(options, args) = parser.parse_args()
(w, h) = Params.pitchSize
objects = {}
objects['ball'] = Ball((w/2, h/2), (0, 0))
objects['blue'] = Robot((60, h/2), (0,0), 0, "blue")
objects['yellow'] = Robot((w-60, h/2), (0,0), pi, "yellow")
simulation = Simulation(objects, draw=True)
def goal_scored(simulation, space, arbiter, obj, goal):
simulation.reset()
robot_string = "Yellow" if goal == CT_LEFT_GOAL else "Blue"
print "%s robot scored!" % robot_string
return True
simulation.addGoalCollisionFunc(goal_scored, objects['ball'], CT_LEFT_GOAL)
simulation.addGoalCollisionFunc(goal_scored, objects['ball'], CT_RIGHT_GOAL)
vss = VisionServerStarter(simulation, options.fps * 5) #FIXME: Multiplying by 5, because FPS is not correct - suspect that 5 clients connect
vss.start(31410)
csf = CommsServerFactory(simulation)
csf.start()
simulation.start()
while not simulation.done.value:
pass
vw = VisionWrapper(sim)
except Exception, e:
print "VisionWrapper Error: %s" % e
try:
cw = CommsWrapper(sim)
except Exception, e:
print "CommsWrapper Error: %s" % e
try:
sw = StrategyWrapper(sim)
except Exception, e:
print "StrategyWrapper Error: %s" % e
try:
vss = VisionServerStarter(vw, 400)
vss.start(31430)
except Exception, e:
print "VSS Error: %s" % e
try:
csf = CommsServerFactory(cw)
csf.start(31420)
except Exception, e:
print "CSF Error: %s" % e
done = False
while not done:
try:
pass