Robots can now cross defenses. DEVELOPMENT IS NOW FROZEN. All further…

… development will be done on the new 2017 game

README.md

@@ -1,4 +1,6 @@
 # FIRST Stronghold Simulator  
+
+As of now, development of this simulator is frozen due to the upcoming 2017 game. A simulator for the 2017 game will be created when the game is announced.
 
 ### What is it?  
 A simple simulator of the FRC 2016 game (Stronghold) that communicates to the server throught sockets. This simulates the basic Stronghold game but attempts to remove as many details as possible. For instance, instead of simulating pieces of the robot, the robot just tells the server how long it takes to shoot and how accurate it is.  
@@ -12,4 +14,7 @@ As you can see, many pieces that are often considered an integral part of FRC ha
  - Randomize the position of the ball after a missed highgoal shot
    - I don't want to deal with the physics part so just make sure the robot can't learn from the ball's end position
  - Implement climbing the tower
- - Implement defense crossing
+
+### Bugs
+ - Cannot move in amounts smaller than about 100 px/s
+ - Can change action during defense cross and get stuck in the defense

docs/test_socket.rb

@@ -29,10 +29,16 @@
 i = 0
 while true
 
+    puts s.gets.chomp
+
     if i == 0
         s.puts "{\"command\": \"MOVE\",\"args\": [0.5]}"
     end
 
+    if i == 5
+       s.puts "{\"command\": \"DEFENSE\",\"args\": [4000]}" 
+    end
+
     i += 1
 
     sleep(1)

src/main/java/com/gmail/jakekinsella/field/Field.java

@@ -121,6 +121,19 @@ public ArrayList<Defense> detectAllDefensesInRect(Shape rectangle) {
         return detectedDefenses;
     }
 
+    public Defense robotInDefenseDetector(Shape rectangle) {
+        ArrayList<Defense> defenses = new ArrayList<>(this.redAlliance.getDefenses());
+        defenses.addAll(this.blueAlliance.getDefenses());
+
+        for (Defense defense : defenses) {
+            if (defense.getDetectionBox().intersects(rectangle.getBounds().getCenterX(), rectangle.getBounds().getCenterY(), 1, 11)) {
+                return defense;
+            }
+        }
+
+        return null;
+    }
+
     public boolean touchingWall(Shape rectangle) {
         return rectangle.intersects(this.leftWall) || rectangle.intersects(this.rightWall) || rectangle.intersects(this.topWall) || rectangle.intersects(this.bottomWall);
     }

src/main/java/com/gmail/jakekinsella/field/defense/Defense.java

@@ -16,16 +16,26 @@ public abstract class Defense implements Paintable {
     protected RobotAllianceColor allianceColor;
 
     private Rectangle2D.Double rectangle;
+    private Rectangle2D.Double detectionBox;
 
     public Defense(int defensePosition, RobotAllianceColor allianceColor) {
         this.defensePosition = defensePosition;
         this.allianceColor = allianceColor;
 
-        int[] position = this.getPosition(allianceColor, defensePosition);
+        int[] position = getPosition(allianceColor, defensePosition);
         this.x = position[0];
         this.y = position[1];
 
         this.rectangle = new Rectangle2D.Double(this.x - 8, this.y - 6, 69, 62);
+
+        int xDetection = this.x;
+        if (this.allianceColor.equals(RobotAllianceColor.BLUE)) {
+            xDetection += 55;
+        } else {
+            xDetection -= 25;
+        }
+
+        this.detectionBox = new Rectangle2D.Double(xDetection, this.y + 20, 30, 10);
     }
 
     public String getDefenseName() {
@@ -40,11 +50,22 @@ public Rectangle2D.Double getRectangle() {
         return this.rectangle;
     }
 
+    public Rectangle2D.Double getDetectionBox() {
+        return this.detectionBox;
+    }
+
+    public RobotAllianceColor getAllianceColor() {
+        return allianceColor;
+    }
+
     @Override
     public void paint(Graphics graphics, Graphics2D graphics2D) {
         graphics2D.setColor(Color.BLUE);
         graphics2D.draw(this.getRectangle());
 
+        graphics2D.setColor(Color.YELLOW);
+        graphics2D.draw(this.getDetectionBox());
+
         graphics.setFont(new Font("Arial", Font.PLAIN, 6));
         graphics.setColor(Color.BLACK);
         graphics.drawString(this.defenseName, this.x, this.y);

src/main/java/com/gmail/jakekinsella/robot/Robot.java

@@ -219,7 +219,9 @@ public void movementTick(long delta) {
         this.setY((int) (this.getY() + deltaY));
 
         if (RobotServer.getField().detectAllDefensesInRect(this.getRectangle()).size() > 0) {
-            this.setVelocity(0);
+            if (!this.currentAction.toString().equals("DEFENSE")) {
+                this.setVelocity(0);
+            }
 
             if (this.currentAction.toString().equals("TURN")) {
                 this.currentAction = new NoneAction();
@@ -296,6 +298,10 @@ public void processRobotInput() {
                 logger.info(this.getRobotName() + " has started to shoot a lowgoal");
                 this.currentAction = new LowgoalAction(commandInfo, this, this.lowgoalTime, this.lowgoalChance, this.lowgoalSide, this.lowgoalRange);
                 break;
+            case DEFENSE:
+                logger.info(this.getRobotName() + " has started to cross a defense");
+                this.currentAction = new DefenseAction(commandInfo, this);
+                break;
         }
     }
 

src/main/java/com/gmail/jakekinsella/robotactions/DefenseAction.java

@@ -0,0 +1,66 @@
+package com.gmail.jakekinsella.robotactions;
+
+import com.gmail.jakekinsella.field.defense.Defense;
+import com.gmail.jakekinsella.robot.Robot;
+import com.gmail.jakekinsella.robot.RobotAllianceColor;
+import com.gmail.jakekinsella.robot.RobotServer;
+import com.gmail.jakekinsella.socketcommands.Command;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+/**
+ * Created by jakekinsella on 10/31/16.
+ */
+public class DefenseAction extends TimeAction {
+
+    private int direction = 1;
+
+    private static final Logger logger = LogManager.getLogger();
+
+    public DefenseAction(Command command, Robot robot) {
+        super(command, robot, ((Long) command.getArg(0)).intValue());
+
+        this.success = true;
+    }
+
+    @Override
+    public void actionStart() {
+
+        if (this.robot.getVelocity() != 0) {
+            success = false;
+            logger.info(this.robot.getRobotName() + " is at a bad velocity to cross a defense!");
+        }
+
+        Defense defense = RobotServer.getField().robotInDefenseDetector(this.robot.getRectangle());
+        if (defense != null) {
+            if (defense.getAllianceColor().equals(RobotAllianceColor.BLUE)) {
+                this.direction = -1;
+            }
+
+            if (this.robot.getAngle() != this.direction * 90) {
+                success = false;
+                logger.info(this.robot.getRobotName() + " is at a bad angle to cross a defense!");
+            }
+        } else {
+            success = false;
+            logger.info(this.robot.getRobotName() + " is not in position to cross a defense!");
+        }
+
+        if (!success) {
+            this.robot.actionFinish();
+            this.robot.sendActionResponse();
+        } else {
+            this.robot.setVelocity((-1 * this.direction * 50.0) / (((Long) command.getArg(0)).intValue() / 1000.0));
+        }
+    }
+
+    @Override
+    public void actionDone() {
+        logger.info(this.robot.getRobotName() + " has crossed a defense!");
+
+        this.robot.setVelocity(0);
+        this.robot.getRobotAlliance().getScore().scoreDefenseCross();
+        this.robot.sendActionResponse();
+        this.robot.actionFinish();
+    }
+}

src/main/java/com/gmail/jakekinsella/robotactions/TimeAction.java

@@ -10,6 +10,7 @@ public class TimeAction extends Action {
 
     private long remainingTime;
     private long lastTick;
+    private int i = 0;
 
     public TimeAction(Command command, Robot robot, int time) {
         super(command, robot);
@@ -20,7 +21,9 @@ public TimeAction(Command command, Robot robot, int time) {
 
     @Override
     public void tick() {
-        actionStart();
+        if (i == 0) {
+            actionStart();
+        }
 
         long delta = System.currentTimeMillis() - this.lastTick;
         this.remainingTime -= delta;
@@ -32,6 +35,8 @@ public void tick() {
         }
 
         this.lastTick = System.currentTimeMillis();
+
+        i++;
     }
 
     public void actionDone() {

src/main/java/com/gmail/jakekinsella/socketcommands/parsecommand/ClientCommand.java

@@ -8,5 +8,6 @@ public enum ClientCommand {
     TURN,
     SHOOT,
     PICKUP,
-    LOWGOAL
+    LOWGOAL,
+    DEFENSE
 }