def generate_frame(self, environment):
frame_blue = common_pb2.Frame()
frame_yellow = common_pb2.Frame()
frame_blue.CopyFrom(environment.frame)
frame_yellow.CopyFrom(environment.frame)
frame_yellow.ball.x *= -1
for robot in frame_yellow.robots_yellow:
robot.x *= -1
robot.orientation = math.pi - robot.orientation
for robot in frame_yellow.robots_blue:
robot.x *= -1
robot.orientation = math.pi - robot.orientation
return frame_yellow, frame_blue
def set_arguments(self,
what_to_call,
frame=common_pb2.Frame(),
foulinfo=messages_pb2.FoulInfo()):
self.frame = frame
self.foulinfo = foulinfo
self.what_to_call = what_to_call
self.start()
def call_SetLaterRobots(self,
frame=common_pb2.Frame(),
foulInfo=messages_pb2.FoulInfo()):
environment = self.create_environment(frame, foulInfo)
try:
response = self.stub.SetLaterRobots(environment)
except:
response = messages_pb2.Robots()
return response
def call_RunStrategy(self,
frame=common_pb2.Frame(),
foulInfo=messages_pb2.FoulInfo()):
environment = self.create_environment(frame, foulInfo)
try:
response = self.stub.RunStrategy(environment)
except:
response = messages_pb2.Command()
return response
def __init__(self, ip, port, isYellow, firasimclient):
super().__init__()
self.teamClient = TeamClient(ip, port)
self.converter = Converter()
self.firasimclient = firasimclient
self.isYellow = isYellow
self.teamName = ''
self.frame = common_pb2.Frame()
self.foulinfo = messages_pb2.FoulInfo()
self.what_to_call = WhatToCallEnum.Nothing
except:
response = common_pb2.Ball()
return response
def call_SetFormerRobots(self,
frame=common_pb2.Frame(),
foulInfo=messages_pb2.FoulInfo()):
environment = self.create_environment(frame, foulInfo)
try:
response = self.stub.SetFormerRobots(environment)
except:
response = messages_pb2.Robots()
return response
def call_SetLaterRobots(self,
frame=common_pb2.Frame(),
foulInfo=messages_pb2.FoulInfo()):
environment = self.create_environment(frame, foulInfo)
try:
response = self.stub.SetLaterRobots(environment)
except:
response = messages_pb2.Robots()
return response
if __name__ == "__main__":
teamClient = TeamClient('127.0.0.1', 50052)
frame = common_pb2.Frame()
foulInfo = messages_pb2.FoulInfo()
while True:
teamClient.call_RunStrategy(frame, foulInfo)