def connect(self, host='localhost', port=1024):
"""
Connects to robot soccer match simulator.
"""
self.socket = Socket()
self.socket.connect((host, port))
self.robot_id = self.socket.recv_int()
self.socket.send_int(CMD_GET_WORLD)
self.robot_count = self.socket.recv_int()
self.robot_radius = self.socket.recv_float()
self.world_width = self.socket.recv_float()
self.world_height = self.socket.recv_float()
self.goal_length = self.socket.recv_float()
self.goal_deep = self.socket.recv_float()
self.goals[0].x = -self.world_width
self.goals[1].x = self.world_width
self.robots = [Robot() for i in xrange(self.robot_count)]
self.socket.send_int(CMD_GET_MATCH_STATUS)
self.__update_match()
def connect(self, host='localhost', port=1024):
"""
Connects to robot soccer match simulator.
"""
self.socket = Socket()
self.socket.connect((host, port))
self.robot_id = self.socket.recv_int()
self.socket.send_int(CMD_GET_WORLD)
self.robot_count = self.socket.recv_int()
self.robot_radius = self.socket.recv_float()
self.world_width = self.socket.recv_float()
self.world_height = self.socket.recv_float()
self.goal_length = self.socket.recv_float()
self.goal_deep = self.socket.recv_float()
self.goals[0].x = -self.world_width
self.goals[1].x = self.world_width
self.robots = [Robot() for i in range(self.robot_count)]
self.socket.send_int(CMD_GET_MATCH_STATUS)
self.__update_match()
class SoccerClient(object):
"""
Client interface for a robot soccer match simulator.
All methods of this class are relative to own robot, i.e, the ``robot_id``
robot.
Notice that ``world_height``, ``world_width``, ``goal_length`` actually are
the half of real size. This values come directly from robot soccer match.
"""
def __init__(self):
self.scores = [0, 0]
self.world_height = 0
self.world_width = 0
self.goals = [C(), C()]
self.goal_deep = 0
self.goal_length = 0
self.robot_id = 0
self.robot_radius = 0
self.robot_count = 0
self.ball = C()
self.robots = None
self.socket = None
def connect(self, host='localhost', port=1024):
"""
Connects to robot soccer match simulator.
"""
self.socket = Socket()
self.socket.connect((host, port))
self.robot_id = self.socket.recv_int()
self.socket.send_int(CMD_GET_WORLD)
self.robot_count = self.socket.recv_int()
self.robot_radius = self.socket.recv_float()
self.world_width = self.socket.recv_float()
self.world_height = self.socket.recv_float()
self.goal_length = self.socket.recv_float()
self.goal_deep = self.socket.recv_float()
self.goals[0].x = -self.world_width
self.goals[1].x = self.world_width
self.robots = [Robot() for i in range(self.robot_count)]
self.socket.send_int(CMD_GET_MATCH_STATUS)
self.__update_match()
def disconnect(self):
"""
Disconnects from robot soccer match simulator.
"""
self.socket.close()
def act(self, force_left, force_right):
"""
Does action for the robot. Receives the forces of left and right motor.
"""
self.socket.send_int(CMD_ACT)
self.socket.send_int(self.robot_id)
self.socket.send_float(force_left)
self.socket.send_float(force_right)
self.__update_match()
def __update_match(self):
"""
Gets match status.
"""
self.ball.x = self.socket.recv_float()
self.ball.y = self.socket.recv_float()
self.socket.recv_int()
for robot in self.robots:
robot.pos.x = self.socket.recv_float()
robot.pos.y = self.socket.recv_float()
robot.angle = self.socket.recv_float()
robot.old_pos.x = self.socket.recv_float()
robot.old_pos.y = self.socket.recv_float()
robot.old_angle = self.socket.recv_float()
robot.obstacle.x = self.socket.recv_float()
robot.obstacle.y = self.socket.recv_float()
robot.force[0] = self.socket.recv_float()
robot.force[1] = self.socket.recv_float()
self.socket.recv_int()
self.scores[0] = self.socket.recv_int()
self.scores[1] = self.socket.recv_int()
def get_ball_angle(self):
"""
Calculates angle difference between robot and ball, in radians.
"""
robot = self.get_own_robot()
alpha = (self.ball-robot.pos).angle() - robot.angle
return self.__adjust_angle(alpha)
def get_target_angle(self):
"""
Calculates angle difference in radians between robot and correspondent
goal.
"""
robot = self.get_own_robot()
goal = self.get_own_goal()
alpha = (goal-self.ball).angle() - (self.ball-robot.pos).angle()
return self.__adjust_angle(alpha)
def get_obstacle_angle(self):
"""
Calculates angle difference in radians between robot and the nearest
obstacle.
"""
robot = self.get_own_robot()
alpha = (robot.obstacle-robot.pos).angle() - robot.angle
return self.__adjust_angle(alpha)
def get_spin(self):
"""
Calculates the angle momentum in radians.
"""
robot = self.get_own_robot()
alpha = robot.angle-robot.old_angle
return self.__adjust_angle(alpha)
def get_ball_distance(self):
"""
Calculates distance in milimeters between robot and ball.
"""
robot = self.get_own_robot()
return (self.ball-robot.pos).size() - self.robot_radius
def get_target_distance(self):
"""
Calculates distance in milimeters between robot and goal.
"""
robot = self.get_own_robot()
goal = self.get_own_goal()
return (goal-robot.pos).size() - self.robot_radius
def get_obstacle_distance(self):
"""
Calculates distance in milimeters between robot and the nearest
obstacle.
"""
robot = self.get_own_robot()
return (robot.obstacle-robot.pos).size() - self.robot_radius
def get_own_robot(self):
"""
Gets the own robot description
"""
return self.robots[self.robot_id]
def get_own_goal(self):
"""
Gets own attacking goal's center. Notice the goal of robots[1] (right)
is goal[0] (left) and vice versa.
"""
return self.goals[1-self.robot_id]
def get_own_score(self):
"""
Gets scores of the own robot.
"""
return self.scores[self.robot_id]
def get_rival_robot(self):
"""
Gets the rival robot description.
"""
if self.robot_count == 2:
return self.robots[1-self.robot_id]
def get_rival_goal(self):
"""
Gets attacking goal's center of the rival. Notice the goal of robots[1]
(right) is goal[0] (left) and vice versa.
"""
return self.goals[self.robot_id]
def get_rival_score(self):
"""
Gets scores of the rival's robot.
"""
return self.scores[1-self.robot_id]
def __adjust_angle(self, angle):
if angle > math.pi:
angle -= 2*math.pi
elif angle < -math.pi:
angle += 2*math.pi
return angle
class SoccerClient(object):
"""
Client interface for a robot soccer match simulator.
All methods of this class are relative to own robot, i.e, the ``robot_id``
robot.
Notice that ``world_height``, ``world_width``, ``goal_length`` actually are
the half of real size. This values come directly from robot soccer match.
"""
def __init__(self):
self.scores = [0, 0]
self.world_height = 0
self.world_width = 0
self.goals = [C(), C()]
self.goal_deep = 0
self.goal_length = 0
self.robot_id = 0
self.robot_radius = 0
self.robot_count = 0
self.ball = C()
self.robots = None
self.socket = None
def connect(self, host='localhost', port=1024):
"""
Connects to robot soccer match simulator.
"""
self.socket = Socket()
self.socket.connect((host, port))
self.robot_id = self.socket.recv_int()
self.socket.send_int(CMD_GET_WORLD)
self.robot_count = self.socket.recv_int()
self.robot_radius = self.socket.recv_float()
self.world_width = self.socket.recv_float()
self.world_height = self.socket.recv_float()
self.goal_length = self.socket.recv_float()
self.goal_deep = self.socket.recv_float()
self.goals[0].x = -self.world_width
self.goals[1].x = self.world_width
self.robots = [Robot() for i in xrange(self.robot_count)]
self.socket.send_int(CMD_GET_MATCH_STATUS)
self.__update_match()
def disconnect(self):
"""
Disconnects from robot soccer match simulator.
"""
self.socket.close()
def act(self, force_left, force_right):
"""
Does action for the robot. Receives the forces of left and right motor.
"""
self.socket.send_int(CMD_ACT)
self.socket.send_int(self.robot_id)
self.socket.send_float(force_left)
self.socket.send_float(force_right)
self.__update_match()
def __update_match(self):
"""
Gets match status.
"""
self.ball.x = self.socket.recv_float()
self.ball.y = self.socket.recv_float()
self.socket.recv_int()
for robot in self.robots:
robot.pos.x = self.socket.recv_float()
robot.pos.y = self.socket.recv_float()
robot.angle = self.socket.recv_float()
robot.old_pos.x = self.socket.recv_float()
robot.old_pos.y = self.socket.recv_float()
robot.old_angle = self.socket.recv_float()
robot.obstacle.x = self.socket.recv_float()
robot.obstacle.y = self.socket.recv_float()
robot.force[0] = self.socket.recv_float()
robot.force[1] = self.socket.recv_float()
self.socket.recv_int()
self.scores[0] = self.socket.recv_int()
self.scores[1] = self.socket.recv_int()
def get_ball_angle(self):
"""
Calculates angle difference between robot and ball, in radians.
"""
robot = self.get_own_robot()
alpha = (self.ball - robot.pos).angle() - robot.angle
return self.__adjust_angle(alpha)
def get_target_angle(self):
"""
Calculates angle difference in radians between robot and correspondent
goal.
"""
robot = self.get_own_robot()
goal = self.get_own_goal()
alpha = (goal - self.ball).angle() - (self.ball - robot.pos).angle()
return self.__adjust_angle(alpha)
def get_obstacle_angle(self):
"""
Calculates angle difference in radians between robot and the nearest
obstacle.
"""
robot = self.get_own_robot()
alpha = (robot.obstacle - robot.pos).angle() - robot.angle
return self.__adjust_angle(alpha)
def get_spin(self):
"""
Calculates the angle momentum in radians.
"""
robot = self.get_own_robot()
alpha = robot.angle - robot.old_angle
return self.__adjust_angle(alpha)
def get_ball_distance(self):
"""
Calculates distance in milimeters between robot and ball.
"""
robot = self.get_own_robot()
return (self.ball - robot.pos).size() - self.robot_radius
def get_target_distance(self):
"""
Calculates distance in milimeters between robot and goal.
"""
robot = self.get_own_robot()
goal = self.get_own_goal()
return (goal - robot.pos).size() - self.robot_radius
def get_obstacle_distance(self):
"""
Calculates distance in milimeters between robot and the nearest
obstacle.
"""
robot = self.get_own_robot()
return (robot.obstacle - robot.pos).size() - self.robot_radius
def get_own_robot(self):
"""
Gets the own robot description
"""
return self.robots[self.robot_id]
def get_own_goal(self):
"""
Gets own attacking goal's center. Notice the goal of robots[1] (right)
is goal[0] (left) and vice versa.
"""
return self.goals[1 - self.robot_id]
def get_own_score(self):
"""
Gets scores of the own robot.
"""
return self.scores[self.robot_id]
def get_rival_robot(self):
"""
Gets the rival robot description.
"""
if self.robot_count == 2:
return self.robots[1 - self.robot_id]
def get_rival_goal(self):
"""
Gets attacking goal's center of the rival. Notice the goal of robots[1]
(right) is goal[0] (left) and vice versa.
"""
return self.goals[self.robot_id]
def get_rival_score(self):
"""
Gets scores of the rival's robot.
"""
return self.scores[1 - self.robot_id]
def __adjust_angle(self, angle):
if angle > math.pi:
angle -= 2 * math.pi
elif angle < -math.pi:
angle += 2 * math.pi
return angle
