TAG-MAC03118/player-lejos.py

import bluetooth
from robot import Robot
from tag import TagClient
from random import randint, random
import signal, sys
import math
import time

serverMACAddress = '00:16:53:18:2E:17'
port = 1
s = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
s.connect((serverMACAddress, port))

#while 1:
#    text = bytes([1])
#    if text == "quit":
#        break
#    s.send(bytes([1]))
#sock.close()


rid = 11
run = False
board = None
tagplayer = -1

client = TagClient('localhost', 10318)
client.info(rid, 8, 8, 4, 4)

px, py, course = None, None, None

# Sinal de ctrl-c
def signal_handler(signal, frame):
    client.stop()
    sock.close()
    sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)

players = {}

while not client.quit:
    time.sleep(0.1)

    # nao recebeu informacoes do campo
    if client.getBoard() is None:
        continue
    elif px is None:
        board = client.getBoard()
        px, py = board[0]*random(), board[1]*random()
        course = math.pi*2.0*random()

    # jogo esta pausado
    if client.getStatus() is False:
        players = {}
        continue

    # nao recebeu informacoes do pegador
    if client.getTagInfo() is None:
        continue

    # verifica se ha posicoes novas
    newposs = client.getPosition()
    for info in newposs:
        posx, posy, courser, idd, xsize, ysize, xtag, ytag = info
        if idd != rid:
            players[idd] = [posx, posy]
        else:
            px, py, course = posx, posy, courser

    tag, interval = client.getTagInfo()  
    pos = [players[p] for p in players]

    if time.time() <= interval:
        # comportamento de fuga
        if tag in players and tag != rid:
            # foge se nao for pegador 

            x1 = px-players[tag][0]
            y1 = py-players[tag][1]
            x2 = math.cos(course)
            y2 = math.sin(course)
            dot = x1*x2 + y1*y2      # dot product between [x1, y1] and [x2, y2]
            det = x1*y2 - y1*x2      # determinant
            angle = math.atan2(det, dot)
            if angle < 0.3 or angle > math.pi-0.3:
                s.send(bytes([1]))
            elif angle > math.pi:
                s.send(bytes([3]))
            else:
                s.send(bytes([4]))


    else:

        if len(pos) >= 1 and tag == rid:
            x1 = px-pos[0][0]
            y1 = py-pos[0][1]
            x2 = math.cos(course)
            y2 = math.sin(course)
            dot = x1*x2 + y1*y2      # dot product between [x1, y1] and [x2, y2]
            det = x1*y2 - y1*x2      # determinant
            angle = math.atan2(det, dot)
            if (angle < 0.3) or (angle > math.pi-0.3):
                s.send(bytes([1]))
            elif angle > math.pi:
                s.send(bytes([3]))
            else:
                s.send(bytes([4]))

        if tag != rid:

            x1 = px-players[tag][0]
            y1 = py-players[tag][1]
            x2 = math.cos(course)
            y2 = math.sin(course)
            dot = x1*x2 + y1*y2      # dot product between [x1, y1] and [x2, y2]
            det = x1*y2 - y1*x2      # determinant
            angle = math.atan2(det, dot)
            if angle < 0.3 or angle > math.pi-0.3:
                s.send(bytes([1]))
            elif angle > math.pi:
                s.send(bytes([3]))
            else:
                s.send(bytes([4]))