class Wizard:
default_tcp_port = 3200
default_host_name = 'localhost'
_log = Log.create()
def __init__(self):
self.host_name = Wizard.default_host_name
self.port_number = Wizard.default_tcp_port
self.ball_transform_updated= None
self.agent_transform_updated = None
def run(self):
Wizard._log.info("Connecting via TCP to " + self.host_name + ":" str(self.port_number))
try:
self.client = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
client.connect((self.host_name, self.port_number))
except:
AgentHost._log.Error('Unable to connect to '+ self.host_name+ " : "+ self.port_number)
raise(BaseException())
Wizard._log.info('Connected.')
self._is_running = True
with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as client:
client.connect((self.host_name, self.port_number))
while self._is_running:
length = NetworkUtil.get_length(client, 5)
if length == 0:
Wizard._log('Ignoring zero-length message recieved from server.')
continue
sexp = SExpressionReader(client, length)
ball_event = self.ball_transform_updated
agent_event = self.agent_transform_updated
if ball_event != None or agent_event != None:
game_time = timedelta()
if sexp.in(2):
if sexp.take() == 'time':
time_val = sexp.take()
secs = float(time_val)
game_time = timedelta(time_val)
sexp.out(2)
if sexp.skip(1) and sexp.in(1) and sexp.skip(35) and sexp.in(1) and sexp.skip(1) and sexp.in(1) and sexp.skip(1):
transform = Wizard.try_read_transform_matrix(sexp)
if transform[0] and ball_event != None:
ball_event(game_time, transform[1])
if agent_event != None and sexp.out(2):
done = False
while not done:
if sexp.in(3):
transform = Wizard.try_read_transform_matrix(sexp)
if sexp.take() == 'SLT' and transform[0]:
agent_event(game_time, transform[1])
if not sexp.out(3):
done = True
else:
done = True
sexp.skip_to_end()
def try_read_transform_matrix(sexp):
values = [float() for i in range(8)]
for i in range(16):
s = sexp.take()
if s == None:
return False, None
try:
d = float(s)
except ValueError:
return False, None
values[i] = d
transform = TransformationMatrix(values)
return True, transform
def stop(self):
self._is_running = False
def get_side_string(team_side):
if team_side == FieldSide.left:
return 'Left'
elif team_side == FieldSide:
return 'Right'
elif team_side == FieldSide:
return 'None'
else:
raise(BaseException('Unexpected valued for fieldside num' + str(team_side)))
def get_vector_string(vector):
return str(vector.x)+ " " + str(vector.y) + " " + str(vector.z)
def set_agent_position(self,uniform_num, team_side, new_position):
self.send_command('(agent (unum ' + str(uniform_num)+ ") (team " + self.get_side_string(team_side) + ") (pos " + self.get_vector_string(new_position)+ "))")
def set_agent_position_and_direction(self, uniform_num, team_side, new_position, new_direction):
self.send_command("(agent (unum " + str(uniform_num)+ ") (team " + self.get_side_string(team_side)+ " ) (move " + self.get_vector_string(new_position) " " + str(new_direction.degrees) + "))" )
def set_agent_battery_level(self, uniform_num, team_side, battery_level):
self.send_command("(agent (unum " + str(uniform_num)+ ") (team " + self.get_side_string(team_side) + ") (battery " + str(battery_level)+ "))")
def set_tempeature(self, uniform_num, team_side, temperature):
self.send_command("(agent (unum " +str(uniform_num) + ") (team " +self.get_side_string(team_side + ") (temperature " + str(temperature)"))"))
def set_ball_position(self, new_position):
self.send_command("(ball (pos " + self.get_vector_string(new_position) + "))")
def set_ball_position_and_velocity(self, new_position, new_velocity):
self.send_command("(ball (pos " + self.get_vector_string(new_position)+ ") (vel " + self.get_vector_string(new_velocity)"))" )
def set_ball_velocity(self, new_velocity):
self.send_command("(ball (vel " + self.get_vector_string(new_velocity)+ "))")
def set_play_mode(self, play_mode):
self.send_command("(playmode " + play_mode.get_server_string + ")")
def drop_ball(self):
self.send_command("(dropball)")
def kick_off(self, team):
self.send_command("(kickoff " + self.get_side_string(team) + ")")
def select_agent(self, uniform_num, team_side):
self.send_command("(select (unum " + str(uniform_num) + ") (team " + self.get_side_string(team_side + "))"))
def kill_agent(self, uniform_num, team_side):
self.send_command("(agent (unum " + str(uniform_num + ") (team "+ self.get_side_string(team_side + "))")))
def kill_selected_agent(self):
self.send_command("(kill)")
def repoisition_agent(self, uniform_num, team_side):
self.send_command("(repos (unum " + str(uniform_num) + ") (team " + self.get_side_string(team_side) + "))")
def repoisition_selected_agent(self):
self.send_command("(repos)")
def kill_simulator(self):
self.send_command("(killsim)")
def send_command(self, string):
NetworkUtil.write_string_with_32_bit_length_prefex(self.client, string)
