diff --git a/CMakeLists.txt b/CMakeLists.txt index f31ff95..4d04f1c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,20 +16,23 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") endif() find_package(Eigen3 REQUIRED) +find_package(Lua 5.4 REQUIRED) +find_package(PCL REQUIRED) find_package(yaml-cpp REQUIRED) +find_package(pcl_conversions REQUIRED) + find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) -find_package(nav2_msgs REQUIRED) -find_package(PCL REQUIRED) +find_package(rmcs_executor REQUIRED) + +find_package(nav2_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(std_srvs REQUIRED) find_package(rmcs_msgs REQUIRED) +find_package(std_srvs REQUIRED) find_package(ament_index_cpp REQUIRED) find_package(tf2_ros REQUIRED) -find_package(Lua 5.4 REQUIRED) - -find_package(rmcs_executor REQUIRED) include(FetchContent) FetchContent_Declare( @@ -49,14 +52,17 @@ target_compile_features( target_sources( ${PROJECT_NAME} PRIVATE + # src/cxx/util/localization/engine.cc + src/cxx/util/navigation/navigation.cc src/cxx/context.cc - src/cxx/navigation.cc src/cxx/component.cc ) +set(RMCS_CORE_SOURCE_DIR "${PROJECT_SOURCE_DIR}/../../rmcs_core/src") target_include_directories( ${PROJECT_NAME} - PRIVATE + SYSTEM PRIVATE ${PROJECT_SOURCE_DIR}/src/ + ${RMCS_CORE_SOURCE_DIR} ${rmcs_executor_INCLUDE_DIRS} ${geometry_msgs_INCLUDE_DIRS} ${rmcs_msgs_INCLUDE_DIRS} @@ -65,7 +71,10 @@ target_include_directories( ${tf2_ros_INCLUDE_DIRS} ${rclcpp_action_INCLUDE_DIRS} ${nav2_msgs_INCLUDE_DIRS} + ${sensor_msgs_INCLUDE_DIRS} + ${pcl_conversions_INCLUDE_DIRS} ${LUA_INCLUDE_DIR} + ${PCL_INCLUDE_DIRS} ) target_link_libraries( ${PROJECT_NAME} @@ -84,6 +93,33 @@ target_link_libraries( ${tf2_ros_LIBRARIES} ${rclcpp_action_LIBRARIES} ${nav2_msgs_LIBRARIES} + ${sensor_msgs_LIBRARIES} + ${pcl_conversions_LIBRARIES} +) + +add_executable(${PROJECT_NAME}-sim-sidecar src/cxx/sim_sidecar.cc) +target_compile_features( + ${PROJECT_NAME}-sim-sidecar + PRIVATE + cxx_std_23 +) +target_compile_definitions( + ${PROJECT_NAME}-sim-sidecar + PRIVATE + RMCS_NAVIGATION_SOURCE_DIR="${PROJECT_SOURCE_DIR}" +) +target_include_directories( + ${PROJECT_NAME}-sim-sidecar + PRIVATE + ${PROJECT_SOURCE_DIR}/src/ + ${LUA_INCLUDE_DIR} +) +target_link_libraries( + ${PROJECT_NAME}-sim-sidecar + PRIVATE + ${LUA_LIBRARIES} + sol2::sol2 + yaml-cpp::yaml-cpp ) find_package(pluginlib REQUIRED) diff --git a/cmake/export.cmake b/cmake/export.cmake index 742ff6d..a80fd93 100644 --- a/cmake/export.cmake +++ b/cmake/export.cmake @@ -1,5 +1,5 @@ install( - TARGETS ${PROJECT_NAME} + TARGETS ${PROJECT_NAME} ${PROJECT_NAME}-sim-sidecar DESTINATION lib/${PROJECT_NAME}/ ) install( diff --git a/config/motion.yaml b/config/motion.yaml index 5d13575..5dce07e 100644 --- a/config/motion.yaml +++ b/config/motion.yaml @@ -106,32 +106,32 @@ controller_server: "PathAlignCritic", "PathFollowCritic", ] - - ConstraintCritic.enabled: true - ConstraintCritic.cost_weight: 5.0 - - CostCritic.enabled: true - CostCritic.cost_weight: 16.0 - CostCritic.critical_cost: 120.0 - CostCritic.collision_cost: 8000000.0 - CostCritic.near_collision_cost: 253 - CostCritic.cost_power: 2 - CostCritic.consider_footprint: true - CostCritic.near_goal_distance: 0.8 - CostCritic.trajectory_point_step: 1 - - GoalCritic.enabled: true - GoalCritic.cost_weight: 4.5 - GoalCritic.threshold_to_consider: 1.2 - - PathAlignCritic.enabled: true - PathAlignCritic.cost_weight: 0.8 - PathAlignCritic.threshold_to_consider: 1.0 - PathAlignCritic.trajectory_point_step: 3 - - PathFollowCritic.enabled: true - PathFollowCritic.cost_weight: 3.2 - PathFollowCritic.threshold_to_consider: 1.5 + ConstraintCritic: + enabled: true + cost_weight: 5.0 + CostCritic: + enabled: true + cost_weight: 10.0 + critical_cost: 120.0 + collision_cost: 8000000.0 + near_collision_cost: 230 + cost_power: 2 + consider_footprint: true + near_goal_distance: 1.0 + trajectory_point_step: 1 + GoalCritic: + enabled: true + cost_weight: 10.0 + threshold_to_consider: 1.0 + PathAlignCritic: + enabled: true + cost_weight: 0.8 + threshold_to_consider: 1.0 + trajectory_point_step: 3 + PathFollowCritic: + enabled: true + cost_weight: 3.2 + threshold_to_consider: 1.5 local_costmap: local_costmap: @@ -162,5 +162,5 @@ local_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - inflation_radius: 0.25 + inflation_radius: 0.4 cost_scaling_factor: 0.5 diff --git a/godot-mock/.editorconfig b/godot-mock/.editorconfig new file mode 100644 index 0000000..f28239b --- /dev/null +++ b/godot-mock/.editorconfig @@ -0,0 +1,4 @@ +root = true + +[*] +charset = utf-8 diff --git a/godot-mock/.gitattributes b/godot-mock/.gitattributes new file mode 100644 index 0000000..8ad74f7 --- /dev/null +++ b/godot-mock/.gitattributes @@ -0,0 +1,2 @@ +# Normalize EOL for all files that Git considers text files. +* text=auto eol=lf diff --git a/godot-mock/.gitignore b/godot-mock/.gitignore new file mode 100644 index 0000000..0af181c --- /dev/null +++ b/godot-mock/.gitignore @@ -0,0 +1,3 @@ +# Godot 4+ specific ignores +.godot/ +/android/ diff --git a/godot-mock/material/20260422-192911.png b/godot-mock/material/20260422-192911.png new file mode 100644 index 0000000..d9cdb99 Binary files /dev/null and b/godot-mock/material/20260422-192911.png differ diff --git a/godot-mock/material/20260422-192911.png.import b/godot-mock/material/20260422-192911.png.import new file mode 100644 index 0000000..f150224 --- /dev/null +++ b/godot-mock/material/20260422-192911.png.import @@ -0,0 +1,41 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://dqtsgnct0ijl0" +path.s3tc="res://.godot/imported/20260422-192911.png-f31ee39485589f6eb4a8fd243ef62172.s3tc.ctex" +metadata={ +"imported_formats": ["s3tc_bptc"], +"vram_texture": true +} + +[deps] + +source_file="res://material/20260422-192911.png" +dest_files=["res://.godot/imported/20260422-192911.png-f31ee39485589f6eb4a8fd243ef62172.s3tc.ctex"] + +[params] + +compress/mode=2 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/uastc_level=0 +compress/rdo_quality_loss=0.0 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=true +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/channel_remap/red=0 +process/channel_remap/green=1 +process/channel_remap/blue=2 +process/channel_remap/alpha=3 +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=0 diff --git a/godot-mock/material/Cn_Mat_U_LMSuit_21_body_BIANSE.tres b/godot-mock/material/Cn_Mat_U_LMSuit_21_body_BIANSE.tres new file mode 100644 index 0000000..e5338aa --- /dev/null +++ b/godot-mock/material/Cn_Mat_U_LMSuit_21_body_BIANSE.tres @@ -0,0 +1,7 @@ +[gd_resource type="StandardMaterial3D" format=3 uid="uid://bnfxtpyuftji1"] + +[resource] +resource_name = "Cn_Mat_U_LMSuit_21_body_BIANSE" +cull_mode = 2 +albedo_color = Color(0.9063318, 0.9063318, 0.9063318, 1) +roughness = 0.9090847 diff --git a/godot-mock/material/white_wood.png b/godot-mock/material/white_wood.png new file mode 100644 index 0000000..a570227 Binary files /dev/null and b/godot-mock/material/white_wood.png differ diff --git a/godot-mock/material/white_wood.png.import b/godot-mock/material/white_wood.png.import new file mode 100644 index 0000000..b810d77 --- /dev/null +++ b/godot-mock/material/white_wood.png.import @@ -0,0 +1,41 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://dodhbatwmlp07" +path.s3tc="res://.godot/imported/white_wood.png-a533a54625f96f5b178df59798e15a83.s3tc.ctex" +metadata={ +"imported_formats": ["s3tc_bptc"], +"vram_texture": true +} + +[deps] + +source_file="res://material/white_wood.png" +dest_files=["res://.godot/imported/white_wood.png-a533a54625f96f5b178df59798e15a83.s3tc.ctex"] + +[params] + +compress/mode=2 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/uastc_level=0 +compress/rdo_quality_loss=0.0 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=true +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/channel_remap/red=0 +process/channel_remap/green=1 +process/channel_remap/blue=2 +process/channel_remap/alpha=3 +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=0 diff --git a/godot-mock/models/Cn_Mat_U_LMSuit_21_body_BIANSE.tres b/godot-mock/models/Cn_Mat_U_LMSuit_21_body_BIANSE.tres new file mode 100644 index 0000000..d4c7f48 --- /dev/null +++ b/godot-mock/models/Cn_Mat_U_LMSuit_21_body_BIANSE.tres @@ -0,0 +1,7 @@ +[gd_resource type="StandardMaterial3D" format=3 uid="uid://8d75nvfc3dnj"] + +[resource] +resource_name = "Cn_Mat_U_LMSuit_21_body_BIANSE" +cull_mode = 2 +albedo_color = Color(0.9063318, 0.9063318, 0.9063318, 1) +roughness = 0.9090847 diff --git a/godot-mock/models/cube.glb b/godot-mock/models/cube.glb new file mode 100644 index 0000000..771c83e Binary files /dev/null and b/godot-mock/models/cube.glb differ diff --git a/godot-mock/models/cube.glb.import b/godot-mock/models/cube.glb.import new file mode 100644 index 0000000..b9acc3e --- /dev/null +++ b/godot-mock/models/cube.glb.import @@ -0,0 +1,50 @@ +[remap] + +importer="scene" +importer_version=1 +type="PackedScene" +uid="uid://iisq5ccb4jt1" +path="res://.godot/imported/cube.glb-c6bf6ebacd621473d1ca4ff4a368b9dc.scn" + +[deps] + +source_file="res://models/cube.glb" +dest_files=["res://.godot/imported/cube.glb-c6bf6ebacd621473d1ca4ff4a368b9dc.scn"] + +[params] + +nodes/root_type="Node3D" +nodes/root_name="Cube" +nodes/root_script=null +nodes/apply_root_scale=true +nodes/root_scale=1.0 +nodes/import_as_skeleton_bones=false +nodes/use_name_suffixes=true +nodes/use_node_type_suffixes=true +meshes/ensure_tangents=true +meshes/generate_lods=true +meshes/create_shadow_meshes=true +meshes/light_baking=0 +meshes/lightmap_texel_size=0.1 +meshes/force_disable_compression=false +skins/use_named_skins=true +animation/import=false +animation/fps=15 +animation/trimming=false +animation/remove_immutable_tracks=true +animation/import_rest_as_RESET=false +import_script/path="" +materials/extract=0 +materials/extract_format=0 +materials/extract_path="" +_subresources={ +"materials": { +"cube_material": { +"use_external/enabled": true, +"use_external/fallback_path": "res://models/cube_material.tres", +"use_external/path": "uid://cbwgleagikdfb" +} +} +} +gltf/naming_version=2 +gltf/embedded_image_handling=1 diff --git a/godot-mock/models/cube.mesh b/godot-mock/models/cube.mesh new file mode 100644 index 0000000..8e77371 Binary files /dev/null and b/godot-mock/models/cube.mesh differ diff --git a/godot-mock/models/cube_material.tres b/godot-mock/models/cube_material.tres new file mode 100644 index 0000000..0cd8f9d --- /dev/null +++ b/godot-mock/models/cube_material.tres @@ -0,0 +1,9 @@ +[gd_resource type="StandardMaterial3D" format=3 uid="uid://cbwgleagikdfb"] + +[ext_resource type="Texture2D" uid="uid://dodhbatwmlp07" path="res://material/white_wood.png" id="1"] + +[resource] +resource_name = "Material" +albedo_color = Color(0, 0, 0, 1) +albedo_texture = ExtResource("1") +roughness = 0.75 diff --git a/godot-mock/models/d7a3f20de4e4486182806c40699d26d4.glb b/godot-mock/models/d7a3f20de4e4486182806c40699d26d4.glb new file mode 100644 index 0000000..0585b83 Binary files /dev/null and b/godot-mock/models/d7a3f20de4e4486182806c40699d26d4.glb differ diff --git a/godot-mock/models/d7a3f20de4e4486182806c40699d26d4.glb.import b/godot-mock/models/d7a3f20de4e4486182806c40699d26d4.glb.import new file mode 100644 index 0000000..370ad1d --- /dev/null +++ b/godot-mock/models/d7a3f20de4e4486182806c40699d26d4.glb.import @@ -0,0 +1,42 @@ +[remap] + +importer="scene" +importer_version=1 +type="PackedScene" +uid="uid://bnx0kbsvbubto" +path="res://.godot/imported/d7a3f20de4e4486182806c40699d26d4.glb-dbd1b1a6503096bd82aa2dd7e4f4cc15.scn" + +[deps] + +source_file="res://models/d7a3f20de4e4486182806c40699d26d4.glb" +dest_files=["res://.godot/imported/d7a3f20de4e4486182806c40699d26d4.glb-dbd1b1a6503096bd82aa2dd7e4f4cc15.scn"] + +[params] + +nodes/root_type="" +nodes/root_name="" +nodes/root_script=null +nodes/apply_root_scale=true +nodes/root_scale=1.0 +nodes/import_as_skeleton_bones=false +nodes/use_name_suffixes=true +nodes/use_node_type_suffixes=true +meshes/ensure_tangents=true +meshes/generate_lods=true +meshes/create_shadow_meshes=true +meshes/light_baking=0 +meshes/lightmap_texel_size=0.2 +meshes/force_disable_compression=false +skins/use_named_skins=true +animation/import=true +animation/fps=30 +animation/trimming=false +animation/remove_immutable_tracks=true +animation/import_rest_as_RESET=false +import_script/path="" +materials/extract=1 +materials/extract_format=0 +materials/extract_path="" +_subresources={} +gltf/naming_version=2 +gltf/embedded_image_handling=1 diff --git a/godot-mock/models/icon.svg b/godot-mock/models/icon.svg new file mode 100644 index 0000000..c6bbb7d --- /dev/null +++ b/godot-mock/models/icon.svg @@ -0,0 +1 @@ + diff --git a/godot-mock/models/icon.svg.import b/godot-mock/models/icon.svg.import new file mode 100644 index 0000000..96dde96 --- /dev/null +++ b/godot-mock/models/icon.svg.import @@ -0,0 +1,43 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://oya8wpn6jmc8" +path="res://.godot/imported/icon.svg-82b480e8788590b4c788a28db538930c.ctex" +metadata={ +"vram_texture": false +} + +[deps] + +source_file="res://models/icon.svg" +dest_files=["res://.godot/imported/icon.svg-82b480e8788590b4c788a28db538930c.ctex"] + +[params] + +compress/mode=0 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/uastc_level=0 +compress/rdo_quality_loss=0.0 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=false +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/channel_remap/red=0 +process/channel_remap/green=1 +process/channel_remap/blue=2 +process/channel_remap/alpha=3 +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=1 +svg/scale=1.0 +editor/scale_with_editor_scale=false +editor/convert_colors_with_editor_theme=false diff --git a/godot-mock/models/rmuc.glb b/godot-mock/models/rmuc.glb new file mode 100644 index 0000000..dbc2c6c Binary files /dev/null and b/godot-mock/models/rmuc.glb differ diff --git a/godot-mock/models/rmuc.glb.import b/godot-mock/models/rmuc.glb.import new file mode 100644 index 0000000..e24d646 --- /dev/null +++ b/godot-mock/models/rmuc.glb.import @@ -0,0 +1,48 @@ +[remap] + +importer="scene" +importer_version=1 +type="PackedScene" +uid="uid://syfeopdpojh0" +path="res://.godot/imported/rmuc.glb-ede2179fe9b1c33d91fb5656aa809873.scn" + +[deps] + +source_file="res://models/rmuc.glb" +dest_files=["res://.godot/imported/rmuc.glb-ede2179fe9b1c33d91fb5656aa809873.scn"] + +[params] + +nodes/root_type="" +nodes/root_name="" +nodes/root_script=null +nodes/apply_root_scale=true +nodes/root_scale=1.0 +nodes/import_as_skeleton_bones=false +nodes/use_name_suffixes=true +nodes/use_node_type_suffixes=true +meshes/ensure_tangents=true +meshes/generate_lods=true +meshes/create_shadow_meshes=true +meshes/light_baking=1 +meshes/lightmap_texel_size=0.2 +meshes/force_disable_compression=false +skins/use_named_skins=true +animation/import=true +animation/fps=30 +animation/trimming=false +animation/remove_immutable_tracks=true +animation/import_rest_as_RESET=false +import_script/path="" +materials/extract=0 +materials/extract_format=0 +materials/extract_path="" +_subresources={ +"nodes": { +"PATH:RMUC2026": { +"generate/physics": true +} +} +} +gltf/naming_version=2 +gltf/embedded_image_handling=1 diff --git a/godot-mock/models/white_cube_material.tres b/godot-mock/models/white_cube_material.tres new file mode 100644 index 0000000..ca67bd5 --- /dev/null +++ b/godot-mock/models/white_cube_material.tres @@ -0,0 +1,8 @@ +[gd_resource type="StandardMaterial3D" format=2] + +[ext_resource type="Texture2D" uid="uid://dodhbatwmlp07" path="res://material/white_wood.png" id="1"] + +[resource] +resource_name = "Material" +albedo_texture = ExtResource( 1 ) +roughness = 0.75 diff --git a/godot-mock/project.godot b/godot-mock/project.godot new file mode 100644 index 0000000..5391d03 --- /dev/null +++ b/godot-mock/project.godot @@ -0,0 +1,52 @@ +; Engine configuration file. +; It's best edited using the editor UI and not directly, +; since the parameters that go here are not all obvious. +; +; Format: +; [section] ; section goes between [] +; param=value ; assign values to parameters + +config_version=5 + +[application] + +config/name="Rm" +run/main_scene="uid://dxbfgcfrit2k7" +config/features=PackedStringArray("4.6", "Forward Plus") +config/icon="res://models/icon.svg" + +[input] + +key_left={ +"deadzone": 0.2, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"location":0,"echo":false,"script":null) +] +} +key_right={ +"deadzone": 0.2, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"location":0,"echo":false,"script":null) +] +} +key_up={ +"deadzone": 0.2, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"location":0,"echo":false,"script":null) +] +} +key_down={ +"deadzone": 0.2, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"location":0,"echo":false,"script":null) +] +} +switch-camera={ +"deadzone": 0.2, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194306,"key_label":0,"unicode":0,"location":0,"echo":false,"script":null) +] +} + +[physics] + +3d/physics_engine="Jolt Physics" + +[rendering] + +rendering_device/driver.windows="d3d12" diff --git a/godot-mock/scene/base_cube.tscn b/godot-mock/scene/base_cube.tscn new file mode 100644 index 0000000..f71b835 --- /dev/null +++ b/godot-mock/scene/base_cube.tscn @@ -0,0 +1,12 @@ +[gd_scene load_steps=2 format=3] + +[ext_resource type="Script" path="res://scene/sim_structure_target.gd" id="1_struct"] + +[node name="BaseCube" type="Node3D"] +script = ExtResource("1_struct") +structure_kind = "base" +max_health = 5000 +team = "ally" +cube_size = Vector3(1.8, 1.8, 1.8) +hitbox_size = Vector3(1.9, 1.9, 1.9) +display_height = 2.2 diff --git a/godot-mock/scene/battlefiled.tscn b/godot-mock/scene/battlefiled.tscn new file mode 100644 index 0000000..7dbbb35 --- /dev/null +++ b/godot-mock/scene/battlefiled.tscn @@ -0,0 +1,669 @@ +[gd_scene format=3 uid="uid://dxbfgcfrit2k7"] + +[ext_resource type="Material" uid="uid://cbwgleagikdfb" path="res://models/cube_material.tres" id="2_316cc"] +[ext_resource type="Script" uid="uid://c88svvsnwlpo3" path="res://scene/character_body_3d.gd" id="2_hk3fa"] +[ext_resource type="Script" uid="uid://dkbfp0i2ppdrp" path="res://scene/sim_sidecar_client.gd" id="4_k1qk3"] +[ext_resource type="PackedScene" uid="uid://syfeopdpojh0" path="res://models/rmuc.glb" id="5_fq2p7"] +[ext_resource type="Script" uid="uid://biptn8maovcqt" path="res://scene/enemy.gd" id="5_rwmqo"] +[ext_resource type="PackedScene" path="res://scene/base_cube.tscn" id="6_vblny"] +[ext_resource type="PackedScene" path="res://scene/outpost_cube.tscn" id="7_6icyb"] + +[sub_resource type="BoxMesh" 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type="BoxShape3D" id="BoxShape3D_vblny"] +size = Vector3(15, 5, 0.5) + +[sub_resource type="PlaneMesh" id="PlaneMesh_rwmqo"] + +[sub_resource type="BoxShape3D" id="BoxShape3D_6icyb"] +size = Vector3(2, 0.01, 2) + +[sub_resource type="CylinderMesh" id="CylinderMesh_rwmqo"] + +[sub_resource type="CylinderShape3D" id="CylinderShape3D_fq2p7"] +radius = 0.1 + +[node name="Node3D" type="Node3D" unique_id=1105996179] +transform = Transform3D(1, -3.5527137e-15, -2.1175824e-22, 3.5527137e-15, 1, 3.5527137e-15, -2.1175824e-22, -3.5527137e-15, 1, 0, 0, 0) + +[node name="DirectionalLight3D" type="DirectionalLight3D" parent="." unique_id=95683172] +transform = Transform3D(1, -3.1763736e-22, 3.9514623e-22, 7.523164e-37, 0.8660254, 0.5, 0, -0.5, 0.8660254, 8.955051, 8.054308, 17.734684) +light_energy = 1.734 +light_indirect_energy = 3.0 +light_volumetric_fog_energy = 3.2 + +[node name="CharacterBody3D" type="CharacterBody3D" parent="." unique_id=399290806 node_paths=PackedStringArray("target_node")] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 8, 0, 4.3) +script = ExtResource("2_hk3fa") +target_node = NodePath("../TargetPoint") +move_speed = 2.0 +bullet_speed = 20.0 + +[node name="chassis" type="MeshInstance3D" parent="CharacterBody3D" unique_id=377979430] +transform = Transform3D(0.5, -6.018531e-38, 0, 3.761582e-37, 0.08, 0, 0, 0, 0.5, 0, 0, 0) +material_override = ExtResource("2_316cc") +mesh = SubResource("BoxMesh_k1qk3") + +[node name="wheel1" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=765830144] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, -0.4, -0.75, 0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="wheel2" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=1875644991] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, 0.4, -0.75, 0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="wheel3" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=312304512] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, 0.4, -0.75, -0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="wheel4" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=1276586573] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, -0.4, -0.75, -0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="duo1" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=404427242] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, 0.4, 1.125, 0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="duo3" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=913570015] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, 0.4, 1.125, -0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="duo2" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=1768590998] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, -0.4, 1.125, 0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="duo4" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=1298475168] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, -0.4, 1.125, -0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="ban1" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=451402236] +transform = Transform3D(0.7, -7.523163e-38, -1.5777218e-30, 3.2913842e-36, 0.625, 0, 0, 0, 0.1, -2.1175835e-23, 1.125, 0.4) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia1" type="MeshInstance3D" parent="CharacterBody3D/chassis/ban1" unique_id=1744243666] +transform = Transform3D(0.35, -6.029561e-29, 3.3132164e-29, 1.8431748e-36, 1.8793852, 0.13680804, -3.0851198e-29, -0.6840402, 0.37587705, 1.1797959e-22, 1.2, 0.39999986) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="ban2" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=1144099364] +transform = Transform3D(0.7, -7.523163e-38, -1.5777218e-30, 3.2913842e-36, 0.625, 0, 0, 0, 0.1, 2.1175835e-23, 1.125, -0.4) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia3" type="MeshInstance3D" parent="CharacterBody3D/chassis/ban2" unique_id=1725608911] +transform = Transform3D(-0.2857143, 8.542957e-09, -4.694316e-09, -1.9765971e-22, 1.8793852, 0.13680804, 1.7484554e-07, 0.6840402, -0.37587696, 9.377865e-23, 1.2, -0.39999986) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="ban3" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=451463991] +transform = Transform3D(-3.059797e-08, -7.523163e-38, 0.1, -1.6940659e-21, 0.625, -1.1469945e-22, -0.7, 0, -4.371139e-09, 0.4, 1.125, 0) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia4" type="MeshInstance3D" parent="CharacterBody3D/chassis/ban3" unique_id=69680967] +transform = Transform3D(0.28571433, 4.440892e-16, 0, 8.4703295e-22, 1.8793855, 0.13680805, 7.1054274e-15, -0.68404025, 0.375877, -2.4977922e-09, 1.2000004, 0.4000001) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="ban4" type="MeshInstance3D" parent="CharacterBody3D/chassis" unique_id=1898488303] +transform = Transform3D(-3.059797e-08, -7.523163e-38, 0.1, -1.6940659e-21, 0.625, -1.1469945e-22, -0.7, 0, -4.371139e-09, -0.4, 1.125, 0) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia2" type="MeshInstance3D" parent="CharacterBody3D/chassis/ban4" unique_id=1823072376] +transform = Transform3D(-0.28571433, -8.542958e-09, 4.694316e-09, -2.5410988e-21, 1.8793855, 0.13680805, -1.7484555e-07, 0.68404025, -0.375877, 2.4977922e-09, 1.2000004, -0.4000001) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="CharacterBody3D" unique_id=1621516590] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0.2, 0) +shape = SubResource("BoxShape3D_k1qk3") + +[node name="NavigationAgent3D" type="NavigationAgent3D" parent="CharacterBody3D" unique_id=1467279966] +path_desired_distance = 0.5 +target_desired_distance = 0.2 +path_postprocessing = 1 +radius = 0.3 +max_speed = 5.0 + +[node name="gimbal" type="MeshInstance3D" parent="CharacterBody3D" unique_id=1574179399] +transform = Transform3D(0.24999657, -7.523163e-38, 0.0013089909, -5.7902643e-24, 0.099999994, -5.293956e-23, -0.0013089909, 0, 0.24999657, 0, 0.15, 0) +material_override = SubResource("StandardMaterial3D_fq2p7") +mesh = SubResource("CylinderMesh_vblny") + +[node name="top_yaw" type="MeshInstance3D" parent="CharacterBody3D/gimbal" unique_id=1711492471] +transform = Transform3D(0.24999657, -5.5462123e-25, -0.0013089909, 4.701977e-37, 1, -2.6481335e-23, 0.0013089909, 1.0592389e-22, 0.24999657, 0.2, 1.8, 0.002) +material_override = SubResource("StandardMaterial3D_6icyb") +mesh = SubResource("CylinderMesh_w3u4r") + +[node name="shooter" type="MeshInstance3D" parent="CharacterBody3D/gimbal/top_yaw" unique_id=310161605] +transform = Transform3D(-2.1855694e-08, -1, 0, 0.5, -4.371139e-08, 0, 0, 0, 1, 0.7, 0.8, 0) +material_override = SubResource("StandardMaterial3D_s7v34") +mesh = SubResource("CapsuleMesh_q2vgn") + +[node name="ShieldFX" type="MeshInstance3D" parent="CharacterBody3D" unique_id=576506011] +transform = Transform3D(0.778, 0, 0, 0, 1, 0, 0, 0, 0.778, 0, 0, 0) +material_override = SubResource("StandardMaterial3D_shieldfx") +mesh = SubResource("SphereMesh_shieldfx") + +[node name="DeathBurstFX" type="MeshInstance3D" parent="CharacterBody3D" unique_id=1893109395] +transform = Transform3D(0.35, 0, 0, 0, 0.35, 0, 0, 0, 0.35, 0, 0.25, 0) +visible = false +material_override = SubResource("StandardMaterial3D_deathfx") +mesh = SubResource("SphereMesh_deathfx") + +[node name="TargetPoint" type="Node3D" parent="." unique_id=574438231] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 8, 0, 4.3) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="TargetPoint" unique_id=1867471712] +transform = Transform3D(0.01, -7.523164e-39, 0, 7.523164e-39, 0.01, 0, 0, 0, 0.01, 2, -1.0658141e-14, 1) +material_override = SubResource("StandardMaterial3D_k1qk3") +mesh = SubResource("SphereMesh_rwmqo") + +[node name="SimSidecarClient" type="Node" parent="." unique_id=1694324441] +script = ExtResource("4_k1qk3") +robot_path = NodePath("../CharacterBody3D") +target_point_path = NodePath("../TargetPoint") + +[node name="Camera3D" type="Camera3D" parent="." unique_id=1537111299] +transform = Transform3D(1.1924881e-08, 1, 4.371139e-08, 0, -4.371139e-08, 1, 1, -1.1924881e-08, -5.2125306e-16, 8.532, 9, 14.455) +fov = 90.0 + +[node name="Enemy" type="CharacterBody3D" parent="." unique_id=1772883805 node_paths=PackedStringArray("external_camera", "auto_aim_target")] +transform = Transform3D(-4.3711385e-08, 0, 0.99999994, 0, 1, 0, -0.99999994, 0, -4.3711385e-08, 8.089448, 7.1499745e-15, 22.298016) +script = ExtResource("5_rwmqo") +external_camera = NodePath("../Camera3D") +auto_aim_target = NodePath("../CharacterBody3D") +bullet_speed = 20.0 + +[node name="chassis" type="MeshInstance3D" parent="Enemy" unique_id=1296085395] +transform = Transform3D(0.5, -6.018531e-38, 0, 3.761582e-37, 0.08, 0, 0, 0, 0.5, 0, 0, 0) +material_override = ExtResource("2_316cc") +mesh = SubResource("BoxMesh_k1qk3") + +[node name="wheel1" type="MeshInstance3D" parent="Enemy/chassis" unique_id=1029360485] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, -0.4, -0.75, 0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="wheel2" type="MeshInstance3D" parent="Enemy/chassis" unique_id=1372360444] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, 0.4, -0.75, 0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="wheel3" type="MeshInstance3D" parent="Enemy/chassis" unique_id=358139042] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, 0.4, -0.75, -0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="wheel4" type="MeshInstance3D" parent="Enemy/chassis" unique_id=176892507] +transform = Transform3D(0.2, -1.5046326e-37, -3.1554436e-30, 9.403955e-37, 1.25, 0, -3.1554436e-30, 0, 0.2, -0.4, -0.75, -0.4) +mesh = SubResource("SphereMesh_fq2p7") + +[node name="duo1" type="MeshInstance3D" parent="Enemy/chassis" unique_id=1586471647] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, 0.4, 1.125, 0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="duo3" type="MeshInstance3D" parent="Enemy/chassis" unique_id=1257509974] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, 0.4, 1.125, -0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="duo2" type="MeshInstance3D" parent="Enemy/chassis" unique_id=7633461] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, -0.4, 1.125, 0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="duo4" type="MeshInstance3D" parent="Enemy/chassis" unique_id=1099014941] +transform = Transform3D(0.2, -7.523163e-38, -3.1554436e-30, 9.403955e-37, 0.625, 0, -3.1554436e-30, 0, 0.2, -0.4, 1.125, -0.4) +mesh = SubResource("CylinderMesh_k1qk3") + +[node name="ban1" type="MeshInstance3D" parent="Enemy/chassis" unique_id=329014101] +transform = Transform3D(0.7, -7.523163e-38, -1.5777218e-30, 3.2913842e-36, 0.625, 0, 0, 0, 0.1, -2.1175835e-23, 1.125, 0.4) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia1" type="MeshInstance3D" parent="Enemy/chassis/ban1" unique_id=189893944] +transform = Transform3D(0.35, -6.029561e-29, 3.3132164e-29, 1.8431748e-36, 1.8793852, 0.13680804, -3.0851198e-29, -0.6840402, 0.37587705, 1.1797959e-22, 1.2, 0.39999986) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="ban2" type="MeshInstance3D" parent="Enemy/chassis" unique_id=553705054] +transform = Transform3D(0.7, -7.523163e-38, -1.5777218e-30, 3.2913842e-36, 0.625, 0, 0, 0, 0.1, 2.1175835e-23, 1.125, -0.4) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia3" type="MeshInstance3D" parent="Enemy/chassis/ban2" unique_id=1743471262] +transform = Transform3D(-0.2857143, 8.542957e-09, -4.694316e-09, -1.9765971e-22, 1.8793852, 0.13680804, 1.7484554e-07, 0.6840402, -0.37587696, 9.377865e-23, 1.2, -0.39999986) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="ban3" type="MeshInstance3D" parent="Enemy/chassis" unique_id=896440495] +transform = Transform3D(-3.059797e-08, -7.523163e-38, 0.1, -1.6940659e-21, 0.625, -1.1469945e-22, -0.7, 0, -4.371139e-09, 0.4, 1.125, 0) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia4" type="MeshInstance3D" parent="Enemy/chassis/ban3" unique_id=1228538780] +transform = Transform3D(0.28571433, 4.440892e-16, 0, 8.4703295e-22, 1.8793855, 0.13680805, 7.1054274e-15, -0.68404025, 0.375877, -2.4977922e-09, 1.2000004, 0.4000001) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="ban4" type="MeshInstance3D" parent="Enemy/chassis" unique_id=1651694655] +transform = Transform3D(-3.059797e-08, -7.523163e-38, 0.1, -1.6940659e-21, 0.625, -1.1469945e-22, -0.7, 0, -4.371139e-09, -0.4, 1.125, 0) +mesh = SubResource("BoxMesh_rwmqo") + +[node name="zhuangjia2" type="MeshInstance3D" parent="Enemy/chassis/ban4" unique_id=1227369877] +transform = Transform3D(-0.28571433, -8.542958e-09, 4.694316e-09, -2.5410988e-21, 1.8793855, 0.13680805, -1.7484555e-07, 0.68404025, -0.375877, 2.4977922e-09, 1.2000004, -0.4000001) +material_override = SubResource("StandardMaterial3D_rwmqo") +mesh = SubResource("BoxMesh_fq2p7") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Enemy" unique_id=1794877453] +transform = Transform3D(1, -7.523164e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0.195, 0) +shape = SubResource("BoxShape3D_k1qk3") + +[node name="gimbal" type="MeshInstance3D" parent="Enemy" unique_id=2020032932] +transform = Transform3D(0.24999656, -3.1058808e-23, 0.0013089908, -1.8611564e-23, 0.099999994, -5.293956e-23, -0.0013089908, -2.646978e-23, 0.24999656, 0.0013093948, 0.15170148, -7.6293945e-05) +material_override = SubResource("StandardMaterial3D_vblny") +mesh = SubResource("CylinderMesh_vblny") + +[node name="top_yaw" type="MeshInstance3D" parent="Enemy/gimbal" unique_id=1800830162] +transform = Transform3D(0.24999657, -5.5462123e-25, -0.0013089909, 4.701977e-37, 1, -2.6481335e-23, 0.0013089909, 1.0592389e-22, 0.24999657, 0.2, 1.8, 0.002) +material_override = SubResource("StandardMaterial3D_6icyb") +mesh = SubResource("CylinderMesh_w3u4r") + +[node name="pitch_pivot" type="Node3D" parent="Enemy/gimbal/top_yaw" unique_id=1717250831] + +[node name="shooter" type="MeshInstance3D" parent="Enemy/gimbal/top_yaw/pitch_pivot" unique_id=1518917445] +transform = Transform3D(-2.1855694e-08, -1, 0, 0.5, -4.371139e-08, 0, 0, 0, 1, 0.7, 0.8, 0) +material_override = SubResource("StandardMaterial3D_s7v34") +mesh = SubResource("CapsuleMesh_q2vgn") + +[node name="Camera3D" type="Camera3D" parent="Enemy/gimbal/top_yaw/pitch_pivot" unique_id=1268832185] +transform = Transform3D(-6.9938227e-07, 0, -15.428147, 0, 10.861508, 0, 16.000002, 0, -6.743857e-07, 0.2, 2.35, 0.002) +keep_aspect = 0 + +[node name="NavigationRegion3D" type="NavigationRegion3D" parent="." unique_id=51013653] +transform = Transform3D(1.1924881e-08, 0, -1, 0, 1, 0, 1, 0, 1.1924881e-08, 8, 0, 4.4) +navigation_mesh = SubResource("NavigationMesh_rwmqo") + +[node name="RMUC" parent="NavigationRegion3D" unique_id=698774227 instance=ExtResource("5_fq2p7")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1.648) + +[node name="RMUC2026" parent="NavigationRegion3D/RMUC" index="0" unique_id=545208053] +transform = Transform3D(0.001, 0, 0, 0, 0, -0.001, 0, 0.001, 0, 10.151, 1.536, 0) + +[node name="CollisionShape3D" parent="NavigationRegion3D/RMUC/RMUC2026/StaticBody3D" parent_id_path=PackedInt32Array(698774227, 1144434124) index="0" unique_id=490313683] +transform = Transform3D(1, 0, 0, 0, 1, 4.2365687e-23, 0, 4.2365687e-23, 1, 3.959961, -28.354492, 0) + +[node name="NavigationObstacle3D" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1055745221] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 10.5, 0, 0.25) +vertices = PackedVector3Array(-1.4408627, 0, 1.3039565, 0.539402, 0, 1.9603705, 1.749608, 0, 1.0291481, 1.903347, 0, -0.66905785, 0.9657097, 0, -1.76125) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D2" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=448538712] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 12, -2.4868996e-14, 7) +vertices = PackedVector3Array(1.8024263, 0, -0.65430546, 1.5943489, 0, 0.46744537, -1.3701124, 0, 0.48092413, -1.3852577, 0, -0.510571) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D3" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1850042305] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, -8.470329e-22, 1.4210855e-14, -4) +vertices = PackedVector3Array(-0.9631338, 0, 1.7836473, -1.197648, 0, -0.5748253, 1.861629, 0, -0.6497083, 1.3873281, 0, 1.8640118) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D4" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1011828085] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 6, 0, 0) +vertices = PackedVector3Array(0.49421358, 0, -2.34516, 0.42330074, 0, 2.0900168, -0.20495653, 0, 1.3996189, -0.40433168, 0, -1.1225183) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D5" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1957002206] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 14.5, 0, 0) +vertices = PackedVector3Array(-0.78390884, 0, 1.8293462, -0.76187706, 0, -3.075325, -0.0067214966, 0, -1.6018763, 0.3204174, 0, -0.6930895, 0.32405758, 0, 0.6135206) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D6" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=708580516] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -2, 0, -6) +vertices = PackedVector3Array(1.1882963, 0, -1.5941181, 1.1911917, 0, 1.3439622, -1.4995584, 0, 1.4661622, -1.432008, 0, -1.3718367) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D7" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=2026956625] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -7) +vertices = PackedVector3Array(-1.3482428, 0, 0.5999403, -1.4668894, 0, -0.4036374, 2.8120651, 0, -0.39567184, 2.9096794, 0, 0.68608904) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D8" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1497781929] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 21.5, 0, -7) +vertices = PackedVector3Array(-0.7093849, 0, 2.9916444, 1.5970879, 0, 2.9476948, 1.5447845, 0, -0.7513323, -0.81090546, 0, -0.7159705) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D9" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1153428625] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 22, 0, 5.5) +vertices = PackedVector3Array(-1.3580322, 0, 1.636344, -1.290348, 0, -1.4906049, 1.1020145, 0, -1.3882055, 0.9726753, 0, 1.568049) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationObstacle3D10" type="NavigationObstacle3D" parent="NavigationRegion3D" unique_id=1880402920] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, 4) +vertices = PackedVector3Array(-1.0992756, 0, -1.9357076, 1.3942451, 0, -1.8368711, 1.1669044, 0, 0.51805353, -1.8777905, 0, 0.55597544) +affect_navigation_mesh = true +carve_navigation_mesh = true + +[node name="NavigationLink3D" type="NavigationLink3D" parent="NavigationRegion3D" unique_id=627531415] +bidirectional = false +start_position = Vector3(4.4, 0.3, 5.9) +end_position = Vector3(4.4, 0, 4.9) + +[node name="wall1" type="StaticBody3D" parent="NavigationRegion3D" unique_id=1797024284] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/wall1" unique_id=1890350700] +transform = Transform3D(1, -7.523164e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 10.2, 2.4, 7.75) +shape = SubResource("BoxShape3D_fq2p7") + +[node name="wall2" type="StaticBody3D" parent="NavigationRegion3D" unique_id=408700258] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/wall2" unique_id=1979641143] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 10.2, 2.4, -7.75) +shape = SubResource("BoxShape3D_rwmqo") + +[node name="wall3" type="StaticBody3D" parent="NavigationRegion3D" unique_id=193417028] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/wall3" unique_id=588185280] +transform = Transform3D(-4.371139e-08, -7.5231634e-37, 1, 2.1175824e-22, 1, -5.646419e-23, -1, 0, -4.371139e-08, 24.3, 2.4, 0) +shape = SubResource("BoxShape3D_vblny") + +[node name="wall4" type="StaticBody3D" parent="NavigationRegion3D" unique_id=424012949] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/wall4" unique_id=1172197456] +transform = Transform3D(-4.371139e-08, -7.5231634e-37, 1, 2.1175824e-22, 1, -5.646419e-23, -1, 0, -4.371139e-08, -4.1, 2.4, 0) +shape = SubResource("BoxShape3D_vblny") + +[node name="NavigationLink3D2" type="NavigationLink3D" parent="NavigationRegion3D" unique_id=608468896] +bidirectional = false +start_position = Vector3(16, 0.3, -5.9) +end_position = Vector3(16, 0, -4.8) + +[node name="fluentgtround1" type="StaticBody3D" parent="NavigationRegion3D" unique_id=1957484968] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.07, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1" unique_id=1363651962] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 2.55, 0.17, 6.45) +mesh = SubResource("PlaneMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1" unique_id=864143506] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 2.55, 0.17, 6.45) +shape = SubResource("BoxShape3D_6icyb") + +[node name="fluent1" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=1978099758] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent1" unique_id=1812210897] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 1.5, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent1" unique_id=1939592135] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 1.5, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent2" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=1830563561] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent2" unique_id=684398208] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 1.8, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent2" unique_id=1663631442] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 1.8, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent3" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=1512979435] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent3" unique_id=130544606] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 2.1, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent3" unique_id=1298610969] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 2.1, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent4" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=398753244] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent4" unique_id=1186578141] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 2.4, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent4" unique_id=72517108] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 2.4, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent5" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=469409719] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent5" unique_id=988480075] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 2.7, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent5" unique_id=1252217022] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 2.7, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent6" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=984106198] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent6" unique_id=690177691] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 3, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent6" unique_id=442043700] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 3, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent7" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=1924664725] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent7" unique_id=2044984050] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 3.3, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent7" unique_id=1786762555] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 3.3, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent8" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround1" unique_id=280742671] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround1/fluent8" unique_id=900643072] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 3.6, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround1/fluent8" unique_id=1320093292] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 3.6, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluentgtround2" type="StaticBody3D" parent="NavigationRegion3D" unique_id=1754602679] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 15.2, -0.07, -12.9) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2" unique_id=364469498] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 2.55, 0.17, 6.45) +mesh = SubResource("PlaneMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2" unique_id=1833325326] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 2.55, 0.17, 6.45) +shape = SubResource("BoxShape3D_6icyb") + +[node name="fluent1" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=2144671649] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent1" unique_id=1983047536] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 1.5, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent1" unique_id=1607025953] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 1.5, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent2" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=946552567] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent2" unique_id=935686135] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 1.8, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent2" unique_id=405444451] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 1.8, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent3" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=2078234005] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent3" unique_id=22633297] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 2.1, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent3" unique_id=1438686737] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 2.1, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent4" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=1014910255] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent4" unique_id=280279916] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 2.4, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent4" unique_id=1047055287] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 2.4, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent5" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=957413672] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent5" unique_id=1691698711] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 2.7, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent5" unique_id=269191305] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 2.7, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent6" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=596860875] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent6" unique_id=554785927] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 3, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent6" unique_id=1826595874] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 3, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent7" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=1373325675] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent7" unique_id=317417286] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 3.3, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent7" unique_id=301637523] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 3.3, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="fluent8" type="StaticBody3D" parent="NavigationRegion3D/fluentgtround2" unique_id=1993093023] +transform = Transform3D(1, -7.5231634e-37, 0, 7.523164e-37, 1, 0, 0, 0, 1, 0, 0, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="NavigationRegion3D/fluentgtround2/fluent8" unique_id=2013380378] +transform = Transform3D(0.2, 0, 0, 0, -4.371139e-08, -0.2, 0, 1, -8.742278e-09, 3.6, 0.1, 6.45) +mesh = SubResource("CylinderMesh_rwmqo") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="NavigationRegion3D/fluentgtround2/fluent8" unique_id=1394624354] +transform = Transform3D(1, 0, -9.256245e-30, 7.523164e-37, -4.371139e-08, -1, 0, 1, -4.371139e-08, 3.6, 0.1, 6.45) +shape = SubResource("CylinderShape3D_fq2p7") + +[node name="BaseCube" parent="." unique_id=1477399072 instance=ExtResource("6_vblny")] +transform = Transform3D(1, 3.5527137e-15, 2.1175822e-22, -3.5527137e-15, 1, -3.5527137e-15, 2.1175822e-22, 3.5527137e-15, 1, 7.9666595, 1.0475693, 3) +cube_size = Vector3(0.5, 0.5, 0.5) +hitbox_size = Vector3(0.5, 0.5, 0.5) + +[node name="OutpostCube" parent="." unique_id=1345649340 instance=ExtResource("7_6icyb")] +transform = Transform3D(1.1924881e-08, -7.5231634e-37, -1, 0, 1, -4.2365687e-23, 1, 0, 1.1924881e-08, 4.1800375, 1.5934836, 11.460511) +cube_size = Vector3(0.5, 0.5, 0.5) +hitbox_size = Vector3(0.5, 0.5, 0.5) + +[editable path="NavigationRegion3D/RMUC"] diff --git a/godot-mock/scene/character_body_3d.gd b/godot-mock/scene/character_body_3d.gd new file mode 100644 index 0000000..1ae6773 --- /dev/null +++ b/godot-mock/scene/character_body_3d.gd @@ -0,0 +1,693 @@ +extends CharacterBody3D +## AI 控制的我方机器人。 +## 通过 NavigationAgent3D 沿 navmesh 导航到目标点（由 Lua 决策端通过 TCP 下发）， +## 搭载可扫描/自动瞄准的云台、四块装甲板受击判定、死亡/复活循环。 + +## 导航目标 Node3D（由 SimSidecarClient 根据 Lua nav_target 消息移动）。 +@export var target_node: Node3D +## 底盘最大水平移动速度 (m/s)。 +@export var move_speed := 2.5 +## 底盘水平加速度 (m/s^2)。 +@export var move_accel := 5.5 +## 目标速度为零时的水平减速度（阻力）。 +@export var move_drag := 4.0 +## 底盘自旋最大速度 (rad/s，"spin" 模式使用)。 +@export var chassis_spin_speed_max := 4.5 +## 底盘自旋加速度 (rad/s^2)。 +@export var chassis_spin_accel := 10.0 +## 云台扫描最大转速 (rad/s)。 +@export var gimbal_scan_speed_max := 2.8 +## 云台旋转加速度 (rad/s^2)。 +@export var gimbal_scan_accel := 8.0 +## 云台锁定敌人后的追踪转速 (rad/s)。 +@export var gimbal_track_turn_rate := 4.5 +## 自动射击冷却时间 (s)。 +@export var auto_fire_cooldown := 0.12 +## 子弹飞行速度 (m/s)。 +@export var bullet_speed := 25.0 +## 子弹最大存活时间 (s)。 +@export var bullet_lifetime := 2.0 +## 单发子弹伤害。 +@export var bullet_damage := 20 +## 云台扫描射线长度。 +@export var scan_range := 30.0 +## 初始/最大血量。 +@export var max_health := 400 +## 初始子弹数。 +@export var spawn_bullet := 100 +## 初始金币数。 +@export var spawn_gold := 0 +## 死亡后到复活的时间间隔 (s)。 +@export var respawn_delay := 5.0 +## 复活时恢复的血量。 +@export var respawn_health := 25 +## 复活后护盾持续时间 (s)。 +@export var respawn_shield_duration := 3.0 +## 外部速度超控的有效持有时长 (s)。 +@export var control_hold_seconds := 0.2 + +const TEAM := "ally" +const BULLET_SCRIPT := preload("res://scene/sim_bullet.gd") +const ARMOR_SCRIPT := preload("res://scene/sim_armor.gd") +const DEATH_FX_DURATION := 0.6 +const SHIELD_PULSE_SPEED := 0.006 +const SHIELD_PULSE_SCALE := 0.06 +const HEALTH_BAR_ANCHOR_NAME := "HealthBarAnchor" +const HEALTH_BAR_BACK_NAME := "HealthBarBack" +const HEALTH_BAR_FILL_NAME := "HealthBarFill" +const HEALTH_BAR_HEIGHT := 1.0 +const HEALTH_BAR_BACK_SIZE := Vector2(1.1, 0.14) +const HEALTH_BAR_FILL_SIZE := Vector2(1.0, 0.10) +const HEALTH_BAR_BACK_PRIORITY := 10 +const HEALTH_BAR_FILL_PRIORITY := 11 +const HEALTH_BAR_FILL_Z_OFFSET := -0.02 +## 四块装甲板的子节点路径（用于挂载受击判定 Area）。 +const ARMOR_NODE_PATHS := [ + "chassis/ban1/zhuangjia1", + "chassis/ban4/zhuangjia2", + "chassis/ban2/zhuangjia3", + "chassis/ban3/zhuangjia4", +] + +var gravity :float = ProjectSettings.get_setting("physics/3d/default_gravity") +## 底盘行为模式: "idle" 静止 / "spin" 自旋。 +var chassis_mode := "idle" +## 云台控制来源: "manual" 手动 / "scan" 扫描 / "auto" 自动瞄准。 +var gimbal_dominator := "manual" +## 外部速度超控向量 (X=前, Y=右)，由 Lua 遥控指令设置。 +var external_chassis_vel := Vector2.ZERO +## 外部速度超控的剩余有效期 (s)。 +var external_chassis_vel_ttl := 0.0 + +var current_chassis_spin_speed := 0.0 +var current_scan_speed := 0.0 +var fire_cooldown_left := 0.0 + +var hp := max_health +var bullet := spawn_bullet +var gold := spawn_gold +var is_dead := false +var dead_left := 0.0 +var respawn_shield_left := 0.0 + +## 敌方机器人引用，供云台自动瞄准使用。 +var enemy_target: Node3D = null + +## 云台扫描视线 RayCast3D。 +var scan_ray: RayCast3D = null +## 扫描射线的调试可视化线条（动态 ImmediateMesh）。 +var scan_line: MeshInstance3D = null +## 死亡特效 Tween。 +var death_fx_tween: Tween = null +## 护盾效果基准缩放。 +var shield_fx_base_scale := Vector3.ONE +## 死亡特效基准缩放。 +var death_burst_fx_base_scale := Vector3.ONE +## 头顶血条锚点。 +var health_bar_anchor: Node3D = null +## 头顶血条背景。 +var health_bar_back: MeshInstance3D = null +## 头顶血条红条。 +var health_bar_fill: MeshInstance3D = null + +@onready var nav_agent: NavigationAgent3D = $NavigationAgent3D +@onready var chassis_node: Node3D = $chassis +@onready var gimbal_top_yaw: Node3D = $gimbal/top_yaw +@onready var shooter_node: Node3D = $gimbal/top_yaw/shooter +@onready var shield_fx: MeshInstance3D = $ShieldFX +@onready var death_burst_fx: MeshInstance3D = $DeathBurstFX + + +func _ready() -> void: + _setup_scan_tools() + _setup_armor_hitboxes() + _setup_health_bar() + shield_fx_base_scale = shield_fx.scale + death_burst_fx_base_scale = death_burst_fx.scale + _set_shield_fx_active(false) + _reset_death_fx() + _update_health_bar() + _face_health_bar_to_camera() + + +func _physics_process(delta: float) -> void: + _tick_death(delta) + _tick_respawn_shield(delta) + + fire_cooldown_left = max(fire_cooldown_left - delta, 0.0) + if external_chassis_vel_ttl > 0.0: + external_chassis_vel_ttl = max(external_chassis_vel_ttl - delta, 0.0) + + if is_dead: + # 死亡时停止水平移动，但重力仍然作用。 + velocity.x = 0.0 + velocity.z = 0.0 + else: + var desired_planar := _compute_desired_planar_velocity() + _apply_planar_inertia(desired_planar, delta) + _tick_chassis_spin(delta) + _tick_gimbal(delta) + + # Gravity: only applied when not on floor (walk-off edges, stairs, etc.). + if not is_on_floor(): + velocity.y -= gravity * delta + + move_and_slide() + + if is_dead: + _hide_scan_line() + + _face_health_bar_to_camera() + + +## 设置敌方目标引用，供云台自动瞄准使用。 +func set_enemy_target(target: Node3D) -> void: + enemy_target = target + + +## 设置底盘模式 ("idle"/"spin")，由 Lua 控制指令调用。 +func set_chassis_mode(mode: String) -> void: + if is_dead: + return + chassis_mode = mode + + +## 设置云台控制源 ("manual"/"scan"/"auto")，由 Lua 控制指令调用。 +func set_gimbal_dominator(dominator_name: String) -> void: + if is_dead: + return + gimbal_dominator = dominator_name + + +## 手动设置云台 yaw 角度，仅在 gimbal_dominator == "manual" 时生效。 +func set_gimbal_direction(angle: float) -> void: + if is_dead or gimbal_dominator != "manual": + return + gimbal_top_yaw.rotation.y = angle + + +## 设置外部速度超控（Lua 遥控），超控持续 control_hold_seconds 秒后自动失效。 +func set_external_chassis_velocity(x: float, y: float) -> void: + if is_dead: + return + external_chassis_vel = Vector2(x, y) + external_chassis_vel_ttl = control_hold_seconds + + +## 返回当前模拟资源状态，供 sidecar 上报给 Lua 决策端。 +func get_sim_resource_state() -> Dictionary: + return { + "health": hp, + "bullet": bullet, + "gold": gold, + "dead": is_dead, + } + + +## 用 blackboard 传来的生命/子弹/金币值同步本机资源。 +func sync_resources_from_blackboard( + health: Variant, + bullet_value: Variant, + gold_value: Variant = null +) -> void: + if health != null: + hp = clampi(int(round(float(health))), 0, max_health) + if bullet_value != null: + bullet = maxi(0, int(round(float(bullet_value)))) + if gold_value != null: + gold = maxi(0, int(round(float(gold_value)))) + _update_health_bar() + + +## 受到子弹伤害，血量归零时进入死亡状态。 +func apply_damage(amount: int, _armor_name: String = "") -> void: + if is_dead or _has_respawn_shield(): + return + var next_hp : int= hp - max(amount, 0) + hp = maxi(0, next_hp) + _update_health_bar() + if hp <= 0: + _enter_death_state() + + +func is_alive() -> bool: + return hp > 0 and not is_dead + + +func get_team() -> String: + return TEAM + + +func get_armor_target_nodes() -> Array[Node3D]: + var result: Array[Node3D] = [] + for path in ARMOR_NODE_PATHS: + var node := get_node_or_null(path) + if node is Node3D: + result.append(node) + return result + +func _compute_desired_planar_velocity() -> Vector3: + + if external_chassis_vel_ttl > 0.0: + + return Vector3(external_chassis_vel.x, 0.0, external_chassis_vel.y) + + + if target_node: + + nav_agent.target_position = target_node.global_position + + + + if nav_agent.is_navigation_finished(): + + return Vector3.ZERO + + + var next_path_pos := nav_agent.get_next_path_position() + + var current_pos := global_position + + var flat := next_path_pos - current_pos + + flat.y = 0.0 + + if flat.length() <= 0.001: + + return Vector3.ZERO + + look_at_target(next_path_pos, 8.0) + + return flat.normalized() * move_speed + + +func _apply_planar_inertia(desired: Vector3, delta: float) -> void: + var current := Vector3(velocity.x, 0.0, velocity.z) + var dv := desired - current + var max_step := move_accel * delta + if dv.length() > max_step and max_step > 0.0: + dv = dv.normalized() * max_step + var next := current + dv + if desired.length() < 0.01: + next = next.move_toward(Vector3.ZERO, move_drag * delta) + velocity.x = next.x + velocity.z = next.z + + +func _tick_chassis_spin(delta: float) -> void: + var target_spin := 0.0 + if chassis_mode == "spin": + target_spin = chassis_spin_speed_max + current_chassis_spin_speed = move_toward( + current_chassis_spin_speed, target_spin, chassis_spin_accel * delta + ) + chassis_node.rotate_y(current_chassis_spin_speed * delta) + + +func _tick_gimbal(delta: float) -> void: + match gimbal_dominator: + "scan": + _tick_scan_mode(delta) + "auto": + _tick_auto_mode(delta) + _: + current_scan_speed = move_toward( + current_scan_speed, 0.0, gimbal_scan_accel * delta + ) + _hide_scan_line() + + +func _tick_scan_mode(delta: float) -> void: + current_scan_speed = move_toward( + current_scan_speed, gimbal_scan_speed_max, gimbal_scan_accel * delta + ) + gimbal_top_yaw.rotate_y(current_scan_speed * delta) + _update_scan_ray_visual(true) + + +func _tick_auto_mode(delta: float) -> void: + current_scan_speed = move_toward(current_scan_speed, 0.0, gimbal_scan_accel * delta) + var lock := _track_enemy(delta) + _update_scan_ray_visual(false) + if lock and _can_fire(): + _fire_bullet(TEAM) + bullet -= 1 + fire_cooldown_left = auto_fire_cooldown + + +func _track_enemy(delta: float) -> bool: + if enemy_target == null: + return false + if enemy_target.has_method("is_alive") and not bool(enemy_target.call("is_alive")): + return false + + var target := _pick_enemy_armor_target() + if target == null: + return false + + var shooter_pos := shooter_node.global_position + var to_target := target.global_position - shooter_pos + to_target.y = 0.0 + if to_target.length() < 0.05: + return false + + var forward := _shooter_forward() + forward.y = 0.0 + if forward.length() < 0.001: + forward = Vector3.FORWARD + else: + forward = forward.normalized() + + var target_dir := to_target.normalized() + var angle_error := atan2(forward.cross(target_dir).y, forward.dot(target_dir)) + var step : float = clamp(angle_error, -gimbal_track_turn_rate * delta, gimbal_track_turn_rate * delta) + gimbal_top_yaw.rotate_y(step) + + return absf(angle_error) <= 0.08 + + +func _pick_enemy_armor_target() -> Node3D: + if enemy_target == null: + return null + if enemy_target.has_method("get_armor_target_nodes"): + var armors: Array = enemy_target.call("get_armor_target_nodes") + var best: Node3D = null + var best_d2 := INF + for item in armors: + if item is Node3D: + var n: Node3D = item + var d2 := shooter_node.global_position.distance_squared_to(n.global_position) + if d2 < best_d2: + best_d2 = d2 + best = n + return best + return null + + +func _fire_bullet(team: String) -> void: + var bullet_node := BULLET_SCRIPT.new() + bullet_node.set("team", team) + bullet_node.set("speed", bullet_speed) + bullet_node.set("damage", bullet_damage) + bullet_node.set("lifetime", bullet_lifetime) + bullet_node.global_position = shooter_node.global_position + _shooter_forward() * 0.35 + bullet_node.look_at(bullet_node.global_position + _shooter_forward(), Vector3.UP) + bullet_node.set("travel_direction", _shooter_forward()) + get_tree().current_scene.add_child(bullet_node) + + +func _shooter_forward() -> Vector3: + var forward := -shooter_node.global_basis.y + if forward.length() < 0.001: + return Vector3.FORWARD + return forward.normalized() + + +func _setup_scan_tools() -> void: + scan_ray = RayCast3D.new() + scan_ray.name = "ScanRay" + scan_ray.target_position = Vector3(0.0, -scan_range, 0.0) + scan_ray.enabled = true + scan_ray.collide_with_areas = true + scan_ray.collide_with_bodies = true + shooter_node.add_child(scan_ray) + + scan_line = MeshInstance3D.new() + scan_line.name = "ScanRayLine" + var mat := StandardMaterial3D.new() + mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED + mat.albedo_color = Color(0.2, 1.0, 0.2, 0.95) + scan_line.material_override = mat + shooter_node.add_child(scan_line) + _hide_scan_line() + + +func _update_scan_ray_visual(force_visible: bool) -> void: + if scan_ray == null or scan_line == null: + return + + var end_local := Vector3(0.0, -scan_range, 0.0) + if scan_ray.is_colliding(): + var hit_global := scan_ray.get_collision_point() + end_local = shooter_node.to_local(hit_global) + + var mesh := ImmediateMesh.new() + mesh.clear_surfaces() + mesh.surface_begin(Mesh.PRIMITIVE_LINES) + mesh.surface_add_vertex(Vector3.ZERO) + mesh.surface_add_vertex(end_local) + mesh.surface_end() + scan_line.mesh = mesh + scan_line.visible = force_visible + + +func _hide_scan_line() -> void: + if scan_line != null: + scan_line.visible = false + + +func _has_respawn_shield() -> bool: + return respawn_shield_left > 0.0 + + +func _tick_respawn_shield(delta: float) -> void: + if is_dead: + if respawn_shield_left > 0.0: + respawn_shield_left = 0.0 + _set_shield_fx_active(false) + return + + if respawn_shield_left <= 0.0: + _set_shield_fx_active(false) + return + + respawn_shield_left = max(respawn_shield_left - delta, 0.0) + if respawn_shield_left <= 0.0: + _set_shield_fx_active(false) + return + + _set_shield_fx_active(true) + _update_shield_fx_visual() + + +func _can_fire() -> bool: + return not is_dead and not _has_respawn_shield() and fire_cooldown_left <= 0.0 and bullet > 0 + + +func _setup_armor_hitboxes() -> void: + for path in ARMOR_NODE_PATHS: + var armor_mesh := get_node_or_null(path) + if armor_mesh == null: + continue + var area := ARMOR_SCRIPT.new() + area.set("team", TEAM) + area.set("armor_name", str(path.get_file())) + armor_mesh.add_child(area) + area.set("owner_robot_path", area.get_path_to(self)) + + +func _setup_health_bar() -> void: + health_bar_anchor = get_node_or_null(HEALTH_BAR_ANCHOR_NAME) as Node3D + if health_bar_anchor == null: + health_bar_anchor = Node3D.new() + health_bar_anchor.name = HEALTH_BAR_ANCHOR_NAME + health_bar_anchor.position = Vector3(0.0, HEALTH_BAR_HEIGHT, 0.0) + add_child(health_bar_anchor) + + health_bar_back = health_bar_anchor.get_node_or_null(HEALTH_BAR_BACK_NAME) as MeshInstance3D + if health_bar_back == null: + health_bar_back = MeshInstance3D.new() + health_bar_back.name = HEALTH_BAR_BACK_NAME + var back_mesh := QuadMesh.new() + back_mesh.size = HEALTH_BAR_BACK_SIZE + health_bar_back.mesh = back_mesh + health_bar_back.material_override = _build_health_bar_material( + Color(0.08, 0.08, 0.08, 1.0), + HEALTH_BAR_BACK_PRIORITY + ) + health_bar_anchor.add_child(health_bar_back) + + health_bar_fill = health_bar_anchor.get_node_or_null(HEALTH_BAR_FILL_NAME) as MeshInstance3D + if health_bar_fill == null: + health_bar_fill = MeshInstance3D.new() + health_bar_fill.name = HEALTH_BAR_FILL_NAME + var fill_mesh := QuadMesh.new() + fill_mesh.size = HEALTH_BAR_FILL_SIZE + health_bar_fill.mesh = fill_mesh + health_bar_fill.material_override = _build_health_bar_material( + Color(0.92, 0.12, 0.12, 1.0), + HEALTH_BAR_FILL_PRIORITY + ) + health_bar_fill.position = Vector3(0.0, 0.0, HEALTH_BAR_FILL_Z_OFFSET) + health_bar_anchor.add_child(health_bar_fill) + + +func _build_health_bar_material(color: Color, priority: int) -> StandardMaterial3D: + var material := StandardMaterial3D.new() + material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED + material.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA + material.no_depth_test = true + material.depth_draw_mode = BaseMaterial3D.DEPTH_DRAW_DISABLED + material.cull_mode = BaseMaterial3D.CULL_DISABLED + material.render_priority = priority + material.albedo_color = color + return material + + +func _update_health_bar() -> void: + if health_bar_anchor == null or health_bar_back == null or health_bar_fill == null: + return + + var ratio: float = 0.0 + if max_health > 0: + ratio = clampf(float(hp) / float(max_health), 0.0, 1.0) + + health_bar_fill.scale = Vector3(ratio, 1.0, 1.0) + health_bar_fill.position = Vector3( + -0.5 * HEALTH_BAR_FILL_SIZE.x * (1.0 - ratio), + 0.0, + HEALTH_BAR_FILL_Z_OFFSET + ) + + +func _face_health_bar_to_camera() -> void: + if health_bar_anchor == null: + return + + var camera: Camera3D = get_viewport().get_camera_3d() + if camera == null: + return + + health_bar_anchor.look_at(camera.global_position, Vector3.UP, true) + + +func _tick_death(delta: float) -> void: + if not is_dead: + return + dead_left = max(dead_left - delta, 0.0) + if dead_left <= 0.0: + _respawn() + + +func _enter_death_state() -> void: + is_dead = true + dead_left = respawn_delay + respawn_shield_left = 0.0 + velocity = Vector3.ZERO + current_chassis_spin_speed = 0.0 + current_scan_speed = 0.0 + fire_cooldown_left = 0.0 + chassis_mode = "idle" + gimbal_dominator = "manual" + _set_shield_fx_active(false) + _play_death_fx() + + +func _respawn() -> void: + is_dead = false + hp = respawn_health + respawn_shield_left = respawn_shield_duration + velocity = Vector3.ZERO + chassis_mode = "idle" + gimbal_dominator = "manual" + current_chassis_spin_speed = 0.0 + current_scan_speed = 0.0 + _hide_scan_line() + _set_shield_fx_active(respawn_shield_left > 0.0) + _update_health_bar() + + +func _set_shield_fx_active(active: bool) -> void: + if shield_fx == null: + return + + shield_fx.visible = active + if active: + _update_shield_fx_visual() + return + + shield_fx.scale = shield_fx_base_scale + var shield_mat: StandardMaterial3D = shield_fx.material_override as StandardMaterial3D + if shield_mat != null: + var shield_color: Color = shield_mat.albedo_color + shield_color.a = 0.24 + shield_mat.albedo_color = shield_color + shield_mat.emission_energy_multiplier = 1.8 + + +func _update_shield_fx_visual() -> void: + if shield_fx == null or not shield_fx.visible: + return + + var pulse_phase: float = float(Time.get_ticks_msec()) * SHIELD_PULSE_SPEED + var pulse: float = 0.5 + 0.5 * sin(pulse_phase) + shield_fx.scale = shield_fx_base_scale * (1.0 + SHIELD_PULSE_SCALE * pulse) + + var shield_mat: StandardMaterial3D = shield_fx.material_override as StandardMaterial3D + if shield_mat != null: + var shield_color: Color = shield_mat.albedo_color + shield_color.a = lerpf(0.18, 0.34, pulse) + shield_mat.albedo_color = shield_color + shield_mat.emission_energy_multiplier = lerpf(1.4, 2.2, pulse) + + +func _play_death_fx() -> void: + if death_burst_fx == null: + return + + if death_fx_tween != null: + death_fx_tween.kill() + death_fx_tween = null + + _reset_death_fx() + death_burst_fx.visible = true + var death_mat: StandardMaterial3D = death_burst_fx.material_override as StandardMaterial3D + if death_mat != null: + death_mat.emission_energy_multiplier = 2.6 + _set_death_fx_alpha(0.9) + + death_fx_tween = create_tween() + death_fx_tween.set_parallel(true) + death_fx_tween.tween_property( + death_burst_fx, "scale", death_burst_fx_base_scale * 3.0, DEATH_FX_DURATION + ).set_trans(Tween.TRANS_CUBIC).set_ease(Tween.EASE_OUT) + death_fx_tween.tween_method(_set_death_fx_alpha, 0.9, 0.0, DEATH_FX_DURATION) + death_fx_tween.chain().tween_callback(_reset_death_fx) + + +func _set_death_fx_alpha(alpha: float) -> void: + if death_burst_fx == null: + return + + var death_mat: StandardMaterial3D = death_burst_fx.material_override as StandardMaterial3D + if death_mat == null: + return + + var death_color: Color = death_mat.albedo_color + death_color.a = alpha + death_mat.albedo_color = death_color + death_mat.emission_energy_multiplier = 2.6 * alpha + + +func _reset_death_fx() -> void: + if death_burst_fx == null: + return + + death_burst_fx.visible = false + death_burst_fx.scale = death_burst_fx_base_scale + var death_mat: StandardMaterial3D = death_burst_fx.material_override as StandardMaterial3D + if death_mat != null: + var death_color: Color = death_mat.albedo_color + death_color.a = 0.0 + death_mat.albedo_color = death_color + death_mat.emission_energy_multiplier = 0.0 + death_fx_tween = null + + +func look_at_target(target_pos: Vector3, turn_speed: float) -> void: + var direction := target_pos - global_position + direction.y = 0.0 + if direction.length() <= 0.1: + return + var target_basis := Basis.looking_at(direction).rotated(Vector3.UP, PI/2.0) + basis = basis.slerp(target_basis, clamp(turn_speed * get_physics_process_delta_time(), 0.0, 1.0)) diff --git a/godot-mock/scene/character_body_3d.gd.uid b/godot-mock/scene/character_body_3d.gd.uid new file mode 100644 index 0000000..7f91fb9 --- /dev/null +++ b/godot-mock/scene/character_body_3d.gd.uid @@ -0,0 +1 @@ +uid://c88svvsnwlpo3 diff --git a/godot-mock/scene/enemy.gd b/godot-mock/scene/enemy.gd new file mode 100644 index 0000000..8c2362a --- /dev/null +++ b/godot-mock/scene/enemy.gd @@ -0,0 +1,653 @@ +extends CharacterBody3D +## 敌方机器人，由键盘本地操控。 +## 支持 WASD 移动、空格跳跃、J 键射击，以及第一/第三人称相机切换。 +## 搭载四块装甲板受击判定，死亡后不可复活（仅停止运动）。 + +@export var external_camera: Camera3D +## 自瞄目标机器人。 +@export var auto_aim_target: Node3D +## 底盘最大水平移动速度 (m/s)。 +@export var move_speed := 4.2 +## 底盘水平加速度 (m/s^2)。 +@export var move_accel := 9.0 +## 目标速度为零时的水平减速度（阻力）。 +@export var move_drag := 7.0 +## 跳跃初速度 (m/s)。 +@export var jump_velocity := 5.2 +## 射击冷却时间 (s)。 +@export var fire_cooldown := 0.2 +## 子弹飞行速度 (m/s)。 +@export var bullet_speed := 24.0 +## 子弹最大存活时间 (s)。 +@export var bullet_lifetime := 2.0 +## 子弹重力倍率，应与 sim_bullet.gd 中实际飞行参数一致。 +@export var bullet_gravity_scale := 1.0 +## 单发子弹伤害。 +@export var bullet_damage := 20 +## 初始/最大血量。 +@export var max_health := 400000 +## 初始子弹数量。 +@export var spawn_bullet := 10000000 + +## 跳跃输入动作名称。 +@export var jump_action := "enemy_jump" +## 射击输入动作名称。 +@export var fire_action := "enemy_fire" +## 鼠标控制云台左右转动的灵敏度（弧度/像素）。 +@export var mouse_yaw_sensitivity := 0.003 +## 鼠标控制枪管上下俯仰的灵敏度（弧度/像素）。 +@export var mouse_pitch_sensitivity := 0.003 +## 枪管最大俯仰角（度）。 +@export var max_pitch_degrees := 30.0 +## 自瞄 yaw 跟踪速度（rad/s）。 +@export var auto_aim_yaw_rate := 10.0 +## 自瞄 pitch 跟踪速度（rad/s）。 +@export var auto_aim_pitch_rate := 10.0 +## 自瞄数值求解时允许的命中误差半径（米）。 +@export var auto_aim_hit_tolerance := 0.30 + +const TEAM := "enemy" +const BULLET_SCRIPT := preload("res://scene/sim_bullet.gd") +const ARMOR_SCRIPT := preload("res://scene/sim_armor.gd") +const MUZZLE_OFFSET := 0.35 +const AUTO_AIM_COARSE_PITCH_SAMPLES := 41 +const AUTO_AIM_REFINEMENT_ROUNDS := 2 +const AUTO_AIM_REFINEMENT_SAMPLES := 9 +const AUTO_AIM_SIM_FALLBACK_HZ := 60.0 +const HEALTH_BAR_ANCHOR_NAME := "HealthBarAnchor" +const HEALTH_BAR_BACK_NAME := "HealthBarBack" +const HEALTH_BAR_FILL_NAME := "HealthBarFill" +const HEALTH_BAR_HEIGHT := 2.35 +const HEALTH_BAR_BACK_SIZE := Vector2(1.1, 0.14) +const HEALTH_BAR_FILL_SIZE := Vector2(1.0, 0.10) +const HEALTH_BAR_BACK_PRIORITY := 10 +const HEALTH_BAR_FILL_PRIORITY := 11 +const HEALTH_BAR_FILL_Z_OFFSET := -0.02 +## 四块装甲板的子节点路径（用于挂载受击判定 Area）。 +const ARMOR_NODE_PATHS := [ + "chassis/ban1/zhuangjia1", + "chassis/ban4/zhuangjia2", + "chassis/ban2/zhuangjia3", + "chassis/ban3/zhuangjia4", +] + +var gravity : float = ProjectSettings.get_setting("physics/3d/default_gravity") +var hp := max_health +var bullet := spawn_bullet +## 是否处于死亡状态（死亡后不可移动/射击）。 +var dead := false +## 射击冷却剩余时间 (s)。 +var fire_left := 0.0 +## 上一帧空格是否按下（用于 JUMP 动作缺失时的回退检测）。 +var jump_key_was_down := false +## 当前云台 yaw 角度（弧度）。 +var yaw_angle := 0.0 +## 当前枪管 pitch 角度（弧度）。 +var pitch_angle := 0.0 +## 自瞄总开关。 +var auto_aim_enabled := false +## 当前锁定的目标装甲板。 +var auto_aim_locked_target: Node3D = null +## 当前帧为最佳候选目标求得的 local pitch 解（弧度）。 +var auto_aim_solution_pitch := 0.0 +## 数值求解使用的模拟步长（秒），与子弹物理步长保持一致。 +var auto_aim_sim_step_dt: float = 1.0 / AUTO_AIM_SIM_FALLBACK_HZ +## 左键仅用于重新捕获鼠标时，阻止本次按下同时触发射击。 +var consume_left_click_fire_until_release := false +## 头顶血条锚点。 +var health_bar_anchor: Node3D = null +## 头顶血条背景。 +var health_bar_back: MeshInstance3D = null +## 头顶血条红条。 +var health_bar_fill: MeshInstance3D = null + +@onready var gimbal_yaw_node: Node3D = $gimbal +@onready var top_yaw_node: Node3D = $gimbal/top_yaw +@onready var pitch_pivot: Node3D = $gimbal/top_yaw/pitch_pivot +@onready var shooter_node: Node3D = $gimbal/top_yaw/pitch_pivot/shooter +@onready var fpv_cam: Camera3D = $gimbal/top_yaw/pitch_pivot/Camera3D + + +func _ready() -> void: + _setup_armor_hitboxes() + _setup_health_bar() + yaw_angle = gimbal_yaw_node.rotation.y + pitch_angle = pitch_pivot.rotation.z + var physics_ticks: float = float(ProjectSettings.get_setting("physics/common/physics_ticks_per_second")) + if physics_ticks > 0.0: + auto_aim_sim_step_dt = 1.0 / physics_ticks + _sync_mouse_capture() + _update_health_bar() + _face_health_bar_to_camera() + + +func _physics_process(delta: float) -> void: + # 减少射击冷却时间。 + fire_left = max(fire_left - delta, 0.0) + + # 死亡状态：完全静止，不响应任何输入。 + if dead: + velocity = Vector3.ZERO + move_and_slide() + _face_health_bar_to_camera() + return + + _tick_movement(delta) + _tick_auto_aim(delta) + _tick_fire() + move_and_slide() + # 记录空格状态，用于下一帧检测"刚刚按下"。 + jump_key_was_down = Input.is_key_pressed(KEY_SPACE) + _face_health_bar_to_camera() + + +## 受到子弹伤害，血量归零时进入死亡状态。 +func apply_damage(amount: int, _armor_name: String = "") -> void: + if dead: + return + hp = maxi(0, hp - max(amount, 0)) + _update_health_bar() + if hp <= 0: + dead = true + velocity = Vector3.ZERO + + +func is_alive() -> bool: + return not dead and hp > 0 + + +func get_team() -> String: + return TEAM + + +func get_armor_target_nodes() -> Array[Node3D]: + var result: Array[Node3D] = [] + for path in ARMOR_NODE_PATHS: + var node := get_node_or_null(path) + if node is Node3D: + result.append(node) + return result + + +## 第一人称下按相机水平朝向移动；外部相机下保持世界轴移动。 +func _compute_desired_planar_movement(input_forward: float, input_right: float) -> Vector3: + if fpv_cam.current: + var basis := fpv_cam.global_basis.orthonormalized() + var camera_forward := -basis.z + var camera_right := basis.x + camera_forward.y = 0.0 + camera_right.y = 0.0 + if camera_forward.length() < 0.001: + camera_forward = Vector3.FORWARD + else: + camera_forward = camera_forward.normalized() + if camera_right.length() < 0.001: + camera_right = Vector3.RIGHT + else: + camera_right = camera_right.normalized() + var desired := camera_forward * input_forward + camera_right * input_right + if desired.length() > 1.0: + desired = desired.normalized() + return desired * move_speed + + var desired := Vector3(-input_forward, 0.0, -input_right) + if desired.length() > 1.0: + desired = desired.normalized() + return desired * move_speed + + +## 处理键盘移动、跳跃和重力。 +## 移动输入由键盘方向键驱动，支持加速度/阻力平滑过渡。 +## 方向映射：key_up → -Z（前），key_right → +X（右）。 +func _tick_movement(delta: float) -> void: + # 读取键盘方向输入。 + var input_forward := Input.get_action_strength("key_up") - Input.get_action_strength("key_down") + var input_right := Input.get_action_strength("key_right") - Input.get_action_strength("key_left") + + # 计算期望水平速度：第一人称下跟随视角水平朝向，外部相机下保持世界轴。 + var desired := _compute_desired_planar_movement(input_forward, input_right) + + # 加速度限制：当前速度向期望速度平滑过渡。 + var current := Vector3(velocity.x, 0.0, velocity.z) + var dv := desired - current + var step := move_accel * delta + if dv.length() > step and step > 0.0: + dv = dv.normalized() * step + var next := current + dv + # 无输入时施加阻力减速。 + if desired.length() < 0.01: + next = next.move_toward(Vector3.ZERO, move_drag * delta) + velocity.x = next.x + velocity.z = next.z + + # 跳跃：支持 InputMap 动作或直接空格键回退检测。 + if _jump_just_pressed() and is_on_floor(): + velocity.y = jump_velocity + elif not is_on_floor(): + velocity.y -= gravity * delta + else: + velocity.y = 0.0 + + +func _tick_auto_aim(delta: float) -> void: + auto_aim_locked_target = null + + if not auto_aim_enabled or not fpv_cam.current: + return + if auto_aim_target == null or not is_instance_valid(auto_aim_target): + return + if auto_aim_target.has_method("is_alive") and not bool(auto_aim_target.call("is_alive")): + return + + auto_aim_solution_pitch = pitch_angle + var target := _pick_auto_aim_target() + if target == null: + return + + if _track_auto_aim_target(target, auto_aim_solution_pitch, delta): + auto_aim_locked_target = target + + +func _pick_auto_aim_target() -> Node3D: + if not auto_aim_target.has_method("get_armor_target_nodes"): + return null + + var armors: Array = auto_aim_target.call("get_armor_target_nodes") + var visible_rect := get_viewport().get_visible_rect() + var screen_center := visible_rect.position + visible_rect.size * 0.5 + var best: Node3D = null + var best_d2 := INF + + for item in armors: + if not (item is Node3D): + continue + var armor := item as Node3D + if not _is_auto_aim_candidate_visible(armor, visible_rect): + continue + var solved_pitch: float = _solve_ballistic_pitch_local(armor.global_position) + if solved_pitch == INF: + continue + var screen_pos := fpv_cam.unproject_position(armor.global_position) + var d2 := screen_pos.distance_squared_to(screen_center) + if d2 < best_d2: + best_d2 = d2 + best = armor + auto_aim_solution_pitch = solved_pitch + + return best + + +func _solve_ballistic_pitch_local(target_position: Vector3) -> float: + if bullet_speed <= 0.001 or bullet_lifetime <= 0.0 or auto_aim_hit_tolerance <= 0.0: + return INF + + var min_pitch: float = -deg_to_rad(max_pitch_degrees) + var max_pitch: float = deg_to_rad(max_pitch_degrees) + var best_pitch: float = 0.0 + var best_distance_sq: float = INF + var pitch_span: float = max_pitch - min_pitch + + for i in range(AUTO_AIM_COARSE_PITCH_SAMPLES): + var t: float = float(i) / float(AUTO_AIM_COARSE_PITCH_SAMPLES - 1) + var candidate_pitch: float = lerpf(min_pitch, max_pitch, t) + var candidate_distance_sq: float = _evaluate_ballistic_pitch_candidate_distance_sq( + target_position, + candidate_pitch + ) + if candidate_distance_sq < best_distance_sq: + best_distance_sq = candidate_distance_sq + best_pitch = candidate_pitch + + if best_distance_sq == INF: + return INF + + var coarse_step: float = pitch_span / float(AUTO_AIM_COARSE_PITCH_SAMPLES - 1) + var refine_min: float = maxf(min_pitch, best_pitch - coarse_step) + var refine_max: float = minf(max_pitch, best_pitch + coarse_step) + + for _round in range(AUTO_AIM_REFINEMENT_ROUNDS): + var refine_best_pitch: float = best_pitch + var refine_best_distance_sq: float = best_distance_sq + for sample_idx in range(AUTO_AIM_REFINEMENT_SAMPLES): + var t: float = float(sample_idx) / float(AUTO_AIM_REFINEMENT_SAMPLES - 1) + var candidate_pitch: float = lerpf(refine_min, refine_max, t) + var candidate_distance_sq: float = _evaluate_ballistic_pitch_candidate_distance_sq( + target_position, + candidate_pitch + ) + if candidate_distance_sq < refine_best_distance_sq: + refine_best_distance_sq = candidate_distance_sq + refine_best_pitch = candidate_pitch + + best_pitch = refine_best_pitch + best_distance_sq = refine_best_distance_sq + var refine_step: float = (refine_max - refine_min) / float(AUTO_AIM_REFINEMENT_SAMPLES - 1) + refine_min = maxf(min_pitch, best_pitch - refine_step) + refine_max = minf(max_pitch, best_pitch + refine_step) + + var tolerance_sq: float = auto_aim_hit_tolerance * auto_aim_hit_tolerance + if best_distance_sq > tolerance_sq: + return INF + return best_pitch + + +func _evaluate_ballistic_pitch_candidate_distance_sq(target_position: Vector3, local_pitch: float) -> float: + var shooter_transform: Transform3D = _compute_candidate_shooter_transform(local_pitch) + var forward: Vector3 = _forward_from_basis(shooter_transform.basis) + var position: Vector3 = shooter_transform.origin + forward * MUZZLE_OFFSET + var velocity: Vector3 = forward * bullet_speed + var effective_gravity: float = gravity * bullet_gravity_scale + var tolerance_sq: float = auto_aim_hit_tolerance * auto_aim_hit_tolerance + var best_distance_sq: float = position.distance_squared_to(target_position) + var step_count: int = maxi(1, int(ceil(bullet_lifetime / auto_aim_sim_step_dt))) + + for _step in range(step_count): + var previous_position: Vector3 = position + velocity.y -= effective_gravity * auto_aim_sim_step_dt + position += velocity * auto_aim_sim_step_dt + var candidate_distance_sq: float = _distance_sq_point_to_segment( + target_position, + previous_position, + position + ) + if candidate_distance_sq < best_distance_sq: + best_distance_sq = candidate_distance_sq + if best_distance_sq <= tolerance_sq: + return best_distance_sq + + return best_distance_sq + + +func _compute_candidate_shooter_transform(local_pitch: float) -> Transform3D: + var pitch_local: Transform3D = pitch_pivot.transform + var local_scale: Vector3 = pitch_local.basis.get_scale() + pitch_local.basis = Basis(Vector3(0.0, 0.0, 1.0), local_pitch).scaled(local_scale) + return top_yaw_node.global_transform * pitch_local * shooter_node.transform + + +func _forward_from_basis(basis: Basis) -> Vector3: + var forward: Vector3 = -basis.y + if forward.length() < 0.001: + return Vector3.FORWARD + return forward.normalized() + + +func _distance_sq_point_to_segment(point: Vector3, segment_start: Vector3, segment_end: Vector3) -> float: + var segment: Vector3 = segment_end - segment_start + var segment_length_sq: float = segment.length_squared() + if segment_length_sq < 0.000001: + return point.distance_squared_to(segment_start) + + var t: float = clampf((point - segment_start).dot(segment) / segment_length_sq, 0.0, 1.0) + var closest_point: Vector3 = segment_start + segment * t + return point.distance_squared_to(closest_point) + + +func _is_auto_aim_candidate_visible(armor: Node3D, visible_rect: Rect2) -> bool: + if fpv_cam.is_position_behind(armor.global_position): + return false + + var screen_pos := fpv_cam.unproject_position(armor.global_position) + if not visible_rect.has_point(screen_pos): + return false + + var query := PhysicsRayQueryParameters3D.create(fpv_cam.global_position, armor.global_position) + query.collide_with_areas = true + query.exclude = [get_rid()] + var result := get_world_3d().direct_space_state.intersect_ray(query) + if result.is_empty(): + return true + + return _is_auto_aim_hit_target(result.get("collider"), armor) + + +func _is_auto_aim_hit_target(collider: Variant, armor: Node3D) -> bool: + if not (collider is Node): + return false + + var collider_node := collider as Node + if collider_node == auto_aim_target or collider_node == armor: + return true + if auto_aim_target.is_ancestor_of(collider_node): + return true + if armor.is_ancestor_of(collider_node): + return true + if collider_node.is_ancestor_of(armor): + return true + return false + + +func _track_auto_aim_target(target: Node3D, desired_pitch: float, delta: float) -> bool: + if desired_pitch == INF: + return false + + var shooter_pos := shooter_node.global_position + var to_target := target.global_position - shooter_pos + var horizontal := Vector3(to_target.x, 0.0, to_target.z) + + if horizontal.length() >= 0.05: + var forward := _shooter_forward() + forward.y = 0.0 + if forward.length() < 0.001: + forward = Vector3.FORWARD + else: + forward = forward.normalized() + + var target_dir := horizontal.normalized() + var angle_error := atan2(forward.cross(target_dir).y, forward.dot(target_dir)) + var yaw_step: float = clampf(angle_error, -auto_aim_yaw_rate * delta, auto_aim_yaw_rate * delta) + yaw_angle += yaw_step + gimbal_yaw_node.rotation.y = yaw_angle + + pitch_angle = move_toward(pitch_angle, desired_pitch, auto_aim_pitch_rate * delta) + pitch_pivot.rotation.z = pitch_angle + return true + + +## 射击逻辑：检查冷却和子弹余量，沿 shooter 朝向生成子弹。 +func _tick_fire() -> void: + if not _fire_pressed(): + return + if fire_left > 0.0 or bullet <= 0: + return + + # 实例化并初始化子弹。 + var bullet_node := BULLET_SCRIPT.new() + bullet_node.set("team", TEAM) + bullet_node.set("speed", bullet_speed) + bullet_node.set("damage", bullet_damage) + bullet_node.set("lifetime", bullet_lifetime) + bullet_node.set("gravity_scale", bullet_gravity_scale) + + var forward := _shooter_forward() + bullet_node.set("travel_direction", forward) + get_tree().current_scene.add_child(bullet_node) + bullet_node.global_position = shooter_node.global_position + forward * MUZZLE_OFFSET + bullet_node.look_at(bullet_node.global_position + forward, Vector3.UP) + + bullet -= 1 + fire_left = fire_cooldown + + +## 检测跳跃"刚刚按下"：优先使用 InputMap 动作，回退到空格键状态变化。 +func _jump_just_pressed() -> bool: + if InputMap.has_action(jump_action): + return Input.is_action_just_pressed(jump_action) + var down := Input.is_key_pressed(KEY_SPACE) + return down and not jump_key_was_down + + +## 检测射击按键：优先 InputMap 动作，回退到 J 键。 +func _fire_pressed() -> bool: + if not consume_left_click_fire_until_release and Input.is_mouse_button_pressed(MOUSE_BUTTON_LEFT): + return true + if InputMap.has_action(fire_action): + return Input.is_action_pressed(fire_action) + return Input.is_key_pressed(KEY_J) + + +## 计算 shooter 节点的世界空间前方向量。 +## shooter 的局部 -Y 轴指向世界空间前方。 +func _shooter_forward() -> Vector3: + var forward := -shooter_node.global_basis.y + if forward.length() < 0.001: + return Vector3.FORWARD + return forward.normalized() + + +## 为四块装甲板子节点挂载受击判定 Area3D。 +func _setup_armor_hitboxes() -> void: + for path in ARMOR_NODE_PATHS: + var armor_mesh := get_node_or_null(path) + if armor_mesh == null: + continue + var area := ARMOR_SCRIPT.new() + area.set("team", TEAM) + area.set("armor_name", str(path.get_file())) + armor_mesh.add_child(area) + area.set("owner_robot_path", area.get_path_to(self)) + + +func _setup_health_bar() -> void: + health_bar_anchor = get_node_or_null(HEALTH_BAR_ANCHOR_NAME) as Node3D + if health_bar_anchor == null: + health_bar_anchor = Node3D.new() + health_bar_anchor.name = HEALTH_BAR_ANCHOR_NAME + health_bar_anchor.position = Vector3(0.0, HEALTH_BAR_HEIGHT, 0.0) + add_child(health_bar_anchor) + + health_bar_back = health_bar_anchor.get_node_or_null(HEALTH_BAR_BACK_NAME) as MeshInstance3D + if health_bar_back == null: + health_bar_back = MeshInstance3D.new() + health_bar_back.name = HEALTH_BAR_BACK_NAME + var back_mesh := QuadMesh.new() + back_mesh.size = HEALTH_BAR_BACK_SIZE + health_bar_back.mesh = back_mesh + health_bar_back.material_override = _build_health_bar_material( + Color(0.08, 0.08, 0.08, 1.0), + HEALTH_BAR_BACK_PRIORITY + ) + health_bar_anchor.add_child(health_bar_back) + + health_bar_fill = health_bar_anchor.get_node_or_null(HEALTH_BAR_FILL_NAME) as MeshInstance3D + if health_bar_fill == null: + health_bar_fill = MeshInstance3D.new() + health_bar_fill.name = HEALTH_BAR_FILL_NAME + var fill_mesh := QuadMesh.new() + fill_mesh.size = HEALTH_BAR_FILL_SIZE + health_bar_fill.mesh = fill_mesh + health_bar_fill.material_override = _build_health_bar_material( + Color(0.92, 0.12, 0.12, 1.0), + HEALTH_BAR_FILL_PRIORITY + ) + health_bar_fill.position = Vector3(0.0, 0.0, HEALTH_BAR_FILL_Z_OFFSET) + health_bar_anchor.add_child(health_bar_fill) + + +func _build_health_bar_material(color: Color, priority: int) -> StandardMaterial3D: + var material := StandardMaterial3D.new() + material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED + material.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA + material.no_depth_test = true + material.depth_draw_mode = BaseMaterial3D.DEPTH_DRAW_DISABLED + material.cull_mode = BaseMaterial3D.CULL_DISABLED + material.render_priority = priority + material.albedo_color = color + return material + + +func _update_health_bar() -> void: + if health_bar_anchor == null or health_bar_back == null or health_bar_fill == null: + return + + var ratio: float = 0.0 + if max_health > 0: + ratio = clampf(float(hp) / float(max_health), 0.0, 1.0) + + health_bar_fill.scale = Vector3(ratio, 1.0, 1.0) + health_bar_fill.position = Vector3( + -0.5 * HEALTH_BAR_FILL_SIZE.x * (1.0 - ratio), + 0.0, + HEALTH_BAR_FILL_Z_OFFSET + ) + + +func _face_health_bar_to_camera() -> void: + if health_bar_anchor == null: + return + + var camera: Camera3D = get_viewport().get_camera_3d() + if camera == null: + return + + health_bar_anchor.look_at(camera.global_position, Vector3.UP, true) + + +## 输入处理：检测相机切换动作。 +func _input(event: InputEvent) -> void: + if event.is_action_pressed("switch-camera"): + _toggle_camera() + return + + if event is InputEventKey and event.pressed and not event.echo and event.keycode == KEY_ESCAPE: + Input.mouse_mode = Input.MOUSE_MODE_VISIBLE + return + + if event is InputEventMouseButton: + var mouse_button := event as InputEventMouseButton + if mouse_button.button_index == MOUSE_BUTTON_RIGHT and mouse_button.pressed: + auto_aim_enabled = not auto_aim_enabled + if not auto_aim_enabled: + auto_aim_locked_target = null + return + + if mouse_button.button_index == MOUSE_BUTTON_LEFT: + if not mouse_button.pressed: + consume_left_click_fire_until_release = false + return + if fpv_cam.current and Input.mouse_mode != Input.MOUSE_MODE_CAPTURED: + Input.mouse_mode = Input.MOUSE_MODE_CAPTURED + consume_left_click_fire_until_release = true + return + + if event is InputEventMouseMotion and _can_control_gimbal_with_mouse(): + var motion := event as InputEventMouseMotion + _apply_mouse_aim(motion.relative) + +## 在第一人称（shooter 上的相机）和上帝视角（外部相机）之间切换。 +func _toggle_camera() -> void: + if not fpv_cam: + print("未找到第一人称相机！") + return + + if fpv_cam.current: + if external_camera: + external_camera.make_current() + print("已切换至：上帝视角") + else: + fpv_cam.make_current() + print("已切换至：第一人称视角") + _sync_mouse_capture() + + +func _can_control_gimbal_with_mouse() -> bool: + return fpv_cam.current and Input.mouse_mode == Input.MOUSE_MODE_CAPTURED and auto_aim_locked_target == null + + +func _apply_mouse_aim(relative: Vector2) -> void: + yaw_angle -= relative.x * mouse_yaw_sensitivity + pitch_angle -= relative.y * mouse_pitch_sensitivity + pitch_angle = clampf( + pitch_angle, + -deg_to_rad(max_pitch_degrees), + deg_to_rad(max_pitch_degrees) + ) + gimbal_yaw_node.rotation.y = yaw_angle + pitch_pivot.rotation.z = pitch_angle + + +func _sync_mouse_capture() -> void: + if fpv_cam.current: + Input.mouse_mode = Input.MOUSE_MODE_CAPTURED + else: + Input.mouse_mode = Input.MOUSE_MODE_VISIBLE diff --git a/godot-mock/scene/enemy.gd.uid b/godot-mock/scene/enemy.gd.uid new file mode 100644 index 0000000..a072008 --- /dev/null +++ b/godot-mock/scene/enemy.gd.uid @@ -0,0 +1 @@ +uid://biptn8maovcqt diff --git a/godot-mock/scene/outpost_cube.tscn b/godot-mock/scene/outpost_cube.tscn new file mode 100644 index 0000000..100d4c6 --- /dev/null +++ b/godot-mock/scene/outpost_cube.tscn @@ -0,0 +1,12 @@ +[gd_scene load_steps=2 format=3] + +[ext_resource type="Script" path="res://scene/sim_structure_target.gd" id="1_struct"] + +[node name="OutpostCube" type="Node3D"] +script = ExtResource("1_struct") +structure_kind = "outpost" +max_health = 1500 +team = "ally" +cube_size = Vector3(1.5, 1.5, 1.5) +hitbox_size = Vector3(1.6, 1.6, 1.6) +display_height = 1.9 diff --git a/godot-mock/scene/sim_armor.gd b/godot-mock/scene/sim_armor.gd new file mode 100644 index 0000000..6be48f0 --- /dev/null +++ b/godot-mock/scene/sim_armor.gd @@ -0,0 +1,71 @@ +extends Area3D +## 模拟装甲板受击判定区域。 +## 子弹通过碰撞层检测命中后，调用 owner_robot 的 apply_damage 方法造成伤害。 +## 友军子弹不造成伤害（by from_team == team 过滤）。 + +## 所属队伍 ("ally" / "enemy")，用于友军伤害过滤。 +@export var team := "" +## 装甲板名称（用于伤害回调标识）。 +@export var armor_name := "" +## 装甲板所属机器人路径。 +@export var owner_robot_path: NodePath +## 受击判定盒子尺寸。 +@export var hitbox_size := Vector3(0.48, 0.42, 0.12) + +## 装甲板独立碰撞层（第 5 bit）。 +const ARMOR_LAYER := 1 << 5 + +## 装甲板所属机器人引用。 +var owner_robot: Node = null + + +func _ready() -> void: + # 启用区域检测，仅属于 ARMOR 碰撞层，不检测任何对象。 + monitoring = true + monitorable = true + collision_layer = ARMOR_LAYER + collision_mask = 0 + add_to_group("sim_armor") + + # 解析所有者机器人引用。 + if owner_robot_path != NodePath(): + owner_robot = get_node_or_null(owner_robot_path) + + if owner_robot == null: + # 沿父节点链向上查找 CharacterBody3D 作为所有者。 + owner_robot = _find_owner_robot() + + # 如果场景中没有预置碰撞形状，自动创建一个 BoxShape。 + if get_child_count() == 0: + _create_default_shape() + + +## 子弹命中回调，由 sim_bullet.gd 的 area_entered 信号触发。 +## 过滤友军子弹，然后向 owner_robot 转发伤害。 +## @return: true 表示命中有效，子弹应销毁。 +func on_bullet_hit(damage: int, from_team: String) -> bool: + if from_team == team: + return false + if owner_robot != null and owner_robot.has_method("apply_damage"): + owner_robot.call("apply_damage", damage, armor_name) + return true + return false + + +## 沿父节点链向上查找第一个 CharacterBody3D 节点作为所有者。 +func _find_owner_robot() -> Node: + var node: Node = self + while node != null: + if node is CharacterBody3D: + return node + node = node.get_parent() + return null + + +## 创建默认碰撞形状（BoxShape3D）。 +func _create_default_shape() -> void: + var shape := CollisionShape3D.new() + var box := BoxShape3D.new() + box.size = hitbox_size + shape.shape = box + add_child(shape) diff --git a/godot-mock/scene/sim_armor.gd.uid b/godot-mock/scene/sim_armor.gd.uid new file mode 100644 index 0000000..c08d25e --- /dev/null +++ b/godot-mock/scene/sim_armor.gd.uid @@ -0,0 +1 @@ +uid://hucot3ru2osc diff --git a/godot-mock/scene/sim_bullet.gd b/godot-mock/scene/sim_bullet.gd new file mode 100644 index 0000000..a9ccd29 --- /dev/null +++ b/godot-mock/scene/sim_bullet.gd @@ -0,0 +1,104 @@ +extends Area3D +## 模拟子弹，由 robots 射击生成。 +## 沿 travel_direction 匀速运动，受重力影响下坠，碰撞到装甲板后造成伤害并自毁。 +## 超过 lifetime 后自动销毁。 + +## 所属队伍 ("ally" / "enemy")。 +@export var team := "" +## 飞行速度 (m/s)。 +@export var speed := 25.0 +## 最大存活时间 (s)，超时自动 queue_free。 +@export var lifetime := 2.0 +## 单发伤害值。 +@export var damage := 20 +## 飞行方向（世界空间单位向量）。 +@export var travel_direction := Vector3.FORWARD +## 碰撞/渲染球体半径。 +@export var radius := 0.1 +## 重力倍率（1.0 = 标准重力加速度）。 +@export var gravity_scale := 1.0 + +## 子弹独立碰撞层（第 4 bit）。 +const BULLET_LAYER := 1 << 4 +## 装甲板碰撞层（第 5 bit），子弹只检测此层。 +const ARMOR_LAYER := 1 << 5 + +# 注意：变量名避免与 Area3D 内置 gravity 属性冲突，故使用 gravity_accel。 +## 当前重力加速度值。 +var gravity_accel : float = ProjectSettings.get_setting("physics/3d/default_gravity") +## 剩余存活时间 (s)。 +var left_life := 0.0 +## 当前飞行速度向量（含重力下坠分量）。 +var current_velocity := Vector3.ZERO + + +func _ready() -> void: + # 子弹作为检测体：monitoring 为 true 以接收 area_entered 信号。 + monitoring = true + monitorable = false + collision_layer = BULLET_LAYER + collision_mask = ARMOR_LAYER + left_life = lifetime + area_entered.connect(_on_area_entered) + + # 无预制子节点时自动创建碰撞形状和网格。 + if get_child_count() == 0: + _create_default_shape_and_mesh() + + # 归一化飞行方向，保证速度量级正确。 + travel_direction = travel_direction.normalized() + if travel_direction.length() < 0.001: + travel_direction = Vector3.FORWARD + + current_velocity = travel_direction * speed + + +func _physics_process(delta: float) -> void: + left_life -= delta + if left_life <= 0.0: + queue_free() + return + + # 重力影响：每个物理帧向下加速。 + current_velocity.y -= gravity_accel * gravity_scale * delta + + global_position += current_velocity * delta + + # 保持子弹朝向与运动方向一致。 + if current_velocity.length() > 0.1: + look_at(global_position + current_velocity.normalized(), Vector3.UP) + + +## 碰撞回调：连接到 area_entered 信号。 +## 进入装甲板碰撞体积时，调用其 on_bullet_hit 方法。 +## 若返回 true（有效伤害），则销毁子弹。 +func _on_area_entered(area: Area3D) -> void: + if area == null or not is_instance_valid(area): + return + + if area.has_method("on_bullet_hit"): + var hit := bool(area.call("on_bullet_hit", damage, team)) + if hit: + queue_free() + + +## 创建默认的 SphereShape 碰撞体和球体网格。 +func _create_default_shape_and_mesh() -> void: + var shape := CollisionShape3D.new() + var sphere := SphereShape3D.new() + sphere.radius = radius + shape.shape = sphere + add_child(shape) + + var mesh := MeshInstance3D.new() + var bullet_mesh := SphereMesh.new() + bullet_mesh.radius = radius + bullet_mesh.height = radius * 2.0 + mesh.mesh = bullet_mesh + + var mat := StandardMaterial3D.new() + mat.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED + mat.albedo_color = Color(1.0, 0.86, 0.25, 1.0) + mesh.material_override = mat + add_child(mesh) + diff --git a/godot-mock/scene/sim_bullet.gd.uid b/godot-mock/scene/sim_bullet.gd.uid new file mode 100644 index 0000000..e57a08b --- /dev/null +++ b/godot-mock/scene/sim_bullet.gd.uid @@ -0,0 +1 @@ +uid://1txisw4bs7ya diff --git a/godot-mock/scene/sim_sidecar_client.gd b/godot-mock/scene/sim_sidecar_client.gd new file mode 100644 index 0000000..6dc54b3 --- /dev/null +++ b/godot-mock/scene/sim_sidecar_client.gd @@ -0,0 +1,1669 @@ +extends Node +## Lua 决策端 TCP sidecar 客户端。 +## 负责与 C++ 模拟器进程（sim_sidecar）建立 TCP 长连接，完成： +## 1. 上行：周期性发送机器人位姿/资源状态 (sim.input) +## 2. 下行：接收 blackboard、decision_state、nav_target 及各种遥控指令 +## 3. 超控面板：手动编辑 blackboard 的 HP/Bullet/Stage/Switch 值 +## 4. 自动补给：机器人进入补给区时自动回血/回弹 +## 5. 将 Lua 指令转发到 AI 机器人（底盘模式、云台控制、速度超控等） + +## TCP 服务器地址。 +@export var host := "127.0.0.1" +## TCP 服务器端口。 +@export var port := 34567 +## 上行状态推送频率 (Hz)。 +@export var send_hz := 60.0 +## 是否优先使用矩形补给区判定。 +@export var use_resupply_rect := true +## 矩形补给区左下角坐标。 +@export var resupply_rect_min := Vector2(0.0, 0.0) +## 矩形补给区右上角坐标。 +@export var resupply_rect_max := Vector2(4.0, 4.0) +## 旧补给点回退半径。 +@export var resupply_radius := 0.8 +## 每秒回复血量。 +@export var resupply_health_rate := 100.0 +## 每秒回复子弹数。 +@export var resupply_bullet_rate := 150.0 +## 被动金币发放间隔（秒）。 +@export var passive_gold_interval := 30.0 +## 每次被动发放的金币数量。 +@export var passive_gold_amount := 50 +## 基地初始血量。 +@export var initial_base_health := 5000 +## 前哨站初始血量。 +@export var initial_outpost_health := 1500 +## 比赛初始倒计时（秒，7分钟）。 +@export var initial_remaining_time := 420.0 +## AI 机器人节点路径。 +@export var robot_path: NodePath +## 导航目标点节点路径。 +@export var target_point_path: NodePath +## 敌方机器人节点路径。 +@export var enemy_path: NodePath + +@onready var robot: CharacterBody3D = get_node(robot_path) +@onready var target_point: Node3D = get_node(target_point_path) + +## 调试面板尺寸。 +const DEBUG_PANEL_SIZE := Vector2(620, 760) +## 调试面板边距。 +const DEBUG_PANEL_MARGIN := Vector2(16, 16) +## blackboard 的顶层分节名称。 +const BLACKBOARD_SECTIONS := ["user", "game", "play", "meta", "rule", "result"] +## 游戏阶段枚举值。 +const STAGE_VALUES := ["UNKNOWN", "NOT_START", "STARTED", "ENDED"] +## 拨杆开关枚举值。 +const SWITCH_VALUES := ["UNKNOWN", "UP", "MID", "DOWN"] + +## TCP 连接对象。 +var tcp := StreamPeerTCP.new() +## 当前是否已连接。 +var connected := false +## 接收缓冲区（行协议：\n 分隔的 JSON）。 +var rx_buffer := "" +## 本地模拟时间 (自连接起累计，秒)。 +var sim_time := 0.0 +## 上行发送累计时间 (秒)。 +var send_accum := 0.0 + +## 本地缓存的 blackboard 副本。 +var blackboard: Dictionary = {} +## 最近一次决策状态快照。 +var decision_state: Dictionary = {} +## blackboard 是否已完成首次接收。 +var blackboard_ready := false +## blackboard 版本号（去重/乱序过滤）。 +var blackboard_rev := -1 + +## 超控模式是否激活（手动或自动补给）。 +var override_enabled := false +## 手动超控面板是否开启。 +var manual_override_enabled := false +## 自动补给超控是否激活。 +var auto_resupply_override_enabled := false +## 被动金币同步时使用的临时超控状态。 +var auto_gold_override_enabled := false +## 超控补丁的序号。 +var override_rev := 0 +## UI 控件防递归更新标志。 +var ui_updating := false +## 机器人是否在补给区内。 +var in_resupply_zone := false +## 自动补给是否正在执行。 +var auto_resupply_active := false +## 到补给点的距离（米）。 +var resupply_distance: Variant = null +## 血量回复累计缓冲区。 +var auto_resupply_health_buffer := 0.0 +## 子弹回复累计缓冲区。 +var auto_resupply_bullet_buffer := 0.0 +## 距离下一次被动金币发放的剩余时间。 +var passive_gold_left := passive_gold_interval +## 是否已从 blackboard 初始化机器人资源。 +var robot_resource_initialized := false +## 本地维护的基地血量（通过 sim.input 同步到 Lua）。 +var sim_base_health := initial_base_health +## 本地维护的前哨站血量（通过 sim.input 同步到 Lua）。 +var sim_outpost_health := initial_outpost_health +## 本地维护的比赛剩余时间（秒）。 +var sim_remaining_time := initial_remaining_time +## 本地维护的可兑换弹药量。 +var sim_exchangeable_ammunition_quantity := 0 +## 本地维护的己方飞镖命中次数。 +var sim_our_dart_nmber_of_hits := 0 +## 本地维护的堡垒占领状态。 +var sim_fortress_occupied := false +## 本地维护的大能量机关激活状态。 +var sim_big_energy_mechanism_activated := false +## 本地维护的小能量机关激活状态。 +var sim_small_energy_mechanism_activated := false +## 比赛是否已进入 STARTED，用于驱动倒计时。 +var competition_started := false + +## 调试 UI 控件引用。 +var decision_label: RichTextLabel +var blackboard_label: RichTextLabel +var override_toggle: CheckButton +var edit_box: VBoxContainer +var hp_spin: SpinBox +var bullet_spin: SpinBox +var gold_spin: SpinBox +var base_hp_spin: SpinBox +var outpost_hp_spin: SpinBox +var remaining_time_spin: SpinBox +var exchangeable_ammo_spin: SpinBox +var dart_hits_spin: SpinBox +var fortress_occupied_toggle: CheckButton +var big_energy_mechanism_toggle: CheckButton +var small_energy_mechanism_toggle: CheckButton +var stage_select: OptionButton +var rswitch_select: OptionButton +var lswitch_select: OptionButton +var gold_badge_value_label: Label +var base_badge_value_label: Label +var outpost_badge_value_label: Label + + +func _ready() -> void: + # 将敌方节点注入 AI 机器人作为跟踪目标。 + _bind_enemy_target() + # 构建调试 UI 面板。 + _build_debug_ui() + _refresh_display() + + # 发起 TCP 连接（异步）。 + var err := tcp.connect_to_host(host, port) + if err != OK: + push_error("connect_to_host failed: %s" % err) + + +func _process(_delta: float) -> void: + # 轮询 TCP 状态机，处理连接/断开/接收事件。 + tcp.poll() + var status := tcp.get_status() + + # --- 首次建立连接 --- + if status == StreamPeerTCP.STATUS_CONNECTED and not connected: + connected = true + rx_buffer = "" + send_accum = 0.0 + sim_time = 0.0 + blackboard = {} + decision_state = {} + blackboard_ready = false + blackboard_rev = -1 + override_enabled = false + manual_override_enabled = false + auto_resupply_override_enabled = false + auto_gold_override_enabled = false + override_rev = 0 + in_resupply_zone = false + auto_resupply_active = false + resupply_distance = null + auto_resupply_health_buffer = 0.0 + auto_resupply_bullet_buffer = 0.0 + passive_gold_left = passive_gold_interval + robot_resource_initialized = false + sim_base_health = initial_base_health + sim_outpost_health = initial_outpost_health + sim_remaining_time = initial_remaining_time + sim_exchangeable_ammunition_quantity = 0 + sim_our_dart_nmber_of_hits = 0 + sim_fortress_occupied = false + sim_big_energy_mechanism_activated = false + sim_small_energy_mechanism_activated = false + competition_started = false + if override_toggle != null: + override_toggle.set_pressed_no_signal(false) + if edit_box != null: + edit_box.visible = false + # 发送 sim.hello 握手消息，声明协议和模式。 + _send_json({ + "type": "sim.hello", + "protocol": 1, + "mode": "lua_sim_v1" + }) + _sync_override_mode(true) + _refresh_display() + print("sim sidecar connected") + + # --- 连接断开 --- + if status != StreamPeerTCP.STATUS_CONNECTED: + if connected: + connected = false + blackboard = {} + decision_state = {} + blackboard_ready = false + override_enabled = false + manual_override_enabled = false + auto_resupply_override_enabled = false + auto_gold_override_enabled = false + override_rev = 0 + in_resupply_zone = false + auto_resupply_active = false + resupply_distance = null + auto_resupply_health_buffer = 0.0 + auto_resupply_bullet_buffer = 0.0 + passive_gold_left = passive_gold_interval + robot_resource_initialized = false + sim_base_health = initial_base_health + sim_outpost_health = initial_outpost_health + sim_remaining_time = initial_remaining_time + sim_exchangeable_ammunition_quantity = 0 + sim_our_dart_nmber_of_hits = 0 + sim_fortress_occupied = false + sim_big_energy_mechanism_activated = false + sim_small_energy_mechanism_activated = false + competition_started = false + if override_toggle != null: + override_toggle.set_pressed_no_signal(false) + if edit_box != null: + edit_box.visible = false + rx_buffer = "" + _refresh_display() + print("sim sidecar disconnected") + return + + # --- 接收消息：行协议（\n 分隔的 JSON 行）--- + var available := tcp.get_available_bytes() + if available <= 0: + return + + rx_buffer += tcp.get_utf8_string(available) + while true: + var pos := rx_buffer.find("\n") + if pos < 0: + break + + var line := rx_buffer.substr(0, pos).strip_edges() + rx_buffer = rx_buffer.substr(pos + 1) + if line.is_empty(): + continue + + var msg = JSON.parse_string(line) + if typeof(msg) != TYPE_DICTIONARY: + push_warning("invalid message line: %s" % line) + continue + + _handle_message(msg) + + +## 物理帧：更新模拟时间、自动补给状态，并按固定频率发送 input 状态。 +func _physics_process(delta: float) -> void: + if not connected: + return + + sim_time += delta + send_accum += delta + _tick_competition_clock(delta) + _tick_passive_gold(delta) + _update_auto_resupply(delta) + + if send_accum >= 1.0 / send_hz: + send_accum = 0.0 + _send_input() + + +func _tick_passive_gold(delta: float) -> void: + if not blackboard_ready or passive_gold_interval <= 0.0 or passive_gold_amount <= 0: + return + + passive_gold_left -= delta + if passive_gold_left > 0.0: + return + + var period_count: int = int(floor(-passive_gold_left / passive_gold_interval)) + 1 + passive_gold_left += passive_gold_interval * float(period_count) + + var user: Dictionary = _get_dict_value(blackboard, "user") + var current_gold: int = int(round(_get_numeric_value(user.get("gold", 0), 0.0))) + var next_gold: int = current_gold + passive_gold_amount * period_count + var patch_user: Dictionary = {"gold": next_gold} + var patch: Dictionary = {"user": patch_user} + _apply_local_patch(patch) + _apply_local_patch({"game": {"gold_coin": next_gold}}) + _apply_robot_user_patch(patch_user) + _refresh_display() + + +func _tick_competition_clock(delta: float) -> void: + if not competition_started: + return + sim_remaining_time = max(sim_remaining_time - delta, 0.0) + _apply_local_patch({"game": {"remaining_time": sim_remaining_time}}) + + +## 输入处理：检测"开始决策"动作 (sim_start_decision) 或回车键。 +func _unhandled_input(event: InputEvent) -> void: + if not connected: + return + + var start_pressed := InputMap.has_action("sim_start_decision") and event.is_action_pressed("sim_start_decision") + if not start_pressed and event is InputEventKey: + var key_event := event as InputEventKey + start_pressed = key_event.pressed and key_event.keycode == KEY_ENTER + + if start_pressed: + _send_start_decision() + + +## 消息分发：根据 type 字段路由到对应处理器。 +func _handle_message(msg: Dictionary) -> void: + var t := str(msg.get("type", "")) + + # blackboard 全量同步（带版本号去重）。 + if t == "sim.blackboard": + var rev := int(msg.get("bb_rev", -1)) + if rev <= blackboard_rev: + return + + var payload = msg.get("blackboard", {}) + if typeof(payload) != TYPE_DICTIONARY: + push_warning("sim.blackboard missing dictionary payload") + return + + blackboard_rev = rev + blackboard = payload.duplicate(true) + blackboard_ready = true + _ensure_gold_field_initialized() + # 首次收到 blackboard 时初始化机器人资源。 + _sync_robot_resources_from_blackboard_once() + # 将 blackboard 控制字段同步到 UI 控件。 + _sync_controls_from_blackboard() + _refresh_display() + return + + # 决策层状态快照。 + if t == "sim.decision_state": + var payload = msg.get("state", {}) + if typeof(payload) == TYPE_DICTIONARY: + decision_state = payload.duplicate(true) + _refresh_display() + return + + # 导航目标点更新（Lua 下发）。 + if t == "sim.nav_target": + var x := float(msg.get("x", target_point.global_position.z)) + var y := float(msg.get("y", target_point.global_position.x)) + var p := target_point.global_position + p.x = y + p.z = x + target_point.global_position = p + _refresh_display() + return + + # Lua 日志透传。 + if t == "sim.log": + print("[lua/%s] %s" % [str(msg.get("level", "info")), str(msg.get("message", ""))]) + return + + # 底盘模式切换 (idle / spin)。 + if t == "sim.chassis_mode": + _apply_robot_chassis_mode(str(msg.get("mode", ""))) + return + + # 云台控制源切换 (manual / scan / auto)。 + if t == "sim.gimbal_dominator": + _apply_robot_gimbal_dominator(str(msg.get("name", ""))) + return + + # 云台手动朝向设定。 + if t == "sim.gimbal_direction": + _apply_robot_gimbal_direction(float(msg.get("angle", 0.0))) + return + + # 底盘速度超控（遥控）。 + if t == "sim.chassis_vel": + _apply_robot_chassis_vel(float(msg.get("x", 0.0)), float(msg.get("y", 0.0))) + return + + print("unknown msg: ", msg) + + +## 上行：发送 sim.input，包含机器人位姿和资源状态。 +func _send_input() -> void: + var resource := _get_robot_resource_state() + var input_payload := { + "user": { + "x": robot.global_position.z, + "y": robot.global_position.x, + "yaw": robot.global_rotation.y, + "health": int(resource.get("health", 0)), + "bullet": int(resource.get("bullet", 0)), + "gold": int(resource.get("gold", 0)), + }, + "game": { + "base_health": sim_base_health, + "outpost_health": sim_outpost_health, + "gold_coin": _get_current_gold_value(), + "remaining_time": sim_remaining_time, + "exchangeable_ammunition_quantity": sim_exchangeable_ammunition_quantity, + "our_dart_nmber_of_hits": sim_our_dart_nmber_of_hits, + "fortress_occupied": sim_fortress_occupied, + "big_energy_mechanism_activated": sim_big_energy_mechanism_activated, + "small_energy_mechanism_activated": sim_small_energy_mechanism_activated, + }, + "meta": { + "timestamp": sim_time, + }, + } + + _send_json({ + "type": "sim.input", + "input": input_payload, + }) + + +## 下行：发送 sim.command (start_decision)，触发 Lua 决策开始运行。 +func _send_start_decision() -> void: + if not connected: + return + + _begin_competition_session() + + _send_json({ + "type": "sim.command", + "command": "start_decision", + }) + + +## 下行：发送 sim.override_mode 切换超控状态。 +func _send_override_mode(enabled: bool) -> void: + _send_json({ + "type": "sim.override_mode", + "enabled": enabled, + }) + + +## 合并手动超控和自动补给超控的状态，仅在变化时发送。 +func _sync_override_mode(force: bool = false) -> void: + var enabled := manual_override_enabled or auto_resupply_override_enabled or auto_gold_override_enabled + if not force and override_enabled == enabled: + return + + override_enabled = enabled + _send_override_mode(enabled) + + +## 切换手动超控状态（由 UI 复选框驱动）。 +func _set_manual_override_enabled(enabled: bool) -> void: + if manual_override_enabled == enabled: + return + + manual_override_enabled = enabled + _sync_override_mode() + + +## 切换自动补给超控状态。 +## 关闭时清空累计缓冲区。 +func _set_auto_resupply_override_enabled(enabled: bool) -> void: + if auto_resupply_override_enabled == enabled: + return + + auto_resupply_override_enabled = enabled + if not enabled: + auto_resupply_health_buffer = 0.0 + auto_resupply_bullet_buffer = 0.0 + _sync_override_mode() + + +## 切换金币同步使用的临时超控状态。 +func _set_auto_gold_override_enabled(enabled: bool) -> void: + if auto_gold_override_enabled == enabled: + return + + auto_gold_override_enabled = enabled + _sync_override_mode() + + +## 发送超控补丁：将 Godot 端对 blackboard 的修改推送到 Lua 端。 +## patch 格式：{"section": {"key": value}, ...} +func _send_override_patch(patch: Dictionary) -> void: + if not connected or not override_enabled: + return + + override_rev += 1 + _send_json({ + "type": "sim.override_patch", + "rev": override_rev, + "patch": patch, + }) + + +## 将补丁合并到本地 blackboard 缓存（乐观更新）。 +## 支持多层嵌套 (section.key = value)。 +func _apply_local_patch(patch: Dictionary) -> void: + for key in patch.keys(): + var value = patch[key] + if typeof(value) == TYPE_DICTIONARY: + var target = blackboard.get(key, {}) + if typeof(target) != TYPE_DICTIONARY: + target = {} + for child_key in value.keys(): + target[child_key] = value[child_key] + blackboard[key] = target + else: + blackboard[key] = value + + +## 安全获取 blackboard 中的子字典。 +func _get_dict_value(source: Dictionary, key: String) -> Dictionary: + var value = source.get(key, {}) + if typeof(value) == TYPE_DICTIONARY: + return value + return {} + + +## 安全将 Variant 转换为数值类型。 +func _get_numeric_value(value: Variant, fallback: float = 0.0) -> float: + if typeof(value) == TYPE_INT or typeof(value) == TYPE_FLOAT: + return float(value) + return fallback + + +## 安全将 Variant 转换为布尔值。 +func _get_boolean_value(value: Variant, fallback: bool = false) -> bool: + if typeof(value) == TYPE_BOOL: + return bool(value) + if typeof(value) == TYPE_INT or typeof(value) == TYPE_FLOAT: + return float(value) != 0.0 + return fallback + + +## 获取 blackboard 中指定分节的非负整数值。 +func _get_positive_target_value(section: String, key: String) -> int: + var data := _get_dict_value(blackboard, section) + var target := int(round(_get_numeric_value(data.get(key, 0), 0.0))) + if target < 0: + return 0 + return target + + +## 从 blackboard rule 分节解析己方补给点坐标。 +## @return: Vector2 补给点坐标，无效时返回 null。 +func _get_resupply_point() -> Variant: + var rule := _get_dict_value(blackboard, "rule") + var resupply_zone := _get_dict_value(rule, "resupply_zone") + var ours := _get_dict_value(resupply_zone, "ours") + if not ours.has("x") or not ours.has("y"): + return null + + var x := _get_numeric_value(ours.get("x", null), NAN) + var y := _get_numeric_value(ours.get("y", null), NAN) + if is_nan(x) or is_nan(y): + return null + + return Vector2(x, y) + + +## 返回当前启用的矩形补给区；无效时返回 null。 +func _get_resupply_rect() -> Variant: + if not use_resupply_rect: + return null + + var min_x := minf(resupply_rect_min.x, resupply_rect_max.x) + var min_y := minf(resupply_rect_min.y, resupply_rect_max.y) + var max_x := maxf(resupply_rect_min.x, resupply_rect_max.x) + var max_y := maxf(resupply_rect_min.y, resupply_rect_max.y) + if max_x <= min_x or max_y <= min_y: + return null + + return { + "min": Vector2(min_x, min_y), + "max": Vector2(max_x, max_y), + } + + +## 检查点是否落在矩形补给区内，边界视为在区内。 +func _is_point_in_resupply_rect(point: Vector2, rect: Dictionary) -> bool: + var rect_min: Vector2 = rect["min"] + var rect_max: Vector2 = rect["max"] + return point.x >= rect_min.x and point.x <= rect_max.x and point.y >= rect_min.y and point.y <= rect_max.y + + +## 计算点到矩形补给区的最短距离；区内返回 0。 +func _distance_to_resupply_rect(point: Vector2, rect: Dictionary) -> float: + var rect_min: Vector2 = rect["min"] + var rect_max: Vector2 = rect["max"] + var clamped_x := clampf(point.x, rect_min.x, rect_max.x) + var clamped_y := clampf(point.y, rect_min.y, rect_max.y) + return point.distance_to(Vector2(clamped_x, clamped_y)) + + +## 按速率线性推进资源值（血量或子弹），通过 buffer 累积分整数值变化。 +## @param current: 当前资源值。 +## @param target: 目标值。 +## @param rate: 回复速率 (每秒)。 +## @param delta: 帧时间。 +## @param buffer: 累计浮点缓冲区。 +## @return: {next_value, buffer, changed}。 +func _advance_resupply_resource( + current: int, target: int, rate: float, delta: float, buffer: float +) -> Dictionary: + var result := { + "next_value": current, + "buffer": 0.0, + "changed": false, + } + if target <= 0 or current >= target: + return result + + # 无限大速率（类 rate <= 0）：直接跳到目标值。 + if rate <= 0.0: + result.next_value = target + result.changed = current != target + return result + + buffer += rate * delta + var gain := int(floor(buffer)) + if gain <= 0: + result.buffer = buffer + return result + + buffer -= float(gain) + var next_value: int = current + gain + if next_value > target: + next_value = target + if next_value >= target: + buffer = 0.0 + + result.next_value = next_value + result.buffer = buffer + result.changed = next_value != current + return result + + +## 自动补给主逻辑：检测是否进入补给区，按速率回复血量/子弹。 +## 当机器人进入补给区时激活超控，退出时取消超控。 +func _update_auto_resupply(delta: float) -> void: + var previous_in_zone := in_resupply_zone + var previous_active := auto_resupply_active + + in_resupply_zone = false + auto_resupply_active = false + resupply_distance = null + + # blackboard 未就绪时退出。 + if not blackboard_ready: + _set_auto_resupply_override_enabled(false) + if previous_in_zone or previous_active: + _refresh_display() + return + + var robot_position := Vector2(robot.global_position.x, robot.global_position.z) + var resupply_rect_value: Variant = _get_resupply_rect() + if resupply_rect_value != null: + var resupply_rect: Dictionary = resupply_rect_value + resupply_distance = _distance_to_resupply_rect(robot_position, resupply_rect) + in_resupply_zone = _is_point_in_resupply_rect(robot_position, resupply_rect) + else: + # 矩形补给区关闭或无效时，回退到旧补给点半径判定。 + var resupply_point_value: Variant = _get_resupply_point() + if resupply_point_value == null: + _set_auto_resupply_override_enabled(false) + if previous_in_zone or previous_active: + _refresh_display() + return + + var resupply_point: Vector2 = resupply_point_value + var distance := robot_position.distance_to(resupply_point) + resupply_distance = distance + in_resupply_zone = distance <= resupply_radius + + # 读取期望回复的目标值。 + var target_health := _get_positive_target_value("rule", "health_ready") + var target_bullet := _get_positive_target_value("rule", "bullet_ready") + auto_resupply_active = in_resupply_zone and (target_health > 0 or target_bullet > 0) + _set_auto_resupply_override_enabled(auto_resupply_active) + + if not auto_resupply_active: + if previous_in_zone != in_resupply_zone or previous_active: + _refresh_display() + return + + var user := _get_dict_value(blackboard, "user") + var patch_user := {} + + # 按速率回复血量。 + if target_health > 0: + var current_health := int(round(_get_numeric_value(user.get("health", 0), 0.0))) + var health_result := _advance_resupply_resource( + current_health, + target_health, + resupply_health_rate, + delta, + auto_resupply_health_buffer + ) + auto_resupply_health_buffer = float(health_result.get("buffer", 0.0)) + if bool(health_result.get("changed", false)): + patch_user["health"] = int(health_result.get("next_value", current_health)) + else: + auto_resupply_health_buffer = 0.0 + + # 按速率回复子弹。 + if target_bullet > 0: + var current_bullet := int(round(_get_numeric_value(user.get("bullet", 0), 0.0))) + var bullet_result := _advance_resupply_resource( + current_bullet, + target_bullet, + resupply_bullet_rate, + delta, + auto_resupply_bullet_buffer + ) + auto_resupply_bullet_buffer = float(bullet_result.get("buffer", 0.0)) + if bool(bullet_result.get("changed", false)): + patch_user["bullet"] = int(bullet_result.get("next_value", current_bullet)) + else: + auto_resupply_bullet_buffer = 0.0 + + if patch_user.is_empty(): + if previous_in_zone != in_resupply_zone or previous_active != auto_resupply_active: + _refresh_display() + return + + # 有变化的资源：同时更新本地缓存、机器人状态、并推送超控补丁。 + var patch := {"user": patch_user} + _apply_local_patch(patch) + var applied_user_patch: Dictionary = patch_user + _apply_robot_user_patch(applied_user_patch) + _sync_controls_from_blackboard() + _send_override_patch(patch) + _refresh_display() + + +## 发送 JSON 行到 TCP 对端 (\n 分隔)。 +func _send_json(data: Dictionary) -> void: + if tcp.get_status() != StreamPeerTCP.STATUS_CONNECTED: + return + + var line := JSON.stringify(data) + "\n" + var err := tcp.put_data(line.to_utf8_buffer()) + if err != OK: + push_warning("tcp put_data failed: %s" % err) + + +## 构建调试 UI 面板：CanvasLayer + Panel + 控件布局。 +## 包含：标题、开始决策按钮、超控复选框、编辑面板 (HP/Bullet/Stage/Switch)、 +## Decision State 和 Blackboard 显示。 +func _build_debug_ui() -> void: + var canvas := CanvasLayer.new() + canvas.name = "LuaSimCanvas" + add_child(canvas) + + var panel := Panel.new() + panel.name = "LuaSimPanel" + panel.position = DEBUG_PANEL_MARGIN + panel.size = DEBUG_PANEL_SIZE + canvas.add_child(panel) + + var root := VBoxContainer.new() + root.name = "Root" + root.set_anchors_preset(Control.PRESET_FULL_RECT) + root.offset_left = 10 + root.offset_top = 10 + root.offset_right = -10 + root.offset_bottom = -10 + root.add_theme_constant_override("separation", 8) + panel.add_child(root) + + var title := Label.new() + title.text = "Lua Sim v1" + title.horizontal_alignment = HORIZONTAL_ALIGNMENT_CENTER + root.add_child(title) + + var start_btn := Button.new() + start_btn.text = "Start Decision" + start_btn.pressed.connect(_on_start_pressed) + root.add_child(start_btn) + + override_toggle = CheckButton.new() + override_toggle.text = "Open Edit Panel (Godot Override)" + override_toggle.toggled.connect(_on_override_toggled) + root.add_child(override_toggle) + + var gold_badge := PanelContainer.new() + gold_badge.name = "GoldBadge" + gold_badge.anchor_left = 1.0 + gold_badge.anchor_right = 1.0 + gold_badge.anchor_top = 0.0 + gold_badge.anchor_bottom = 0.0 + gold_badge.offset_left = -220 + gold_badge.offset_top = 16 + gold_badge.offset_right = -16 + gold_badge.offset_bottom = 78 + var gold_badge_style := StyleBoxFlat.new() + gold_badge_style.bg_color = Color(0.14, 0.11, 0.03, 0.94) + gold_badge_style.border_width_left = 2 + gold_badge_style.border_width_top = 2 + gold_badge_style.border_width_right = 2 + gold_badge_style.border_width_bottom = 2 + gold_badge_style.border_color = Color(1.0, 0.82, 0.16, 1.0) + gold_badge_style.corner_radius_top_left = 16 + gold_badge_style.corner_radius_top_right = 16 + gold_badge_style.corner_radius_bottom_right = 16 + gold_badge_style.corner_radius_bottom_left = 16 + gold_badge.add_theme_stylebox_override("panel", gold_badge_style) + canvas.add_child(gold_badge) + + var gold_badge_margin := MarginContainer.new() + gold_badge_margin.add_theme_constant_override("margin_left", 14) + gold_badge_margin.add_theme_constant_override("margin_top", 10) + gold_badge_margin.add_theme_constant_override("margin_right", 14) + gold_badge_margin.add_theme_constant_override("margin_bottom", 10) + gold_badge.add_child(gold_badge_margin) + + var gold_badge_row := HBoxContainer.new() + gold_badge_row.add_theme_constant_override("separation", 12) + gold_badge_margin.add_child(gold_badge_row) + + var coin_mark := Panel.new() + coin_mark.custom_minimum_size = Vector2(28, 28) + var coin_mark_style := StyleBoxFlat.new() + coin_mark_style.bg_color = Color(1.0, 0.83, 0.18, 1.0) + coin_mark_style.border_width_left = 2 + coin_mark_style.border_width_top = 2 + coin_mark_style.border_width_right = 2 + coin_mark_style.border_width_bottom = 2 + coin_mark_style.border_color = Color(1.0, 0.94, 0.56, 1.0) + coin_mark_style.corner_radius_top_left = 14 + coin_mark_style.corner_radius_top_right = 14 + coin_mark_style.corner_radius_bottom_right = 14 + coin_mark_style.corner_radius_bottom_left = 14 + coin_mark.add_theme_stylebox_override("panel", coin_mark_style) + gold_badge_row.add_child(coin_mark) + + var gold_badge_text := VBoxContainer.new() + gold_badge_text.add_theme_constant_override("separation", 0) + gold_badge_row.add_child(gold_badge_text) + + var gold_title := Label.new() + gold_title.text = "GOLD" + gold_title.add_theme_font_size_override("font_size", 12) + gold_title.add_theme_color_override("font_color", Color(1.0, 0.86, 0.34, 0.95)) + gold_badge_text.add_child(gold_title) + + gold_badge_value_label = Label.new() + gold_badge_value_label.text = "0" + gold_badge_value_label.add_theme_font_size_override("font_size", 24) + gold_badge_value_label.add_theme_color_override("font_color", Color(1.0, 0.95, 0.74, 1.0)) + gold_badge_text.add_child(gold_badge_value_label) + + var base_badge := PanelContainer.new() + base_badge.name = "BaseBadge" + base_badge.anchor_left = 1.0 + base_badge.anchor_right = 1.0 + base_badge.anchor_top = 0.0 + base_badge.anchor_bottom = 0.0 + base_badge.offset_left = -424 + base_badge.offset_top = 16 + base_badge.offset_right = -240 + base_badge.offset_bottom = 78 + var base_badge_style := StyleBoxFlat.new() + base_badge_style.bg_color = Color(0.12, 0.08, 0.08, 0.94) + base_badge_style.border_width_left = 2 + base_badge_style.border_width_top = 2 + base_badge_style.border_width_right = 2 + base_badge_style.border_width_bottom = 2 + base_badge_style.border_color = Color(0.97, 0.42, 0.32, 1.0) + base_badge_style.corner_radius_top_left = 16 + base_badge_style.corner_radius_top_right = 16 + base_badge_style.corner_radius_bottom_right = 16 + base_badge_style.corner_radius_bottom_left = 16 + base_badge.add_theme_stylebox_override("panel", base_badge_style) + canvas.add_child(base_badge) + + var base_badge_margin := MarginContainer.new() + base_badge_margin.add_theme_constant_override("margin_left", 14) + base_badge_margin.add_theme_constant_override("margin_top", 10) + base_badge_margin.add_theme_constant_override("margin_right", 14) + base_badge_margin.add_theme_constant_override("margin_bottom", 10) + base_badge.add_child(base_badge_margin) + + var base_badge_row := HBoxContainer.new() + base_badge_row.add_theme_constant_override("separation", 12) + base_badge_margin.add_child(base_badge_row) + + var base_mark := Panel.new() + base_mark.custom_minimum_size = Vector2(28, 28) + var base_mark_style := StyleBoxFlat.new() + base_mark_style.bg_color = Color(0.93, 0.32, 0.28, 1.0) + base_mark_style.border_width_left = 2 + base_mark_style.border_width_top = 2 + base_mark_style.border_width_right = 2 + base_mark_style.border_width_bottom = 2 + base_mark_style.border_color = Color(1.0, 0.67, 0.60, 1.0) + base_mark_style.corner_radius_top_left = 14 + base_mark_style.corner_radius_top_right = 14 + base_mark_style.corner_radius_bottom_right = 14 + base_mark_style.corner_radius_bottom_left = 14 + base_mark.add_theme_stylebox_override("panel", base_mark_style) + base_badge_row.add_child(base_mark) + + var base_badge_text := VBoxContainer.new() + base_badge_text.add_theme_constant_override("separation", 0) + base_badge_row.add_child(base_badge_text) + + var base_title := Label.new() + base_title.text = "BASE" + base_title.add_theme_font_size_override("font_size", 12) + base_title.add_theme_color_override("font_color", Color(1.0, 0.69, 0.62, 0.95)) + base_badge_text.add_child(base_title) + + base_badge_value_label = Label.new() + base_badge_value_label.text = str(initial_base_health) + base_badge_value_label.add_theme_font_size_override("font_size", 24) + base_badge_value_label.add_theme_color_override("font_color", Color(1.0, 0.90, 0.88, 1.0)) + base_badge_text.add_child(base_badge_value_label) + + var outpost_badge := PanelContainer.new() + outpost_badge.name = "OutpostBadge" + outpost_badge.anchor_left = 1.0 + outpost_badge.anchor_right = 1.0 + outpost_badge.anchor_top = 0.0 + outpost_badge.anchor_bottom = 0.0 + outpost_badge.offset_left = -628 + outpost_badge.offset_top = 16 + outpost_badge.offset_right = -444 + outpost_badge.offset_bottom = 78 + var outpost_badge_style := StyleBoxFlat.new() + outpost_badge_style.bg_color = Color(0.08, 0.11, 0.14, 0.94) + outpost_badge_style.border_width_left = 2 + outpost_badge_style.border_width_top = 2 + outpost_badge_style.border_width_right = 2 + outpost_badge_style.border_width_bottom = 2 + outpost_badge_style.border_color = Color(0.34, 0.74, 1.0, 1.0) + outpost_badge_style.corner_radius_top_left = 16 + outpost_badge_style.corner_radius_top_right = 16 + outpost_badge_style.corner_radius_bottom_right = 16 + outpost_badge_style.corner_radius_bottom_left = 16 + outpost_badge.add_theme_stylebox_override("panel", outpost_badge_style) + canvas.add_child(outpost_badge) + + var outpost_badge_margin := MarginContainer.new() + outpost_badge_margin.add_theme_constant_override("margin_left", 14) + outpost_badge_margin.add_theme_constant_override("margin_top", 10) + outpost_badge_margin.add_theme_constant_override("margin_right", 14) + outpost_badge_margin.add_theme_constant_override("margin_bottom", 10) + outpost_badge.add_child(outpost_badge_margin) + + var outpost_badge_row := HBoxContainer.new() + outpost_badge_row.add_theme_constant_override("separation", 12) + outpost_badge_margin.add_child(outpost_badge_row) + + var outpost_mark := Panel.new() + outpost_mark.custom_minimum_size = Vector2(28, 28) + var outpost_mark_style := StyleBoxFlat.new() + outpost_mark_style.bg_color = Color(0.22, 0.67, 0.94, 1.0) + outpost_mark_style.border_width_left = 2 + outpost_mark_style.border_width_top = 2 + outpost_mark_style.border_width_right = 2 + outpost_mark_style.border_width_bottom = 2 + outpost_mark_style.border_color = Color(0.70, 0.90, 1.0, 1.0) + outpost_mark_style.corner_radius_top_left = 14 + outpost_mark_style.corner_radius_top_right = 14 + outpost_mark_style.corner_radius_bottom_right = 14 + outpost_mark_style.corner_radius_bottom_left = 14 + outpost_mark.add_theme_stylebox_override("panel", outpost_mark_style) + outpost_badge_row.add_child(outpost_mark) + + var outpost_badge_text := VBoxContainer.new() + outpost_badge_text.add_theme_constant_override("separation", 0) + outpost_badge_row.add_child(outpost_badge_text) + + var outpost_title := Label.new() + outpost_title.text = "OUTPOST" + outpost_title.add_theme_font_size_override("font_size", 12) + outpost_title.add_theme_color_override("font_color", Color(0.72, 0.92, 1.0, 0.95)) + outpost_badge_text.add_child(outpost_title) + + outpost_badge_value_label = Label.new() + outpost_badge_value_label.text = str(initial_outpost_health) + outpost_badge_value_label.add_theme_font_size_override("font_size", 24) + outpost_badge_value_label.add_theme_color_override("font_color", Color(0.90, 0.98, 1.0, 1.0)) + outpost_badge_text.add_child(outpost_badge_value_label) + + edit_box = VBoxContainer.new() + edit_box.visible = false + edit_box.add_theme_constant_override("separation", 6) + root.add_child(edit_box) + + hp_spin = _add_spin_row(edit_box, "HP", 0.0, 800.0, 1.0) + hp_spin.value_changed.connect(_on_hp_changed) + + bullet_spin = _add_spin_row(edit_box, "Bullet", 0.0, 500.0, 1.0) + bullet_spin.value_changed.connect(_on_bullet_changed) + + gold_spin = _add_spin_row(edit_box, "Gold", 0.0, 99999.0, 1.0) + gold_spin.value_changed.connect(_on_gold_changed) + + base_hp_spin = _add_spin_row(edit_box, "Base HP", 0.0, 99999.0, 1.0) + base_hp_spin.value_changed.connect(_on_base_hp_changed) + + outpost_hp_spin = _add_spin_row(edit_box, "Outpost HP", 0.0, 99999.0, 1.0) + outpost_hp_spin.value_changed.connect(_on_outpost_hp_changed) + + remaining_time_spin = _add_spin_row(edit_box, "Remain Time", 0.0, 420.0, 1.0) + remaining_time_spin.value_changed.connect(_on_remaining_time_changed) + + exchangeable_ammo_spin = _add_spin_row(edit_box, "Ammo Bank", 0.0, 99999.0, 1.0) + exchangeable_ammo_spin.value_changed.connect(_on_exchangeable_ammo_changed) + + dart_hits_spin = _add_spin_row(edit_box, "Dart Hits", 0.0, 999.0, 1.0) + dart_hits_spin.value_changed.connect(_on_dart_hits_changed) + + fortress_occupied_toggle = _add_check_row(edit_box, "Fortress") + fortress_occupied_toggle.toggled.connect(_on_fortress_occupied_toggled) + + big_energy_mechanism_toggle = _add_check_row(edit_box, "Big Energy") + big_energy_mechanism_toggle.toggled.connect(_on_big_energy_mechanism_toggled) + + small_energy_mechanism_toggle = _add_check_row(edit_box, "Small Energy") + small_energy_mechanism_toggle.toggled.connect(_on_small_energy_mechanism_toggled) + + stage_select = _add_option_row(edit_box, "Stage", STAGE_VALUES) + stage_select.item_selected.connect(_on_stage_selected) + + rswitch_select = _add_option_row(edit_box, "R Switch", SWITCH_VALUES) + rswitch_select.item_selected.connect(_on_rswitch_selected) + + lswitch_select = _add_option_row(edit_box, "L Switch", SWITCH_VALUES) + lswitch_select.item_selected.connect(_on_lswitch_selected) + + var decision_title := Label.new() + decision_title.text = "Decision State" + root.add_child(decision_title) + + decision_label = RichTextLabel.new() + decision_label.fit_content = false + decision_label.custom_minimum_size = Vector2(0, 120) + decision_label.scroll_active = true + decision_label.selection_enabled = true + root.add_child(decision_label) + + var bb_title := Label.new() + bb_title.text = "Blackboard" + root.add_child(bb_title) + + blackboard_label = RichTextLabel.new() + blackboard_label.fit_content = false + blackboard_label.custom_minimum_size = Vector2(0, 360) + blackboard_label.scroll_active = true + blackboard_label.selection_enabled = true + root.add_child(blackboard_label) + + +## 创建一行 SpinBox 控件（标签 + 数值输入），返回 SpinBox 引用。 +func _add_spin_row(parent: VBoxContainer, label_text: String, min_v: float, max_v: float, step_v: float) -> SpinBox: + var row := HBoxContainer.new() + parent.add_child(row) + + var label := Label.new() + label.text = label_text + label.custom_minimum_size = Vector2(90, 0) + row.add_child(label) + + var spin := SpinBox.new() + spin.min_value = min_v + spin.max_value = max_v + spin.step = step_v + spin.size_flags_horizontal = Control.SIZE_EXPAND_FILL + row.add_child(spin) + return spin + + +## 创建一行 OptionButton 控件（标签 + 下拉选择），返回 OptionButton 引用。 +func _add_option_row(parent: VBoxContainer, label_text: String, values: Array) -> OptionButton: + var row := HBoxContainer.new() + parent.add_child(row) + + var label := Label.new() + label.text = label_text + label.custom_minimum_size = Vector2(90, 0) + row.add_child(label) + + var option := OptionButton.new() + option.size_flags_horizontal = Control.SIZE_EXPAND_FILL + for entry in values: + option.add_item(str(entry)) + row.add_child(option) + return option + + +## 创建一行布尔开关控件（标签 + 勾选框），返回 CheckButton 引用。 +func _add_check_row(parent: VBoxContainer, label_text: String) -> CheckButton: + var row := HBoxContainer.new() + parent.add_child(row) + + var label := Label.new() + label.text = label_text + label.custom_minimum_size = Vector2(90, 0) + row.add_child(label) + + var toggle := CheckButton.new() + toggle.size_flags_horizontal = Control.SIZE_EXPAND_FILL + row.add_child(toggle) + return toggle + + +## UI 回调：开始决策按钮。 +func _on_start_pressed() -> void: + _send_start_decision() + + +## UI 回调：超控复选框切换，显示/隐藏编辑面板并更新超控状态。 +func _on_override_toggled(enabled: bool) -> void: + if edit_box != null: + edit_box.visible = enabled + _set_manual_override_enabled(enabled) + _refresh_display() + + +## UI 回调：HP 数值改变 → 推送超控补丁。 +func _on_hp_changed(value: float) -> void: + if ui_updating: + return + + var patch := {"user": {"health": int(round(value))}} + _apply_local_patch(patch) + var user_patch: Dictionary = patch["user"] + _apply_robot_user_patch(user_patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：子弹数值改变 → 推送超控补丁。 +func _on_bullet_changed(value: float) -> void: + if ui_updating: + return + + var patch := {"user": {"bullet": int(round(value))}} + _apply_local_patch(patch) + var user_patch: Dictionary = patch["user"] + _apply_robot_user_patch(user_patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：金币数值改变 → 推送超控补丁。 +func _on_gold_changed(value: float) -> void: + if ui_updating: + return + + var patch: Dictionary = {"user": {"gold": int(round(value))}} + _apply_local_patch(patch) + _apply_local_patch({"game": {"gold_coin": int(round(value))}}) + var user_patch: Dictionary = patch["user"] + _apply_robot_user_patch(user_patch) + _refresh_display() + + +## UI 回调：基地血量改变 → 更新本地比赛状态，后续通过 sim.input 同步。 +func _on_base_hp_changed(value: float) -> void: + if ui_updating: + return + + sim_base_health = maxi(0, int(round(value))) + _apply_local_patch({"game": {"base_health": sim_base_health}}) + _refresh_display() + + +## UI 回调：前哨站血量改变 → 更新本地比赛状态，后续通过 sim.input 同步。 +func _on_outpost_hp_changed(value: float) -> void: + if ui_updating: + return + + sim_outpost_health = maxi(0, int(round(value))) + _apply_local_patch({"game": {"outpost_health": sim_outpost_health}}) + _refresh_display() + + +## UI 回调：比赛剩余时间改变 → 更新本地比赛状态，后续通过 sim.input 同步。 +func _on_remaining_time_changed(value: float) -> void: + if ui_updating: + return + + sim_remaining_time = clampf(value, 0.0, initial_remaining_time) + _apply_local_patch({"game": {"remaining_time": sim_remaining_time}}) + _refresh_display() + + +## UI 回调：可兑换弹药量改变 → 更新本地比赛状态，后续通过 sim.input 同步。 +func _on_exchangeable_ammo_changed(value: float) -> void: + if ui_updating: + return + + sim_exchangeable_ammunition_quantity = maxi(0, int(round(value))) + _apply_local_patch({ + "game": { + "exchangeable_ammunition_quantity": sim_exchangeable_ammunition_quantity + } + }) + _refresh_display() + + +## UI 回调：己方飞镖命中次数改变。 +func _on_dart_hits_changed(value: float) -> void: + if ui_updating: + return + + sim_our_dart_nmber_of_hits = maxi(0, int(round(value))) + var patch := { + "game": { + "our_dart_nmber_of_hits": sim_our_dart_nmber_of_hits, + } + } + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：堡垒占领状态改变。 +func _on_fortress_occupied_toggled(enabled: bool) -> void: + if ui_updating: + return + + sim_fortress_occupied = enabled + var patch := { + "game": { + "fortress_occupied": sim_fortress_occupied, + } + } + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：大能量机关激活状态改变。 +func _on_big_energy_mechanism_toggled(enabled: bool) -> void: + if ui_updating: + return + + sim_big_energy_mechanism_activated = enabled + var patch := { + "game": { + "big_energy_mechanism_activated": sim_big_energy_mechanism_activated, + } + } + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：小能量机关激活状态改变。 +func _on_small_energy_mechanism_toggled(enabled: bool) -> void: + if ui_updating: + return + + sim_small_energy_mechanism_activated = enabled + var patch := { + "game": { + "small_energy_mechanism_activated": sim_small_energy_mechanism_activated, + } + } + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：Stage 选择改变 → 推送 game.stage。 +func _on_stage_selected(index: int) -> void: + if ui_updating: + return + + var stage : String = STAGE_VALUES[clamp(index, 0, STAGE_VALUES.size() - 1)] + if stage == "STARTED": + _begin_competition_session() + else: + competition_started = false + var patch := {"game": {"stage": stage, "remaining_time": sim_remaining_time}} + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：R Switch 选择改变 → 推送 play.rswitch。 +func _on_rswitch_selected(index: int) -> void: + if ui_updating: + return + + var value : String = SWITCH_VALUES[clamp(index, 0, SWITCH_VALUES.size() - 1)] + var patch := {"play": {"rswitch": value}} + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## UI 回调：L Switch 选择改变 → 推送 play.lswitch。 +func _on_lswitch_selected(index: int) -> void: + if ui_updating: + return + + var value : String = SWITCH_VALUES[clamp(index, 0, SWITCH_VALUES.size() - 1)] + var patch := {"play": {"lswitch": value}} + _apply_local_patch(patch) + _send_override_patch(patch) + _refresh_display() + + +## 从 blackboard 同步 UI 控件显示值（仅更新显示，不触发回调）。 +func _sync_controls_from_blackboard() -> void: + if hp_spin == null: + return + + ui_updating = true + var user: Dictionary = blackboard.get("user", {}) + var game: Dictionary = blackboard.get("game", {}) + var play: Dictionary = blackboard.get("play", {}) + + hp_spin.value = float(user.get("health", hp_spin.value)) + bullet_spin.value = float(user.get("bullet", bullet_spin.value)) + gold_spin.value = float(user.get("gold", gold_spin.value)) + sim_base_health = int(round(_get_numeric_value(game.get("base_health", sim_base_health), 0.0))) + sim_outpost_health = int(round(_get_numeric_value(game.get("outpost_health", sim_outpost_health), 0.0))) + sim_remaining_time = _get_numeric_value(game.get("remaining_time", sim_remaining_time), 0.0) + sim_exchangeable_ammunition_quantity = int(round( + _get_numeric_value( + game.get("exchangeable_ammunition_quantity", sim_exchangeable_ammunition_quantity), + 0.0 + ) + )) + sim_our_dart_nmber_of_hits = int(round( + _get_numeric_value(game.get("our_dart_nmber_of_hits", sim_our_dart_nmber_of_hits), 0.0) + )) + sim_fortress_occupied = _get_boolean_value( + game.get("fortress_occupied", sim_fortress_occupied), + sim_fortress_occupied + ) + sim_big_energy_mechanism_activated = _get_boolean_value( + game.get("big_energy_mechanism_activated", sim_big_energy_mechanism_activated), + sim_big_energy_mechanism_activated + ) + sim_small_energy_mechanism_activated = _get_boolean_value( + game.get("small_energy_mechanism_activated", sim_small_energy_mechanism_activated), + sim_small_energy_mechanism_activated + ) + if base_hp_spin != null: + base_hp_spin.value = float(sim_base_health) + if outpost_hp_spin != null: + outpost_hp_spin.value = float(sim_outpost_health) + if remaining_time_spin != null: + remaining_time_spin.value = sim_remaining_time + if exchangeable_ammo_spin != null: + exchangeable_ammo_spin.value = float(sim_exchangeable_ammunition_quantity) + if dart_hits_spin != null: + dart_hits_spin.value = float(sim_our_dart_nmber_of_hits) + if fortress_occupied_toggle != null: + fortress_occupied_toggle.set_pressed_no_signal(sim_fortress_occupied) + if big_energy_mechanism_toggle != null: + big_energy_mechanism_toggle.set_pressed_no_signal(sim_big_energy_mechanism_activated) + if small_energy_mechanism_toggle != null: + small_energy_mechanism_toggle.set_pressed_no_signal( + sim_small_energy_mechanism_activated + ) + + _select_option_value(stage_select, STAGE_VALUES, str(game.get("stage", "UNKNOWN"))) + _select_option_value(rswitch_select, SWITCH_VALUES, str(play.get("rswitch", "UNKNOWN"))) + _select_option_value(lswitch_select, SWITCH_VALUES, str(play.get("lswitch", "UNKNOWN"))) + competition_started = str(game.get("stage", "UNKNOWN")) == "STARTED" + ui_updating = false + + +func _begin_competition_session() -> void: + sim_remaining_time = initial_remaining_time + competition_started = true + _apply_local_patch({ + "game": { + "stage": "STARTED", + "remaining_time": sim_remaining_time, + } + }) + + +## 在 OptionButton 中选中匹配的枚举值。 +func _select_option_value(button: OptionButton, values: Array, value: String) -> void: + var target := values.find(value) + if target < 0: + target = 0 + button.select(target) + + +## 刷新调试面板显示（决策状态 + blackboard）。 +func _refresh_display() -> void: + if decision_label != null: + decision_label.text = _format_decision_text() + if blackboard_label != null: + blackboard_label.text = _format_blackboard_text() + _refresh_gold_badge() + _refresh_competition_badges() + + +func _refresh_gold_badge() -> void: + if gold_badge_value_label == null: + return + + gold_badge_value_label.text = str(_get_current_gold_value()) + + +func _get_current_gold_value() -> int: + var user: Dictionary = _get_dict_value(blackboard, "user") + if user.has("gold"): + return int(round(_get_numeric_value(user.get("gold", 0), 0.0))) + + var resource: Dictionary = _get_robot_resource_state() + return int(round(_get_numeric_value(resource.get("gold", 0), 0.0))) + + +func _refresh_competition_badges() -> void: + if base_badge_value_label != null: + base_badge_value_label.text = str(_get_current_base_health_value()) + if outpost_badge_value_label != null: + outpost_badge_value_label.text = str(_get_current_outpost_health_value()) + + +func _get_current_base_health_value() -> int: + var game: Dictionary = _get_dict_value(blackboard, "game") + if game.has("base_health"): + return int(round(_get_numeric_value(game.get("base_health", sim_base_health), 0.0))) + return sim_base_health + + +func _get_current_outpost_health_value() -> int: + var game: Dictionary = _get_dict_value(blackboard, "game") + if game.has("outpost_health"): + return int(round(_get_numeric_value(game.get("outpost_health", sim_outpost_health), 0.0))) + return sim_outpost_health + + +func get_structure_health(kind: String) -> int: + if kind == "base": + return sim_base_health + if kind == "outpost": + return sim_outpost_health + return 0 + + +func sync_structure_health(kind: String, value: int) -> void: + var next_value := maxi(0, value) + match kind: + "base": + sim_base_health = next_value + _apply_local_patch({"game": {"base_health": sim_base_health}}) + if base_hp_spin != null: + base_hp_spin.value = float(sim_base_health) + "outpost": + sim_outpost_health = next_value + _apply_local_patch({"game": {"outpost_health": sim_outpost_health}}) + if outpost_hp_spin != null: + outpost_hp_spin.value = float(sim_outpost_health) + _: + return + _refresh_display() + + +func apply_structure_damage(kind: String, damage: int) -> bool: + if damage <= 0: + return false + + if kind == "outpost": + sync_structure_health("outpost", sim_outpost_health - damage) + return true + + if kind == "base": + if sim_outpost_health > 0: + return false + sync_structure_health("base", sim_base_health - damage) + return true + + return false + + +## 格式化决策状态文本（JSON 美观输出）。 +func _format_decision_text() -> String: + var view := { + "connected": connected, + "blackboard_ready": blackboard_ready, + "bb_rev": blackboard_rev, + "override_enabled": override_enabled, + "manual_override_enabled": manual_override_enabled, + "auto_resupply_override_enabled": auto_resupply_override_enabled, + "override_rev": override_rev, + "in_resupply_zone": in_resupply_zone, + "auto_resupply_active": auto_resupply_active, + "resupply_distance": resupply_distance, + "sim_time": _round_float(sim_time), + "target": { + "x": _round_float(target_point.global_position.x), + "y": _round_float(target_point.global_position.z), + }, + "decision": decision_state, + } + return JSON.stringify(_prepare_display_value(view), " ", true) + + +## 格式化 blackboard 文本（按分节标注）。 +func _format_blackboard_text() -> String: + var blocks: Array[String] = [] + for section in BLACKBOARD_SECTIONS: + var value = blackboard.get(section, {}) + blocks.append("[%s]\n%s" % [section, _stringify_pretty(value)]) + return "\n\n".join(blocks) + + +## 将 Variant 格式化为美观字符串（字典/数组用 JSON）。 +func _stringify_pretty(value: Variant) -> String: + var prepared = _prepare_display_value(value) + if typeof(prepared) == TYPE_DICTIONARY or typeof(prepared) == TYPE_ARRAY: + return JSON.stringify(prepared, " ", true) + return str(prepared) + + +## 递归准备显示值：浮点四舍五入、字典按键排序、限深防展平。 +func _prepare_display_value(value: Variant, depth: int = 0) -> Variant: + if depth >= 6: + return "..." + + match typeof(value): + TYPE_FLOAT: + return _round_float(value) + TYPE_DICTIONARY: + var source: Dictionary = value + var result := {} + var keys := source.keys() + keys.sort_custom(func(a, b): return str(a) < str(b)) + for key in keys: + result[key] = _prepare_display_value(source[key], depth + 1) + return result + TYPE_ARRAY: + var source: Array = value + var result: Array = [] + for entry in source: + result.append(_prepare_display_value(entry, depth + 1)) + return result + _: + return value + + +## 浮点数四舍五入到三位小数。 +func _round_float(value: float) -> float: + return round(value * 1000.0) / 1000.0 + + +## 将敌方机器人节点绑定为 AI 机器人的跟踪目标。 +func _bind_enemy_target() -> void: + var enemy_node := _resolve_enemy_node() + if enemy_node != null and robot.has_method("set_enemy_target"): + robot.call("set_enemy_target", enemy_node) + + +## 解析敌方节点：优先使用 enemy_path，回退到 ../Enemy。 +func _resolve_enemy_node() -> Node3D: + if enemy_path != NodePath(): + var explicit_node := get_node_or_null(enemy_path) + if explicit_node is Node3D: + return explicit_node + var fallback := get_node_or_null("../Enemy") + if fallback is Node3D: + return fallback + return null + + +## 将 Lua 底盘模式指令转发到 AI 机器人。 +func _apply_robot_chassis_mode(mode: String) -> void: + if robot.has_method("set_chassis_mode"): + robot.call("set_chassis_mode", mode) + + +## 将 Lua 云台控制源指令转发到 AI 机器人。 +func _apply_robot_gimbal_dominator(dominator_name: String) -> void: + if robot.has_method("set_gimbal_dominator"): + robot.call("set_gimbal_dominator", dominator_name) + + +## 将 Lua 云台方向指令转发到 AI 机器人。 +func _apply_robot_gimbal_direction(angle: float) -> void: + if robot.has_method("set_gimbal_direction"): + robot.call("set_gimbal_direction", angle) + + +## 将 Lua 底盘速度超控指令转发到 AI 机器人。 +func _apply_robot_chassis_vel(x: float, y: float) -> void: + if robot.has_method("set_external_chassis_velocity"): + robot.call("set_external_chassis_velocity", x, y) + + +## 从 AI 机器人获取当前模拟资源状态（血量、子弹、金币、死亡状态）。 +func _get_robot_resource_state() -> Dictionary: + if robot.has_method("get_sim_resource_state"): + var resource = robot.call("get_sim_resource_state") + if typeof(resource) == TYPE_DICTIONARY: + return resource + return { + "health": 0, + "bullet": 0, + "gold": 0, + } + + +func _ensure_gold_field_initialized() -> void: + var user: Dictionary = _get_dict_value(blackboard, "user") + if user.has("gold"): + return + + var resource: Dictionary = _get_robot_resource_state() + var initial_gold: int = int(round(_get_numeric_value(resource.get("gold", 0), 0.0))) + var patch_user: Dictionary = {"gold": initial_gold} + var patch: Dictionary = {"user": patch_user} + _apply_local_patch(patch) + _apply_robot_user_patch(patch_user) + + +## 首次收到 blackboard 时，用其中的血量/子弹/金币值初始化机器人状态。 +func _sync_robot_resources_from_blackboard_once() -> void: + if robot_resource_initialized: + return + + var user: Dictionary = _get_dict_value(blackboard, "user") + if not user.has("health") and not user.has("bullet") and not user.has("gold"): + return + + if robot.has_method("sync_resources_from_blackboard"): + robot.call( + "sync_resources_from_blackboard", + user.get("health", null), + user.get("bullet", null), + user.get("gold", null) + ) + robot_resource_initialized = true + + +## 将超控补丁中的血量/子弹/金币值应用到 AI 机器人。 +func _apply_robot_user_patch(user_patch: Dictionary) -> void: + if robot.has_method("sync_resources_from_blackboard"): + robot.call( + "sync_resources_from_blackboard", + user_patch.get("health", null), + user_patch.get("bullet", null), + user_patch.get("gold", null) + ) + diff --git a/godot-mock/scene/sim_sidecar_client.gd.uid b/godot-mock/scene/sim_sidecar_client.gd.uid new file mode 100644 index 0000000..9b9ad6b --- /dev/null +++ b/godot-mock/scene/sim_sidecar_client.gd.uid @@ -0,0 +1 @@ +uid://dkbfp0i2ppdrp diff --git a/godot-mock/scene/sim_structure_hitbox.gd b/godot-mock/scene/sim_structure_hitbox.gd new file mode 100644 index 0000000..deb0a9d --- /dev/null +++ b/godot-mock/scene/sim_structure_hitbox.gd @@ -0,0 +1,44 @@ +extends Area3D +## 比赛建筑受击区域。 +## 仿照机器人装甲板方案，子弹命中后将伤害转发给所属结构目标。 + +@export var team := "" +@export var owner_target_path: NodePath +@export var hitbox_size := Vector3(1.5, 1.5, 1.5) + +const ARMOR_LAYER := 1 << 5 + +var owner_target: Node = null + + +func _ready() -> void: + monitoring = true + monitorable = true + collision_layer = ARMOR_LAYER + collision_mask = 0 + + if owner_target_path != NodePath(): + owner_target = get_node_or_null(owner_target_path) + + if owner_target == null: + owner_target = get_parent() + + if get_child_count() == 0: + _create_default_shape() + + +func on_bullet_hit(damage: int, from_team: String) -> bool: + if from_team == team: + return false + + if owner_target != null and owner_target.has_method("apply_structure_damage"): + return bool(owner_target.call("apply_structure_damage", 100)) + return false + + +func _create_default_shape() -> void: + var shape := CollisionShape3D.new() + var box := BoxShape3D.new() + box.size = hitbox_size + shape.shape = box + add_child(shape) diff --git a/godot-mock/scene/sim_structure_hitbox.gd.uid b/godot-mock/scene/sim_structure_hitbox.gd.uid new file mode 100644 index 0000000..7db9865 --- /dev/null +++ b/godot-mock/scene/sim_structure_hitbox.gd.uid @@ -0,0 +1 @@ +uid://cmas0ib4rvy0n diff --git a/godot-mock/scene/sim_structure_target.gd b/godot-mock/scene/sim_structure_target.gd new file mode 100644 index 0000000..9cc0cf3 --- /dev/null +++ b/godot-mock/scene/sim_structure_target.gd @@ -0,0 +1,190 @@ +extends Node3D +## 通用比赛建筑目标：基地 / 前哨站。 +## 半透明立方体，可被 enemy 子弹命中；头顶显示血条和数值。 + +@export_enum("outpost", "base") var structure_kind := "outpost" +@export var max_health := 1500 +@export var team := "ally" +@export var cube_size := Vector3(1.4, 1.4, 1.4) +@export var hitbox_size := Vector3(1.5, 1.5, 1.5) +@export var display_height := 0.5 + +const ARMOR_LAYER := 1 << 5 +const HEALTH_BAR_BACK_SIZE := Vector2(1.5, 0.16) +const HEALTH_BAR_FILL_SIZE := Vector2(1.4, 0.12) +const HEALTH_BAR_BACK_PRIORITY := 10 +const HEALTH_BAR_FILL_PRIORITY := 11 +const HEALTH_BAR_FILL_Z_OFFSET := -0.02 +const HITBOX_SCRIPT := preload("res://scene/sim_structure_hitbox.gd") + +var body_mesh: MeshInstance3D = null +var hitbox_area: Area3D = null +var health_bar_anchor: Node3D = null +var health_bar_back: MeshInstance3D = null +var health_bar_fill: MeshInstance3D = null +var hp_label: Label3D = null + + +func _ready() -> void: + _setup_body_mesh() + _setup_hitbox() + _setup_health_display() + _refresh_health_display() + + +func _process(_delta: float) -> void: + _face_health_display_to_camera() + _refresh_health_display() + + +func apply_structure_damage(damage: int) -> bool: + var client := _get_sim_sidecar_client() + if client == null: + return false + if not client.has_method("apply_structure_damage"): + return false + + return bool(client.call("apply_structure_damage", structure_kind, damage)) + + +func get_team() -> String: + return team + + +func get_armor_target_nodes() -> Array[Node3D]: + if hitbox_area != null: + return [hitbox_area] + return [self] + + +func _get_sim_sidecar_client() -> Node: + var scene_root := get_tree().current_scene + if scene_root == null: + return null + return scene_root.get_node_or_null("SimSidecarClient") + + +func _current_health() -> int: + var client := _get_sim_sidecar_client() + if client != null and client.has_method("get_structure_health"): + return int(client.call("get_structure_health", structure_kind)) + return max_health + + +func _setup_body_mesh() -> void: + body_mesh = MeshInstance3D.new() + body_mesh.name = "Body" + var mesh := BoxMesh.new() + mesh.size = cube_size + body_mesh.mesh = mesh + body_mesh.material_override = _build_body_material() + add_child(body_mesh) + + +func _build_body_material() -> StandardMaterial3D: + var material := StandardMaterial3D.new() + material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED + material.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA + material.cull_mode = BaseMaterial3D.CULL_DISABLED + material.albedo_color = _body_color() + return material + + +func _body_color() -> Color: + if structure_kind == "base": + return Color(0.96, 0.26, 0.20, 0.28) + return Color(0.18, 0.62, 0.95, 0.28) + + +func _setup_hitbox() -> void: + hitbox_area = HITBOX_SCRIPT.new() + hitbox_area.name = "Hitbox" + add_child(hitbox_area) + hitbox_area.set("team", team) + hitbox_area.set("hitbox_size", hitbox_size) + hitbox_area.set("owner_target_path", hitbox_area.get_path_to(self)) + + +func _setup_health_display() -> void: + health_bar_anchor = Node3D.new() + health_bar_anchor.name = "HealthBarAnchor" + health_bar_anchor.position = Vector3(0.0, display_height, 0.0) + add_child(health_bar_anchor) + + health_bar_back = MeshInstance3D.new() + health_bar_back.name = "HealthBarBack" + var back_mesh := QuadMesh.new() + back_mesh.size = HEALTH_BAR_BACK_SIZE + health_bar_back.mesh = back_mesh + health_bar_back.material_override = _build_health_bar_material( + Color(0.08, 0.08, 0.08, 1.0), + HEALTH_BAR_BACK_PRIORITY + ) + health_bar_anchor.add_child(health_bar_back) + + health_bar_fill = MeshInstance3D.new() + health_bar_fill.name = "HealthBarFill" + var fill_mesh := QuadMesh.new() + fill_mesh.size = HEALTH_BAR_FILL_SIZE + health_bar_fill.mesh = fill_mesh + health_bar_fill.material_override = _build_health_bar_material( + _fill_color(), + HEALTH_BAR_FILL_PRIORITY + ) + health_bar_fill.position = Vector3(0.0, 0.0, HEALTH_BAR_FILL_Z_OFFSET) + health_bar_anchor.add_child(health_bar_fill) + + hp_label = Label3D.new() + hp_label.name = "HealthLabel" + hp_label.font_size = 28 + hp_label.modulate = Color(1.0, 1.0, 1.0, 1.0) + hp_label.billboard = BaseMaterial3D.BILLBOARD_ENABLED + hp_label.position = Vector3(0.0, 0.22, 0.0) + health_bar_anchor.add_child(hp_label) + + +func _fill_color() -> Color: + if structure_kind == "base": + return Color(0.95, 0.22, 0.18, 1.0) + return Color(0.22, 0.72, 0.98, 1.0) + + +func _build_health_bar_material(color: Color, priority: int) -> StandardMaterial3D: + var material := StandardMaterial3D.new() + material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED + material.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA + material.no_depth_test = true + material.depth_draw_mode = BaseMaterial3D.DEPTH_DRAW_DISABLED + material.cull_mode = BaseMaterial3D.CULL_DISABLED + material.render_priority = priority + material.albedo_color = color + return material + + +func _refresh_health_display() -> void: + if health_bar_fill == null or hp_label == null: + return + + var hp := _current_health() + var ratio := 0.0 + if max_health > 0: + ratio = clampf(float(hp) / float(max_health), 0.0, 1.0) + + health_bar_fill.scale = Vector3(ratio, 1.0, 1.0) + health_bar_fill.position = Vector3( + -0.5 * HEALTH_BAR_FILL_SIZE.x * (1.0 - ratio), + 0.0, + HEALTH_BAR_FILL_Z_OFFSET + ) + hp_label.text = str(hp) + + +func _face_health_display_to_camera() -> void: + if health_bar_anchor == null: + return + + var camera := get_viewport().get_camera_3d() + if camera == null: + return + + health_bar_anchor.look_at(camera.global_position, Vector3.UP, true) diff --git a/godot-mock/scene/sim_structure_target.gd.uid b/godot-mock/scene/sim_structure_target.gd.uid new file mode 100644 index 0000000..5bb399f --- /dev/null +++ b/godot-mock/scene/sim_structure_target.gd.uid @@ -0,0 +1 @@ +uid://d2rwmafiytyde diff --git a/launch/motion.launch.yaml b/launch/motion.launch.yaml index a824cd3..8b0453d 100644 --- a/launch/motion.launch.yaml +++ b/launch/motion.launch.yaml @@ -5,6 +5,9 @@ launch: - arg: name: "use_sim_time" default: "false" + - arg: + name: "static_local_map" + default: "false" # 0. 生命周期管理器 - node: @@ -51,5 +54,7 @@ launch: name: "controller_server" param: - from: "$(var configuration)/motion.yaml" + - name: "local_costmap.local_costmap.static_layer.map_subscribe_transient_local" + value: "$(var static_local_map)" - name: "use_sim_time" value: "$(var use_sim_time)" diff --git a/launch/static.launch.yaml b/launch/static.launch.yaml index 710615f..408e7de 100644 --- a/launch/static.launch.yaml +++ b/launch/static.launch.yaml @@ -23,18 +23,19 @@ ## - 进行不依赖外部感知输入的静态回归测试 launch: + - arg: + name: "use_sim_time" + default: "false" + - arg: + name: "global_map" + default: "map" + - arg: name: "configuration" default: "$(find-pkg-share rmcs-navigation)/config" - arg: name: "share_location" default: "$(find-pkg-share rmcs-navigation)" - - arg: - name: "use_sim_time" - default: "false" - - arg: - name: "global_map" - default: "rmul" # 0. 传感侧生命周期管理器（仅管理 map server） - node: @@ -98,3 +99,5 @@ launch: value: "$(var configuration)" - name: "use_sim_time" value: "$(var use_sim_time)" + - name: "static_local_map" + value: "true" diff --git a/maps/map.png b/maps/map.png new file mode 100644 index 0000000..0b01710 Binary files /dev/null and b/maps/map.png differ diff --git a/maps/map.yaml b/maps/map.yaml new file mode 100644 index 0000000..8ce6b05 --- /dev/null +++ b/maps/map.yaml @@ -0,0 +1,7 @@ +image: map.png +mode: trinary +resolution: 0.100000 +origin: [-4.000000, -5.500000, 0.000000] +negate: 0 +occupied_thresh: 0.650000 +free_thresh: 0.196000 diff --git a/maps/rmuc.lua b/maps/rmuc.lua new file mode 100644 index 0000000..50228b4 --- /dev/null +++ b/maps/rmuc.lua @@ -0,0 +1,192 @@ +-- Generated by tools/region-editor +return { + width = 292, + height = 161, + resolution = 0.1, + origin = { + x = 0, + y = 0, + }, + names = { + [0] = "wall", + [1] = "ours_home", + [2] = "them_home", + [3] = "ours_fluctuant", + [4] = "them_fluctuant", + [5] = "ours_road_begin", + [6] = "thems_road_begin", + [7] = "ours_trapezoidal_highland", + [8] = "them_trapezoidal_highland", + [9] = "ours_road_waypoint_1", + [10] = "them_road_waypoint_1", + [13] = "ours_road_to_fluctuant", + [14] = "them_road_to_fluctuant", + [15] = "ours_road_to_highland", + [16] = "them_road_to_highland", + [17] = "ours_highland", + [18] = "them_highland", + }, + rows = { + { 0, 0, 0, 0, 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a/maps/rmuc.yaml b/maps/rmuc.yaml index e69de29..e3c3393 100644 --- a/maps/rmuc.yaml +++ b/maps/rmuc.yaml @@ -0,0 +1,7 @@ +image: rmuc.png +mode: trinary +resolution: 0.100000 +origin: [-4.300000, -8.000000, 0.000000] +negate: 0 +occupied_thresh: 0.650000 +free_thresh: 0.196000 diff --git a/maps/train_map.lua b/maps/train_map.lua new file mode 100644 index 0000000..e246136 --- /dev/null +++ b/maps/train_map.lua @@ -0,0 +1,152 @@ +-- Generated by tools/region-editor +return { + width = 434, + height = 131, + resolution = 0.1, + origin = { + x = 0, + y = 0, + }, + names = { + [0] = "wall", + [1] = "ours_home", + [2] = "road_region_begin", + [3] = "road_region_1", + [4] = "road_region_2", + [5] = "road_region_final", + [6] = "ours_highland", + }, + rows = { + { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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+ 61 + ], + [ + 179, + 74 + ], + [ + 205, + 76 + ], + [ + 201, + 28 + ], + [ + 203, + 5 + ], + [ + 183, + 7 + ] + ] + } + ], + "fills": [ + { + "id": 1, + "region_id": 6, + "order": 9, + "runs": [ + [ + 74, + 181, + 184 + ], + [ + 75, + 181, + 197 + ] + ] + } + ] +} \ No newline at end of file diff --git a/maps/train_map.region.png b/maps/train_map.region.png new file mode 100644 index 0000000..4c802ba Binary files /dev/null and b/maps/train_map.region.png differ diff --git a/maps/train_map.yaml b/maps/train_map.yaml new file mode 100644 index 0000000..1040159 --- /dev/null +++ b/maps/train_map.yaml @@ -0,0 +1,7 @@ +image: train_map.png +mode: trinary +resolution: 0.1000 +origin: [-13.0, -7.1, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/cxx/component.cc b/src/cxx/component.cc index 81fbdb0..7763cc9 100644 --- a/src/cxx/component.cc +++ b/src/cxx/component.cc @@ -5,7 +5,7 @@ #endif #include "cxx/context.hh" -#include "cxx/navigation.hh" +#include "cxx/util/navigation/navigation.hh" #include "cxx/util/node_mixin.hh" #include @@ -149,20 +149,150 @@ class Navigation auto lua_sync() { const auto [x, y, yaw] = navigation.check_position(); + auto read_context = []( + const details::Context::InputInterface& input, + T fallback) -> T { + if (input.ready()) + return *input; + + return fallback; + }; + auto user = lua_blackboard["user"].get(); - user["health"] = *context.robot_health; - user["bullet"] = *context.robot_bullet; - user["chassis_power_limit"] = *context.chassis_power_limit_referee; + user["health"] = read_context(context.robot_health, std::uint16_t{0}); + user["bullet"] = read_context(context.robot_bullet, std::uint16_t{0}); + user["chassis_power_limit"] = read_context(context.chassis_power_limit_referee, 0.0); user["x"] = x; user["y"] = y; user["yaw"] = yaw; + user["chassis_power"] = read_context(context.chassis_power_referee, 0.0); + user["chassis_buffer_energy"] = read_context(context.chassis_buffer_energy_referee, 0.0); + user["chassis_output_status"] = read_context(context.chassis_output_status, false); + user["shooter_cooling"] = read_context(context.robot_shooter_cooling, std::int64_t{0}); + user["shooter_heat_limit"] = + read_context(context.robot_shooter_heat_limit, std::int64_t{0}); + user["bullet_42mm"] = read_context(context.robot_42mm_bullet, std::uint16_t{0}); + user["fortress_17mm_bullet"] = + read_context(context.robot_fortress_17mm_bullet, std::uint16_t{0}); + user["initial_speed"] = read_context(context.robot_initial_speed, 0.0F); + user["shoot_timestamp"] = read_context(context.robot_shoot_timestamp, 0.0); auto game = lua_blackboard["game"].get(); - game["stage"] = rmcs_msgs::to_string(*context.game_stage); + game["stage"] = rmcs_msgs::to_string(read_context( + context.game_stage, rmcs_msgs::GameStage::UNKNOWN)); + game["outpost_health"] = read_context(context.ally_outpost_hp, std::uint16_t{0}); + game["base_health"] = read_context(context.ally_base_hp, std::uint16_t{0}); + game["hero_health"] = read_context(context.ally_hero_hp, std::uint16_t{0}); + game["infantry_1_health"] = + read_context(context.ally_infantry_1_hp, std::uint16_t{0}); + game["infantry_2_health"] = + read_context(context.ally_infantry_2_hp, std::uint16_t{0}); + game["engineer_health"] = read_context(context.ally_engineer_hp, std::uint16_t{0}); + game["remaining_time"] = read_context(context.stage_remain_time, std::uint16_t{0}); + game["gold_coin"] = read_context(context.remaining_gold_coin, std::uint16_t{0}); + game["exchangeable_ammunition_quantity"] = + read_context(context.sentry_exchangeable_bullet, std::uint16_t{0}); + game["our_dart_nmber_of_hits"] = + static_cast(read_context( + context.dart_latest_hit_target_total_count, std::uint8_t{0})); + game["fortress_occupied"] = + read_context(context.ally_fortress_occupation_status, std::uint8_t{0}) != 0; + game["big_energy_mechanism_activated"] = + read_context(context.ally_big_energy_activation_status, std::uint8_t{0}) != 0; + game["small_energy_mechanism_activated"] = + read_context(context.ally_small_energy_activation_status, std::uint8_t{0}) != 0; + + auto set_position = [](sol::table position, double x, double y) { + position["x"] = x; + position["y"] = y; + }; + set_position( + game["hero_position"].get(), + read_context(context.ally_hero_position_x, 0.0), + read_context(context.ally_hero_position_y, 0.0)); + set_position( + game["infantry_1_position"].get(), + read_context(context.ally_infantry_1_position_x, 0.0), + read_context(context.ally_infantry_1_position_y, 0.0)); + set_position( + game["infantry_2_position"].get(), + read_context(context.ally_infantry_2_position_x, 0.0), + read_context(context.ally_infantry_2_position_y, 0.0)); + set_position( + game["engineer_position"].get(), + read_context(context.ally_engineer_position_x, 0.0), + read_context(context.ally_engineer_position_y, 0.0)); + + auto referee = lua_blackboard["referee"].get(); + referee["sync_timestamp"] = read_context(context.sync_timestamp, std::uint64_t{0}); + const auto robot_id = + read_context(context.robot_id, rmcs_msgs::RobotId{rmcs_msgs::RobotId::UNKNOWN}); + referee["robot_id"] = static_cast(robot_id); + auto robots_hp = referee["robots_hp"].get(); + const auto hp = + read_context(context.robots_hp, rmcs_core::referee::status::GameRobotHp{}); + const auto set_ally_hp = + [&](std::uint16_t hp1, + std::uint16_t hp2, + std::uint16_t hp3, + std::uint16_t hp4, + std::uint16_t hp5, + std::uint16_t hp7, + std::uint16_t outpost, + std::uint16_t base) { + robots_hp["ally_1"] = hp1; + robots_hp["ally_2"] = hp2; + robots_hp["ally_3"] = hp3; + robots_hp["ally_4"] = hp4; + robots_hp["reserved"] = hp5; + robots_hp["ally_7"] = hp7; + robots_hp["outpost"] = outpost; + robots_hp["base"] = base; + }; + if (robot_id == rmcs_msgs::RobotId::UNKNOWN) { + set_ally_hp(0, 0, 0, 0, 0, 0, 0, 0); + } else if (robot_id.color() == rmcs_msgs::RobotColor::BLUE) { + set_ally_hp( + hp.blue_1, + hp.blue_2, + hp.blue_3, + hp.blue_4, + hp.blue_5, + hp.blue_7, + hp.blue_outpost, + hp.blue_base); + } else { + set_ally_hp( + hp.red_1, + hp.red_2, + hp.red_3, + hp.red_4, + hp.red_5, + hp.red_7, + hp.red_outpost, + hp.red_base); + } + referee["can_confirm_free_revive"] = + read_context(context.sentry_can_confirm_free_revive, false); + referee["can_exchange_instant_revive"] = + read_context(context.sentry_can_exchange_instant_revive, false); + referee["instant_revive_cost"] = + read_context(context.sentry_instant_revive_cost, std::uint16_t{0}); + referee["exchanged_bullet"] = + read_context(context.sentry_exchanged_bullet, std::uint16_t{0}); + referee["remote_bullet_exchange_count"] = + read_context(context.sentry_remote_bullet_exchange_count, std::uint8_t{0}); + referee["sentry_mode"] = read_context(context.sentry_mode, std::uint8_t{0}); + referee["energy_mechanism_activatable"] = + read_context(context.sentry_energy_mechanism_activatable, false); + referee["red_score"] = read_context(context.red_score, std::uint32_t{0}); + referee["blue_score"] = read_context(context.blue_score, std::uint32_t{0}); auto play = lua_blackboard["play"].get(); - play["rswitch"] = rmcs_msgs::to_string(*context.switch_right); - play["lswitch"] = rmcs_msgs::to_string(*context.switch_left); + play["rswitch"] = + rmcs_msgs::to_string(read_context(context.switch_right, rmcs_msgs::Switch::UNKNOWN)); + play["lswitch"] = + rmcs_msgs::to_string(read_context(context.switch_left, rmcs_msgs::Switch::UNKNOWN)); auto meta = lua_blackboard["meta"].get(); meta["timestamp"] = this->now().seconds(); diff --git a/src/cxx/context.cc b/src/cxx/context.cc index 60145af..6b4e692 100644 --- a/src/cxx/context.cc +++ b/src/cxx/context.cc @@ -54,14 +54,78 @@ auto Context::init(std::mutex& io_mutex, bool mock) -> void { auto& subscription = pimpl->subscription; auto& node = pimpl->node; - make_input(component, "/referee/chassis/power_limit", chassis_power_limit_referee, mock); + make_input(component, "/referee/game/stage", game_stage, mock); + make_input(component, "/referee/game/stage_remain_time", stage_remain_time, mock); + make_input(component, "/referee/game/sync_timestamp", sync_timestamp, mock); + make_input( + component, "/referee/event/ally_big_energy_activation_status", + ally_big_energy_activation_status, mock); + make_input( + component, "/referee/event/ally_small_energy_activation_status", + ally_small_energy_activation_status, mock); + make_input( + component, "/referee/event/ally_fortress_occupation_status", + ally_fortress_occupation_status, mock); + make_input( + component, "/referee/dart/latest_hit_target_total_count", + dart_latest_hit_target_total_count, mock); make_input(component, "/referee/id", robot_id, mock); - make_input(component, "/remote/switch/right", switch_right, mock); - make_input(component, "/remote/switch/left", switch_left, mock); - make_input(component, "/referee/game/stage", game_stage, mock); + make_input(component, "/referee/shooter/cooling", robot_shooter_cooling, mock); + make_input(component, "/referee/shooter/heat_limit", robot_shooter_heat_limit, mock); + make_input(component, "/referee/chassis/power_limit", chassis_power_limit_referee, mock); + make_input(component, "/referee/chassis/power", chassis_power_referee, mock); + make_input(component, "/referee/chassis/buffer_energy", chassis_buffer_energy_referee, mock); + make_input(component, "/referee/chassis/output_status", chassis_output_status, mock); + + make_input(component, "/referee/robots/hp", robots_hp, mock); + make_input(component, "/referee/ally/hero_hp", ally_hero_hp, mock); + make_input(component, "/referee/ally/engineer_hp", ally_engineer_hp, mock); + make_input(component, "/referee/ally/infantry_1_hp", ally_infantry_1_hp, mock); + make_input(component, "/referee/ally/infantry_2_hp", ally_infantry_2_hp, mock); + make_input(component, "/referee/ally/outpost/hp", ally_outpost_hp, mock); + make_input(component, "/referee/ally/base/hp", ally_base_hp, mock); + make_input(component, "/referee/ally/hero_position_x", ally_hero_position_x, mock); + make_input(component, "/referee/ally/hero_position_y", ally_hero_position_y, mock); + make_input(component, "/referee/ally/engineer_position_x", ally_engineer_position_x, mock); + make_input(component, "/referee/ally/engineer_position_y", ally_engineer_position_y, mock); + make_input(component, "/referee/ally/infantry_1_position_x", ally_infantry_1_position_x, mock); + make_input(component, "/referee/ally/infantry_1_position_y", ally_infantry_1_position_y, mock); + make_input(component, "/referee/ally/infantry_2_position_x", ally_infantry_2_position_x, mock); + make_input(component, "/referee/ally/infantry_2_position_y", ally_infantry_2_position_y, mock); make_input(component, "/referee/current_hp", robot_health, mock); make_input(component, "/referee/shooter/bullet_allowance", robot_bullet, mock); + make_input(component, "/referee/shooter/42mm_bullet_allowance", robot_42mm_bullet, mock); + make_input( + component, "/referee/shooter/fortress_17mm_bullet_allowance", + robot_fortress_17mm_bullet, mock); + make_input(component, "/referee/remaining_gold_coin", remaining_gold_coin, mock); + + make_input(component, "/referee/shooter/initial_speed", robot_initial_speed, mock); + make_input(component, "/referee/shooter/shoot_timestamp", robot_shoot_timestamp, mock); + + make_input( + component, "/referee/sentry/can_confirm_free_revive", sentry_can_confirm_free_revive, + mock); + make_input( + component, "/referee/sentry/can_exchange_instant_revive", + sentry_can_exchange_instant_revive, mock); + make_input(component, "/referee/sentry/instant_revive_cost", sentry_instant_revive_cost, mock); + make_input( + component, "/referee/sentry/exchanged_bullet_allowance", sentry_exchanged_bullet, mock); + make_input( + component, "/referee/sentry/remote_bullet_exchange_count", + sentry_remote_bullet_exchange_count, mock); + make_input( + component, "/referee/sentry/exchangeable_bullet_allowance", sentry_exchangeable_bullet, + mock); + make_input(component, "/referee/sentry/mode", sentry_mode, mock); + make_input( + component, "/referee/sentry/energy_mechanism_activatable", + sentry_energy_mechanism_activatable, mock); + + make_input(component, "/remote/switch/right", switch_right, mock); + make_input(component, "/remote/switch/left", switch_left, mock); make_input(component, "/referee/game/red_score", red_score, mock); make_input(component, "/referee/game/blue_score", blue_score, mock); diff --git a/src/cxx/context.hh b/src/cxx/context.hh index ab0a534..c237331 100644 --- a/src/cxx/context.hh +++ b/src/cxx/context.hh @@ -1,6 +1,9 @@ #pragma once #include "util/pimpl.hh" +#include "referee/status/field.hpp" + +#include #include #include #include @@ -21,14 +24,53 @@ public: using InputInterface = rmcs_executor::Component::InputInterface; InputInterface game_stage; + InputInterface stage_remain_time; + InputInterface sync_timestamp; + InputInterface ally_big_energy_activation_status; + InputInterface ally_small_energy_activation_status; + InputInterface ally_fortress_occupation_status; + InputInterface dart_latest_hit_target_total_count; InputInterface robot_id; + InputInterface robot_shooter_cooling; + InputInterface robot_shooter_heat_limit; + InputInterface chassis_power_limit_referee; + InputInterface chassis_power_referee; + InputInterface chassis_buffer_energy_referee; + InputInterface chassis_output_status; + InputInterface robots_hp; + InputInterface ally_hero_hp; + InputInterface ally_engineer_hp; + InputInterface ally_infantry_1_hp; + InputInterface ally_infantry_2_hp; + InputInterface ally_outpost_hp; + InputInterface ally_base_hp; + InputInterface ally_hero_position_x; + InputInterface ally_hero_position_y; + InputInterface ally_engineer_position_x; + InputInterface ally_engineer_position_y; + InputInterface ally_infantry_1_position_x; + InputInterface ally_infantry_1_position_y; + InputInterface ally_infantry_2_position_x; + InputInterface ally_infantry_2_position_y; InputInterface robot_health; InputInterface robot_bullet; + InputInterface robot_42mm_bullet; + InputInterface robot_fortress_17mm_bullet; + InputInterface remaining_gold_coin; + InputInterface robot_initial_speed; + InputInterface robot_shoot_timestamp; + InputInterface sentry_can_confirm_free_revive; + InputInterface sentry_can_exchange_instant_revive; + InputInterface sentry_instant_revive_cost; + InputInterface sentry_exchanged_bullet; + InputInterface sentry_remote_bullet_exchange_count; + InputInterface sentry_exchangeable_bullet; + InputInterface sentry_mode; + InputInterface sentry_energy_mechanism_activatable; InputInterface red_score; InputInterface blue_score; InputInterface switch_right; InputInterface switch_left; - InputInterface chassis_power_limit_referee; explicit Context(rclcpp::Node& node, rmcs_executor::Component& component) noexcept; diff --git a/src/cxx/sim_sidecar.cc b/src/cxx/sim_sidecar.cc new file mode 100644 index 0000000..a26ae85 --- /dev/null +++ b/src/cxx/sim_sidecar.cc @@ -0,0 +1,1694 @@ +/** + * @file sim_sidecar.cc + * @brief RMCS导航系统仿真 + * + * 该文件实现了RMCS导航系统的仿真侧车服务，提供Lua脚本运行时环境、 + * 网络通信接口和状态管理功能，用于在仿真环境中运行导航逻辑。 + * + * @author RMCS Team + * @version 1.0.0 + */ + +#if defined(__clang__) +# pragma clang diagnostic ignored "-Wdeprecated-declarations" +#elif defined(__GNUC__) +# pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace rmcs::navigation::sim { + +/** + * @brief JSON值类型定义 + * + * 支持布尔值、双精度浮点数和字符串三种基本数据类型 + */ +using JsonValue = std::variant; + +/** + * @brief JSON字段定义 + * + * 包含字段名和对应的JSON值 + */ +using JsonField = std::pair; + +/** + * @brief JSON字段集合 + * + * 用于构建JSON对象的字段列表 + */ +using JsonFields = std::vector; + +/** + * @brief 日志级别枚举 + * + * 定义系统日志的严重程度级别 + */ +enum class LogLevel : std::uint8_t { Info, Warn, Error }; + +/** + * @brief 作用域文件描述符管理类 + * + * 提供RAII(资源获取即初始化)机制管理文件描述符， + * 确保文件描述符在作用域结束时自动关闭，避免资源泄漏。 + */ +struct ScopedFd { + int value = -1; + + /// @brief 默认构造函数，创建无效的文件描述符 + ScopedFd() = default; + + /// @brief 显式构造函数，接管现有文件描述符 + /// @param fd 要管理的文件描述符 + explicit ScopedFd(int fd) + : value{fd} {} + + /// @brief 禁用拷贝构造，避免重复关闭文件描述符 + ScopedFd(const ScopedFd&) = delete; + auto operator=(const ScopedFd&) -> ScopedFd& = delete; + + /// @brief 移动构造函数，转移文件描述符所有权 + /// @param rhs 源对象 + ScopedFd(ScopedFd&& rhs) noexcept + : value{std::exchange(rhs.value, -1)} {} + + /// @brief 移动赋值运算符 + /// @param rhs 源对象 + /// @return 当前对象引用 + auto operator=(ScopedFd&& rhs) noexcept -> ScopedFd& { + if (this == &rhs) + return *this; + reset(); + value = std::exchange(rhs.value, -1); + return *this; + } + + /// @brief 析构函数，自动关闭文件描述符 + ~ScopedFd() { reset(); } + + /// @brief 重置文件描述符 + /// @param fd 新的文件描述符，默认为-1（无效） + auto reset(int fd = -1) -> void { + if (value >= 0) { + ::close(value); + } + value = fd; + } + + /// @brief 检查文件描述符是否有效 + /// @return true表示有效，false表示无效 + [[nodiscard]] auto valid() const -> bool { return value >= 0; } +}; + +[[nodiscard]] auto to_string(LogLevel level) -> std::string_view { + switch (level) { + case LogLevel::Info: return "info"; + case LogLevel::Warn: return "warn"; + case LogLevel::Error: return "error"; + default: return "unknown"; + } +} + +[[nodiscard]] auto trim(std::string text) -> std::string { + auto is_space = [](char ch) { return std::isspace(static_cast(ch)); }; + text.erase(text.begin(), std::find_if_not(text.begin(), text.end(), is_space)); + text.erase(std::find_if_not(text.rbegin(), text.rend(), is_space).base(), text.end()); + return text; +} + +[[nodiscard]] auto escape_json(std::string_view text) -> std::string { + auto result = std::string{}; + result.reserve(text.size() + 8); + for (const auto ch : text) { + switch (ch) { + case '\\': result += "\\\\"; break; + case '"': result += "\\\""; break; + case '\b': result += "\\b"; break; + case '\f': result += "\\f"; break; + case '\n': result += "\\n"; break; + case '\r': result += "\\r"; break; + case '\t': result += "\\t"; break; + default: + if (static_cast(ch) < 0x20) { + result += std::format("\\u{:04x}", static_cast(ch)); + } else { + result += ch; + } + break; + } + } + return result; +} + +[[nodiscard]] auto to_json(const JsonFields& fields) -> std::string { + auto result = std::string{"{"}; + for (std::size_t index = 0; index < fields.size(); ++index) { + const auto& [name, value] = fields[index]; + result += std::format("\"{}\":", escape_json(name)); + std::visit( + [&](const auto& entry) { + using T = std::decay_t; + if constexpr (std::is_same_v) { + result += (entry ? "true" : "false"); + } else if constexpr (std::is_same_v) { + if (!std::isfinite(entry)) { + result += "null"; + } else { + result += std::format("{:.8f}", entry); + } + } else if constexpr (std::is_same_v) { + result += std::format("\"{}\"", escape_json(entry)); + } + }, + value); + + if (index + 1 < fields.size()) { + result += ","; + } + } + result += "}"; + return result; +} + +/** + * @brief 递归将YAML节点追加到JSON字符串 + * + * 深度优先遍历YAML数据结构，将其转换为JSON格式字符串 + * 支持映射、序列和标量值的转换 + * + * @param result 目标JSON字符串引用 + * @param node 要转换的YAML节点 + */ +auto append_json_node(std::string& result, const YAML::Node& node) -> void { + if (!node || node.IsNull()) { + result += "null"; + return; + } + + if (node.IsMap()) { + result += "{"; + auto first = true; + for (const auto& entry : node) { + if (!first) { + result += ","; + } + first = false; + + result += std::format("\"{}\":", escape_json(entry.first.as())); + append_json_node(result, entry.second); + } + result += "}"; + return; + } + + if (node.IsSequence()) { + result += "["; + for (auto index = std::size_t{0}; index < node.size(); ++index) { + if (index > 0) { + result += ","; + } + append_json_node(result, node[index]); + } + result += "]"; + return; + } + + if (auto scalar = node.Scalar(); scalar == "true" || scalar == "false") { + result += scalar; + return; + } + + try { + result += std::to_string(node.as()); + return; + } catch (...) { + } + + try { + auto number = node.as(); + if (!std::isfinite(number)) { + result += "null"; + } else { + result += std::format("{:.8f}", number); + } + return; + } catch (...) { + } + + result += std::format("\"{}\"", escape_json(node.as())); +} + +[[nodiscard]] auto to_json(const YAML::Node& node) -> std::string { + auto result = std::string{}; + append_json_node(result, node); + return result; +} + +/** + * @brief 发送带换行符的完整数据行 + * + * 将数据包添加换行符后通过套接字发送，确保完整发送所有数据 + * 使用循环发送机制处理部分发送情况 + * + * @param fd 目标套接字文件描述符 + * @param payload 要发送的数据内容 + * @throws std::runtime_error 当发送失败时抛出 + */ +auto send_line(int fd, std::string_view payload) -> void { + auto packed = std::string{payload}; + packed.push_back('\n'); + + std::size_t offset = 0; + while (offset < packed.size()) { + auto written = ::send(fd, packed.data() + offset, packed.size() - offset, MSG_NOSIGNAL); + if (written <= 0) { + throw std::runtime_error( + std::format("socket send failed: {}", std::strerror(errno))); + } + offset += static_cast(written); + } +} + +/** + * @brief 条件赋值模板函数 + * + * 如果YAML节点中存在指定键且值不为空，则将其转换为目标类型并赋值 + * + * @tparam T 目标类型 + * @param root 根YAML节点 + * @param key 要查找的键名 + * @param target 目标变量引用 + * @param convert 类型转换函数 + */ +template +auto assign_if_present( + const YAML::Node& root, + std::string_view key, + T& target, + const std::function& convert) -> void { + auto value = root[std::string{key}]; + if (!value || value.IsNull()) { + return; + } + target = convert(value); +} + +/** + * @brief 安全标量解析模板函数 + * + * 尝试解析YAML标量值，如果解析失败则返回默认值 + * 提供异常安全的类型转换机制 + * + * @tparam T 目标类型 + * @param node 要解析的YAML节点 + * @param fallback 解析失败时的默认值 + * @param convert 类型转换函数 + * @return T 解析结果或默认值 + */ +template +auto parse_scalar_or( + const YAML::Node& node, const T& fallback, const std::function& convert) + -> T { + try { + return convert(node); + } catch (...) { + return fallback; + } +} + +[[nodiscard]] auto parse_boolean(const YAML::Node& node, bool fallback = false) -> bool { + return parse_scalar_or(node, fallback, [](const YAML::Node& value) { + return value.as(); + }); +} + +[[nodiscard]] auto parse_double(const YAML::Node& node, double fallback = 0.0) -> double { + return parse_scalar_or(node, fallback, [](const YAML::Node& value) { + return value.as(); + }); +} + +[[nodiscard]] auto parse_string(const YAML::Node& node, std::string fallback = {}) -> std::string { + return parse_scalar_or( + node, std::move(fallback), [](const YAML::Node& value) { return value.as(); }); +} + +[[nodiscard]] auto parse_revision(const YAML::Node& node, std::uint64_t fallback = 0) -> std::uint64_t { + if (!node) { + return fallback; + } + + try { + auto value = node.as(); + if (value < 0) { + return fallback; + } + return static_cast(value); + } catch (...) { + } + + try { + auto value = node.as(); + if (!std::isfinite(value) || value < 0) { + return fallback; + } + return static_cast(value); + } catch (...) { + } + + return fallback; +} + +[[nodiscard]] auto to_steady_timeout(std::chrono::steady_clock::time_point deadline) -> int { + auto now = std::chrono::steady_clock::now(); + if (now >= deadline) { + return 0; + } + + auto timeout = std::chrono::duration_cast(deadline - now).count(); + if (timeout < 0) { + return 0; + } + + constexpr auto kMaxPollTimeoutMs = 100; + return static_cast(std::min(timeout, kMaxPollTimeoutMs)); +} + +/** + * @brief 仿真状态数据结构 + * + * 包含用户控制状态和元数据信息，用于描述仿真环境的当前状态 + */ +struct SimState { + /** + * @brief 用户控制状态 + * + * 包含机器人底盘功率限制、位置坐标、朝向角等控制参数 + */ + struct User { + double chassis_power_limit = 0.0; ///< 底盘功率限制(W) + double x = 0.0; ///< X坐标(m) + double y = 0.0; ///< Y坐标(m) + double yaw = 0.0; ///< 偏航角(rad) + std::optional health; ///< 健康值(可选) + std::optional bullet; ///< 子弹数量(可选) + }; + + /** + * @brief 元数据信息 + * + * 包含时间戳等系统级信息 + */ + struct Meta { + double timestamp = 0.0; ///< 时间戳(s) + }; + + /** + * @brief 比赛态仿真状态 + * + * 包含全局比赛对象（基地、前哨站）的生命值， + * 用于驱动比赛策略中的守家和前哨站相关判断。 + */ + struct Game { + std::optional base_health; ///< 基地血量(可选) + std::optional outpost_health; ///< 前哨站血量(可选) + std::optional gold_coin; ///< 队伍金币(可选) + std::optional remaining_time; ///< 比赛剩余时间(可选) + std::optional exchangeable_ammunition_quantity; ///< 可兑换弹药量(可选) + std::optional our_dart_nmber_of_hits; ///< 己方飞镖命中次数(可选) + std::optional fortress_occupied; ///< 己方堡垒是否被占领(可选) + std::optional big_energy_mechanism_activated; ///< 大能量机关是否激活(可选) + std::optional small_energy_mechanism_activated; ///< 小能量机关是否激活(可选) + }; + + User user; ///< 用户控制状态 + Game game; ///< 比赛全局状态 + Meta meta; ///< 元数据信息 +}; + +/** + * @brief 状态覆盖配置结构 + * + * 用于管理状态覆盖功能，支持动态修改仿真状态 + */ +struct OverrideState { + bool enabled = false; ///< 是否启用状态覆盖 + std::uint64_t last_rev = 0; ///< 最后修订版本号 + std::optional patch; ///< 状态补丁配置 +}; + +/** + * @brief Lua运行时环境管理类 + * + * 负责管理Lua脚本的执行环境，包括脚本加载、函数调用、 + * 状态同步和错误处理等功能。 + */ +class LuaRuntime { +private: + using EmitFn = std::function; ///< 事件发射函数类型 + using LogFn = std::function; ///< 日志记录函数类型 + + std::unique_ptr lua; ///< Lua状态机实例 + sol::table blackboard; ///< 共享数据黑板 + sol::protected_function on_init; ///< 初始化回调函数 + sol::protected_function on_tick; ///< 定时回调函数 + sol::protected_function on_exit; ///< 退出回调函数 + sol::protected_function on_control; ///< 控制输入回调函数 + sol::protected_function blackboard_snapshot; ///< 黑板快照函数 + + EmitFn emit; ///< 事件发射器 + LogFn log; ///< 日志记录器 + bool closed = false; ///< 运行时是否已关闭 + + /** + * @brief 解包Lua函数调用结果 + * + * 检查Lua函数调用是否成功，如果失败则抛出异常并包含错误信息 + * + * @tparam Result 结果类型 + * @param result Lua函数调用结果 + * @param message 错误消息前缀 + * @return Result 解包后的结果 + * @throws std::runtime_error 当Lua函数调用失败时抛出 + */ + template + auto unwrap_result(Result&& result, std::string_view message) -> Result { + if (!result.valid()) { + auto error = result.template get(); + throw std::runtime_error(std::format("{}: {}", message, error.what())); + } + return result; + } + + /** + * @brief 发射日志事件 + * + * 将日志消息同时发送到本地日志系统和远程客户端 + * + * @param level 日志级别 + * @param message 日志消息内容 + */ + auto emit_log(LogLevel level, const std::string& message) -> void { + log(level, message); + emit(JsonFields{ + {"type", std::string{"sim.log"}}, + {"level", std::string{to_string(level)}}, + {"message", message}, + }); + } + + /** + * @brief 设置Lua包搜索路径 + * + * 配置Lua模块搜索路径，确保能够正确加载项目中的Lua脚本 + * + * @param lua_root Lua脚本根目录路径 + */ + auto set_package_path(const std::string& lua_root) -> void { + auto package = (*lua)["package"].get(); + auto package_path = package["path"].get_or(std::string{}); + package["path"] = std::format( + "{};{}/?.lua;{}/?/init.lua", package_path, lua_root, lua_root); + } + + /** + * @brief 将YAML节点转换为Lua对象 + * + * 递归地将YAML数据结构转换为对应的Lua数据类型， + * 支持映射、序列和标量值的转换 + * + * @param node YAML节点 + * @return sol::object 对应的Lua对象 + */ + [[nodiscard]] auto yaml_to_lua_object(const YAML::Node& node) -> sol::object { + if (!node || node.IsNull()) { + return sol::make_object(*lua, sol::lua_nil); + } + + if (node.IsMap()) { + auto table = lua->create_table(); + apply_table_patch(table, node); + return sol::make_object(*lua, table); + } + + if (node.IsSequence()) { + auto table = lua->create_table(static_cast(node.size()), 0); + for (auto index = std::size_t{0}; index < node.size(); ++index) { + table[index + 1] = yaml_to_lua_object(node[index]); + } + return sol::make_object(*lua, table); + } + + if (auto scalar = node.Scalar(); scalar == "true" || scalar == "false") { + return sol::make_object(*lua, scalar == "true"); + } + + try { + return sol::make_object(*lua, node.as()); + } catch (...) { + } + + try { + return sol::make_object(*lua, node.as()); + } catch (...) { + } + + return sol::make_object(*lua, node.as()); + } + + /** + * @brief 应用表格补丁 + * + * 递归地将YAML补丁应用到Lua表格中，支持嵌套结构的深度合并 + * + * @param table 目标Lua表格 + * @param patch YAML补丁配置 + */ + auto apply_table_patch(sol::table table, const YAML::Node& patch) -> void { + if (!patch || !patch.IsMap()) { + return; + } + + for (const auto& entry : patch) { + auto key = entry.first.as(); + auto value = entry.second; + if (!value || value.IsNull()) { + table[key] = sol::lua_nil; + continue; + } + + if (value.IsMap()) { + auto existing = table[key].get_or(sol::object{}); + if (existing.valid() && existing.get_type() == sol::type::table) { + apply_table_patch(existing.as(), value); + } else { + auto nested = lua->create_table(); + apply_table_patch(nested, value); + table[key] = nested; + } + continue; + } + + table[key] = yaml_to_lua_object(value); + } + } + + /** + * @brief 判断Lua表格是否为数组 + * + * 检查Lua表格是否具有连续的整数键（从1开始）， + * 用于确定应该将表格转换为YAML序列还是映射 + * + * @param table 要检查的Lua表格 + * @return true 表格是数组，false 表格是映射 + */ + [[nodiscard]] auto lua_table_is_array(sol::table table) -> bool { + auto count = std::size_t{0}; + auto has_entries = false; + for (const auto& entry : table) { + has_entries = true; + if (!entry.first.is()) { + return false; + } + + auto numeric_key = entry.first.as(); + auto integer_key = static_cast(numeric_key); + if (numeric_key != static_cast(integer_key) || integer_key == 0) { + return false; + } + + count = std::max(count, integer_key); + } + + if (!has_entries) { + return false; + } + + for (auto index = std::size_t{1}; index <= count; ++index) { + auto value = table[static_cast(index)].get_or(sol::object{}); + if (!value.valid() || value == sol::lua_nil) { + return false; + } + } + + return true; + } + + /** + * @brief 将Lua对象转换为YAML节点 + * + * 递归地将Lua数据类型转换为对应的YAML数据结构， + * 支持nil、布尔值、数字、字符串和表格的转换 + * + * @param object Lua对象 + * @return YAML::Node 对应的YAML节点 + */ + [[nodiscard]] auto lua_to_yaml(const sol::object& object) -> YAML::Node { + switch (object.get_type()) { + case sol::type::lua_nil: return YAML::Node{}; + case sol::type::boolean: return YAML::Node{object.as()}; + case sol::type::number: return YAML::Node{object.as()}; + case sol::type::string: return YAML::Node{object.as()}; + case sol::type::table: { + auto table = object.as(); + if (lua_table_is_array(table)) { + auto sequence = YAML::Node{YAML::NodeType::Sequence}; + auto count = std::size_t{0}; + for (const auto& entry : table) { + count = std::max(count, static_cast(entry.first.as())); + } + for (auto index = std::size_t{1}; index <= count; ++index) { + sequence.push_back(lua_to_yaml(table[static_cast(index)].get())); + } + return sequence; + } + + auto mapping = YAML::Node{YAML::NodeType::Map}; + for (const auto& entry : table) { + if (!entry.first.is()) { + continue; + } + + mapping[entry.first.as()] = lua_to_yaml(entry.second.as()); + } + return mapping; + } + default: return YAML::Node{}; + } + } + + /** + * @brief 注入API函数到Lua环境 + * + * 将C++实现的API函数注册到Lua环境中，供Lua脚本调用 + * 包括日志记录、导航控制、底盘控制等功能 + */ + auto inject_api() -> void { + auto api_result = unwrap_result( + lua->safe_script("return require('api')", sol::script_pass_on_error), + "failed to load api"); + + auto api = api_result.get(); + api.set_function("info", [this](const std::string& text) { emit_log(LogLevel::Info, text); }); + api.set_function("warn", [this](const std::string& text) { emit_log(LogLevel::Warn, text); }); + api.set_function("fuck", [this](const std::string& text) { emit_log(LogLevel::Error, text); }); + + api.set_function("send_target", [this](double x, double y) { + emit(JsonFields{ + {"type", std::string{"sim.nav_target"}}, + {"x", x}, + {"y", y}, + }); + }); + api.set_function("update_gimbal_direction", [this](double angle) { + emit(JsonFields{ + {"type", std::string{"sim.gimbal_direction"}}, + {"angle", angle}, + }); + }); + api.set_function("update_gimbal_dominator", [this](const std::string& name) { + emit(JsonFields{ + {"type", std::string{"sim.gimbal_dominator"}}, + {"name", name}, + }); + }); + api.set_function("update_chassis_mode", [this](const std::string& mode) { + emit(JsonFields{ + {"type", std::string{"sim.chassis_mode"}}, + {"mode", mode}, + }); + }); + api.set_function("update_chassis_vel", [this](double x, double y) { + emit(JsonFields{ + {"type", std::string{"sim.chassis_vel"}}, + {"x", x}, + {"y", y}, + }); + }); + + // Sidecar mode: keep these entry points but avoid touching ROS processes. + api.set_function("switch_topic_forward", [this](bool enable) { + emit_log(LogLevel::Info, std::format("switch_topic_forward no-op: {}", enable)); + }); + api.set_function("restart_navigation", [this](const sol::table&) { + emit_log(LogLevel::Info, "restart_navigation no-op in sim mode"); + return std::tuple{true, std::string{"ok"}}; + }); + api.set_function("stop_navigation", [this]() { + emit_log(LogLevel::Info, "stop_navigation no-op in sim mode"); + return std::tuple{true, std::string{"ok"}}; + }); + } + + auto inject_option(const std::optional& option_patch) -> void { + auto option_result = unwrap_result( + lua->safe_script("return require('option')", sol::script_pass_on_error), + "failed to load option"); + auto option = option_result.get(); + + option["decision"] = std::string{"auxiliary"}; + option["enable_goal_topic_forward"] = false; + option["sim_mode"] = true; + + if (option_patch && option_patch->IsMap()) { + apply_table_patch(option, *option_patch); + } + } + +public: + /** + * @brief LuaRuntime构造函数 + * + * 初始化Lua运行时环境，加载必要的库、配置包路径、注入API函数， + * 并加载指定的Lua端点脚本 + * + * @param lua_root Lua脚本根目录路径 + * @param endpoint 要加载的Lua端点名称 + * @param emit_action 事件发射函数 + * @param log_action 日志记录函数 + * @param option_patch 可选配置补丁 + * @throws std::runtime_error 当Lua环境初始化失败时抛出 + */ + + explicit LuaRuntime( + const std::string& lua_root, + const std::string& endpoint, + EmitFn emit_action, + LogFn log_action, + std::optional option_patch = std::nullopt) + : lua{std::make_unique()} + , emit{std::move(emit_action)} + , log{std::move(log_action)} { + lua->open_libraries( + sol::lib::base, sol::lib::coroutine, sol::lib::math, sol::lib::os, sol::lib::package, + sol::lib::string, sol::lib::table, sol::lib::debug, sol::lib::io); + + set_package_path(lua_root); + inject_api(); + inject_option(option_patch); + + auto required = std::format("require('endpoint.{}')", endpoint); + auto endpoint_result = unwrap_result( + lua->safe_script(required, sol::script_pass_on_error), + "failed to load endpoint"); + (void)endpoint_result; + + auto blackboard_sync_result = unwrap_result( + lua->safe_script("return require('blackboard_sync')", sol::script_pass_on_error), + "failed to load blackboard_sync"); + auto blackboard_sync = blackboard_sync_result.get(); + + blackboard = (*lua)["blackboard"]; + on_init = (*lua)["on_init"]; + on_tick = (*lua)["on_tick"]; + if (!on_init.valid() || !on_tick.valid()) { + throw std::runtime_error("lua endpoint must define on_init() and on_tick()"); + } + + on_exit = (*lua)["on_exit"]; + if (on_exit == sol::lua_nil) { + on_exit = lua->safe_script("return function() end", sol::script_pass_on_error); + } + on_control = (*lua)["on_control"]; + if (on_control == sol::lua_nil) { + on_control = lua->safe_script("return function(_, _, _) end", sol::script_pass_on_error); + } + + blackboard_snapshot = blackboard_sync["snapshot"]; + if (!blackboard_snapshot.valid()) { + throw std::runtime_error("blackboard_sync must define snapshot()"); + } + + unwrap_result(on_init(), "lua on_init failed"); + emit_log(LogLevel::Info, "lua runtime initialized"); + } + + /// @brief 析构函数，自动关闭Lua运行时 + ~LuaRuntime() { close(); } + + /** + * @brief 关闭Lua运行时 + * + * 执行清理操作，调用Lua端点的on_exit函数， + * 确保资源正确释放，避免内存泄漏 + */ + auto close() -> void { + if (closed) { + return; + } + closed = true; + try { + unwrap_result(on_exit(), "lua on_exit failed"); + } catch (const std::exception& exception) { + emit_log(LogLevel::Error, std::format("on_exit failed: {}", exception.what())); + } + } + + /** + * @brief 应用仿真状态到Lua黑板 + * + * 将C++端的仿真状态同步到Lua运行时的共享数据黑板， + * 支持可选字段的健康值和子弹数量更新 + * + * @param state 要应用的仿真状态 + */ + + auto apply_state(const SimState& state) -> void { + auto user = blackboard["user"].get(); + user["chassis_power_limit"] = state.user.chassis_power_limit; + user["x"] = state.user.x; + user["y"] = state.user.y; + user["yaw"] = state.user.yaw; + if (state.user.health) { + user["health"] = *state.user.health; + } + if (state.user.bullet) { + user["bullet"] = *state.user.bullet; + } + + auto game = blackboard["game"].get(); + if (state.game.base_health) { + game["base_health"] = *state.game.base_health; + } + if (state.game.outpost_health) { + game["outpost_health"] = *state.game.outpost_health; + } + if (state.game.gold_coin) { + game["gold_coin"] = *state.game.gold_coin; + } + if (state.game.remaining_time) { + game["remaining_time"] = *state.game.remaining_time; + } + if (state.game.exchangeable_ammunition_quantity) { + game["exchangeable_ammunition_quantity"] = *state.game.exchangeable_ammunition_quantity; + } + if (state.game.our_dart_nmber_of_hits) { + game["our_dart_nmber_of_hits"] = *state.game.our_dart_nmber_of_hits; + } + if (state.game.fortress_occupied) { + game["fortress_occupied"] = *state.game.fortress_occupied; + } + if (state.game.big_energy_mechanism_activated) { + game["big_energy_mechanism_activated"] = *state.game.big_energy_mechanism_activated; + } + if (state.game.small_energy_mechanism_activated) { + game["small_energy_mechanism_activated"] = + *state.game.small_energy_mechanism_activated; + } + + auto meta = blackboard["meta"].get(); + meta["timestamp"] = state.meta.timestamp; + } + + /** + * @brief 应用状态覆盖补丁 + * + * 将YAML格式的状态覆盖补丁应用到Lua黑板， + * 支持动态修改仿真状态参数 + * + * @param patch 状态覆盖补丁 + */ + + auto apply_override_patch(const YAML::Node& patch) -> void { + apply_table_patch(blackboard, patch); + } + + /** + * @brief 获取Lua黑板快照 + * + * 调用Lua端的快照函数，将当前黑板状态转换为YAML格式， + * 用于状态报告和决策状态构建 + * + * @return YAML::Node 黑板状态快照 + * @throws std::runtime_error 当快照操作失败时抛出 + */ + [[nodiscard]] auto snapshot_blackboard() -> YAML::Node { + auto result = unwrap_result(blackboard_snapshot(), "lua blackboard snapshot failed"); + return lua_to_yaml(result.get()); + } + + /** + * @brief 执行定时回调 + * + * 调用Lua端点的on_tick函数，执行周期性的逻辑处理， + * 这是仿真循环的核心执行点 + * + * @throws std::runtime_error 当定时回调执行失败时抛出 + */ + + auto tick() -> void { unwrap_result(on_tick(), "lua on_tick failed"); } + + /** + * @brief 输入控制命令 + * + * 将控制输入传递给Lua端点，用于处理底盘速度控制等命令 + * + * @param vx X方向速度 + * @param vy Y方向速度 + * @param qx 旋转控制参数 + * @throws std::runtime_error 当控制命令处理失败时抛出 + */ + + auto feed_control(double vx, double vy, double qx) -> void { + unwrap_result(on_control(vx, vy, qx), "lua on_control failed"); + } + + /** + * @brief 调用仿真目标设置函数 + * + * 如果Lua端点定义了on_sim_set_target函数，则调用该函数设置目标位置 + * + * @param x 目标X坐标 + * @param y 目标Y坐标 + */ + auto call_sim_set_target(double x, double y) -> void { + auto function = (*lua)["on_sim_set_target"]; + if (!function.valid() || function.get_type() != sol::type::function) { + return; + } + auto callback = function.get(); + unwrap_result(callback(x, y), "lua on_sim_set_target failed"); + } + + /** + * @brief 调用仿真启动函数 + * + * 如果Lua端点定义了on_sim_start函数，则调用该函数启动仿真， + * 支持可选的目标位置参数 + * + * @param x 可选的目标X坐标 + * @param y 可选的目标Y坐标 + */ + auto call_sim_start(const std::optional& x, const std::optional& y) -> void { + auto function = (*lua)["on_sim_start"]; + if (!function.valid() || function.get_type() != sol::type::function) { + return; + } + auto callback = function.get(); + if (x && y) { + unwrap_result(callback(*x, *y), "lua on_sim_start failed"); + return; + } + + unwrap_result(callback(sol::lua_nil, sol::lua_nil), "lua on_sim_start failed"); + } +}; + +/** + * @brief 命令行参数结构 + * + * 存储仿真侧车服务的运行配置参数 + */ +struct Args { + std::string host = "0.0.0.0"; ///< 服务器绑定主机地址 + int port = 34567; ///< 服务器绑定端口号 + std::string endpoint = "train-decision"; ///< Lua端点名称 + std::string lua_root = RMCS_NAVIGATION_SOURCE_DIR "/src/lua"; ///< Lua脚本根目录 + double tick_hz = 10.0; ///< 定时器频率(Hz) + int state_timeout_ms = 500; ///< 状态超时时间(毫秒) + std::optional option_file; ///< 可选配置文件路径 +}; + +[[nodiscard]] auto parse_args(int argc, char** argv) -> Args { + auto args = Args{}; + for (auto index = 1; index < argc; ++index) { + auto token = std::string_view{argv[index]}; + auto take_next = [&](std::string_view name) { + if (index + 1 >= argc) { + throw std::runtime_error(std::format("{} requires a value", name)); + } + ++index; + return std::string{argv[index]}; + }; + + if (token == "--host") { + args.host = take_next(token); + } else if (token == "--port") { + args.port = std::stoi(take_next(token)); + } else if (token == "--endpoint") { + args.endpoint = take_next(token); + } else if (token == "--lua-root") { + args.lua_root = take_next(token); + } else if (token == "--tick-hz") { + args.tick_hz = std::stod(take_next(token)); + } else if (token == "--state-timeout-ms") { + args.state_timeout_ms = std::stoi(take_next(token)); + } else if (token == "--option-file") { + args.option_file = take_next(token); + } else if (token == "--help" || token == "-h") { + std::cout + << "rmcs-navigation-sim-sidecar\n" + << " --host (default: 0.0.0.0)\n" + << " --port (default: 34567)\n" + << " --endpoint (default: train-decision)\n" + << " --lua-root (default: /src/lua)\n" + << " --tick-hz (default: 10)\n" + << " --state-timeout-ms (default: 500)\n" + << " --option-file \n"; + std::exit(0); + } else { + throw std::runtime_error(std::format("unknown argument: {}", token)); + } + } + + if (args.port <= 0 || args.port > 65535) { + throw std::runtime_error("port must be between 1 and 65535"); + } + if (!(args.tick_hz > 0.0)) { + throw std::runtime_error("tick-hz must be > 0"); + } + if (args.state_timeout_ms < 0) { + throw std::runtime_error("state-timeout-ms must be >= 0"); + } + + return args; +} + +[[nodiscard]] auto create_server_socket(const std::string& host, int port) -> ScopedFd { + auto hints = addrinfo{}; + hints.ai_family = AF_UNSPEC; + hints.ai_socktype = SOCK_STREAM; + hints.ai_flags = AI_PASSIVE; + + auto service = std::to_string(port); + addrinfo* result = nullptr; + auto ret = ::getaddrinfo(host.c_str(), service.c_str(), &hints, &result); + if (ret != 0) { + throw std::runtime_error(std::format("getaddrinfo failed: {}", gai_strerror(ret))); + } + + auto cleanup = std::unique_ptr{result, ::freeaddrinfo}; + for (auto* it = result; it != nullptr; it = it->ai_next) { + auto fd = ScopedFd{::socket(it->ai_family, it->ai_socktype, it->ai_protocol)}; + if (!fd.valid()) { + continue; + } + + int enable = 1; + ::setsockopt(fd.value, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable)); + + if (::bind(fd.value, it->ai_addr, it->ai_addrlen) != 0) { + continue; + } + + if (::listen(fd.value, 1) != 0) { + continue; + } + + return fd; + } + + throw std::runtime_error("failed to bind server socket"); +} + +/** + * @brief 从YAML负载更新仿真状态 + * + * 解析接收到的YAML消息，更新用户状态和元数据 + * 支持可选字段的健康值和子弹数量更新 + * + * @param root 接收到的YAML根节点 + * @param state 要更新的仿真状态引用 + */ +auto update_state_from_payload(const YAML::Node& root, SimState& state) -> void { + auto user = root["user"]; + if (user && user.IsMap()) { + assign_if_present( + user, + "chassis_power_limit", + state.user.chassis_power_limit, + [](const YAML::Node& node) { return parse_double(node); }); + assign_if_present(user, "x", state.user.x, [](const YAML::Node& node) { + return parse_double(node); + }); + assign_if_present(user, "y", state.user.y, [](const YAML::Node& node) { + return parse_double(node); + }); + assign_if_present(user, "yaw", state.user.yaw, [](const YAML::Node& node) { + return parse_double(node); + }); + if (user["health"] && !user["health"].IsNull()) { + state.user.health = parse_double(user["health"]); + } + if (user["bullet"] && !user["bullet"].IsNull()) { + state.user.bullet = parse_double(user["bullet"]); + } + } + + auto game = root["game"]; + if (game && game.IsMap()) { + if (game["base_health"] && !game["base_health"].IsNull()) { + state.game.base_health = parse_double(game["base_health"]); + } + if (game["outpost_health"] && !game["outpost_health"].IsNull()) { + state.game.outpost_health = parse_double(game["outpost_health"]); + } + if (game["gold_coin"] && !game["gold_coin"].IsNull()) { + state.game.gold_coin = parse_double(game["gold_coin"]); + } + if (game["remaining_time"] && !game["remaining_time"].IsNull()) { + state.game.remaining_time = parse_double(game["remaining_time"]); + } + if (game["exchangeable_ammunition_quantity"] + && !game["exchangeable_ammunition_quantity"].IsNull()) { + state.game.exchangeable_ammunition_quantity = + parse_double(game["exchangeable_ammunition_quantity"]); + } + if (game["our_dart_nmber_of_hits"] && !game["our_dart_nmber_of_hits"].IsNull()) { + state.game.our_dart_nmber_of_hits = parse_double(game["our_dart_nmber_of_hits"]); + } + if (game["fortress_occupied"] && !game["fortress_occupied"].IsNull()) { + state.game.fortress_occupied = parse_boolean(game["fortress_occupied"]); + } + if (game["big_energy_mechanism_activated"] + && !game["big_energy_mechanism_activated"].IsNull()) { + state.game.big_energy_mechanism_activated = + parse_boolean(game["big_energy_mechanism_activated"]); + } + if (game["small_energy_mechanism_activated"] + && !game["small_energy_mechanism_activated"].IsNull()) { + state.game.small_energy_mechanism_activated = + parse_boolean(game["small_energy_mechanism_activated"]); + } + } + + auto meta = root["meta"]; + if (meta && meta.IsMap()) { + assign_if_present( + meta, + "timestamp", + state.meta.timestamp, + [](const YAML::Node& node) { return parse_double(node); }); + } +} + +/** + * @brief 检查YAML节点是否包含有效条目 + * + * 验证节点是否为非空映射，用于判断是否需要进行进一步处理 + * + * @param node 要检查的YAML节点 + * @return true 节点包含有效条目，false 节点为空或无效 + */ +[[nodiscard]] auto has_entries(const YAML::Node& node) -> bool { + return node && node.IsMap() && node.size() > 0; +} + +/** + * @brief 过滤状态覆盖补丁 + * + * 从完整的覆盖补丁中提取允许修改的字段， + * 限制客户端只能修改特定的状态字段，确保系统安全性 + * + * @param patch 原始覆盖补丁 + * @return YAML::Node 过滤后的安全补丁 + */ +[[nodiscard]] auto filter_override_patch(const YAML::Node& patch) -> YAML::Node { + auto result = YAML::Node{YAML::NodeType::Map}; + if (!patch || !patch.IsMap()) { + return result; + } + + auto user = patch["user"]; + if (user && user.IsMap()) { + auto filtered_user = YAML::Node{YAML::NodeType::Map}; + if (user["health"]) { + filtered_user["health"] = user["health"]; + } + if (user["bullet"]) { + filtered_user["bullet"] = user["bullet"]; + } + if (has_entries(filtered_user)) { + result["user"] = filtered_user; + } + } + + auto game = patch["game"]; + if (game && game.IsMap()) { + auto filtered_game = YAML::Node{YAML::NodeType::Map}; + if (game["stage"]) + filtered_game["stage"] = game["stage"]; + if (game["remaining_time"]) + filtered_game["remaining_time"] = game["remaining_time"]; + if (game["our_dart_nmber_of_hits"]) + filtered_game["our_dart_nmber_of_hits"] = game["our_dart_nmber_of_hits"]; + if (game["fortress_occupied"]) + filtered_game["fortress_occupied"] = game["fortress_occupied"]; + if (game["big_energy_mechanism_activated"]) + filtered_game["big_energy_mechanism_activated"] = + game["big_energy_mechanism_activated"]; + if (game["small_energy_mechanism_activated"]) + filtered_game["small_energy_mechanism_activated"] = + game["small_energy_mechanism_activated"]; + if (has_entries(filtered_game)) + result["game"] = filtered_game; + } + + auto play = patch["play"]; + if (play && play.IsMap()) { + auto filtered_play = YAML::Node{YAML::NodeType::Map}; + if (play["rswitch"]) { + filtered_play["rswitch"] = play["rswitch"]; + } + if (play["lswitch"]) { + filtered_play["lswitch"] = play["lswitch"]; + } + if (has_entries(filtered_play)) { + result["play"] = filtered_play; + } + } + + return result; +} + +/** + * @brief 构建决策状态快照 + * + * 从完整的Lua黑板快照中提取决策相关的关键状态信息， + * 用于向客户端报告当前决策状态和任务进度 + * + * @param snapshot Lua黑板完整快照 + * @return YAML::Node 精简的决策状态信息 + */ +[[nodiscard]] auto build_decision_state(const YAML::Node& snapshot) -> YAML::Node { + auto state = YAML::Node{YAML::NodeType::Map}; + + auto meta = snapshot["meta"]; + if (meta && meta.IsMap() && meta["fsm_state"]) { + state["fsm_state"] = meta["fsm_state"]; + } + + auto result = snapshot["result"]; + if (result && result.IsMap()) { + if (result["intent"]) { + state["intent"] = result["intent"]; + } + if (result["task"]) { + state["task"] = result["task"]; + } + if (result["progress"]) { + state["progress"] = result["progress"]; + } + if (result["last_reason"]) { + state["last_reason"] = result["last_reason"]; + } + if (result["job_done"]) { + state["job_done"] = result["job_done"]; + } + if (result["job_success"]) { + state["job_success"] = result["job_success"]; + } + } + + auto game = snapshot["game"]; + if (game && game.IsMap() && game["stage"]) { + state["stage"] = game["stage"]; + } + + auto user = snapshot["user"]; + if (user && user.IsMap()) { + if (user["health"]) { + state["health"] = user["health"]; + } + if (user["bullet"]) { + state["bullet"] = user["bullet"]; + } + } + + return state; +} + +struct ClientRuntime { + SimState state; + OverrideState override_state; + bool has_input = false; + bool has_initial_remaining_time = false; + bool waiting_for_initial_remaining_time_logged = false; + std::chrono::steady_clock::time_point last_input_time = std::chrono::steady_clock::now(); +}; + +/** + * @brief 处理客户端消息 + * + * 根据消息类型分发处理逻辑，支持状态更新、控制输入、 + * 状态覆盖和仿真控制等不同类型的消息 + * + * @param runtime Lua运行时环境 + * @param root 接收到的消息根节点 + * @param context 客户端运行时上下文 + * @param log 日志记录函数 + */ +auto process_message( + LuaRuntime& runtime, + const YAML::Node& root, + ClientRuntime& context, + const std::function& log) -> void { + auto type_node = root["type"]; + if (!type_node) { + log(LogLevel::Warn, "received message without type"); + return; + } + + auto type = parse_string(type_node); + auto now = std::chrono::steady_clock::now(); + + if (type == "sim.hello") { + log(LogLevel::Info, "client hello"); + return; + } + + if (type == "sim.input") { + auto payload = root["input"]; + if (!payload || !payload.IsMap()) { + payload = root; + } + + update_state_from_payload(payload, context.state); + if (context.state.game.remaining_time.has_value()) { + context.has_initial_remaining_time = true; + context.waiting_for_initial_remaining_time_logged = false; + } + + auto control = payload["control"]; + if (control && control.IsMap()) { + auto vx = parse_double(control["vx"], 0.0); + auto vy = parse_double(control["vy"], 0.0); + auto qx = parse_double(control["qx"], 0.0); + runtime.feed_control(vx, vy, qx); + } + + context.has_input = true; + context.last_input_time = now; + return; + } + + if (type == "sim.override_mode") { + context.override_state.enabled = parse_boolean(root["enabled"], false); + if (!context.override_state.enabled) { + context.override_state.patch.reset(); + } + + log( + LogLevel::Info, + std::format("override mode -> {}", context.override_state.enabled ? "enabled" : "disabled")); + + context.has_input = true; + context.last_input_time = now; + return; + } + + if (type == "sim.override_patch") { + if (!root["rev"]) { + log(LogLevel::Warn, "override patch missing rev"); + return; + } + + auto rev = parse_revision(root["rev"], 0); + if (rev <= context.override_state.last_rev) { + log(LogLevel::Warn, std::format("ignored stale override patch rev={}", rev)); + return; + } + + auto patch = root["patch"]; + if (!patch || !patch.IsMap()) { + log(LogLevel::Warn, std::format("override patch rev={} missing patch map", rev)); + context.override_state.last_rev = rev; + return; + } + + auto filtered = filter_override_patch(patch); + context.override_state.last_rev = rev; + + if (!has_entries(filtered)) { + log(LogLevel::Warn, std::format("override patch rev={} has no writable fields", rev)); + return; + } + + if (!context.override_state.enabled) { + context.override_state.patch.reset(); + log(LogLevel::Warn, std::format("override patch rev={} ignored while mode disabled", rev)); + return; + } + + context.override_state.patch = filtered; + context.has_input = true; + context.last_input_time = now; + return; + } + + if (type == "sim.command") { + auto command = parse_string(root["command"]); + if (command == "start_decision") { + auto x = std::optional{}; + auto y = std::optional{}; + if (root["x"]) { + x = parse_double(root["x"], 0.0); + } + if (root["y"]) { + y = parse_double(root["y"], 0.0); + } + runtime.call_sim_start(x, y); + context.has_input = true; + context.last_input_time = now; + return; + } + + if (command == "set_target") { + auto x = parse_double(root["x"], 0.0); + auto y = parse_double(root["y"], 0.0); + runtime.call_sim_set_target(x, y); + return; + } + + log(LogLevel::Warn, std::format("unknown sim.command: {}", command)); + return; + } + + log(LogLevel::Warn, std::format("unknown message type: {}", type)); +} + +auto handle_client(const Args& args, int client_fd) -> void { + auto context = ClientRuntime{}; + auto input_is_stale = false; + auto input_buffer = std::string{}; + auto bb_rev = std::uint64_t{0}; + + auto write_message = [client_fd](const JsonFields& fields) { + auto payload = to_json(fields); + send_line(client_fd, payload); + }; + + auto logger = [&](LogLevel level, const std::string& message) { + std::cerr << std::format("[sim-sidecar][{}] {}\n", to_string(level), message); + }; + + auto option_patch = std::optional{}; + if (args.option_file) { + option_patch = YAML::LoadFile(*args.option_file); + } + + auto runtime = LuaRuntime{ + args.lua_root, + args.endpoint, + write_message, + logger, + option_patch, + }; + + auto emit_runtime_state = [&]() { + auto snapshot = runtime.snapshot_blackboard(); + ++bb_rev; + + auto blackboard_msg = YAML::Node{YAML::NodeType::Map}; + blackboard_msg["type"] = "sim.blackboard"; + blackboard_msg["bb_rev"] = static_cast(bb_rev); + blackboard_msg["blackboard"] = snapshot; + send_line(client_fd, to_json(blackboard_msg)); + + auto decision_msg = YAML::Node{YAML::NodeType::Map}; + decision_msg["type"] = "sim.decision_state"; + decision_msg["bb_rev"] = static_cast(bb_rev); + decision_msg["state"] = build_decision_state(snapshot); + send_line(client_fd, to_json(decision_msg)); + }; + + emit_runtime_state(); + + auto period = + std::chrono::duration_cast( + std::chrono::duration{1.0 / args.tick_hz}); + auto next_tick = std::chrono::steady_clock::now() + period; + + while (true) { + auto timeout = to_steady_timeout(next_tick); + auto fd = pollfd{ + .fd = client_fd, + .events = POLLIN, + .revents = 0, + }; + auto result = ::poll(&fd, 1, timeout); + if (result < 0) { + if (errno == EINTR) { + continue; + } + throw std::runtime_error(std::format("poll failed: {}", std::strerror(errno))); + } + + if ((fd.revents & POLLIN) != 0) { + auto chunk = std::array{}; + auto recv_size = ::recv(client_fd, chunk.data(), chunk.size(), 0); + if (recv_size <= 0) { + return; + } + + input_buffer.append(chunk.data(), static_cast(recv_size)); + while (true) { + auto pos = input_buffer.find('\n'); + if (pos == std::string::npos) { + break; + } + + auto line = trim(input_buffer.substr(0, pos)); + input_buffer.erase(0, pos + 1); + if (line.empty()) { + continue; + } + + try { + auto message = YAML::Load(line); + if (!message || !message.IsMap()) { + logger(LogLevel::Warn, "ignored non-object message"); + continue; + } + process_message(runtime, message, context, logger); + } catch (const std::exception& exception) { + logger(LogLevel::Warn, std::format("invalid message: {}", exception.what())); + } + } + } + + auto now = std::chrono::steady_clock::now(); + if (now < next_tick) { + continue; + } + + while (next_tick <= now) { + next_tick += period; + } + + if (!context.has_input) { + continue; + } + + auto stale_duration = std::chrono::milliseconds{args.state_timeout_ms}; + if ((now - context.last_input_time) > stale_duration) { + if (!input_is_stale) { + input_is_stale = true; + logger( + LogLevel::Warn, + std::format("input timeout > {}ms, tick paused", args.state_timeout_ms)); + } + continue; + } + + if (input_is_stale) { + input_is_stale = false; + logger(LogLevel::Info, "input stream resumed"); + } + + runtime.apply_state(context.state); + if (context.override_state.enabled && context.override_state.patch && context.override_state.patch->IsMap()) { + runtime.apply_override_patch(*context.override_state.patch); + } + + auto blackboard_snapshot = runtime.snapshot_blackboard(); + auto game = blackboard_snapshot["game"]; + auto stage = parse_string(game["stage"], "UNKNOWN"); + if (stage == "STARTED" && !context.has_initial_remaining_time) { + if (!context.waiting_for_initial_remaining_time_logged) { + context.waiting_for_initial_remaining_time_logged = true; + logger( + LogLevel::Info, + "waiting for initial game.remaining_time before STARTED tick"); + } + emit_runtime_state(); + continue; + } + + runtime.tick(); + + if (context.override_state.enabled && context.override_state.patch && context.override_state.patch->IsMap()) { + runtime.apply_override_patch(*context.override_state.patch); + } + + emit_runtime_state(); + } +} + +auto run(const Args& args) -> int { + auto server = create_server_socket(args.host, args.port); + std::cerr << std::format( + "[sim-sidecar][info] listening on {}:{}, endpoint={}\n", + args.host, + args.port, + args.endpoint); + + while (true) { + auto client = ScopedFd{::accept(server.value, nullptr, nullptr)}; + if (!client.valid()) { + if (errno == EINTR) { + continue; + } + throw std::runtime_error(std::format("accept failed: {}", std::strerror(errno))); + } + + std::cerr << "[sim-sidecar][info] client connected\n"; + try { + handle_client(args, client.value); + } catch (const std::exception& exception) { + std::cerr << std::format("[sim-sidecar][error] client failed: {}\n", exception.what()); + } + std::cerr << "[sim-sidecar][info] client disconnected\n"; + } +} + +} // namespace rmcs::navigation::sim + +auto main(int argc, char** argv) -> int { + try { + auto args = rmcs::navigation::sim::parse_args(argc, argv); + return rmcs::navigation::sim::run(args); + } catch (const std::exception& exception) { + std::cerr << std::format("[sim-sidecar][fatal] {}\n", exception.what()); + return 1; + } +} diff --git a/src/cxx/util/localization/engine.cc b/src/cxx/util/localization/engine.cc new file mode 100644 index 0000000..b7bc6fe --- /dev/null +++ b/src/cxx/util/localization/engine.cc @@ -0,0 +1,90 @@ +#include "cxx/util/localization/engine.hh" +#include "cxx/util/node_mixin.hh" + +#include +#include +#include +#include + +#include +#include +#include + +namespace rmcs::navigation { + +struct Localization::Impl { + Config config; + LoggerWrap logging; + + struct Context { + using Point = pcl::PointXYZ; + using Cloud = pcl::PointCloud; + + std::shared_ptr> subscription; + std::atomic stop_collecting = false; + + std::shared_ptr map; + std::shared_ptr collected = std::make_shared(); + + explicit Context(Config& config) { + const auto& filename = config.map_filename; + if (pcl::io::loadPCDFile(filename, *map) != 0) + throw std::runtime_error{"Couldn't read " + filename}; + + auto& rclcpp = config.rclcpp; + subscription = rclcpp.create_subscription( + config.topic_registered, 10, + [this](const std::unique_ptr& msg) { + if (!stop_collecting) { + auto received = Cloud{}; + pcl::fromROSMsg(*msg, received); + + *collected += received; + } + }); + } + } context; + + pcl::NormalDistributionsTransform engine; + + explicit Impl(Localization::Config config) + : config{std::move(config)} + , logging{config.rclcpp} + , context{config} { + + engine.setTransformationEpsilon(config.ndt_result_epsilon); // 收敛判定阈值 + engine.setStepSize(config.ndt_step_size); // More-Thuente 线搜索最大步长 + engine.setResolution(config.ndt_resolution); // NDT 网格分辨率 + engine.setMaximumIterations(config.ndt_max_iterations); // 最大迭代次数 + } + + auto start_collecting(std::chrono::seconds seconds) -> std::expected { + std::ignore = this; + std::ignore = seconds; + return {}; + } + + auto start_localizing(const Eigen::Isometry3d& initial_solution) + -> std::future> { + std::ignore = this; + std::ignore = initial_solution; + return {}; + } +}; + +Localization::Localization(Config config) + : pimpl{std::make_unique(std::move(config))} {} + +Localization::~Localization() noexcept = default; + +auto Localization::start_collecting(std::chrono::seconds seconds) + -> std::expected { + return pimpl->start_collecting(seconds); +} + +auto Localization::start_localizing(const Eigen::Isometry3d& initial_solution) + -> std::future> { + return pimpl->start_localizing(initial_solution); +} + +} // namespace rmcs::navigation diff --git a/src/cxx/util/localization/engine.hh b/src/cxx/util/localization/engine.hh new file mode 100644 index 0000000..ac111e5 --- /dev/null +++ b/src/cxx/util/localization/engine.hh @@ -0,0 +1,37 @@ +#pragma once +#include "cxx/util/pimpl.hh" + +#include +#include +#include +#include + +namespace rmcs::navigation { + +class Localization { + RMCS_PIMPL_DEFINITION(Localization) + +public: + struct Config { + rclcpp::Node& rclcpp; + + std::string topic_registered; + std::string map_filename; + + float ndt_resolution = 1.0; + double ndt_step_size = 0.1; + double ndt_result_epsilon = 0.01; + int ndt_max_iterations = 50; + }; + + explicit Localization(Config config); + + // 开始收集配准好的点云 + auto start_collecting(std::chrono::seconds seconds) -> std::expected; + + // 开始重定位 + auto start_localizing(const Eigen::Isometry3d& initial_solution) + -> std::future>; +}; + +} // namespace rmcs::navigation diff --git a/src/cxx/navigation.cc b/src/cxx/util/navigation/navigation.cc similarity index 99% rename from src/cxx/navigation.cc rename to src/cxx/util/navigation/navigation.cc index 9dbf32a..ea023a1 100644 --- a/src/cxx/navigation.cc +++ b/src/cxx/util/navigation/navigation.cc @@ -1,5 +1,5 @@ -#include "navigation.hh" -#include "util/node_mixin.hh" +#include "cxx/util/navigation/navigation.hh" +#include "cxx/util/node_mixin.hh" #include #include diff --git a/src/cxx/navigation.hh b/src/cxx/util/navigation/navigation.hh similarity index 98% rename from src/cxx/navigation.hh rename to src/cxx/util/navigation/navigation.hh index bf0d1b5..ede93e8 100644 --- a/src/cxx/navigation.hh +++ b/src/cxx/util/navigation/navigation.hh @@ -1,5 +1,5 @@ #pragma once -#include "util/pimpl.hh" +#include "cxx/util/pimpl.hh" #include #include diff --git a/src/lua/AGENTS.md b/src/lua/AGENTS.md new file mode 100644 index 0000000..f969c86 --- /dev/null +++ b/src/lua/AGENTS.md @@ -0,0 +1,19 @@ +## Lua 决策开发规则 + +### 慎重提取辅助函数 + +创造一个辅助函数是一个非常庄重的时刻，它意味着项目中有一个大量被使用着的功能，需要抽离出来公有化 + +每当你想写一个辅助函数时，请仔细斟酌：它的使用范围有多大？是否大到足以变成一个在全项目可见的标准函数？我不能内联逻辑或者使用一个局部的函数来解决吗？ + +如果大量地定义公共函数，那么全局的命名空间将会一片噪声，存在着大量用不上的函数 + +### 关于非法条件检查 + +有些错误，就应该让它爆出来，比如构造时传入的变量，作为 Option 的变量，面对这种情况，完全不需要为它们兜底，不需要指定默认值 + +如果因为参数配置错误而导致被动使用了默认值，这会增加 debug 的难度 + +最好的办法是在最初，比如初始化时，一次性把所有能检查的都检查好，有错误就爆出来，在构造之后就可以认为所有的配置参数都是合法的，完全没有必要检查它们 + +此外，对于函数定义中传入的 Args，一般在注解表明了这些 Params 的类型，是否可选之类的，禁止再加入一层检查，就认为调用时传入的是与注解完美匹配的参数，只有可能超出范围，或者没有 index 等情况，需要额外检查，在这种情况下，应该优先报错，而不是兜底，fallback 会默认值 diff --git a/src/lua/api.lua b/src/lua/api.lua index ab357ad..4dc7424 100644 --- a/src/lua/api.lua +++ b/src/lua/api.lua @@ -13,7 +13,7 @@ local util = require("util.native") --- @field fuck fun(message: string) --- --- @field send_target fun(x: number, y: number) ---- @field update_gimbal_direction fun(angle: number) +--- @field update_gimbal_direction fun(angle: number) --- @field update_gimbal_dominator fun(name: string) --- @field update_chassis_mode fun(mode: string) --- @field update_chassis_vel fun(x: number, y: number) @@ -38,7 +38,7 @@ local api = setmetatable({}, { function api.restart_navigation(config) config = config or {} - local filename, msg = util.find_env_setup_bash() + local filename, msg = util.search_setup_resource() if not filename then error(msg) end @@ -58,27 +58,28 @@ function api.restart_navigation(config) -- FIXME: 存在调试用的进程(foxglove)，记得去掉 local command = [[ - source %q +source %q - screen -S rmcs-navigation -X quit +screen -S rmcs-navigation -X quit - screen -dmS rmcs-navigation - screen -S rmcs-navigation -X screen bash -lc "ros2 launch foxglove_bridge foxglove_bridge_launch.xml" +screen -dmS rmcs-navigation +screen -S rmcs-navigation -X screen bash -lc "ros2 launch foxglove_bridge foxglove_bridge_launch.xml" - configs=%q - screen -S rmcs-navigation -X screen bash -lc "ros2 launch rmcs-navigation motion.launch.yaml $configs" - screen -S rmcs-navigation -X screen bash -lc "ros2 launch rmcs-navigation sensor.launch.yaml $configs" - ]] +configs=%q +screen -S rmcs-navigation -X screen bash -lc "ros2 launch rmcs-navigation sensor.launch.yaml $configs" +sleep 1 +screen -S rmcs-navigation -X screen bash -lc "ros2 launch rmcs-navigation motion.launch.yaml $configs" +]] local packed_command = string.format(command, filename, configs) - return util.run_command(string.format("(%s) >/dev/null 2>&1 &", packed_command)) + return util.run(string.format("(%s) >/dev/null 2>&1 &", packed_command)) end function api.stop_navigation() local command = [[ screen -S rmcs-navigation -X quit ]] - return util.run_command(string.format("(%s) >/dev/null 2>&1 &", command)) + return util.run(string.format("(%s) >/dev/null 2>&1 &", command)) end return api diff --git a/src/lua/blackboard.lua b/src/lua/blackboard.lua index dea3bcb..b6624ea 100644 --- a/src/lua/blackboard.lua +++ b/src/lua/blackboard.lua @@ -6,18 +6,52 @@ local function PointPair(points) end local function create_default_blackboard() + local last_our_dart_nmber_of_hits = nil local result = { -- Dynamic Information user = { - health = 0, - bullet = 0, - chassis_power_limit = 0, + health = 400, + bullet = 100, + chassis_power_limit = 100, + chassis_power = 0, + chassis_buffer_energy = 0, + chassis_output_status = false, + shooter_cooling = 0, + shooter_heat_limit = 0, + bullet_42mm = 0, + fortress_17mm_bullet = 0, + initial_speed = 0, + shoot_timestamp = 0, x = 0, y = 0, yaw = 0, + + mode = "UNKNOWN", }, game = { stage = "UNKNOWN", + + outpost_health = 1500, -- 前哨站血量 + base_health = 5000, -- 基地血量 + + hero_health = 150, + infantry_1_health = 150, + infantry_2_health = 150, + engineer_health = 250, + + hero_position = { x = 0.0, y = 0.0 }, + infantry_1_position = { x = 0.0, y = 0.0 }, + infantry_2_position = { x = 0.0, y = 0.0 }, + engineer_position = { x = 0.0, y = 0.0 }, + + remaining_time = 0, -- 比赛剩余时间 + gold_coin = 0, -- 队伍剩余金币数 + exchangeable_ammunition_quantity = 0, -- 队伍 17mm 允许发弹量的剩余可兑换数 + + our_dart_nmber_of_hits = false, -- 己方飞镖击中次数 + fortress_occupied = false, -- 己方堡垒是否被占领 + big_energy_mechanism_activated = false, -- 大能量机关是否被激活 + small_energy_mechanism_activated = false, -- 小能量机关是否被激活 }, play = { rswitch = "UNKNOWN", @@ -25,39 +59,101 @@ local function create_default_blackboard() }, meta = { timestamp = 0, -- 秒 + fsm_state = "unknown", + fsm_return_stage = "before_fluctuant", + }, + referee = { + sync_timestamp = 0, + robot_id = 0, + robots_hp = { + ally_1 = 0, + ally_2 = 0, + ally_3 = 0, + ally_4 = 0, + reserved = 0, + ally_7 = 0, + outpost = 0, + base = 0, + }, + + can_confirm_free_revive = false, + can_exchange_instant_revive = false, + instant_revive_cost = 0, + exchanged_bullet = 0, + remote_bullet_exchange_count = 0, + sentry_mode = 0, + energy_mechanism_activatable = false, + + red_score = 0, + blue_score = 0, }, -- Static Information rule = { decision = "auxiliary", - -- 状态类规则 + -- 自身状态类规则 + + health_limit = 210, + health_ready = 400, + bullet_limit = 40, + bullet_ready = 160, + mode = "movement", - health_limit = 0, - health_ready = 0, - bullet_limit = 0, - bullet_ready = 0, + -- 其他状态类规则 + + -- 比赛相关 + time_of_the_competition_red_line = 90, --比赛剩余时间红线 + + -- 队伍资源相关 + exchangeable_ammunition_quantity_red_line = 1000, -- 队伍 17mm 允许发弹量的剩余可兑换数红线 + gold_coin_red_line = 400, -- 队伍剩余金币数红线 + + -- 前哨站相关 + outpost_health_red_line = 1500, + + -- 基地相关 + base_health_red_line = 2000, + + -- 友方机器人相关 + hero_health_ready_red_line = 50, + infantry_1_health_ready_red_line = 50, + infantry_2_health_ready_red_line = 50, + engineer_health_ready_red_line = 50, -- 坐标类规则 -- 定义顺序：ours = 0，them = 1 -- 普通地形坐标 - fortress = PointPair { { 0, 0 }, { 0, 0 } }, -- 堡垒 - resupply_zone = PointPair { { 0, 0 }, { 0, 0 } }, -- 补给点 - road_zone_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路区 + fortress = PointPair { { 0, 0 }, { 0, 0 } }, -- 堡垒 + resupply_zone = PointPair { { 0, 0 }, { 0, 0 } }, -- 补给点 + road_zone_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路区 road_zone_final = PointPair { { 0, 0 }, { 0, 0 } }, - launch_ramp_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 飞坡 + road_zone_way_point_1 = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路区路径点1 + road_zone_way_point_2 = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路区路径点2 + road_zone_way_point_3 = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路区路径点3 + launch_ramp_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 飞坡 launch_ramp_final = PointPair { { 0, 0 }, { 0, 0 } }, - outpost_resupply = PointPair { { 0, 0 }, { 0, 0 } }, -- 前哨站补给点 + outpost_resupply = PointPair { { 0, 0 }, { 0, 0 } }, -- 前哨站补给点 + attack_outpost_point = PointPair { { 0, 0 }, { 0, 0 } }, -- 攻击前哨站点 assembly_zone = PointPair { { 0, 0 }, { 0, 0 } }, + central_highland_near_fluctuant_road = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地靠近起伏路一侧 + central_highland_near_doghole = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地靠近狗洞一侧 + central_highland_middle = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地一侧中间 + central_highland_gain_point = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地增益点 + central_highland_near_two_steps_and_outpost = PointPair { { 0, 0 }, { 0, 0 } }, -- 中央高地靠近二级台阶（二级台阶增益点和前哨站中间） + base_left_gain_point = PointPair { { 0, 0 }, { 0, 0 } }, -- 左侧基地增益点 + base_right_gain_point = PointPair { { 0, 0 }, { 0, 0 } }, -- 右侧基地增益点 -- 特殊跨越地形坐标 - road_tunnel_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路隧道 + road_tunnel_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 公路隧道 road_tunnel_final = PointPair { { 0, 0 }, { 0, 0 } }, - one_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 一级台阶 - one_step_final = PointPair { { 0, 0 }, { 0, 0 } }, - two_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 二级台阶 + one_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 一级台阶高点 + one_step_final = PointPair { { 0, 0 }, { 0, 0 } }, -- 一级台阶低点 + two_step_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 二级台阶高点 two_step_final = PointPair { { 0, 0 }, { 0, 0 } }, + fluctuant_road_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 起伏路段 + fluctuant_road_final = PointPair { { 0, 0 }, { 0, 0 } }, common_elevated_ground_begin = PointPair { { 0, 0 }, { 0, 0 } }, -- 普通高地（飞坡起点那个高地） common_elevated_ground_final = PointPair { { 0, 0 }, { 0, 0 } }, }, @@ -83,6 +179,43 @@ local function create_default_blackboard() return result.user.bullet >= result.rule.bullet_ready end, + base_in_danger = function() + return result.game.base_health <= result.rule.base_health_red_line + end, + + oupost_survival = function() + return result.game.outpost_health > 0 + end, + + dart_hit_first_time = function() + local current = result.game.our_dart_nmber_of_hits + + if last_our_dart_nmber_of_hits == nil then + last_our_dart_nmber_of_hits = current + return false + end + + local triggered = last_our_dart_nmber_of_hits == 0 and current == 1 + last_our_dart_nmber_of_hits = current + return triggered + end, + + fortress_occupied = function() + return result.game.fortress_occupied + end, + + big_energy_mechanism_activated = function() + return result.game.big_energy_mechanism_activated + end, + + small_energy_mechanism_activated = function() + return result.game.small_energy_mechanism_activated + end, + + game_close_to_end = function() + return result.game.remaining_time <= result.rule.time_of_the_competition_red_line + end, + --- @param target {x: number, y: number} --- @param tolerance? number|{x: number, y: number} near = function(target, tolerance) diff --git a/src/lua/blackboard_sync.lua b/src/lua/blackboard_sync.lua new file mode 100644 index 0000000..3d0793b --- /dev/null +++ b/src/lua/blackboard_sync.lua @@ -0,0 +1,86 @@ +local blackboard = require("blackboard").singleton() + +local sections = { + "user", + "game", + "play", + "meta", + "rule", + "result", +} + +local function is_serializable(value) + local value_type = type(value) + return value_type == "nil" + or value_type == "boolean" + or value_type == "number" + or value_type == "string" + or value_type == "table" +end + +local function deep_copy(value) + if type(value) ~= "table" then + return value + end + + local copy = {} + for key, entry in pairs(value) do + local key_type = type(key) + if (key_type == "string" or key_type == "number") and is_serializable(entry) then + copy[key] = deep_copy(entry) + end + end + + return copy +end + +local function replace_table(target, source) + for key in pairs(target) do + if source[key] == nil then + target[key] = nil + end + end + + for key, value in pairs(source) do + if type(value) == "table" then + if type(target[key]) ~= "table" then + target[key] = {} + end + replace_table(target[key], value) + else + target[key] = value + end + end +end + +local M = {} + +function M.snapshot() + local snapshot = {} + for _, section in ipairs(sections) do + snapshot[section] = deep_copy(blackboard[section]) + end + return snapshot +end + +function M.apply(snapshot) + if type(snapshot) ~= "table" then + return + end + + for _, section in ipairs(sections) do + local source = snapshot[section] + if source ~= nil then + if type(source) == "table" then + if type(blackboard[section]) ~= "table" then + blackboard[section] = {} + end + replace_table(blackboard[section], source) + else + blackboard[section] = source + end + end + end +end + +return M diff --git a/src/lua/endpoint/competition-test.lua b/src/lua/endpoint/competition-test.lua new file mode 100644 index 0000000..cd515c0 --- /dev/null +++ b/src/lua/endpoint/competition-test.lua @@ -0,0 +1,565 @@ +--- +--- Local Context +--- + +local action = require("action") +local ascii = require("util.ascii_art") +local clock = require("util.clock") +local fsm = require("util.fsm") +local Map = require("rmuc_map") +local option = require("option") + +local EscapeToHomeIntent = require("intent.competion.escape-to-home") +local ForwardPressIntent = require("intent.competion.forward-press") +local GuardHomeIntent = require("intent.competion.guard-home") +local KeepCruiseIntent = require("intent.competion.keep-cruise") +local Region = require("region") +local StartCruiseIntent = require("intent.competion.start-cruise") + +local Scheduler = require("util.scheduler") +local scheduler = Scheduler.new() +local request = Scheduler.request + +local edges = require("util.edge").new() + +--- +--- Export Context +--- + +blackboard = require("blackboard").singleton() + +local runtime = { + ours_zone = nil, + switch_interval = nil, + region = nil, + region_name = "unknown", + region_phase = Region.Phase.unknown, + current_state = "idle", + current_phase = "none", + current_intent_kind = nil, + current_intent = nil, + navigation_ready = false, + escape_route = nil, + forward_press_mode = nil, +} + +local forward_press_duration = 30.0 + +local requests = { + start = false, +} + +local job = { + handle = nil, + name = nil, + done = false, + success = false, +} + +local function read_option(name, fallback) + local value = rawget(option, name) + if value == nil then + return fallback + end + return value +end + +local function configure_test_rule() + local rule = blackboard.rule + + rule.health_limit = read_option("health_limit", 210) + rule.health_ready = read_option("health_ready", 400) + rule.bullet_limit = read_option("bullet_limit", 40) + rule.bullet_ready = read_option("bullet_ready", 300) + rule.time_of_the_competition_red_line = read_option("time_of_the_competition_red_line", 90) + rule.exchangeable_ammunition_quantity_red_line = + read_option("exchangeable_ammunition_quantity_red_line", 1000) + rule.gold_coin_red_line = read_option("gold_coin_red_line", 400) + rule.outpost_health_red_line = read_option("outpost_health_red_line", 1500) + rule.base_health_red_line = read_option("base_health_red_line", 2000) + rule.hero_health_ready_red_line = read_option("hero_health_ready_red_line", 50) + rule.infantry_1_health_ready_red_line = + read_option("infantry_1_health_ready_red_line", 50) + rule.infantry_2_health_ready_red_line = + read_option("infantry_2_health_ready_red_line", 50) + rule.engineer_health_ready_red_line = + read_option("engineer_health_ready_red_line", 50) + + rule.resupply_zone.ours = { x = 3.0, y = 2.0 } + rule.road_zone_begin.ours = { x = 8.2, y = 3.7 } + rule.road_zone_way_point_1.ours = { x = 5.3, y = 3.4 } + rule.fluctuant_road_begin.ours = { x = 5.6, y = 1.2 } + rule.fluctuant_road_final.ours = { x = 8.5, y = 1.0 } + rule.one_step_begin.ours = { x = 8.7, y = 3.1 } + rule.one_step_final.ours = { x = 8.7, y = 2.1 } + rule.central_highland_near_fluctuant_road.ours = { x = 12.8, y = 3.0 } + rule.central_highland_middle = { x = 12.0, y = 8.0 } + rule.central_highland_near_doghole.ours = { x = 15.0, y = 12.5 } + rule.base_left_gain_point.ours = { x = 4.5, y = 8.7 } + rule.base_right_gain_point.ours = { x = 4.5, y = 7.3 } + rule.attack_outpost_point.ours = { x = 11.5, y = 4.1 } + rule.fortress.ours = { x = 7.2 , y = 8.0} + rule.central_highland_near_fluctuant_road.them = { x = 16.5, y = 12.8 } + rule.central_highland_near_doghole.them = { x = 15.0, y = 3.5 } + rule.fluctuant_road_final.them = { x = 20.0, y = 14.2 } + --这是什么 + rule.central_highland_gain_point.ours={x = 12.0 , y = 10.8 } + rule.central_highland_gain_point.them={x = 17.2 , y = 8.0 } + rule.central_highland_near_two_steps_and_outpost.ours ={x = 11.5 , y = 5.5 } + rule.central_highland_near_two_steps_and_outpost.them ={x = 18.0 , y = 10.0 } +end + +local function reset_job_status() + job.done = false + job.success = false +end + +local function cancel_job() + if job.handle ~= nil then + job.handle.cancel() + job.handle = nil + end + job.name = nil + reset_job_status() +end + +local function run_job(name, fn) + cancel_job() + job.name = name + reset_job_status() + + job.handle = scheduler:append_task(function() + local ok, result = xpcall(fn, debug.traceback) + job.handle = nil + job.name = nil + job.done = true + + if not ok then + job.success = false + action:fuck(string.format("fsm job '%s' failed:\n%s", name, result)) + return + end + + job.success = (result ~= false) + if not job.success then + action:warn(string.format("fsm job '%s' finished with false", name)) + end + end) +end + +local function clear_current_intent() + cancel_job() + runtime.current_intent_kind = nil + runtime.current_intent = nil + runtime.current_phase = "none" +end + +local function take_request(name) + local value = requests[name] + requests[name] = false + return value +end + +local function set_state(name) + if runtime.current_state == name then + return + end + runtime.current_state = name + blackboard.meta.fsm_state = name + action:info("fsm state -> " .. name) +end + +local function set_phase(name) + if runtime.current_phase == name then + return + end + runtime.current_phase = name + action:info("fsm phase -> " .. name) +end + +local function sync_region() + local region, region_name = Region.current() + runtime.region = region + runtime.region_name = region_name + runtime.region_phase = Region.phase(region) + blackboard.meta.region = region_name + blackboard.meta.fsm_return_stage = Region.return_stage(region) +end + +local function configure_region_map(name) + assert(type(name) == "string", "global_map should be a string") + local ok, loaded_or_error = pcall(Map.singleton, name) + if not ok then + action:fuck("load region map failed: " .. tostring(loaded_or_error)) + return false, loaded_or_error + end + action:info("region map -> " .. Map.current_name()) + return true, loaded_or_error +end + +local function start_navigation() + local global_map = read_option("global_map", "rmuc") + local ok, load_error = configure_region_map(global_map) + if not ok then + return false, load_error + end + + local ok, message = action:restart_navigation({ + global_map = global_map, + launch_livox = read_option("launch_livox", true), + launch_odin1 = read_option("launch_odin1", false), + use_sim_time = read_option("use_sim_time", false), + }) + if not ok then + action:fuck("restart_navigation 触发失败: " .. tostring(message)) + end + + return ok, message +end + +local function setup_edges() + edges:on(blackboard.getter.rswitch, "UP", function() + requests.start = true + end) +end + +local function should_enter_guard_home() + local condition = blackboard.condition + return condition.game_close_to_end() or condition.base_in_danger() +end + +local function guard_home_target() + if blackboard.condition.fortress_occupied() then + return "cruise_in_front_of_base" + end + return "occupy_fortress" +end + +local last_double_damage_activated = false +local last_big_energy_mechanism_activated = false +local last_small_energy_mechanism_activated = false + +local function select_forward_press_mode() + -- local condition = blackboard.condition + -- local dart_hit_first_time = condition.dart_hit_first_time() + -- local double_damage_activated = condition.double_damage_activated() + -- local big_energy_mechanism_activated = condition.big_energy_mechanism_activated() + -- local small_energy_mechanism_activated = condition.small_energy_mechanism_activated() + -- local double_damage_rising = double_damage_activated and not last_double_damage_activated + -- local big_energy_rising = big_energy_mechanism_activated and not last_big_energy_mechanism_activated + -- local small_energy_rising = + -- small_energy_mechanism_activated and not last_small_energy_mechanism_activated + + -- last_double_damage_activated = double_damage_activated + -- last_big_energy_mechanism_activated = big_energy_mechanism_activated + -- last_small_energy_mechanism_activated = small_energy_mechanism_activated + + if true then + return "two_step" + end + + if dart_hit_first_time or double_damage_rising or big_energy_rising then + return "one_step" + end + + return nil +end + +local function create_intent(kind) + if kind == "start_cruise" then + return StartCruiseIntent.new({ + ours_zone = runtime.ours_zone, + }) + end + + if kind == "keep_cruise" then + return KeepCruiseIntent.new({ + ours_zone = runtime.ours_zone, + switch_interval = runtime.switch_interval, + }) + end + + if kind == "guard_home" then + return GuardHomeIntent.new({ + ours_zone = runtime.ours_zone, + }) + end + + if kind == "forward_press" then + assert(type(runtime.forward_press_mode) == "string", "forward_press_mode should be set") + return ForwardPressIntent.new({ + mode = runtime.forward_press_mode, + switch_interval = runtime.switch_interval, + duration = forward_press_duration, + }) + end + + if kind == "escape" then + assert(type(runtime.escape_route) == "string", "escape_route should be set") + return EscapeToHomeIntent.new({ + route = runtime.escape_route, + }) + end + + error("unknown intent kind: " .. tostring(kind)) +end + +local function replace_intent(kind, force) + assert(type(kind) == "string", "intent kind should be a string") + if not force and runtime.current_intent_kind == kind and runtime.current_intent ~= nil then + return + end + + clear_current_intent() + runtime.current_intent_kind = kind + runtime.current_intent = create_intent(kind) + action:info("intent -> " .. kind) +end + +local intent_ctx = { + run_job = run_job, + cancel_job = cancel_job, + job_state = function() + return job + end, + region = function() + return runtime.region + end, + region_phase = function() + return runtime.region_phase + end, + guard_home_target = guard_home_target, +} + +local function sync_intent_phase() + if runtime.current_intent == nil or type(runtime.current_intent.phase_name) ~= "function" then + set_phase("none") + return + end + set_phase(runtime.current_intent:phase_name()) +end + +local function spin_current_intent() + if runtime.current_intent == nil then + set_phase("none") + return nil + end + + local status = runtime.current_intent:spin(intent_ctx) + sync_intent_phase() + return status +end + +local function choose_active_intent_kind() + if should_enter_guard_home() then + return "guard_home" + end + + if runtime.current_intent_kind == "forward_press" and runtime.current_intent ~= nil then + return "forward_press" + end + + if Region.is_before_fluctuant(runtime.region) or Region.is_on_fluctuant(runtime.region) then + return "start_cruise" + end + + local mode = select_forward_press_mode() + if mode ~= nil then + runtime.forward_press_mode = mode + return "forward_press" + end + + return "keep_cruise" +end + +local function create_endpoint_fsm() + local State = { + idle = "idle", + active = "active", + escape = "escape", + recover = "recover", + } + + local condition = blackboard.condition + local endpoint_fsm = fsm:new(State.idle) + + endpoint_fsm:use({ + state = State.idle, + enter = function() + clear_current_intent() + runtime.escape_route = nil + runtime.forward_press_mode = nil + runtime.navigation_ready = false + set_state(State.idle) + set_phase("none") + end, + event = function(handle) + sync_region() + + if take_request("start") then + local ok = start_navigation() + runtime.navigation_ready = ok + end + + -- if runtime.navigation_ready and blackboard.game.stage == "STARTED" then + if blackboard.game.stage == "STARTED" then + handle:set_next(State.active) + end + end, + }) + + endpoint_fsm:use({ + state = State.active, + enter = function() + set_state(State.active) + end, + event = function(handle) + sync_region() + + if condition.low_health() or condition.low_bullet() then + runtime.escape_route = Region.escape_route(runtime.region) + clear_current_intent() + handle:set_next(State.escape) + return + end + + local desired_kind = choose_active_intent_kind() + if runtime.current_intent_kind ~= desired_kind or runtime.current_intent == nil then + replace_intent(desired_kind, true) + end + + local status = spin_current_intent() + if status == "failed" then + action:warn(string.format( + "fsm(active:%s): 当前 intent 失败，重建 %s", + runtime.current_phase, + desired_kind + )) + replace_intent(desired_kind, true) + return + end + + if status == "success" then + if runtime.current_intent_kind == "forward_press" then + runtime.forward_press_mode = nil + end + clear_current_intent() + end + end, + }) + + endpoint_fsm:use({ + state = State.escape, + enter = function() + set_state(State.escape) + runtime.escape_route = runtime.escape_route or Region.escape_route(runtime.region) + replace_intent("escape", true) + end, + event = function(handle) + sync_region() + + local status = spin_current_intent() + if status == "failed" then + action:warn("fsm(escape): 回家失败，重试 escape intent") + replace_intent("escape", true) + return + end + + if status == "success" then + clear_current_intent() + handle:set_next(State.recover) + end + end, + }) + + endpoint_fsm:use({ + state = State.recover, + enter = function() + clear_current_intent() + runtime.escape_route = nil + runtime.forward_press_mode = nil + set_state(State.recover) + set_phase("none") + end, + event = function(handle) + sync_region() + + if condition.low_health() or condition.low_bullet() then + return + end + + if condition.health_ready() and condition.bullet_ready() then + handle:set_next(State.active) + end + end, + }) + + assert(endpoint_fsm:init_ready(State), "endpoint fsm init_ready failed") + return endpoint_fsm +end + +on_init = function() + clock:reset(blackboard.meta.timestamp) + + option:set_handler(function(error) + action:warn("while fetch option: " .. error) + end) + + runtime.ours_zone = read_option("fsm_ours_zone", true) + runtime.switch_interval = read_option("fsm_switch_interval", 5.0) + + configure_test_rule() + do + local ok, err = configure_region_map(read_option("global_map", "rmuc")) + assert(ok, "failed to configure region map: " .. tostring(err)) + end + setup_edges() + + if read_option("enable_goal_topic_forward", false) then + action:switch_topic_forward(true) + end + action:bind(scheduler) + + local endpoint_fsm = create_endpoint_fsm() + scheduler:append_task(function() + while true do + endpoint_fsm:spin_once() + request:yield() + end + end) + + scheduler:append_task(function() + while true do + request:sleep(1.0) + action:info(string.format( + "fsm=%s intent=%s phase=%s region=%s hp=%s bullet=%s rs=%s ls=%s", + runtime.current_state, + tostring(runtime.current_intent_kind), + runtime.current_phase, + runtime.region_name, + tostring(blackboard.user.health), + tostring(blackboard.user.bullet), + blackboard.play.rswitch, + blackboard.play.lswitch + )) + end + end) + + action:info(ascii.banner) + action:warn("new FSM endpoint loaded") +end + +on_tick = function() + clock:update(blackboard.meta.timestamp) + edges:spin() + scheduler:spin_once() +end + +on_exit = function() + clear_current_intent() + action:stop_navigation() +end + +on_control = function(vx, vy, _) + action:update_chassis_vel(vx, vy) +end diff --git a/src/lua/endpoint/main.lua b/src/lua/endpoint/main.lua index 407f343..206d0d7 100644 --- a/src/lua/endpoint/main.lua +++ b/src/lua/endpoint/main.lua @@ -23,6 +23,9 @@ blackboard = require("blackboard").singleton() on_init = function() clock:reset(blackboard.meta.timestamp) + action:bind(scheduler) + action:info("use decision: '" .. option.decision .. "'") + option:set_handler(function(error) action:fuck("while fetch option: " .. error) end) @@ -31,9 +34,6 @@ on_init = function() action:switch_topic_forward(true) end - action:bind(scheduler) - action:info("use decision: '" .. option.decision .. "'") - scheduler:append_task(function() local Intent = { nothing = "nothing", diff --git a/src/lua/endpoint/mock.lua b/src/lua/endpoint/mock.lua index 6b492b8..2920b97 100644 --- a/src/lua/endpoint/mock.lua +++ b/src/lua/endpoint/mock.lua @@ -25,7 +25,7 @@ on_init = function() clock:reset(blackboard.meta.timestamp) action:switch_topic_forward(true) - native.run_command("ros2 launch rmcs-navigation static.launch.yaml &") + native.run("ros2 launch rmcs-navigation static.launch.yaml &") action:info("static.launch.yaml launched") scheduler:append_task(function() diff --git a/src/lua/endpoint/test.lua b/src/lua/endpoint/test.lua index f1019ee..459cb62 100644 --- a/src/lua/endpoint/test.lua +++ b/src/lua/endpoint/test.lua @@ -28,6 +28,7 @@ end blackboard = require("blackboard").singleton() on_init = function() + action:bind(scheduler) action:info(ascii.banner) action:warn("⚠️ TEST 模式，别上场哦") @@ -35,7 +36,7 @@ on_init = function() action:switch_topic_forward(true) restart_navigation() - edges:on(blackboard.getter.rswitch, "UP", restart_navigation) + -- edges:on(blackboard.getter.rswitch, "UP", restart_navigation) scheduler:append_task(function() while true do diff --git a/src/lua/endpoint/train-decision.lua b/src/lua/endpoint/train-decision.lua new file mode 100644 index 0000000..f71a73a --- /dev/null +++ b/src/lua/endpoint/train-decision.lua @@ -0,0 +1,491 @@ +--- +--- Local Context +--- + +local action = require("action") +local ascii = require("util.ascii_art") +local clock = require("util.clock") +local fsm = require("util.fsm") +local option = require("option") + +local start_cruise = require("intent.train.start-cruise-train") +local keep_cruise = require("intent.train.keep-cruise") +local escape_to_home = require("intent.train.escape-to-home") + +local Scheduler = require("util.scheduler") +local scheduler = Scheduler.new() +local request = Scheduler.request + +--- +--- Export Context +--- + +blackboard = require("blackboard").singleton() + +local runtime = { + ours_zone = true, + switch_interval = 2.0, + current_state = "idle", + navigation_ready = false, +} + +local requests = { + start = false, +} + +local job = { + handle = nil, + name = nil, + done = false, + success = false, +} + +local function read_option(name, fallback) + local value = rawget(option, name) + if value == nil then + return fallback + end + return value +end + +local function ensure_point_pair(rule, name) + if type(rule[name]) ~= "table" then + rule[name] = { + ours = { x = 0.0, y = 0.0 }, + them = { x = 0.0, y = 0.0 }, + } + return + end + + if type(rule[name].ours) ~= "table" then + rule[name].ours = { x = 0.0, y = 0.0 } + end + if type(rule[name].them) ~= "table" then + rule[name].them = { x = 0.0, y = 0.0 } + end + + rule[name].ours.x = tonumber(rule[name].ours.x) or 0.0 + rule[name].ours.y = tonumber(rule[name].ours.y) or 0.0 + rule[name].them.x = tonumber(rule[name].them.x) or 0.0 + rule[name].them.y = tonumber(rule[name].them.y) or 0.0 +end + +local function ensure_schema() + if type(blackboard.user) ~= "table" then + blackboard.user = {} + end + if type(blackboard.game) ~= "table" then + blackboard.game = {} + end + if type(blackboard.play) ~= "table" then + blackboard.play = {} + end + if type(blackboard.meta) ~= "table" then + blackboard.meta = {} + end + if type(blackboard.result) ~= "table" then + blackboard.result = {} + end + if type(blackboard.rule) ~= "table" then + blackboard.rule = {} + end + + blackboard.user.health = tonumber(blackboard.user.health) or 0 + blackboard.user.bullet = tonumber(blackboard.user.bullet) or 0 + blackboard.user.chassis_power_limit = tonumber(blackboard.user.chassis_power_limit) or 0 + blackboard.user.x = tonumber(blackboard.user.x) or 0 + blackboard.user.y = tonumber(blackboard.user.y) or 0 + blackboard.user.yaw = tonumber(blackboard.user.yaw) or 0 + + blackboard.game.stage = tostring(blackboard.game.stage or "UNKNOWN") + blackboard.play.rswitch = tostring(blackboard.play.rswitch or "UNKNOWN") + blackboard.play.lswitch = tostring(blackboard.play.lswitch or "UNKNOWN") + blackboard.meta.timestamp = tonumber(blackboard.meta.timestamp) or 0 + + if type(blackboard.meta.navigate_point_queue) ~= "table" then + blackboard.meta.navigate_point_queue = {} + end + + local rule = blackboard.rule + rule.health_limit = tonumber(rule.health_limit) or 0 + rule.health_ready = tonumber(rule.health_ready) or 0 + rule.bullet_limit = tonumber(rule.bullet_limit) or 0 + rule.bullet_ready = tonumber(rule.bullet_ready) or 0 + + ensure_point_pair(rule, "resupply_zone") + ensure_point_pair(rule, "road_zone_begin") + ensure_point_pair(rule, "road_zone_final") + ensure_point_pair(rule, "one_step_begin") + ensure_point_pair(rule, "one_step_final") + ensure_point_pair(rule, "fluctuant_road_begin") + ensure_point_pair(rule, "fluctuant_road_final") + ensure_point_pair(rule, "central_highland_near_crossing_road") + ensure_point_pair(rule, "central_highland_near_doghole") + + if type(blackboard.enqueue_navigate_point) ~= "function" then + blackboard.enqueue_navigate_point = function(point, source) + if type(point) ~= "table" then + return + end + if type(point.x) ~= "number" or type(point.y) ~= "number" then + return + end + + local queue = blackboard.meta.navigate_point_queue + if type(queue) ~= "table" then + queue = {} + blackboard.meta.navigate_point_queue = queue + end + + queue[#queue + 1] = { + x = point.x, + y = point.y, + source = source or "unknown", + timestamp = blackboard.meta.timestamp, + } + + local max_history = 64 + while #queue > max_history do + table.remove(queue, 1) + end + end + end +end + +local function set_reason(reason) + if type(blackboard.result) ~= "table" then + blackboard.result = {} + end + blackboard.result.last_reason = tostring(reason or "") +end + +local function publish_decision_state(progress) + if type(blackboard.result) ~= "table" then + blackboard.result = {} + end + if type(blackboard.meta) ~= "table" then + blackboard.meta = {} + end + + blackboard.meta.fsm_state = runtime.current_state + blackboard.result.intent = runtime.current_state + blackboard.result.task = job.name or "idle" + blackboard.result.job_done = job.done + blackboard.result.job_success = job.success + blackboard.result.progress = progress or blackboard.result.progress or "running" +end + +local function configure_test_rule() + local rule = blackboard.rule + + rule.health_limit = read_option("fsm_health_limit", 200) + rule.health_ready = read_option("fsm_health_ready", 400) + rule.bullet_limit = read_option("fsm_bullet_limit", 30) + rule.bullet_ready = read_option("fsm_bullet_ready", 300) + + -- Ours side sample points + rule.resupply_zone.ours = { x = -1.2, y = 6.0 } + rule.road_zone_begin.ours = { x = 1.5, y = 4.4 } + rule.road_zone_final.ours = { x = 6.5, y = 6.5 } + rule.fluctuant_road_begin.ours = { x = 2.5, y = 6.5 } + rule.fluctuant_road_final.ours = { x = 5.5, y = 6.5 } + rule.one_step_begin.ours = { x = 4.4, y = 6 } + rule.one_step_final.ours = { x = 4.4, y = 4.5 } + rule.central_highland_near_crossing_road.ours = { x = 8.8, y = 4.0 } + rule.central_highland_near_doghole.ours = { x = 10.5, y = -4.0 } +end + +local function reset_job_status() + job.done = false + job.success = false +end + +local function cancel_job() + if job.handle ~= nil then + job.handle.cancel() + job.handle = nil + end + job.name = nil + reset_job_status() + publish_decision_state("job_canceled") +end + +local function run_job(name, fn) + cancel_job() + job.name = name + reset_job_status() + publish_decision_state("job_running") + + job.handle = scheduler:append_task(function() + local ok, result = xpcall(fn, debug.traceback) + job.handle = nil + job.name = nil + job.done = true + + if not ok then + job.success = false + publish_decision_state("job_failed") + action:fuck(string.format("fsm job '%s' failed:\n%s", name, result)) + return + end + + job.success = (result ~= false) + if not job.success then + publish_decision_state("job_returned_false") + action:warn(string.format("fsm job '%s' finished with false", name)) + return + end + + publish_decision_state("job_succeeded") + end) +end + +local function take_request(name) + local value = requests[name] + requests[name] = false + return value +end + +local function set_state(name) + runtime.current_state = name + publish_decision_state("state_enter") + action:info("fsm state -> " .. name) +end + +local function start_runtime() + runtime.navigation_ready = true + set_reason("sim_start") + return true, "ok" +end + +local function clear_navigate_history() + local queue = blackboard.meta.navigate_point_queue + if type(queue) ~= "table" then + blackboard.meta.navigate_point_queue = {} + return + end + + for i = #queue, 1, -1 do + queue[i] = nil + end +end + +local function create_intent_fsm() + local State = { + idle = "idle", + start_cruise = "start_cruise", + keep_cruise = "keep_cruise", + escape = "escape", + recover = "recover", + } + + local condition = blackboard.condition + local intent_fsm = fsm:new(State.idle) + local function restart_start_cruise_job() + run_job("start_cruise", function() + return start_cruise(runtime.ours_zone) + end) + end + local function restart_keep_cruise_job() + run_job("keep_cruise", function() + return keep_cruise(runtime.ours_zone, runtime.switch_interval) + end) + end + local function restart_escape_job() + run_job("escape_to_home", function() + return escape_to_home(runtime.ours_zone) + end) + end + + intent_fsm:use({ + state = State.idle, + enter = function() + cancel_job() + set_state(State.idle) + runtime.navigation_ready = false + end, + event = function(handle) + if take_request("start") then + local ok = start_runtime() + runtime.navigation_ready = ok + end + + if runtime.navigation_ready and blackboard.game.stage == "STARTED" then + clear_navigate_history() + set_reason("idle_to_start_cruise") + handle:set_next(State.start_cruise) + end + end, + }) + + intent_fsm:use({ + state = State.start_cruise, + enter = function() + set_state(State.start_cruise) + restart_start_cruise_job() + end, + event = function(handle) + if condition.low_health() or condition.low_bullet() then + cancel_job() + set_reason("start_cruise_low_resource") + handle:set_next(State.escape) + return + end + + if not job.done then + return + end + + if job.success then + set_reason("start_cruise_done") + handle:set_next(State.keep_cruise) + return + end + + action:warn("fsm(start_cruise): 导航失败，重试当前状态") + set_reason("start_cruise_retry") + restart_start_cruise_job() + end, + }) + + intent_fsm:use({ + state = State.keep_cruise, + enter = function() + set_state(State.keep_cruise) + restart_keep_cruise_job() + end, + event = function(handle) + if condition.low_health() or condition.low_bullet() then + cancel_job() + set_reason("keep_cruise_low_resource") + handle:set_next(State.escape) + return + end + + if not job.done then + return + end + + if job.success then + return + end + + action:warn("fsm(keep_cruise): 导航失败，重试当前状态") + set_reason("keep_cruise_retry") + restart_keep_cruise_job() + end, + }) + + intent_fsm:use({ + state = State.escape, + enter = function() + set_state(State.escape) + restart_escape_job() + end, + event = function(handle) + if not job.done then + return + end + + if job.success then + set_reason("escape_done") + handle:set_next(State.recover) + return + end + + action:warn("fsm(escape): 导航失败，重试当前状态") + set_reason("escape_retry") + restart_escape_job() + end, + }) + + intent_fsm:use({ + state = State.recover, + enter = function() + cancel_job() + set_state(State.recover) + end, + event = function(handle) + if condition.low_health() or condition.low_bullet() then + return + end + + if condition.health_ready() and condition.bullet_ready() then + set_reason("recover_to_start_cruise") + handle:set_next(State.start_cruise) + end + end, + }) + + assert(intent_fsm:init_ready(State), "intent fsm init_ready failed") + return intent_fsm +end + +on_init = function() + ensure_schema() + clock:reset(blackboard.meta.timestamp) + + option:set_handler(function(error) + action:warn("while fetch option: " .. error) + end) + + runtime.ours_zone = read_option("fsm_ours_zone", true) + runtime.switch_interval = read_option("fsm_switch_interval", 2.0) + + configure_test_rule() + publish_decision_state("initialized") + + if read_option("enable_goal_topic_forward", false) then + action:switch_topic_forward(true) + end + action:bind(scheduler) + + local intent_fsm = create_intent_fsm() + scheduler:append_task(function() + while true do + intent_fsm:spin_once() + request:yield() + end + end) + + scheduler:append_task(function() + while true do + request:sleep(1.0) + publish_decision_state("heartbeat") + action:info(string.format( + "fsm=%s stage=%s hp=%s bullet=%s", + runtime.current_state, + blackboard.game.stage, + tostring(blackboard.user.health), + tostring(blackboard.user.bullet) + )) + end + end) + + action:info(ascii.banner) + action:warn("FSM test endpoint loaded (sim mode)") +end + +on_tick = function() + clock:update(blackboard.meta.timestamp) + scheduler:spin_once() +end + +on_exit = function() + cancel_job() +end + +--- Callback for simulated control feedback. +on_control = function(vx, vy, _) + action:update_chassis_vel(vx, vy) +end + +function on_sim_start(_, _) + requests.start = true + blackboard.game.stage = "STARTED" + set_reason("sim_start_command") +end + +function on_sim_set_target(_, _) + -- train-decision currently uses rule points; dynamic target injection is ignored. +end \ No newline at end of file diff --git a/src/lua/endpoint/train-test.lua b/src/lua/endpoint/train-test.lua new file mode 100644 index 0000000..a90ff60 --- /dev/null +++ b/src/lua/endpoint/train-test.lua @@ -0,0 +1,534 @@ +--- +--- Local Context +--- + +local action = require("action") +local ascii = require("util.ascii_art") +local clock = require("util.clock") +local fsm = require("util.fsm") +local option = require("option") +local TrainMap = require("train_map") + +local CrossRoadIntent = require("intent.train.cross-road") +local EscapeToHomeIntent = require("intent.train.escape-to-home") +local KeepCruiseIntent = require("intent.train.keep-cruise") + +local Scheduler = require("util.scheduler") +local scheduler = Scheduler.new() +local request = Scheduler.request + +local edges = require("util.edge").new() +local BlackboardLogger = require("util.blackboard_logger") + +--- +--- Export Context +--- + +blackboard = require("blackboard").singleton() + +local runtime = { + ours_zone = true, + switch_interval = 5.0, + region = nil, + region_name = "unknown", + escape_route = nil, + current_state = "idle", + current_phase = "none", + current_intent_kind = nil, + current_intent = nil, + navigation_ready = false, +} + +local requests = { + start = false, +} + +local job = { + handle = nil, + name = nil, + done = false, + success = false, +} + +local function read_option(name, fallback) + local value = rawget(option, name) + if value == nil then + return fallback + end + return value +end + +local function configure_train_rule() + local rule = blackboard.rule + + rule.health_limit = read_option("health_limit", rule.health_limit) + rule.health_ready = read_option("health_ready", rule.health_ready) + rule.bullet_limit = read_option("bullet_limit", rule.bullet_limit) + rule.bullet_ready = read_option("bullet_ready", rule.bullet_ready) + + rule.resupply_zone.ours = { x = -1.2, y = 6.0 } + rule.road_zone_begin.ours = { x = 1.5, y = 4.4 } + rule.road_zone_final.ours = { x = 6.5, y = 6.5 } + rule.road_zone_way_point_1 = { x = 0.5, y = 4.2 } + rule.road_zone_way_point_2 = { x = 0.7, y = 6.5 } + rule.central_highland_middle = { x = 7.0, y = 0.0 } + rule.central_highland_near_fluctuant_road.ours = { x = 8.5, y = 3.0 } + rule.central_highland_near_doghole.ours = { x = 8.5, y = -3.0 } +end + +local function reset_job_status() + job.done = false + job.success = false +end + +local function cancel_job() + if job.handle ~= nil then + job.handle.cancel() + job.handle = nil + end + job.name = nil + reset_job_status() +end + +local function run_job(name, fn) + cancel_job() + job.name = name + reset_job_status() + + job.handle = scheduler:append_task(function() + local ok, result = xpcall(fn, debug.traceback) + job.handle = nil + job.name = nil + job.done = true + + if not ok then + job.success = false + action:fuck(string.format("train fsm job '%s' failed:\n%s", name, result)) + return + end + + job.success = (result ~= false) + if not job.success then + action:warn(string.format("train fsm job '%s' finished with false", name)) + end + end) +end + +local function clear_current_intent() + cancel_job() + runtime.current_intent_kind = nil + runtime.current_intent = nil + runtime.current_phase = "none" +end + +local function take_request(name) + local value = requests[name] + requests[name] = false + return value +end + +local function set_state(name) + if runtime.current_state == name then + return + end + runtime.current_state = name + blackboard.meta.fsm_state = name + action:info("train fsm state -> " .. name) +end + +local function set_phase(name) + if runtime.current_phase == name then + return + end + runtime.current_phase = name + action:info("train fsm phase -> " .. name) +end + +local function current_train_region() + local map = TrainMap.singleton(read_option("global_map", "train_map")) + local region = map:locate({ + x = blackboard.user.x, + y = blackboard.user.y, + }) + return region, map.names[region] or "unknown" +end + +local function sync_train_region() + local region, region_name = current_train_region() + runtime.region = region + runtime.region_name = region_name + blackboard.meta.region = region_name +end + +local function distance_to(point) + local dx = point.x - blackboard.user.x + local dy = point.y - blackboard.user.y + return math.sqrt(dx * dx + dy * dy) +end + +local function select_rule_point(point) + if type(point.x) == "number" and type(point.y) == "number" then + return point + end + return runtime.ours_zone and point.ours or point.them +end + +local function nearest_road_return_route() + local rule = blackboard.rule + local candidates = { + { + route = "road_region_final", + point = select_rule_point(rule.road_zone_final), + }, + { + route = "road_region_2", + point = select_rule_point(rule.road_zone_way_point_2), + }, + { + route = "road_region_1", + point = select_rule_point(rule.road_zone_way_point_1), + }, + { + route = "road_region_begin", + point = select_rule_point(rule.road_zone_begin), + }, + } + + local selected = candidates[1] + local selected_distance = distance_to(selected.point) + for index = 2, #candidates do + local candidate = candidates[index] + local candidate_distance = distance_to(candidate.point) + if candidate_distance < selected_distance then + selected = candidate + selected_distance = candidate_distance + end + end + + return selected.route +end + +local function select_escape_route() + local Region = TrainMap.Region + + if runtime.region == nil then + sync_train_region() + end + + if runtime.region == Region.OURS_HOME then + return "ours_home" + end + + if runtime.region == Region.ROAD_REGION_BEGIN then + return "road_region_begin" + end + + if runtime.region == Region.ROAD_REGION_1 then + return "road_region_1" + end + + if runtime.region == Region.ROAD_REGION_2 then + return "road_region_2" + end + + if runtime.region == Region.ROAD_REGION_FINAL then + return "road_region_final" + end + + if runtime.region == Region.OURS_HIGHLAND then + return "highland" + end + + return nearest_road_return_route() +end + +local function start_navigation() + local global_map = read_option("global_map", "train_map") + local ok, load_error = pcall(TrainMap.singleton, global_map) + if not ok then + action:fuck("train load region map failed: " .. tostring(load_error)) + return false, load_error + end + + local ok, message = action:restart_navigation({ + global_map = global_map, + launch_livox = read_option("launch_livox", true), + launch_odin1 = read_option("launch_odin1", false), + use_sim_time = read_option("use_sim_time", false), + }) + if not ok then + action:fuck("train restart_navigation 触发失败: " .. tostring(message)) + end + + return ok, message +end + +local function setup_edges() + edges:on(blackboard.getter.rswitch, "UP", function() + -- 手动测试入口：仅允许右拨杆向上触发启动。 + requests.start = true + end) +end + +local function create_intent(kind) + if kind == "cross_road" then + return CrossRoadIntent.new({ + ours_zone = runtime.ours_zone, + forward_center = true, + }) + end + + if kind == "keep_cruise" then + return KeepCruiseIntent.new({ + ours_zone = runtime.ours_zone, + switch_interval = runtime.switch_interval, + }) + end + + if kind == "escape" then + return EscapeToHomeIntent.new({ + ours_zone = runtime.ours_zone, + route = runtime.escape_route or select_escape_route(), + }) + end + + error("unknown train intent kind: " .. tostring(kind)) +end + +local function replace_intent(kind, force) + assert(type(kind) == "string", "intent kind should be a string") + if not force and runtime.current_intent_kind == kind and runtime.current_intent ~= nil then + return + end + + clear_current_intent() + runtime.current_intent_kind = kind + runtime.current_intent = create_intent(kind) + action:info("train intent -> " .. kind) +end + +local intent_ctx = { + run_job = run_job, + cancel_job = cancel_job, + job_state = function() + return job + end, +} + +local function sync_intent_phase() + if runtime.current_intent == nil or type(runtime.current_intent.phase_name) ~= "function" then + set_phase("none") + return + end + set_phase(runtime.current_intent:phase_name()) +end + +local function spin_current_intent() + if runtime.current_intent == nil then + set_phase("none") + return nil + end + + local status = runtime.current_intent:spin(intent_ctx) + sync_intent_phase() + return status +end + +local function create_endpoint_fsm() + local State = { + idle = "idle", + cross_road = "cross_road", + keep_cruise = "keep_cruise", + escape = "escape", + recover = "recover", + } + + local condition = blackboard.condition + local endpoint_fsm = fsm:new(State.idle) + + endpoint_fsm:use({ + state = State.idle, + enter = function() + clear_current_intent() + runtime.escape_route = nil + runtime.navigation_ready = false + set_state(State.idle) + set_phase("none") + end, + event = function(handle) + sync_train_region() + + if take_request("start") then + local ok = start_navigation() + runtime.navigation_ready = ok + end + + if runtime.navigation_ready then + handle:set_next(State.cross_road) + end + end, + }) + + endpoint_fsm:use({ + state = State.cross_road, + enter = function() + set_state(State.cross_road) + replace_intent("cross_road", true) + end, + event = function(handle) + sync_train_region() + + if condition.low_health() then + runtime.escape_route = select_escape_route() + clear_current_intent() + handle:set_next(State.escape) + return + end + + local status = spin_current_intent() + if status == "failed" then + action:warn("train fsm(cross_road): 通过公路区失败，重试") + replace_intent("cross_road", true) + return + end + + if status == "success" then + clear_current_intent() + handle:set_next(State.keep_cruise) + end + end, + }) + + endpoint_fsm:use({ + state = State.keep_cruise, + enter = function() + set_state(State.keep_cruise) + replace_intent("keep_cruise", true) + end, + event = function(handle) + sync_train_region() + + if condition.low_health() then + runtime.escape_route = select_escape_route() + clear_current_intent() + handle:set_next(State.escape) + return + end + + local status = spin_current_intent() + if status == "failed" then + action:warn("train fsm(keep_cruise): 巡航失败，重试") + replace_intent("keep_cruise", true) + end + end, + }) + + endpoint_fsm:use({ + state = State.escape, + enter = function() + set_state(State.escape) + runtime.escape_route = runtime.escape_route or select_escape_route() + replace_intent("escape", true) + end, + event = function(handle) + sync_train_region() + + local status = spin_current_intent() + if status == "failed" then + action:warn("train fsm(escape): 回补给点失败，重试") + replace_intent("escape", true) + return + end + + if status == "success" then + clear_current_intent() + handle:set_next(State.recover) + end + end, + }) + + endpoint_fsm:use({ + state = State.recover, + enter = function() + clear_current_intent() + runtime.escape_route = nil + set_state(State.recover) + set_phase("none") + end, + event = function(handle) + sync_train_region() + + if condition.low_health() then + return + end + + if condition.health_ready() then + handle:set_next(State.cross_road) + end + end, + }) + + assert(endpoint_fsm:init_ready(State), "train endpoint fsm init_ready failed") + return endpoint_fsm +end + +on_init = function() + clock:reset(blackboard.meta.timestamp) + + option:set_handler(function(error) + action:warn("while fetch option: " .. error) + end) + + runtime.ours_zone = true + runtime.switch_interval = read_option("fsm_switch_interval", 5.0) + + configure_train_rule() + setup_edges() + + if read_option("enable_goal_topic_forward", false) then + action:switch_topic_forward(true) + end + action:bind(scheduler) + + local endpoint_fsm = create_endpoint_fsm() + scheduler:append_task(function() + while true do + endpoint_fsm:spin_once() + request:yield() + end + end) + + scheduler:append_task(function() + while true do + request:sleep(1.0) + sync_train_region() + action:info(string.format( + "train position x=%.2f y=%.2f region=%s escape_route=%s", + blackboard.user.x, + blackboard.user.y, + runtime.region_name, + tostring(runtime.escape_route or select_escape_route()) + )) + end + end) + + -- BlackboardLogger.attach(scheduler, blackboard) + + action:info(ascii.banner) + action:warn("train FSM endpoint loaded") +end + +on_tick = function() + clock:update(blackboard.meta.timestamp) + edges:spin() + scheduler:spin_once() +end + +on_exit = function() + clear_current_intent() + action:stop_navigation() +end + +on_control = function(vx, vy, _) + action:update_chassis_vel(vx, vy) +end diff --git a/src/lua/intent/competion/cruise-to-kill.lua b/src/lua/intent/competion/cruise-to-kill.lua new file mode 100644 index 0000000..75f4b5b --- /dev/null +++ b/src/lua/intent/competion/cruise-to-kill.lua @@ -0,0 +1,11 @@ +local intent = {} + +function intent.new() + local details = { + a = 1, + b = 2, + } + return setmetatable(details, intent) +end + +return intent diff --git a/src/lua/intent/competion/escape-to-home.lua b/src/lua/intent/competion/escape-to-home.lua new file mode 100644 index 0000000..d79d969 --- /dev/null +++ b/src/lua/intent/competion/escape-to-home.lua @@ -0,0 +1,172 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local fsm = require("util.fsm") +local Region = require("region") +local go_down_onestep = require("task.one-step.go-down-onestep") +local cross_fluctuant_road = require("task.cross-fluctuant.cross-fluctuant-road") +local navigate_to_point = require("task.navigate-to-point") + +local EscapeToHomeIntent = {} +EscapeToHomeIntent.__index = EscapeToHomeIntent + +local State = { + descend_onestep = "descend_onestep", + cross_fluctuant = "cross_fluctuant", + to_resupply = "to_resupply", + done = "done", + failed = "failed", +} + +local M = { + State = State, +} + +local function initial_state(route) + if route == "onestep" then + return State.descend_onestep + end + if route == "fluctuant_road" then + return State.cross_fluctuant + end + return State.to_resupply +end + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.route) == "string", "args.route should be a string") + + return setmetatable({ + route = args.route, + phase = "none", + status = "running", + machine = nil, + }, EscapeToHomeIntent) +end + +function EscapeToHomeIntent:phase_name() + return self.phase +end + +function EscapeToHomeIntent:create_machine(ctx) + local machine = fsm:new(initial_state(self.route)) + local resupply_zone = blackboard.rule.resupply_zone.ours + + machine:use({ + state = State.descend_onestep, + enter = function() + self.phase = State.descend_onestep + action:info("escape-to-home: 开始走一级台阶回家") + ctx.run_job("escape_descend_onestep", function() + return go_down_onestep(true) + end) + end, + event = function(handle) + if not Region.is_after_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.to_resupply) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.to_resupply) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.cross_fluctuant, + enter = function() + self.phase = State.cross_fluctuant + action:info("escape-to-home: 开始走起伏路回家") + ctx.run_job("escape_cross_fluctuant", function() + return cross_fluctuant_road(true, false) + end) + end, + event = function(handle) + if Region.is_before_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.to_resupply) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.to_resupply) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.to_resupply, + enter = function() + self.phase = State.to_resupply + action:update_chassis_mode("SPIN") + ctx.run_job("escape_to_resupply", function() + return navigate_to_point(resupply_zone, { + tolerance = 0.4, + timeout = 10, + }) + end) + end, + event = function(handle) + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.done) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.done, + enter = function() + self.phase = State.done + self.status = "success" + action:info("escape-to-home: 已抵达补给点") + end, + event = function() end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "escape-to-home intent fsm init_ready failed") + return machine +end + +function EscapeToHomeIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/competion/forward-press.lua b/src/lua/intent/competion/forward-press.lua new file mode 100644 index 0000000..6bdb3d0 --- /dev/null +++ b/src/lua/intent/competion/forward-press.lua @@ -0,0 +1,160 @@ +local clock = require("util.clock") +local fsm = require("util.fsm") +local forward_press_in_one_step = require("task.forward-press.forward-press-in-one-step") +local forward_press_in_two_step = require("task.forward-press.forward-press-in-two-step") + +local ForwardPressIntent = {} +ForwardPressIntent.__index = ForwardPressIntent + +local State = { + one_step = "one_step", + two_step = "two_step", + hold = "hold", + done = "done", + failed = "failed", +} + +local M = { + State = State, +} + +local function initial_state(mode) + if mode == "two_step" then + return State.two_step + end + return State.one_step +end + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.mode) == "string", "args.mode should be a string") + assert(type(args.switch_interval) == "number", "args.switch_interval should be a number") + assert(args.switch_interval > 0, "args.switch_interval should be positive") + + return setmetatable({ + mode = args.mode, + switch_interval = args.switch_interval, + duration = args.duration or 30.0, + phase = "none", + status = "running", + started_at = nil, + machine = nil, + }, ForwardPressIntent) +end + +function ForwardPressIntent:phase_name() + return self.phase +end + +function ForwardPressIntent:elapsed() + return clock:now() - self.started_at +end + +function ForwardPressIntent:create_machine(ctx) + local machine = fsm:new(initial_state(self.mode)) + + machine:use({ + state = State.one_step, + enter = function() + self.phase = State.one_step + ctx.run_job("forward_press_in_one_step", function() + return forward_press_in_one_step() + end) + end, + event = function(handle) + if self:elapsed() >= self.duration then + ctx.cancel_job() + handle:set_next(State.done) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.hold) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.two_step, + enter = function() + self.phase = State.two_step + ctx.run_job("forward_press_in_two_step", function() + return forward_press_in_two_step(self.switch_interval) + end) + end, + event = function(handle) + if self:elapsed() >= self.duration then + ctx.cancel_job() + handle:set_next(State.done) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.done) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.hold, + enter = function() + self.phase = State.hold + end, + event = function(handle) + if self:elapsed() >= self.duration then + handle:set_next(State.done) + end + end, + }) + + machine:use({ + state = State.done, + enter = function() + self.phase = State.done + self.status = "success" + end, + event = function() end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "forward-press intent fsm init_ready failed") + return machine +end + +function ForwardPressIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.started_at == nil then + self.started_at = clock:now() + end + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/competion/guard-home.lua b/src/lua/intent/competion/guard-home.lua new file mode 100644 index 0000000..c9bb789 --- /dev/null +++ b/src/lua/intent/competion/guard-home.lua @@ -0,0 +1,169 @@ +local fsm = require("util.fsm") +local Region = require("region") +local go_down_onestep = require("task.one-step.go-down-onestep") +local cruise_in_front_of_base = require("task.guard-home.cruise-in-front-of-base") +local occupy_fortress = require("task.guard-home.occupy-fortress") + +local GuardHomeIntent = {} +GuardHomeIntent.__index = GuardHomeIntent + +local State = { + descend_onestep = "descend_onestep", + occupy_fortress = "occupy_fortress", + cruise_in_front_of_base = "cruise_in_front_of_base", + failed = "failed", +} + +local M = { + State = State, +} + +local function target_state(ctx) + local target = ctx.guard_home_target() + if target == State.cruise_in_front_of_base then + return State.cruise_in_front_of_base + end + return State.occupy_fortress +end + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.ours_zone) == "boolean", "args.ours_zone should be a boolean") + + return setmetatable({ + ours_zone = args.ours_zone, + phase = "none", + status = "running", + machine = nil, + }, GuardHomeIntent) +end + +function GuardHomeIntent:phase_name() + return self.phase +end + +function GuardHomeIntent:create_machine(ctx) + local start_state = Region.is_after_fluctuant(ctx.region()) and State.descend_onestep + or target_state(ctx) + local machine = fsm:new(start_state) + + machine:use({ + state = State.descend_onestep, + enter = function() + self.phase = State.descend_onestep + ctx.run_job("guard_home_descend_onestep", function() + return go_down_onestep(self.ours_zone) + end) + end, + event = function(handle) + if not Region.is_after_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(target_state(ctx)) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(target_state(ctx)) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.occupy_fortress, + enter = function() + self.phase = State.occupy_fortress + ctx.run_job("occupy_fortress", function() + return occupy_fortress() + end) + end, + event = function(handle) + if Region.is_after_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.descend_onestep) + return + end + + if target_state(ctx) == State.cruise_in_front_of_base then + if not ctx.job_state().done then + ctx.cancel_job() + end + handle:set_next(State.cruise_in_front_of_base) + return + end + + local job = ctx.job_state() + if job.done and not job.success then + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.cruise_in_front_of_base, + enter = function() + self.phase = State.cruise_in_front_of_base + ctx.run_job("cruise_in_front_of_base", function() + return cruise_in_front_of_base(self.ours_zone) + end) + end, + event = function(handle) + if Region.is_after_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.descend_onestep) + return + end + + if target_state(ctx) == State.occupy_fortress then + ctx.cancel_job() + handle:set_next(State.occupy_fortress) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + ctx.run_job("cruise_in_front_of_base", function() + return cruise_in_front_of_base(self.ours_zone) + end) + return + end + + handle:set_next(State.failed) + end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "guard-home intent fsm init_ready failed") + return machine +end + +function GuardHomeIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/competion/keep-cruise.lua b/src/lua/intent/competion/keep-cruise.lua new file mode 100644 index 0000000..4785b5c --- /dev/null +++ b/src/lua/intent/competion/keep-cruise.lua @@ -0,0 +1,90 @@ +local action = require("action") +local fsm = require("util.fsm") +local cruise_in_central_highlands = require("task.cruise-in-central-highland.cruise-in-central-highlands") + +local KeepCruiseIntent = {} +KeepCruiseIntent.__index = KeepCruiseIntent + +local State = { + cruising = "cruising", + failed = "failed", +} + +local M = { + State = State, +} + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.ours_zone) == "boolean", "args.ours_zone should be a boolean") + assert(type(args.switch_interval) == "number", "args.switch_interval should be a number") + assert(args.switch_interval > 0, "args.switch_interval should be positive") + + return setmetatable({ + ours_zone = args.ours_zone, + switch_interval = args.switch_interval, + phase = "none", + status = "running", + machine = nil, + }, KeepCruiseIntent) +end + +function KeepCruiseIntent:phase_name() + return self.phase +end + +function KeepCruiseIntent:create_machine(ctx) + local machine = fsm:new(State.cruising) + + machine:use({ + state = State.cruising, + enter = function() + self.phase = State.cruising + ctx.run_job("keep_cruise", function() + action:info("keep-cruise: 进入中央高地持续巡航") + return cruise_in_central_highlands(self.ours_zone, self.switch_interval) + end) + end, + event = function(handle) + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + ctx.run_job("keep_cruise", function() + action:info("keep-cruise: 巡航任务提前结束，重新进入巡航") + return cruise_in_central_highlands(self.ours_zone, self.switch_interval) + end) + return + end + + handle:set_next(State.failed) + end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "keep-cruise intent fsm init_ready failed") + return machine +end + +function KeepCruiseIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/competion/start-cruise.lua b/src/lua/intent/competion/start-cruise.lua new file mode 100644 index 0000000..18673af --- /dev/null +++ b/src/lua/intent/competion/start-cruise.lua @@ -0,0 +1,144 @@ +local fsm = require("util.fsm") +local Region = require("region") +local cross_fluctuant_road = require("task.cross-fluctuant.cross-fluctuant-road") +local navigate_to_fluctuant_begin = require("task.cross-fluctuant.navigate-to-fluctuant-begin") + +local StartCruiseIntent = {} +StartCruiseIntent.__index = StartCruiseIntent + +local State = { + to_fluctuant_begin = "to_fluctuant_begin", + crossing_fluctuant = "crossing_fluctuant", + done = "done", + failed = "failed", +} + +local M = { + State = State, +} + +local function initial_state(ctx) + if Region.is_after_fluctuant(ctx.region()) then + return State.done + end + if Region.is_on_fluctuant(ctx.region()) then + return State.crossing_fluctuant + end + return State.to_fluctuant_begin +end + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.ours_zone) == "boolean", "args.ours_zone should be a boolean") + + return setmetatable({ + ours_zone = args.ours_zone, + phase = "none", + status = "running", + machine = nil, + }, StartCruiseIntent) +end + +function StartCruiseIntent:phase_name() + return self.phase +end + +function StartCruiseIntent:create_machine(ctx) + local machine = fsm:new(initial_state(ctx)) + + machine:use({ + state = State.to_fluctuant_begin, + enter = function() + self.phase = State.to_fluctuant_begin + ctx.run_job("navigate_to_fluctuant_begin", function() + return navigate_to_fluctuant_begin(self.ours_zone, true) + end) + end, + event = function(handle) + if Region.is_after_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.done) + return + end + + if Region.is_on_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.crossing_fluctuant) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.crossing_fluctuant) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.crossing_fluctuant, + enter = function() + self.phase = State.crossing_fluctuant + ctx.run_job("cross_fluctuant", function() + return cross_fluctuant_road(self.ours_zone, true) + end) + end, + event = function(handle) + if Region.is_after_fluctuant(ctx.region()) then + ctx.cancel_job() + handle:set_next(State.done) + return + end + + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.done) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.done, + enter = function() + self.phase = State.done + self.status = "success" + end, + event = function() end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "start-cruise intent fsm init_ready failed") + return machine +end + +function StartCruiseIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/escape-to-home.lua b/src/lua/intent/escape-to-home.lua deleted file mode 100644 index e69de29..0000000 diff --git a/src/lua/intent/train/cross-road.lua b/src/lua/intent/train/cross-road.lua new file mode 100644 index 0000000..0a7b4b9 --- /dev/null +++ b/src/lua/intent/train/cross-road.lua @@ -0,0 +1,99 @@ +local action = require("action") +local fsm = require("util.fsm") +local cross_road_zone = require("task.cross-road.cross-road-zone") + +local CrossRoadIntent = {} +CrossRoadIntent.__index = CrossRoadIntent + +local State = { + crossing = "crossing", + done = "done", + failed = "failed", +} + +local M = { + State = State, +} + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.ours_zone) == "boolean", "args.ours_zone should be a boolean") + if args.forward_center == nil then + args.forward_center = true + end + assert(type(args.forward_center) == "boolean", "args.forward_center should be a boolean") + + return setmetatable({ + ours_zone = args.ours_zone, + forward_center = args.forward_center, + phase = "none", + status = "running", + machine = nil, + }, CrossRoadIntent) +end + +function CrossRoadIntent:phase_name() + return self.phase +end + +function CrossRoadIntent:create_machine(ctx) + local machine = fsm:new(State.crossing) + + machine:use({ + state = State.crossing, + enter = function() + self.phase = State.crossing + ctx.run_job("train_cross_road", function() + action:info("train/cross-road: 开始通过公路区") + return cross_road_zone(self.ours_zone, self.forward_center) + end) + end, + event = function(handle) + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.done) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.done, + enter = function() + self.phase = State.done + self.status = "success" + action:info("train/cross-road: 已通过公路区") + end, + event = function() end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "train cross-road intent fsm init_ready failed") + return machine +end + +function CrossRoadIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/train/escape-to-home.lua b/src/lua/intent/train/escape-to-home.lua new file mode 100644 index 0000000..c52024d --- /dev/null +++ b/src/lua/intent/train/escape-to-home.lua @@ -0,0 +1,177 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local fsm = require("util.fsm") +local navigate_to_point = require("task.navigate-to-point") + +local EscapeToHomeIntent = {} +EscapeToHomeIntent.__index = EscapeToHomeIntent + +local State = { + follow_route = "follow_route", + done = "done", + failed = "failed", +} + +local M = { + State = State, +} + +local function select_point(point, ours_zone) + if type(point.x) == "number" and type(point.y) == "number" then + return point + end + return ours_zone and point.ours or point.them +end + +function M.new(args) + args = args or {} + assert(type(args) == "table", "args should be a table") + if args.ours_zone == nil then + args.ours_zone = true + end + assert(type(args.ours_zone) == "boolean", "args.ours_zone should be a boolean") + + return setmetatable({ + ours_zone = args.ours_zone, + route = args.route or "ours_home", + tolerance = args.tolerance or 0.15, + timeout = args.timeout or 10.0, + phase = "none", + status = "running", + machine = nil, + }, EscapeToHomeIntent) +end + +function EscapeToHomeIntent:phase_name() + return self.phase +end + +function EscapeToHomeIntent:create_route_targets() + local rule = blackboard.rule + local road_begin = select_point(rule.road_zone_begin, self.ours_zone) + local road_final = select_point(rule.road_zone_final, self.ours_zone) + local way_point_1 = select_point(rule.road_zone_way_point_1, self.ours_zone) + local way_point_2 = select_point(rule.road_zone_way_point_2, self.ours_zone) + local resupply_zone = select_point(rule.resupply_zone, self.ours_zone) + + if self.route == "highland" then + return { + { name = "road_zone_final", point = road_final }, + { name = "road_zone_way_point_2", point = way_point_2 }, + { name = "road_zone_way_point_1", point = way_point_1 }, + { name = "road_zone_begin", point = road_begin }, + { name = "resupply_zone", point = resupply_zone }, + } + end + + if self.route == "road_region_final" then + return { + { name = "road_zone_way_point_2", point = way_point_2 }, + { name = "road_zone_way_point_1", point = way_point_1 }, + { name = "road_zone_begin", point = road_begin }, + { name = "resupply_zone", point = resupply_zone }, + } + end + + if self.route == "road_region_2" then + return { + { name = "road_zone_way_point_1", point = way_point_1 }, + { name = "road_zone_begin", point = road_begin }, + { name = "resupply_zone", point = resupply_zone }, + } + end + + if self.route == "road_region_1" then + return { + { name = "road_zone_begin", point = road_begin }, + { name = "resupply_zone", point = resupply_zone }, + } + end + + if self.route == "ours_home" or self.route == "road_region_begin" or self.route == "direct" then + return { + { name = "resupply_zone", point = resupply_zone }, + } + end + + error("unknown train escape route: " .. tostring(self.route)) +end + +function EscapeToHomeIntent:create_machine(ctx) + local machine = fsm:new(State.follow_route) + + machine:use({ + state = State.follow_route, + enter = function() + self.phase = State.follow_route + action:update_chassis_mode("SPIN") + ctx.run_job("train_escape_follow_route", function() + action:info("train/escape-to-home: 回家路径 -> " .. self.route) + for _, target in ipairs(self:create_route_targets()) do + action:info(string.format( + "train/escape-to-home: 导航到%s (x=%.2f, y=%.2f)", + target.name, + target.point.x, + target.point.y + )) + local ok = navigate_to_point(target.point, { + tolerance = self.tolerance, + timeout = self.timeout, + }) + if not ok then + action:warn("train/escape-to-home: 导航到" .. target.name .. "失败") + return false + end + end + return true + end) + end, + event = function(handle) + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + handle:set_next(State.done) + else + handle:set_next(State.failed) + end + end, + }) + + machine:use({ + state = State.done, + enter = function() + self.phase = State.done + self.status = "success" + action:info("train/escape-to-home: 已抵达补给点") + end, + event = function() end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "train escape-to-home intent fsm init_ready failed") + return machine +end + +function EscapeToHomeIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/train/keep-cruise.lua b/src/lua/intent/train/keep-cruise.lua new file mode 100644 index 0000000..e76f073 --- /dev/null +++ b/src/lua/intent/train/keep-cruise.lua @@ -0,0 +1,90 @@ +local action = require("action") +local fsm = require("util.fsm") +local cruise_in_central_highlands = require("task.cruise-in-central-highland.cruise-in-central-highlands") + +local KeepCruiseIntent = {} +KeepCruiseIntent.__index = KeepCruiseIntent + +local State = { + cruising = "cruising", + failed = "failed", +} + +local M = { + State = State, +} + +function M.new(args) + assert(type(args) == "table", "args should be a table") + assert(type(args.ours_zone) == "boolean", "args.ours_zone should be a boolean") + assert(type(args.switch_interval) == "number", "args.switch_interval should be a number") + assert(args.switch_interval > 0, "args.switch_interval should be positive") + + return setmetatable({ + ours_zone = args.ours_zone, + switch_interval = args.switch_interval, + phase = "none", + status = "running", + machine = nil, + }, KeepCruiseIntent) +end + +function KeepCruiseIntent:phase_name() + return self.phase +end + +function KeepCruiseIntent:create_machine(ctx) + local machine = fsm:new(State.cruising) + + machine:use({ + state = State.cruising, + enter = function() + self.phase = State.cruising + ctx.run_job("train_keep_cruise", function() + action:info("train/keep-cruise: 进入中央高地巡航") + return cruise_in_central_highlands(self.ours_zone, self.switch_interval) + end) + end, + event = function(handle) + local job = ctx.job_state() + if not job.done then + return + end + + if job.success then + ctx.run_job("train_keep_cruise", function() + action:info("train/keep-cruise: 巡航任务提前结束，重新进入巡航") + return cruise_in_central_highlands(self.ours_zone, self.switch_interval) + end) + return + end + + handle:set_next(State.failed) + end, + }) + + machine:use({ + state = State.failed, + enter = function() + self.phase = State.failed + self.status = "failed" + end, + event = function() end, + }) + + assert(machine:init_ready(State), "train keep-cruise intent fsm init_ready failed") + return machine +end + +function KeepCruiseIntent:spin(ctx) + assert(type(ctx) == "table", "ctx should be a table") + if self.machine == nil then + self.machine = self:create_machine(ctx) + end + if self.status == "running" then + self.machine:spin_once() + end + return self.status +end + +return M diff --git a/src/lua/intent/train/start-cruise-train.lua b/src/lua/intent/train/start-cruise-train.lua new file mode 100644 index 0000000..366df44 --- /dev/null +++ b/src/lua/intent/train/start-cruise-train.lua @@ -0,0 +1,21 @@ +local action = require("action") +local cross_road_zone = require("task.cross-road.cross-road-zone") + +--- 训练专用旧入口兼容： +--- 保持 train-decision.lua 旧的函数式调用契约， +--- 内部桥接到当前 train 路线的公路区通过任务。 +--- @param ours_zone boolean +--- @return boolean is_success +return function(ours_zone) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + action:info("开始start-cruise-train") + + local ok = cross_road_zone(ours_zone, true) + if not ok then + action:warn("start-cruise-train: 通过公路区训练路线失败") + return false + end + + action:info("start-cruise-train: 已完成公路区训练路线") + return true +end diff --git a/src/lua/region.lua b/src/lua/region.lua new file mode 100644 index 0000000..8d42739 --- /dev/null +++ b/src/lua/region.lua @@ -0,0 +1,77 @@ +local blackboard = require("blackboard").singleton() +local Map = require("rmuc_map") +local ReturnStage = require("util.return-stage") +local RegionId = Map.Region + +local Phase = { + unknown = "unknown", + before_fluctuant = "before_fluctuant", + on_fluctuant = "on_fluctuant", + after_fluctuant = "after_fluctuant", +} + +local M = { + Phase = Phase, +} + +function M.current() + local map = Map.singleton() + local region = map:locate({ + x = blackboard.user.x, + y = blackboard.user.y, + }) + return region, map.names[region] or "unknown" +end + +function M.phase(region) + if region == RegionId.OURS_HOME + or region == RegionId.THEM_HOME + or region == RegionId.OURS_ROAD_TO_FLUCTUANT + or region == RegionId.THEM_ROAD_TO_FLUCTUANT then + return Phase.before_fluctuant + end + + if region == RegionId.OURS_FLUCTUANT or region == RegionId.THEM_FLUCTUANT then + return Phase.on_fluctuant + end + + if region == RegionId.OURS_TRAPEZOIDAL_HIGHLAND + or region == RegionId.THEM_TRAPEZOIDAL_HIGHLAND + or region == RegionId.OURS_ROAD_TO_HIGHLAND + or region == RegionId.THEM_ROAD_TO_HIGHLAND + or region == RegionId.OURS_HIGHLAND + or region == RegionId.THEM_HIGHLAND then + return Phase.after_fluctuant + end + + return Phase.unknown +end + +function M.return_stage(region) + local phase = M.phase(region) + if phase == Phase.on_fluctuant then + return ReturnStage.on_fluctuant + end + if phase == Phase.after_fluctuant then + return ReturnStage.after_fluctuant + end + return ReturnStage.before_fluctuant +end + +function M.escape_route(region) + return ReturnStage.resolve_escape_route(M.return_stage(region)) +end + +function M.is_before_fluctuant(region) + return M.phase(region) == Phase.before_fluctuant +end + +function M.is_on_fluctuant(region) + return M.phase(region) == Phase.on_fluctuant +end + +function M.is_after_fluctuant(region) + return M.phase(region) == Phase.after_fluctuant +end + +return M diff --git a/src/lua/rmuc_map.lua b/src/lua/rmuc_map.lua new file mode 100644 index 0000000..6aa3b96 --- /dev/null +++ b/src/lua/rmuc_map.lua @@ -0,0 +1,170 @@ +local Region = { + WALL = 0, + OURS_HOME = 1, + THEM_HOME = 2, + OURS_FLUCTUANT = 3, + THEM_FLUCTUANT = 4, + OURS_ROAD_BEGIN = 5, + THEM_ROAD_BEGIN = 6, + OURS_TRAPEZOIDAL_HIGHLAND = 7, + THEM_TRAPEZOIDAL_HIGHLAND = 8, + OURS_ROAD_WAYPOINT_1 = 9, + THEM_ROAD_WAYPOINT_1 = 10, + OURS_ROAD_TO_FLUCTUANT = 13, + THEM_ROAD_TO_FLUCTUANT = 14, + OURS_ROAD_TO_HIGHLAND = 15, + THEM_ROAD_TO_HIGHLAND = 16, + OURS_HIGHLAND = 17, + THEM_HIGHLAND = 18, +} + +local RegionName = { + [Region.WALL] = "wall", + [Region.OURS_HOME] = "ours_home", + [Region.THEM_HOME] = "them_home", + [Region.OURS_FLUCTUANT] = "ours_fluctuant", + [Region.THEM_FLUCTUANT] = "them_fluctuant", + [Region.OURS_ROAD_BEGIN] = "ours_road_begin", + [Region.THEM_ROAD_BEGIN] = "thems_road_begin", + [Region.OURS_TRAPEZOIDAL_HIGHLAND] = "ours_trapezoidal_highland", + [Region.THEM_TRAPEZOIDAL_HIGHLAND] = "them_trapezoidal_highland", + [Region.OURS_ROAD_WAYPOINT_1] = "ours_road_waypoint_1", + [Region.THEM_ROAD_WAYPOINT_1] = "them_road_waypoint_1", + [Region.OURS_ROAD_TO_FLUCTUANT] = "ours_road_to_fluctuant", + [Region.THEM_ROAD_TO_FLUCTUANT] = "them_road_to_fluctuant", + [Region.OURS_ROAD_TO_HIGHLAND] = "ours_road_to_highland", + [Region.THEM_ROAD_TO_HIGHLAND] = "them_road_to_highland", + [Region.OURS_HIGHLAND] = "ours_highland", + [Region.THEM_HIGHLAND] = "them_highland", +} + +local Map = {} +Map.__index = Map +local DEFAULT_MAP_NAME = "rmuc" + +local function dirname(path) + return path:match("^(.*)/[^/]*$") or "." +end + +local function source_dir() + local source = debug.getinfo(1, "S").source + if source:sub(1, 1) == "@" then + return dirname(source:sub(2)) + end + return "." +end + +local function load_map_data(name) + local lua_dir = source_dir() + local candidates = { + lua_dir .. "/../maps/" .. name .. ".lua", + lua_dir .. "/../../maps/" .. name .. ".lua", + } + local errors = {} + + for _, path in ipairs(candidates) do + local chunk, err = loadfile(path) + if chunk then + return chunk() + end + errors[#errors + 1] = path .. ": " .. tostring(err) + end + + error("failed to load region map " .. name .. ":\n" .. table.concat(errors, "\n")) +end + +local function is_finite_number(value) + return type(value) == "number" and value == value and value ~= math.huge and value ~= -math.huge +end + +local function is_positive_integer(value) + return is_finite_number(value) and value > 0 and math.floor(value) == value +end + +local function validate_data(data) + assert(type(data) == "table", "region map data should be a table") + assert(is_positive_integer(data.width), "region map data.width should be a positive integer") + assert(is_positive_integer(data.height), "region map data.height should be a positive integer") + assert(is_finite_number(data.resolution) and data.resolution > 0, "region map data.resolution should be positive") + assert(type(data.origin) == "table", "region map data.origin should be a table") + assert(is_finite_number(data.origin.x), "region map data.origin.x should be finite") + assert(is_finite_number(data.origin.y), "region map data.origin.y should be finite") + assert(type(data.rows) == "table", "region map data.rows should be a table") + + for y = 1, data.height do + local row = data.rows[y] + assert(type(row) == "table", "region map row " .. y .. " should be a table") + for x = 1, data.width do + assert(type(row[x]) == "number", "region map cell " .. y .. "," .. x .. " should be a number") + end + end +end + +local function new_map(data) + validate_data(data) + + return setmetatable({ + width = data.width, + height = data.height, + resolution = data.resolution, + origin = data.origin, + names = data.names or RegionName, + rows = data.rows, + }, Map) +end + +local function load_map(name) + return new_map(load_map_data(name)) +end + +function Map:locate(position) + assert(type(position) == "table", "position should be a table") + assert(type(position.x) == "number", "position.x should be a number") + assert(type(position.y) == "number", "position.y should be a number") + + if not is_finite_number(position.x) or not is_finite_number(position.y) then + return Region.WALL + end + + local column = math.floor((position.x - self.origin.x) / self.resolution) + 1 + local row = self.height - math.floor((position.y - self.origin.y) / self.resolution) + + if column < 1 or column > self.width or row < 1 or row > self.height then + return Region.WALL + end + + local map_row = self.rows[row] + if map_row == nil then + return Region.WALL + end + + return map_row[column] or Region.WALL +end + +local singleton +local singleton_name + +function Map.singleton(name) + if name ~= nil then + assert(type(name) == "string", "map name should be a string") + if singleton == nil or singleton_name ~= name then + singleton = load_map(name) + singleton_name = name + end + return singleton + end + + if singleton == nil then + return Map.singleton(DEFAULT_MAP_NAME) + end + + return singleton +end + +function Map.current_name() + return singleton_name or DEFAULT_MAP_NAME +end + +Map.Region = Region + +return Map diff --git a/src/lua/task/cross-fluctuant/cross-fluctuant-road.lua b/src/lua/task/cross-fluctuant/cross-fluctuant-road.lua new file mode 100644 index 0000000..2153e5e --- /dev/null +++ b/src/lua/task/cross-fluctuant/cross-fluctuant-road.lua @@ -0,0 +1,53 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +--- @param ours_zone boolean +--- @param forward_center boolean +--- @return boolean is_success +return function(ours_zone, forward_center) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + assert(type(forward_center) == "boolean", "forward_center should be a boolean") + action:info("开始cross-fluctuant-road") + + local rule = blackboard.rule + local begin, final + if ours_zone then + begin = rule.fluctuant_road_begin.ours + final = rule.fluctuant_road_final.ours + else + begin = rule.fluctuant_road_begin.them + final = rule.fluctuant_road_final.them + end + + local to, gimbal_yaw + if forward_center then + to = final + gimbal_yaw = 0 + else + to = begin + gimbal_yaw = math.pi + end + + action:update_chassis_mode("LAUNCH_RAMP") + action:info(string.format( + "cross-fluctuant-road: LAUNCH_RAMP 云台朝向=%.3f rad", + gimbal_yaw + )) + action:update_gimbal_direction(gimbal_yaw) + local ok = navigate_to_point(to, { + tolerance = 0.4, + timeout = 10, + }) + if not ok then + action:warn(string.format( + "cross-fluctuant-road: 导航到终点失败 (x=%.2f, y=%.2f)", + to.x, + to.y + )) + return false + end + + action:update_chassis_mode("SPIN") + return true +end diff --git a/src/lua/task/cross-fluctuant/navigate-to-fluctuant-begin.lua b/src/lua/task/cross-fluctuant/navigate-to-fluctuant-begin.lua new file mode 100644 index 0000000..e18554f --- /dev/null +++ b/src/lua/task/cross-fluctuant/navigate-to-fluctuant-begin.lua @@ -0,0 +1,65 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +local function select_point(point, ours_zone) + if type(point.x) == "number" and type(point.y) == "number" then + return point + end + return ours_zone and point.ours or point.them +end + +--- @param ours_zone boolean +--- @param use_begin boolean|nil +--- @return boolean is_success +return function(ours_zone, use_begin) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + if use_begin == nil then + use_begin = true + end + assert(type(use_begin) == "boolean", "use_begin should be a boolean") + + local rule = blackboard.rule + local targets + if use_begin then + targets = { + { + name = "road_zone_begin", + point = select_point(rule.road_zone_begin, ours_zone), + }, + { + name = "road_zone_way_point_1", + point = select_point(rule.road_zone_way_point_1, ours_zone), + }, + { + name = "fluctuant_road_begin", + point = select_point(rule.fluctuant_road_begin, ours_zone), + }, + } + else + targets = { + { + name = "fluctuant_road_final", + point = select_point(rule.fluctuant_road_final, ours_zone), + }, + } + end + + for _, target in ipairs(targets) do + local ok = navigate_to_point(target.point, { + tolerance = 0.4, + timeout = 10, + }) + if not ok then + action:warn(string.format( + "navigate-to-fluctuant-begin: 导航到%s失败 (x=%.2f, y=%.2f)", + target.name, + target.point.x, + target.point.y + )) + return false + end + end + + return true +end diff --git a/src/lua/task/cross-road/cross-road-zone.lua b/src/lua/task/cross-road/cross-road-zone.lua new file mode 100644 index 0000000..76dc84f --- /dev/null +++ b/src/lua/task/cross-road/cross-road-zone.lua @@ -0,0 +1,72 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +local function select_point(point, ours_zone) + if type(point.x) == "number" and type(point.y) == "number" then + return point + end + return ours_zone and point.ours or point.them +end + +--- @param ours_zone boolean +--- @param forward_center boolean +--- @return boolean is_success +return function(ours_zone, forward_center) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + assert(type(forward_center) == "boolean", "forward_center should be a boolean") + action:info("开始cross-road-zone") + + local rule = blackboard.rule + local targets + if forward_center then + targets = { + { + name = "road_zone_way_point_1", + point = select_point(rule.road_zone_way_point_1, ours_zone), + }, + { + name = "road_zone_way_point_2", + point = select_point(rule.road_zone_way_point_2, ours_zone), + }, + { + name = "road_zone_final", + point = select_point(rule.road_zone_final, ours_zone), + }, + } + else + targets = { + { + name = "road_zone_final", + point = select_point(rule.road_zone_final, ours_zone), + }, + { + name = "road_zone_way_point_2", + point = select_point(rule.road_zone_way_point_2, ours_zone), + }, + { + name = "road_zone_way_point_1", + point = select_point(rule.road_zone_way_point_1, ours_zone), + }, + } + end + + for _, target in ipairs(targets) do + local ok = navigate_to_point(target.point, { + tolerance = 0.4, + timeout = 10, + }) + if not ok then + action:warn(string.format( + "cross-road-zone: 导航到%s失败 (x=%.2f, y=%.2f)", + target.name, + target.point.x, + target.point.y + )) + return false + end + end + + action:update_chassis_mode("SPIN") + return true +end diff --git a/src/lua/task/crossing-road-zone.lua b/src/lua/task/crossing-road-zone.lua deleted file mode 100644 index aa72fcc..0000000 --- a/src/lua/task/crossing-road-zone.lua +++ /dev/null @@ -1,39 +0,0 @@ -local blackboard = require("blackboard").singleton() -local request = require("util.scheduler").request -local action = require("action") - ---- @param ours_zone boolean ---- @param forward_center boolean -return function(ours_zone, forward_center) - local x = blackboard.user.x - local y = blackboard.user.y - - local rule = blackboard.rule - local begin, final - if ours_zone then - begin = rule.road_zone_begin.ours - final = rule.road_zone_final.ours - else - begin = rule.road_zone_begin.them - final = rule.road_zone_final.them - end - - local from, to - if forward_center then - from = begin - to = final - else - from = final - to = begin - end - - local condition = blackboard.condition - - action:navigate(from) - local timeout = request:wait_until { - monitor = function() - return condition.near(from, 0.1) - end, - timeout = 10, - } -end diff --git a/src/lua/task/cruise-in-central-highland/cruise-in-central-highlands.lua b/src/lua/task/cruise-in-central-highland/cruise-in-central-highlands.lua new file mode 100644 index 0000000..a59b81a --- /dev/null +++ b/src/lua/task/cruise-in-central-highland/cruise-in-central-highlands.lua @@ -0,0 +1,81 @@ +local blackboard = require("blackboard").singleton() +local clock = require("util.clock") +local request = require("util.scheduler").request +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +local function select_point(point, ours_zone) + if type(point.x) == "number" and type(point.y) == "number" then + return point + end + return ours_zone and point.ours or point.them +end + +--- 中央高地巡航：按固定顺序在中央高地巡航点之间切换导航目标。 +--- @param ours_zone boolean +--- @param switch_interval number 切换周期（秒） +return function(ours_zone, switch_interval) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + assert(type(switch_interval) == "number", "switch_interval should be a number") + assert(switch_interval > 0, "switch_interval should be positive") + action:info("开始cruise-in-central-highlands") + + local rule = blackboard.rule + local navigation_timeout = math.max(10.0, switch_interval * 2.0) + local near_fluctuant_road, middle, near_doghole + if ours_zone then + near_fluctuant_road = rule.central_highland_near_fluctuant_road.ours + near_doghole = rule.central_highland_near_doghole.ours + else + near_fluctuant_road = rule.central_highland_near_fluctuant_road.them + near_doghole = rule.central_highland_near_doghole.them + end + middle = select_point(rule.central_highland_middle, ours_zone) + + local targets = { + { + name = "central_highland_near_fluctuant_road", + point = near_fluctuant_road, + }, + { + name = "central_highland_middle", + point = middle, + }, + { + name = "central_highland_near_doghole", + point = near_doghole, + }, + } + local target_index = 1 + + while true do + local target = targets[target_index] + local phase_start = clock:now() + action:update_chassis_mode("SPIN") + local ok = navigate_to_point(target.point, { + tolerance = 0.4, + timeout = navigation_timeout, + }) + if not ok then + action:warn(string.format( + "cruise-in-central-highlands: 导航到%s失败 (x=%.2f, y=%.2f, timeout=%.2fs)", + target.name, + target.point.x, + target.point.y, + navigation_timeout + )) + return false + end + + -- 保持固定切换周期：若提前到达，则驻留到本周期结束后再切点。 + local elapsed = clock:now() - phase_start + local remain = switch_interval - elapsed + if remain > 0 then + request:sleep(remain) + end + + target_index = target_index % #targets + 1 + end + + return true +end diff --git a/src/lua/task/forward-press/forward-press-in-one-step.lua b/src/lua/task/forward-press/forward-press-in-one-step.lua new file mode 100644 index 0000000..278a5b3 --- /dev/null +++ b/src/lua/task/forward-press/forward-press-in-one-step.lua @@ -0,0 +1,28 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +--- 前压至对方半场起伏路段终点 +--- @return boolean is_success +return function() + action:info("开始forward-press-in-one-step") + + local rule = blackboard.rule + local enemy_fluctuant_road_final = rule.fluctuant_road_final.them + + action:update_chassis_mode("SPIN") + local ok = navigate_to_point(enemy_fluctuant_road_final, { + tolerance = 0.4, + timeout = 10, + }) + if not ok then + action:warn(string.format( + "forward-press-in-one-step: 导航到对方起伏路段终点失败 (x=%.2f, y=%.2f)", + enemy_fluctuant_road_final.x, + enemy_fluctuant_road_final.y + )) + return false + end + + return true +end diff --git a/src/lua/task/forward-press/forward-press-in-two-step.lua b/src/lua/task/forward-press/forward-press-in-two-step.lua new file mode 100644 index 0000000..448f486 --- /dev/null +++ b/src/lua/task/forward-press/forward-press-in-two-step.lua @@ -0,0 +1,61 @@ +local blackboard = require("blackboard").singleton() +local clock = require("util.clock") +local request = require("util.scheduler").request +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +--- 前压至对方高地在二级台阶侧与高地增益点之间巡航。 +--- @param switch_interval number 切换周期（秒） +--- @return boolean is_success +return function(switch_interval) + assert(type(switch_interval) == "number", "switch_interval should be a number") + assert(switch_interval > 0, "switch_interval should be positive") + action:info("开始forward-press-in-two-step") + + local rule = blackboard.rule + local enemy_gain_point = rule.central_highland_gain_point.them + local enemy_near_two_steps_and_outpost = rule.central_highland_near_two_steps_and_outpost.them + + local navigation_timeout = math.max(10.0, switch_interval * 2.0) + local targets = { + { + name = "central_highland_gain_point", + point = enemy_gain_point, + }, + { + name = "central_highland_near_two_steps_and_outpost", + point = enemy_near_two_steps_and_outpost, + }, + } + local target_index = 1 + + while true do + local target = targets[target_index] + local phase_start = clock:now() + action:update_chassis_mode("SPIN") + local ok = navigate_to_point(target.point, { + tolerance = 0.4, + timeout = navigation_timeout, + }) + if not ok then + action:warn(string.format( + "forward-press-in-two-step: 导航到%s失败 (x=%.2f, y=%.2f, timeout=%.2fs)", + target.name, + target.point.x, + target.point.y, + navigation_timeout + )) + return false + end + + local elapsed = clock:now() - phase_start + local remain = switch_interval - elapsed + if remain > 0 then + request:sleep(remain) + end + + target_index = target_index % #targets + 1 + end + + return true +end diff --git a/src/lua/task/guard-home/cruise-in-front-of-base.lua b/src/lua/task/guard-home/cruise-in-front-of-base.lua new file mode 100644 index 0000000..67eda34 --- /dev/null +++ b/src/lua/task/guard-home/cruise-in-front-of-base.lua @@ -0,0 +1,79 @@ +local blackboard = require("blackboard").singleton() +local clock = require("util.clock") +local request = require("util.scheduler").request +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +local switch_interval = 10.0 + +local function distance_to(target) + local dx = target.x - blackboard.user.x + local dy = target.y - blackboard.user.y + return math.sqrt(dx * dx + dy * dy) +end + +--- 在基地前方左右增益点之间按固定周期切换巡航。 +--- @param ours_zone boolean +--- @return boolean is_success +return function(ours_zone) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + action:info("开始cruise-in-front-of-base") + + local rule = blackboard.rule + local left_gain_point, right_gain_point + if ours_zone then + left_gain_point = rule.base_left_gain_point.ours + right_gain_point = rule.base_right_gain_point.ours + else + left_gain_point = rule.base_left_gain_point.them + right_gain_point = rule.base_right_gain_point.them + end + + local navigation_timeout = math.max(10.0, switch_interval * 2.0) + local targets = { + { + name = "base_left_gain_point", + point = left_gain_point, + }, + { + name = "base_right_gain_point", + point = right_gain_point, + }, + } + local target_index + if distance_to(targets[1].point) <= distance_to(targets[2].point) then + target_index = 1 + else + target_index = 2 + end + + while true do + local target = targets[target_index] + local phase_start = clock:now() + action:update_chassis_mode("SPIN") + local ok = navigate_to_point(target.point, { + tolerance = 0.4, + timeout = navigation_timeout, + }) + if not ok then + action:warn(string.format( + "cruise-in-front-of-base: 导航到%s失败 (x=%.2f, y=%.2f, timeout=%.2fs)", + target.name, + target.point.x, + target.point.y, + navigation_timeout + )) + return false + end + + local elapsed = clock:now() - phase_start + local remain = switch_interval - elapsed + if remain > 0 then + request:sleep(remain) + end + + target_index = target_index % #targets + 1 + end + + return true +end diff --git a/src/lua/task/guard-home/occupy-fortress.lua b/src/lua/task/guard-home/occupy-fortress.lua new file mode 100644 index 0000000..baa417f --- /dev/null +++ b/src/lua/task/guard-home/occupy-fortress.lua @@ -0,0 +1,27 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local navigate_to_point = require("task.navigate-to-point") + +--- @return boolean is_success +return function() + action:info("开始occupy-fortress") + + local rule = blackboard.rule + local fortress = rule.fortress.ours + + action:update_chassis_mode("SPIN") + local is_success = navigate_to_point(fortress, { + tolerance = 0.4, + timeout = 10, + }) + if not is_success then + action:warn(string.format( + "occupy-fortress: 导航到己方堡垒失败 (x=%.2f, y=%.2f)", + fortress.x, + fortress.y + )) + return false + end + + return true +end diff --git a/src/lua/task/navigate-to-point.lua b/src/lua/task/navigate-to-point.lua new file mode 100644 index 0000000..ac073e1 --- /dev/null +++ b/src/lua/task/navigate-to-point.lua @@ -0,0 +1,51 @@ +local blackboard = require("blackboard").singleton() +local request = require("util.scheduler").request +local action = require("action") + +--- @class NavigateToPointOptions +--- @field tolerance? number|{x: number, y: number} +--- @field timeout? number + +local function normalize_options(options) + options = options or {} + assert(type(options) == "table", "options should be a table") + + local tolerance = options.tolerance or 0.1 + if type(tolerance) == "number" then + assert(tolerance >= 0, "tolerance should be non-negative") + else + assert(type(tolerance) == "table", "tolerance should be number or {x, y}") + assert(type(tolerance.x) == "number", "tolerance.x should be a number") + assert(type(tolerance.y) == "number", "tolerance.y should be a number") + assert(tolerance.x >= 0 and tolerance.y >= 0, "tolerance.{x,y} should be non-negative") + end + + local timeout = options.timeout or 10 + assert(type(timeout) == "number", "timeout should be a number") + assert(timeout >= 0, "timeout should be non-negative") + + return tolerance, timeout +end + +--- 普通点位导航：设置目标点并等待到达（或超时）。 +--- @param point {x: number, y: number} +--- @param options? NavigateToPointOptions +--- @return boolean is_success +return function(point, options) + assert(type(point) == "table", "point should be a table") + assert(type(point.x) == "number", "point.x should be a number") + assert(type(point.y) == "number", "point.y should be a number") + action:info("开始navigate-to-point") + + local tolerance, timeout = normalize_options(options) + local condition = blackboard.condition + + action:navigate(point) + local is_timeout = request:wait_until { + monitor = function() + return condition.near(point, tolerance) + end, + timeout = timeout, + } + return not is_timeout +end diff --git a/src/lua/task/one-step/go-down-onestep.lua b/src/lua/task/one-step/go-down-onestep.lua new file mode 100644 index 0000000..574fd10 --- /dev/null +++ b/src/lua/task/one-step/go-down-onestep.lua @@ -0,0 +1,71 @@ +local blackboard = require("blackboard").singleton() +local action = require("action") +local Map = require("rmuc_map") +local request = require("util.scheduler").request +local navigate_to_point = require("task.navigate-to-point") + +--- 从当前位置依次经过一级台阶高点与低点。 +--- @param ours_zone boolean +--- @return boolean is_success +return function(ours_zone) + assert(type(ours_zone) == "boolean", "ours_zone should be a boolean") + action:info("开始go-down-onestep") + + local rule = blackboard.rule + local one_step_high, one_step_low + if ours_zone then + one_step_high = rule.one_step_begin.ours + one_step_low = rule.one_step_final.ours + else + one_step_high = rule.one_step_begin.them + one_step_low = rule.one_step_final.them + end + + local ok = navigate_to_point(one_step_high, { + tolerance = 0.1, + timeout = 10, + }) + if not ok then + action:warn("go-down-onestep: 导航到一级台阶高点失败") + return false + end + + action:update_chassis_mode("LAUNCH_RAMP") + local dx = one_step_low.x - one_step_high.x + local dy = one_step_low.y - one_step_high.y + local distance = math.sqrt(dx * dx + dy * dy) + if distance <= 0 then + action:warn("go-down-onestep: 一级台阶高点与低点重合，无法确定下台阶方向") + return false + end + + local gimbal_yaw = math.atan(dy, dx) + local linear_speed = 2.0 + local vx = dx / distance * linear_speed + local vy = dy / distance * linear_speed + action:info(string.format( + "go-down-onestep: 云台朝向=%.3f rad, 底盘速度=(%.3f, %.3f) m/s", + gimbal_yaw, + vx, + vy + )) + action:update_gimbal_direction(gimbal_yaw) + + action:update_chassis_vel(vx, vy) + request:sleep(1.0) + local map = Map.singleton() + local expected_region = ours_zone and Map.Region.OURS_ROAD_TO_FLUCTUANT + or Map.Region.THEM_ROAD_TO_FLUCTUANT + ok = map:locate({ + x = blackboard.user.x, + y = blackboard.user.y, + }) == expected_region + action:update_chassis_vel(0.0, 0.0) + if not ok then + action:warn("go-down-onestep: 导航到一级台阶低点失败") + return false + end + action:update_chassis_mode("SPIN") + + return true +end diff --git a/src/lua/task/supply/supply-ammunition.lua b/src/lua/task/supply/supply-ammunition.lua new file mode 100644 index 0000000..2d8bc9a --- /dev/null +++ b/src/lua/task/supply/supply-ammunition.lua @@ -0,0 +1,39 @@ +local blackboard = require("blackboard").singleton() +local request = require("util.scheduler").request +local action = require("action") + +local POLL_INTERVAL = 0.2 + +--- 在补给点等待，直到弹量达到 ready 阈值。 +--- @return boolean is_success +return function() + local condition = blackboard.condition + local bullet_ready = blackboard.rule.bullet_ready + assert(type(condition.bullet_ready) == "function", "blackboard.condition.bullet_ready should be a function") + assert(type(bullet_ready) == "number", "blackboard.rule.bullet_ready should be a number") + + if condition.bullet_ready() then + action:info(string.format( + "supply-ammunition: 当前已达到补弹完成阈值 (bullet=%s, bullet_ready=%s)", + tostring(blackboard.user.bullet), + tostring(bullet_ready) + )) + return true + end + + action:info(string.format( + "supply-ammunition: 开始等待补弹 (bullet=%s, bullet_ready=%s)", + tostring(blackboard.user.bullet), + tostring(bullet_ready) + )) + + while not condition.bullet_ready() do + request:sleep(POLL_INTERVAL) + end + + action:info(string.format( + "supply-ammunition: 弹量已达到补弹完成阈值，结束等待 (bullet=%s)", + tostring(blackboard.user.bullet) + )) + return true +end diff --git a/src/lua/task/supply/supply-health.lua b/src/lua/task/supply/supply-health.lua new file mode 100644 index 0000000..d57eae5 --- /dev/null +++ b/src/lua/task/supply/supply-health.lua @@ -0,0 +1,39 @@ +local blackboard = require("blackboard").singleton() +local request = require("util.scheduler").request +local action = require("action") + +local POLL_INTERVAL = 0.2 + +--- 在补血点等待，直到血量达到 ready 阈值。 +--- @return boolean is_success +return function() + local condition = blackboard.condition + local health_ready = blackboard.rule.health_ready + assert(type(condition.health_ready) == "function", "blackboard.condition.health_ready should be a function") + assert(type(health_ready) == "number", "blackboard.rule.health_ready should be a number") + + if condition.health_ready() then + action:info(string.format( + "supply-health: 当前已达到补血完成阈值 (health=%s, health_ready=%s)", + tostring(blackboard.user.health), + tostring(health_ready) + )) + return true + end + + action:info(string.format( + "supply-health: 开始等待补血 (health=%s, health_ready=%s)", + tostring(blackboard.user.health), + tostring(health_ready) + )) + + while not condition.health_ready() do + request:sleep(POLL_INTERVAL) + end + + action:info(string.format( + "supply-health: 血量已达到补血完成阈值，结束等待 (health=%s)", + tostring(blackboard.user.health) + )) + return true +end diff --git a/src/lua/task/switch-mode.lua b/src/lua/task/switch-mode.lua new file mode 100644 index 0000000..6324a88 --- /dev/null +++ b/src/lua/task/switch-mode.lua @@ -0,0 +1,9 @@ +local action = require("action") + +--- @param mode string +--- @return boolean is_success +return function(mode) + assert(type(mode) == "string", "mode should be a string") + action:update_chassis_mode(mode) + return true +end diff --git a/src/lua/train_map.lua b/src/lua/train_map.lua new file mode 100644 index 0000000..bed8922 --- /dev/null +++ b/src/lua/train_map.lua @@ -0,0 +1,150 @@ +local Region = { + WALL = 0, + OURS_HOME = 1, + ROAD_REGION_BEGIN = 2, + ROAD_REGION_1 = 3, + ROAD_REGION_2 = 4, + ROAD_REGION_FINAL = 5, + OURS_HIGHLAND = 6, +} + +local RegionName = { + [Region.WALL] = "wall", + [Region.OURS_HOME] = "ours_home", + [Region.ROAD_REGION_BEGIN] = "road_region_begin", + [Region.ROAD_REGION_1] = "road_region_1", + [Region.ROAD_REGION_2] = "road_region_2", + [Region.ROAD_REGION_FINAL] = "road_region_final", + [Region.OURS_HIGHLAND] = "ours_highland", +} + +local Map = {} +Map.__index = Map +local DEFAULT_MAP_NAME = "train_map" + +local function dirname(path) + return path:match("^(.*)/[^/]*$") or "." +end + +local function source_dir() + local source = debug.getinfo(1, "S").source + if source:sub(1, 1) == "@" then + return dirname(source:sub(2)) + end + return "." +end + +local function load_map_data(name) + local lua_dir = source_dir() + local candidates = { + lua_dir .. "/../maps/" .. name .. ".lua", + lua_dir .. "/../../maps/" .. name .. ".lua", + } + local errors = {} + + for _, path in ipairs(candidates) do + local chunk, err = loadfile(path) + if chunk then + return chunk() + end + errors[#errors + 1] = path .. ": " .. tostring(err) + end + + error("failed to load region map " .. name .. ":\n" .. table.concat(errors, "\n")) +end + +local function is_finite_number(value) + return type(value) == "number" and value == value and value ~= math.huge and value ~= -math.huge +end + +local function is_positive_integer(value) + return is_finite_number(value) and value > 0 and math.floor(value) == value +end + +local function validate_data(data) + assert(type(data) == "table", "region map data should be a table") + assert(is_positive_integer(data.width), "region map data.width should be a positive integer") + assert(is_positive_integer(data.height), "region map data.height should be a positive integer") + assert(is_finite_number(data.resolution) and data.resolution > 0, "region map data.resolution should be positive") + assert(type(data.origin) == "table", "region map data.origin should be a table") + assert(is_finite_number(data.origin.x), "region map data.origin.x should be finite") + assert(is_finite_number(data.origin.y), "region map data.origin.y should be finite") + assert(type(data.rows) == "table", "region map data.rows should be a table") + + for y = 1, data.height do + local row = data.rows[y] + assert(type(row) == "table", "region map row " .. y .. " should be a table") + for x = 1, data.width do + assert(type(row[x]) == "number", "region map cell " .. y .. "," .. x .. " should be a number") + end + end +end + +local function new_map(data) + validate_data(data) + + return setmetatable({ + width = data.width, + height = data.height, + resolution = data.resolution, + origin = data.origin, + names = data.names or RegionName, + rows = data.rows, + }, Map) +end + +local function load_map(name) + return new_map(load_map_data(name)) +end + +function Map:locate(position) + assert(type(position) == "table", "position should be a table") + assert(type(position.x) == "number", "position.x should be a number") + assert(type(position.y) == "number", "position.y should be a number") + + if not is_finite_number(position.x) or not is_finite_number(position.y) then + return Region.WALL + end + + local column = math.floor((position.x - self.origin.x) / self.resolution) + 1 + local row = self.height - math.floor((position.y - self.origin.y) / self.resolution) + + if column < 1 or column > self.width or row < 1 or row > self.height then + return Region.WALL + end + + local map_row = self.rows[row] + if map_row == nil then + return Region.WALL + end + + return map_row[column] or Region.WALL +end + +local singleton +local singleton_name + +function Map.singleton(name) + if name ~= nil then + assert(type(name) == "string", "map name should be a string") + if singleton == nil or singleton_name ~= name then + singleton = load_map(name) + singleton_name = name + end + return singleton + end + + if singleton == nil then + return Map.singleton(DEFAULT_MAP_NAME) + end + + return singleton +end + +function Map.current_name() + return singleton_name or DEFAULT_MAP_NAME +end + +Map.Region = Region + +return Map diff --git a/src/lua/util/blackboard_logger.lua b/src/lua/util/blackboard_logger.lua new file mode 100644 index 0000000..f75f265 --- /dev/null +++ b/src/lua/util/blackboard_logger.lua @@ -0,0 +1,90 @@ +local action = require("action") + +local BlackboardLogger = {} + +function BlackboardLogger.attach(scheduler, blackboard) + local request = require("util.scheduler").request + + scheduler:append_task(function() + while true do + request:sleep(1.0) + + local u = blackboard.user + local g = blackboard.game + local p = blackboard.play + local m = blackboard.meta + local r = blackboard.referee + local rhp = r.robots_hp + + action:info(string.format( + "BB| user: hp=%d bullet=%d pwr_limit=%d pwr=%.0f buf=%.0f out=%s pos=(%.2f,%.2f) yaw=%.1f mode=%s cool=%d heat_lim=%d 42mm=%d 17mm=%d spd=%d shoot_ts=%.1f", + u.health, + u.bullet, + u.chassis_power_limit, + u.chassis_power, + u.chassis_buffer_energy, + tostring(u.chassis_output_status), + u.x, u.y, + u.yaw, + u.mode, + u.shooter_cooling, + u.shooter_heat_limit, + u.bullet_42mm, + u.fortress_17mm_bullet, + u.initial_speed, + u.shoot_timestamp + )) + + action:info(string.format( + "BB| game: stage=%s outpost=%d base=%d hero=%d eng=%d inf1=%d inf2=%d time=%d gold=%d ammo=%d dart=%s fort=%s bigE=%s smlE=%s pos_h=(%.1f,%.1f) pos_e=(%.1f,%.1f) pos_i1=(%.1f,%.1f) pos_i2=(%.1f,%.1f)", + g.stage, + g.outpost_health, + g.base_health, + g.hero_health, + g.engineer_health, + g.infantry_1_health, + g.infantry_2_health, + g.remaining_time, + g.gold_coin, + g.exchangeable_ammunition_quantity, + tostring(g.our_dart_nmber_of_hits), + tostring(g.fortress_occupied), + tostring(g.big_energy_mechanism_activated), + tostring(g.small_energy_mechanism_activated), + g.hero_position.x, g.hero_position.y, + g.engineer_position.x, g.engineer_position.y, + g.infantry_1_position.x, g.infantry_1_position.y, + g.infantry_2_position.x, g.infantry_2_position.y + )) + + action:info(string.format( + "BB| referee: sync_ts=%d rid=%d rhp=(1=%d 2=%d 3=%d 4=%d 7=%d res=%d outpost=%d base=%d) free_rv=%s inst_rv=%s rv_cost=%d ex_bullet=%d ex_count=%d s_mode=%d e_activ=%s red=%d blue=%d", + r.sync_timestamp, + r.robot_id, + rhp.ally_1, rhp.ally_2, rhp.ally_3, rhp.ally_4, + rhp.ally_7, rhp.reserved, + rhp.outpost, rhp.base, + tostring(r.can_confirm_free_revive), + tostring(r.can_exchange_instant_revive), + r.instant_revive_cost, + r.exchanged_bullet, + r.remote_bullet_exchange_count, + r.sentry_mode, + tostring(r.energy_mechanism_activatable), + r.red_score, + r.blue_score + )) + + action:info(string.format( + "BB| play: rs=%s ls=%s | meta: ts=%.1f fsm=%s ret=%s", + p.rswitch, + p.lswitch, + m.timestamp, + m.fsm_state, + m.fsm_return_stage + )) + end + end) +end + +return BlackboardLogger diff --git a/src/lua/util/native.lua b/src/lua/util/native.lua index e132a86..a7798fa 100644 --- a/src/lua/util/native.lua +++ b/src/lua/util/native.lua @@ -2,7 +2,7 @@ local M = {} ---@param path string ---@return boolean -function M.file_exists(path) +function M.exist_filename(path) local file = io.open(path, "r") if file ~= nil then file:close() @@ -12,7 +12,7 @@ function M.file_exists(path) end ---@return string|nil, string|nil -function M.find_env_setup_bash() +function M.search_setup_resource() local home = os.getenv("HOME") or "" local candidate_paths = { home ~= "" and (home .. "/env_setup.bash") or nil, @@ -20,7 +20,7 @@ function M.find_env_setup_bash() } for _, path in ipairs(candidate_paths) do - if path ~= nil and M.file_exists(path) then + if path ~= nil and M.exist_filename(path) then return path, nil end end @@ -30,7 +30,7 @@ end ---@param command string ---@return boolean, string -function M.run_command(command) +function M.run(command) local escaped_command = command:gsub("'", [['"'"']]) local success, reason, code = os.execute("bash -lc '" .. escaped_command .. "'") if success == true or success == 0 then @@ -41,9 +41,4 @@ function M.run_command(command) return false, message end ----@return string|nil, string|nil -function M.search_setup_filename() - return M.find_env_setup_bash() -end - return M diff --git a/src/lua/util/return-stage.lua b/src/lua/util/return-stage.lua new file mode 100644 index 0000000..2c4f285 --- /dev/null +++ b/src/lua/util/return-stage.lua @@ -0,0 +1,21 @@ +local ReturnStage = { + before_fluctuant = "before_fluctuant", + on_fluctuant = "on_fluctuant", + after_fluctuant = "after_fluctuant", +} + +function ReturnStage.resolve_escape_route(stage) + if stage == ReturnStage.before_fluctuant then + return "direct" + end + if stage == ReturnStage.on_fluctuant then + return "fluctuant_road" + end + if stage == ReturnStage.after_fluctuant then + return "onestep" + end + + error("unknown return stage: " .. tostring(stage)) +end + +return ReturnStage