Difference between revisions of "Programming robots"

Revision as of 08:35, 14 May 2009

Starting with release 011, server admins will be able to program their own robots in addition to designing their own levels. Robots will be coded in Lua, and will will have a number of special functions available to them.

Robot coding is still fluid, and everything is subject to change, but here is a list of commands being implemented for the next alpha release (see forums for the URL):

How to read the function notation:

returnType funtionName( argType1, argType2 ) - Description of function

Return types: Unlike most languages, Lua does not differentiate between integers and floating point numbers. Instead, everything is simply a number.

Points to remember in Lua:

• Lua arrays are 1-based: the first index is 1 rather than 0 as is the case in most programming languages

Navigation, configuration, and combat

number getCPUTime() - Returns number representing the CPU time in ms. Can be used to time events

Example:

lastTime = thisTime
thisTime = bot:getCPUTime()
bot:logprint(thisTime - lastTime.." ms have elapsed since we were last here.")

getZoneCenter( x, y ) - Return point representing center of zone containing point x,y
getGatewayFromZoneToZone( a, b ) - Return point representing fastest way from zone a to zone b. If zones a & b are not neighbors, returns nil
number getZoneCount() - Return number of zones
number getCurrentZone() - Return current zone that robot is in

number getAngle() - Return angle robot is currently facing
Point getLoc() - Return point representing location of robot
Example:

-- This code in getMove()
    loc = bot:getLoc()                        -- Get robot's location once
    items = bot:findItems( AsteroidType )     -- Get list of all asteroids
 
    -- Now find the closest one
    minDist = 99999999;
    asteroid = nil;
    for k, item in ipairs( items ) do         -- Iterate over our list
        -- Use distSquared because it is less computationally expensive
        -- and works great for comparing distances
        d = loc:distSquared( item:getLoc() )  -- Dist btwn robot and asteroid
 
        if( d < minDist ) then                -- Is it the closest yet?
           asteroid = item
           minDist = d
        end
    end
 
    if( asteroid == nil ) then                -- Make sure we found one
        return
    end

void setAngle( ang ) - Point robot at angle
void setAngleXY( x, y ) - Point robot towards point x,y
number getAngleXY( x, y ) - Compute angle to point x, y
boolean hasLosXY( x, y ) - Return whether or not robot can see point x, y

hasFlag() - Return whether or not robot currently has the flag


WeaponType getWeapon() - Return currently selected weapon
Example:

weap = bot:getWeapon()            -- Get info about our currently active weapon
weapInfo = WeaponInfo( weap )     -- Get information about it   
bot:logprint( weapInfo:getName().." has a range of "..weapInfo:getRange() )

Modules are automatically disabled at the end of each game cycle. Therefore, if you want to keep a module on for a sustained period of time, you must activate it each time getMove() is called. To activate a module, use one of the activateModule() commands.

void activateModule(ModuleType) - Activate module, specified by ModuleType. If specified module is not included in the current loadout, this command will have no effect. Example:

-- Note that this line will do nothing if we don't have shields
bot:activateModule( ModuleShield )    -- Shields up!

void activateModuleIndex(indx) - Activate module, specified by its index (1 or 2)
Example:

-- Must specify an index, currently either 1 or 2
bot:activateModuleIndex( 1 )          -- Activate first module, whatever it is

void setReqLoadout(Loadout) - Set the requested loadout to Loadout
Loadout getCurrLoadout() - Returns current loadout
Example:

loadout = bot:getCurrLoadout()       -- Retrieve current bot configuration
 
weapType1 = loadout:getWeapon(1)     -- Get the first weapon
weapType2 = loadout:getWeapon(2)     -- Get the second weapon
weapType3 = loadout:getWeapon(3)     -- Get the third weapon
 
-- Check to see if the first weapon is a phaser
if ( weapType1 == WeaponPhaser ) then
   bot:logprint("First weapon is a phaser!")
end
 
-- Print a list of our three current weapons
bot:logprint( "My three weapons are: "..WeaponInfo(weapType1):getName()..", "
                                      ..WeaponInfo(weapType2):getName()..", and "
                                      ..WeaponInfo(weapType3):getName() )

Loadout getReqLoadout() - Returns requested loadout

Navigation

findObjects(ObjectType)
getWaypoint(x, y)


Ship control
void setThrustAng( vel, angle ) - Set robot's velocity to vel (0-1), at angle
void setThrustXY( vel, x, y ) - Set robot's velocity to vel (0-1), toward coordinates x, y

void fire() - Fires active weapon
void setWeaponIndex( index ) - Activates weapon with index (1, 2, 3)
void setWeapon( WeaponType ) - Activates weapon type specified (does nothing if WeaponType is not in current loadout)
boolean hasWeapon (WeaponType ) - Does current configuation have specified weapon

Example:

if ( bot:hasWeapon( WeaponMine ) ) then
   bot:setWeapon( WeaponMine )      -- Make mine layer active, if it's 
                                    --    part of our current loadout
   bot:fire()                       -- Lay a mine
end

void globalMsg( msg ) - Send a message to all players
void teamMsg( msg ) - Send a message to players on the same team

logprint(msg) - Print msg to game logfile

GameItems

The Lua object structure follows that used by Bitfighter. The GameItems group conisists of RepairItems, Asteroids, ResourceItems, SoccerBallItems, Flags, NexusFlags, and TestItems. These all share similar properties, and have similar methods. All of these implement the getLoc, getVel, and getRad methods for querying location, velocity, and radius respectively. Some items have additional methods that apply only to them. See below for details on these additional methods.

TestItems

Category: GameItem

Point getLoc() - Center of testItem
number getRad() - Radius of testItem
Point getVel() - Speed of testItem

Example:

ti = bot:findTestItem()   -- Function likely to change
vel = it:getVel()

Asteroids

Category: GameItem

Point getLoc() - Center of asteroid
number getRad() - Radius of asteroid
Point getVel() - Speed of asteroid
number getSize() - Index of current asteroid size (0 = initial size, 1 = next smaller, 2 = ...)
number getSizeCount() - Number of indexes of size we can have

Example:

asteroid = bot:findAsteroid()   -- Function likely to change
target = asteroid:getLoc()

ResourceItems

Category: GameItem

Point getLoc() - Center of ResourceItem
number getRad() - Radius of ResourceItem
Point getVel() - Speed of ResourceItem

Example:

ri = bot:ResourceItem()   -- Function likely to change
vel = ri:getVel()

RepairItems

Category: GameItem

Point getLoc() - Center of RepairItem
number getRad() - Radius of RepairItem
Point getVel() - Speed of RepairItem (usually 0,0)
boolean isVis() - Is repair item currently visible?

Example:

ri = bot:findRepairItem()   -- Function likely to change
vel = ri:getVel()

SoccerBallItems

Category: GameItem
Note: Only appears in Soccer games.
Point getLoc() - Center of SoccerBallItem
number getRad() - Radius of SoccerBallItem
Point getVel() - Speed of SoccerBallItemusually 0,0)

Flags

Category: GameItem

Point getLoc() - Center of Flag
number getRad() - Radius of Flag
Point getVel() - Speed of Flag (usually 0,0)
number getTeamIndx() - Get index of owning team (-1 for neutral flag)
boolean inInitLoc() - Is flag in it's initial location?
boolean inCaptureZone() - Is flag in a team's capture zone?
boolean isOnShip() - Is flag being carried by a ship?

NexusFlags

Category: GameItem
Note: Only appears in Nexus games.
Point getLoc() - Center of NexusFlag
number getRad() - Radius of NexusFlag
Point getVel() - Speed of NexusFlag

Weapon Information

All the WeaponInfo data will remain constant throughout the game. Therefore, if you need some information about a weapon, it might make sense to retrieve it in the bot's header and store it in a local variable rather than instantiating a new WeaponInfo object during every loop of the robot's getMove() method.

Example:

weap = bot:getWeapon()             -- Get bot's currently active weapon
bot:logprint( weap:getName().." has a range of "..weap:getRange() )

weap = WeaponInfo( WeaponTurret )  -- Get info about those infernal turrets
bot:logprint( weap:getName().." shoots with a speed of "..weap:getProjVel() )

string getName() - Name of weapon ("Phaser", "Triple", etc.)
WeaponType getID() - ID of module (WeaponPhaser, WeaponTriple, etc.)
number getRange() - Get range of weapon (units)
number getFireDelay() - Delay between shots in ms
number getMinEnergy() - Minimum energy needed to use
number getEnergyDrain() - Amount of energy weapon consumes
number getProjVel() - Speed of projectile (units/sec)
number getProjLife() - Time projectile will live (ms) -1 == live forever)
number getDamage() - Damage projectile does (0-1, where 1 = total destruction)
boolean getCanDamageSelf() - Will weapon damage self?
boolean getCanDamageTeammate() - Will weapon damage teammates?

WeaponType constants

Module Information

Example:

mod = ModuleInfo( ModuleBoost )
bot:logprint( "This is a lame example!" )

string getName() - Name of module ("Shield", "Turbo", etc.)
ModuleType getID() - ID of module (ModuleShield, ModuleBoost, etc.)

ModuleType constants

Loadouts

void setWeapon(index, WeaponType) - Set weapon at index
void setModule(index, ModuleType) - Set module at index
WeaponType getWeapon(index) - return weapon at index
ModuleType getModule(index) - return module at index

Example:

-- Get a new loadout (comes pre-filled with default values)
loadout = Loadout()
 
-- Configure the loadout to suit our needs
loadout:setWeapon( 1, WeaponPhaser )
loadout:setWeapon( 2, WeaponBurst )
loadout:setWeapon( 3, WeaponMine )
loadout:setModule( 1, ModuleShield )
loadout:setModule( 2, ModuleCloak )
 
-- Set the loadout, will become active when bot hits loadout zone
-- or spawns, depending on game
bot:setReqLoadout( loadout )     
 
if( loadout:getWeapon(1) == WeaponPhaser) then
   bot:logprintf( "This line always gets printed!" )
end

boolean isValid() - Is loadout config valid?
boolean equals(Loadout) - is loadout the same as Loadout?

GameInfo

You can get information about the current game with the GameInfo object. You only need get this object once, then you can use it as often as you like. It will always reflect the latest data.
Example:

game = GameInfo()           -- Create the GameInfo object 
gameType = game:getGameType()
 
if( gameType == SoccerGame ) then
   bot:logprint("This bot is not very good at soccer!")
else
   gameTypeName = game:getGameTypeName()
   bot:logprintf("I just love playing "..gameTypeName.."!")   
end

Example:

-- Create the GameInfo object in header:
game = GameInfo()           
 
...
 
-- Even though we only create our GameInfo once, it is always current
 
...
 
-- Later, in getMove():
remTime = game:getGameTimeReamaining()
totTime = game:getGameTimeTotal()
percent = ( totTime - remTime ) / remTime
bot:logprint( "Game is "..percent.."% over )

GameType getGameType() - Return current game typet)
string getGameTypeName() - Return current game type
number getFlagCount() - Return the number of flags in the game
number getWinningScore() - Returns the score required to win the level
number getGameTimeTotal() - Returns the time (in seconds) that the level will be played for
number getGameTimeRemaining() - Returns the time remaining (in seconds) for this level
number getLeadingScore() - Gets score of the leading team
number getLeadingTeam() - Gets index of leading team
number getTeamCount() - Return number of teams

Example:

-- Create the GameInfo object in header:
game = GameInfo()           
...
-- Then later...
...
leadingTeam = game:getLeadingTeam()
team = TeamInfo( leadingTeam )
bot:teamMsg( "Hurry up! Team "..team:getName().." is winning!"  )

string getLevelName() - Gets the level's name
number getGridSize() - Gets the level's gridSize parameter
boolean getIsTeamGame() - Is this a team game?

getEventScore(ScoringEvent)

GameType constants

ScoringEvent constants

TeamInfo

string getName() - return team name
number getIndex() - return team's index, index of first team is 1
number getPlayerCount() - return player count
number getScore() - return team score

Example:

gameInfo = GameInfo()
teams = gameInfo:getTeamCount()
 
-- Note that while the number of teams will not change throughout the game,
-- the number of players on each team might.  Also, the robot may be initialized
-- before the players have been added, so if you run this code in the bot header, 
-- it may report some teams having 0 players.
 
for i = 1, teams do        -- First team has an index of 1
   team = TeamInfo( i )
   bot:logprint( "Team "..i.." is called "..team:getName()..
      " and has "..team:getPlayerCount().." players" )
end

Timers

void reset() - Reset the timer.
number getTime() - Returns time left on the timer (in ms)
number getFraction() - Returns the fraction of the timer left (1 = all time left, 0 = no time left)
void setPeriod( time ) - Set the time on the timer, and resets it.
boolean update( time ) - Update the timer by the specified amount of time (in ms), and return true if timer has gone off. Use bot:getTime() as the time parameter.
Example:

-- In header:
timer = Timer( 1000 )      -- Set timer that will go off every second
...
-- Then later, in getMove()
...
if( timer:update( bot:getTime() ) ) then   -- Always update with bot:getTime()
   bot:logprint("1 sec has elapsed!")      -- Msg will get printed every second
   timer:reset()                           -- Start timer over
end

Points

Point is a utility class to make handling coordinates simpler. You can create your own point objects using the constructor, or you can get them as return values from many functions.

Point Point( x, y ) - Create a new Point object with coordinates x, y. You do not need to use setxy() unless you want to change the coords later.

setxy( x, y ) - Update coordinates of point
setx( x ) - Update x coordinate of point
sety( y ) - Update y coordinate of point

boolean equals( Point ) - Returns true if the point is the same as Point
number distanceTo( Point ) - Returns distance from point to Point
number distSquared( Point ) - Returns distance squared from point to Point (less computationally intensive, good for comparison)
number angleTo( Point ) - Returns angle from point to Point

Example:

point = Point( 0, 0 )      -- Create a new point
 
if( point:equals( Point(1, 1) ) then       
   bot:logprint("This never gets printed")      
end
 
if( point:distanceTo( Point(1, 1) < 5 ) then       
   bot:logprint("This always gets printed")      
end

Misc

Some constants available in game:

Game Objects
ShipType
BarrierType
MoveableType
BulletType
ItemType
ResourceItemType
EngineeredType
ForceFieldType
LoadoutZoneType
MineType
TestItemType
FlagType
NexusFlagType
TurretTargetType
SlipZoneType
HeatSeekerType
SpyBugType
NexusType
BotNavMeshZoneType
RobotType
SoccerBallItemType
TeleportType
GoalZoneType
AsteroidType