class Tactic(object):
# this default time is in milliseconds
__metaclass__ = ABCMeta
DEFAULT_TIMEOUT_PERIOD = 50
param = tactics_union.Param()
def __init__(self, bot_id, state, param=None):
# TO DO based on when param is None , use state to decide the param
self.bot_id = bot_id
self.time_out = DEFAULT_TIMEOUT_PERIOD
self.begin_time = time.time()
self.param = param
@abstractmethod
def execute(self, state):
pass
@abstractmethod
def isComplete(self, state):
pass
@abstractmethod
def updateParams(self, state):
pass
def __init__(self, pub):
self.state = BeliefState()
self.pub = pub
self.detected = 6
self.time = time.clock()
self.role_list = [['' for i in range(2)]
for j in range(self.detected + 1)]
params = tactics_union.Param()
self.role_list[0][0] = "TAttacker"
self.role_list[0][1] = params
self.role_list[1][0] = "TPrimaryDefender"
self.role_list[1][1] = params
self.role_list[2][0] = "TMiddleDefender"
self.role_list[2][1] = params
self.role_list[3][0] = "TMiddleDefender"
self.role_list[3][1] = params
self.role_list[4][0] = "TForward"
self.role_list[4][1] = params
def __init__(self, pub):
self.state = BeliefState()
self.pub = pub
self.time = time.clock()
self.detected = 6
self.role_list = [['' for i in range(2)] for j in range(self.detected)]
params = tactics_union.Param()
params.DribbleTurnPassP.x = -HALF_FIELD_MAXX
params.DribbleTurnPassP.y = 0
self.role_list[0][0] = "TDTP"
self.role_list[0][1] = params
self.role_list[1][0] = "TStop"
self.role_list[1][1] = params
self.role_list[2][0] = "TStop"
self.role_list[2][1] = params
self.role_list[3][0] = "TStop"
self.role_list[3][1] = params
self.role_list[4][0] = "TStop"
self.role_list[4][1] = params
self.role_list[5][0] = "TStop"
self.role_list[5][1] = params
def debug_subscriber2(state):
# print("New Call Back")
global pub
attacker_id = 0
params = tactics_union.Param()
params.PositionP.x = state.homePos[1].x - 200
params.PositionP.y = state.homePos[1].y + 200
cur_tactic = TPosition.TPosition(attacker_id, state, params)
cur_tactic.execute(state, gv, pub)
def debug_subscriber(state):
# print("New Call Back")
global pub
attacker_id = 0
params = tactics_union.Param()
params.PositionP.x = state.ballPos.x
params.PositionP.y = state.ballPos.y
cur_tactic = TPosition.TPosition(attacker_id + 1, state, params)
cur_tactic.execute(state, gv, pub)
def tactic_instance(self):
tactic = {0:"TStop", 1:"TStop", 2:"TStop", 3:"TStop", \
4:"TStop", 5:"TStop"}
parameters = dict()
params = tactics_union.Param()
for i in range(self.active_robots):
parameters[i] = params
RefPlay.tactic_instance(self, tactic, parameters)
def __init__(self, state, publisher):
tactic = {0:"TPosition", 1:"TPosition", 2:"TPosition", 3:"TPosition", \
4:"TPosition", 5:"TPosition"}
positions = [[0, 0, 0, 0], [1000, 1000, 0, 0], [2000, 2000, 0, 0],
[3000, 3000, 0, 0], [-1000, -1000, 0, 0],
[-2000, -2000, 0, 0]]
parameters = dict()
for i in range(6):
params = tactics_union.Param()
params.PositionP.x = positions[i][0]
params.PositionP.y = positions[i][1]
params.PositionP.finalSlope = positions[i][2]
params.PositionP.finalVelocity = positions[i][3]
parameters[i] = params
RefPlay.__init__(self, state, tactic, parameters, publisher)
def tactic_instance(self):
tactic = {0:"TPosition", 1:"TPosition", 2:"TPosition", 3:"TPosition", \
4:"TPosition", 5:"TPosition"}
positions = [[-1000, 0, 0, 0], [-1000, -1000, 0,
0], [-1000, 1000, 0, 0],
[3000, 000, 0, 0], [3000, 2000, 0, 0],
[3000, -2000, 0, 0]]
parameters = dict()
for i in range(6):
params = tactics_union.Param()
params.PositionP.x = positions[i][0]
params.PositionP.y = positions[i][1]
params.PositionP.finalSlope = positions[i][2]
params.PositionP.finalVelocity = positions[i][3]
parameters[i] = params
RefPlay.tactic_instance(self, tactic, parameters)
def __init__(self, state, publisher):
params = tactics_union.Param()
tactic = {
0: "TStop",
1: "TStop",
2: "TStop",
3: "TStop",
4: "TStop",
5: "TStop"
}
params = {
0: params,
1: params,
2: params,
3: params,
4: params,
5: params
}
RefPlay.__init__(self, state, tactic, params, publisher)
def __init__(self):
self.state = BeliefState()
self.detected = 6
self.Tactic_0 = False
self.Tactic_1 = False
self.Tactic_2 = False
self.Tactic_3 = False
self.Tactic_4 = False
self.Tactic_5 = False
self.role_list = [['' for i in range(2)] for j in range(self.detected+1)]
params = tactics_union.Param()
params.IntercptP.awayBotID = 3
params.IntercptP.where = 0
self.role_list[0][0] = "TTestIt"
self.role_list[0][1] = params
self.role_list[1][0] = "TReceiver"
self.role_list[1][1] = params
test_roles.role_list[3][1] = params params = tactics_union.Param() params.PositionP.x = -200.0 params.PositionP.y = -200.0 params.PositionP.finalSlope = 0.0 params.PositionP.finalVelocity = 0.0 params.PositionP.align = False test_roles.role_list[4][0] = "TPosition" test_roles.role_list[4][1] = params params = tactics_union.Param() params.PositionP.x = 450.0 params.PositionP.y = 450.0 params.PositionP.finalSlope = 0.0 params.PositionP.finalVelocity = 0.0 params.PositionP.align = False test_roles.role_list[5][0] = "TPosition" test_roles.role_list[5][1] = params ''' params = tactics_union.Param() params.IntercptP.awayBotID = 3 params.IntercptP.where = 0 test_roles.role_list[0][0] = "TPosition" test_roles.role_list[0][1] = params print 'Initializing the node...' test_roles.node()