteBirdsMBRs(), Color.WHITE, + Color.lightGray); + VisionUtils.drawBoundingBoxes(img, v.findTNTsMBR(), Color.WHITE, + Color.PINK); + VisionUtils.drawBoundingBoxes(img, v.findBlackBirdsMBRs(), Color.BLACK); + + Rectangle sling = v.findSlingshotMBR(); + if (sling != null) { + VisionUtils.drawBoundingBox(img, sling, Color.ORANGE, Color.BLACK); + } + return img; + } + + public static BufferedImage drawRealShapes(BufferedImage img) { + if (!DEBUG) { + return img; + } + BufferedImage copy = new BufferedImage(img.getWidth(), img.getHeight(), + BufferedImage.TYPE_INT_RGB); + Graphics g = copy.createGraphics(); + g.drawImage(img, 0, 0, null); + VisionRealShape v = new VisionRealShape(copy); + v.findSling(); + v.findPigs(); + v.findBirds(); + v.findObjects(); + v.findHills(); + v.findTrajectory(); + v.drawObjects(copy, false); + return copy; + } + + public static BufferedImage drawObjectsWithID(BufferedImage image, + List objects) { + if (!DEBUG) { + return image; + } + BufferedImage imgMBR = VisionUtils.convert2grey(image); + VisionUtils.drawBoundingBoxesWithID(imgMBR, objects, Color.WHITE); + BufferedImage imgRS = drawRealShapes(image); + + BufferedImage img = new BufferedImage(imgMBR.getWidth(), + imgMBR.getHeight() + imgRS.getHeight(), + BufferedImage.TYPE_INT_RGB); + Graphics2D g = img.createGraphics(); + + g.drawImage(imgMBR, 0, 0, null); + g.drawImage(imgRS, 0, imgMBR.getHeight(), null); + // TODO maybe add MBR image as well + return img; + } + + public static void initBenchmarkParametersValues() { + currentLevel = 0; + currentTurn = 0; + timeList.clear(); + currentBird = ""; + n_redBirds = 0; + n_yellowBirds = 0; + n_blueBirds = 0; + n_blackBirds = 0; + n_whiteBirds = 0; + n_pigs = 0; + n_ice = 0; + n_stone = 0; + n_wood = 0; + n_hills = 0; + n_tnt = 0; + n_unknown = 0; + } + + /** + * Save some useful benchmark parameters in a file + */ + public static void saveBenchmark() { + + PrintWriter log = null; + try { + log = new PrintWriter(new FileWriter(BENCHMARK_FILE, true)); + log.print(currentLevel + ";"); + log.print(currentTurn + ";"); + log.print(currentBird + ";"); + log.print(n_redBirds + ";"); + log.print(n_yellowBirds + ";"); + log.print(n_blueBirds + ";"); + log.print(n_blackBirds + ";"); + log.print(n_whiteBirds + ";"); + log.print((n_redBirds + n_yellowBirds + n_blueBirds + n_blackBirds + n_whiteBirds) + ";"); + log.print(n_pigs + ";"); + log.print(n_ice + ";"); + log.print(n_stone + ";"); + log.print(n_wood + ";"); + log.print(n_hills + ";"); + log.print(n_tnt + ";"); + log.print(n_unknown + ";"); + log.print((timeList.get(timeList.size() - 1)- timeList.get(0)) + ";"); + Long tempTime = null; + for (Long time : timeList) + if (tempTime == null) + tempTime = time; + else { + log.print((time - tempTime) + ";"); + tempTime = time; + } + log.println(); + } catch (IOException e) { + Log.warning("cannot write " + BENCHMARK_FILE); + } finally { + if (log != null) + log.close(); + } + + } + + /** + * @param currentLevel the currentLevel to set + */ + public static void setCurrentLevel(byte currentLevel) { + DebugUtils.currentLevel = currentLevel; + } + + /** + * @param currentTurn the currentTurn to set + */ + public static void setCurrentTurn(int currentTurn) { + DebugUtils.currentTurn = currentTurn; + } + + /** + * @param currentBird the currentBird to set + */ + public static void setCurrentBird(String currentBird) { + DebugUtils.currentBird = currentBird; + } + + /** + * @param n_pigs the n_pigs to set + */ + public static void setN_pigs(int n_pigs) { + DebugUtils.n_pigs = n_pigs; + } + + /** + * @param n_tnt the n_tnt to set + */ + public static void setN_tnt(int n_tnt) { + DebugUtils.n_tnt = n_tnt; + } + + /** + * @param n_hills the n_hills to set + */ + public static void setN_hills(int n_hills) { + DebugUtils.n_hills = n_hills; + } + + public static void addBirds(List birds) { + for(ABObject bird : birds) + switch(bird.getType()) { + case RedBird: + n_redBirds++; + break; + case YellowBird: + n_yellowBirds++; + break; + case BlueBird: + n_blueBirds++; + break; + case BlackBird: + n_blackBirds++; + break; + case WhiteBird: + n_whiteBirds++; + break; + default: + break; + } + + } + + public static void addBlocks(List bloks) { + for(ABObject block : bloks) + switch(block.getType()) { + case Ice: + n_ice++; + break; + case Stone: + n_stone++; + break; + case Wood: + n_wood++; + break; + case Unknown: + n_unknown++; + default: + break; + } + + } + + public static void addTime(long nanoTime) { + timeList.add(nanoTime); + } + +} diff --git a/src/angryhexclient/util/LogFormatter.java b/src/angryhexclient/util/LogFormatter.java new file mode 100644 index 0000000..68329f2 --- /dev/null +++ b/src/angryhexclient/util/LogFormatter.java @@ -0,0 +1,48 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.util; + +import java.util.logging.Formatter; +import java.util.logging.Level; +import java.util.logging.LogRecord; + +public class LogFormatter extends Formatter { + + public static final String ANSI_RESET = "\u001B[0m"; + public static final String ANSI_BLACK = "\u001B[30m"; + public static final String ANSI_RED = "\u001B[31m"; + public static final String ANSI_GREEN = "\u001B[32m"; + public static final String ANSI_YELLOW = "\u001B[33m"; + public static final String ANSI_BLUE = "\u001B[34m"; + public static final String ANSI_PURPLE = "\u001B[35m"; + public static final String ANSI_CYAN = "\u001B[36m"; + public static final String ANSI_WHITE = "\u001B[37m"; + + @Override + public String format(LogRecord lr) { + if (lr.getLevel() == Level.INFO) { + return String.format("%s\n", lr.getMessage()); + } + String color = ANSI_RESET; + if (lr.getLevel() == Level.SEVERE) { + color = ANSI_RED; + } else if (lr.getLevel() == Level.WARNING) { + color = ANSI_YELLOW; + } else if (lr.getLevel() == Level.FINE) { + color = ANSI_CYAN; + } + return String.format("%s[%s][%s] %s: %s%s\n", color, + lr.getSourceClassName(), lr.getSourceMethodName(), + lr.getLevel(), lr.getMessage(), ANSI_RESET); + } +} diff --git a/src/angryhexclient/util/OutConsoleHandler.java b/src/angryhexclient/util/OutConsoleHandler.java new file mode 100644 index 0000000..6776991 --- /dev/null +++ b/src/angryhexclient/util/OutConsoleHandler.java @@ -0,0 +1,23 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.util; + +import java.util.logging.ConsoleHandler; + +public class OutConsoleHandler extends ConsoleHandler { + + public OutConsoleHandler() { + super(); + setOutputStream(System.out); + } +} \ No newline at end of file diff --git a/src/angryhexclient/util/Utils.java b/src/angryhexclient/util/Utils.java new file mode 100644 index 0000000..8e9f529 --- /dev/null +++ b/src/angryhexclient/util/Utils.java @@ -0,0 +1,47 @@ +/******************************************************************************* + * Angry-HEX - an artificial player for Angry Birds based on declarative knowledge bases + * Copyright (C) 2012-2015 Francesco Calimeri, Michael Fink, Stefano Germano, Andreas Humenberger, Giovambattista Ianni, Christoph Redl, Daria Stepanova, Andrea Tucci, Anton Wimmer. + * + * This file is part of Angry-HEX. + * + * Angry-HEX is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + * + * Angry-HEX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License along with this program. If not, see . + *******************************************************************************/ +package angryhexclient.util; + +import java.io.File; +import java.io.FileInputStream; +import java.io.FileOutputStream; +import java.io.IOException; +import java.nio.channels.FileChannel; + +public class Utils { + + // global constants + final public static String DLV_DIR = "dlv"; + + // global tools + public static void deleteDir(String file) throws IOException, InterruptedException { + Runtime.getRuntime().exec(String.format("rm -rf %s", file)).waitFor(); + } + + public static void createDir(String file) throws IOException, InterruptedException { + Runtime.getRuntime().exec(String.format("mkdir %s", file)).waitFor(); + } + + public static void copy(File source, File dest) throws IOException { + FileChannel inputChannel = null; + FileChannel outputChannel = null; + try { + inputChannel = new FileInputStream(source).getChannel(); + outputChannel = new FileOutputStream(dest).getChannel(); + outputChannel.transferFrom(inputChannel, 0, inputChannel.size()); + } finally { + inputChannel.close(); + outputChannel.close(); + } + } +} diff --git a/version_info b/version_info new file mode 100644 index 0000000..2e4ad7a --- /dev/null +++ b/version_info @@ -0,0 +1 @@ +Updated to version 1.32 of the Framework