def positionall():
t1=time.time()
vision = psl.SSLVisionClient('224.5.23.2', 10020)
vision.connect()
tcontrol = psl.SSLgrSimClient('127.0.0.1', 20011)
tcontrol.connect()
L=[]
while len(L)!=5:
data=vision.receive()
if len(data.detection.robots_yellow) != 0 :
for r in data.detection.robots_yellow:
if r.robot_id==0:
dy0=data
if 'y0' not in L:
L.append('y0')
else :
dy1=data
if 'y1' not in L:
L.append('y1')
elif len(data.detection.robots_blue)!=0:
for r in data.detection.robots_blue:
if r.robot_id==1:
db1=data
if 'b1' not in L:
L.append('b1')
else :
db0=data
if 'b0' not in L:
L.append('b0')
if len(data.detection.balls)!=0:
dball=data
if 'ball' not in L:
L.append('ball')
t2=time.time()
Pos=dict()
Pos[('b',0)]=db0
Pos[('b',1)]=db1
Pos[('y',0)]=dy0
Pos[('y',1)]=dy1
Pos['ball']=dball
return Pos
def stop(i,team):
tcontrol = psl.SSLgrSimClient('127.0.0.1', 20011)
tcontrol.connect()
packet_b0 = psl.grSim_pb2.grSim_Packet()
commands_b0 = packet_b0.commands
commands_b0.timestamp = time.time()
if team=='y':
commands_b0.isteamyellow = True
else :
commands_b0.isteamyellow = False
robot_commands_b0 = commands_b0.robot_commands.add()
robot_commands_b0.id = i
robot_commands_b0.kickspeedx = 0.
robot_commands_b0.kickspeedz = 0.
robot_commands_b0.veltangent = 0.
robot_commands_b0.velnormal = 0.
robot_commands_b0.velangular = 0. # Ask for rotation
robot_commands_b0.spinner = False
robot_commands_b0.wheelsspeed = False
tcontrol.send(packet_b0)
tcontrol.close()
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.patches as patches
import matplotlib.lines as lines
import potentiel as pt
from psl_package import paris_saclay_league as psl
import cmath as c
import time
import numpy as np
import ia_v3 as ia
#Connexion au simulateur
vision = psl.SSLVisionClient(ip='224.5.23.2', port=10020)
vision.connect()
grSim = psl.SSLgrSimClient('127.0.0.1', 20011)
grSim.connect()
#%% Paramètres
#TERRAIN
longueur = 1350
largeur = 1000
xmin = -longueur
xmax = longueur
ymin = -largeur
ymax = largeur
##ROBOT
r_robot = 115
K_max = 0.8 #facteur prop vitesse
except:
communication = None
print('Pas de carte communication détectée')
#%% Connexion à la vision
vision = psl.SSLVisionClient(ip='224.5.23.2', port=10006)
vision.connect3()
#%% Connexion simulateur
simulateur = False
if simulateur:
grSim = psl.SSLgrSimClient('192.168.1.11', 20011)
grSim.connect()
sim = grSim
print('Connexion au simulateur OK')
else:
print('Sans grSim')
sim = None
#%%Création match
'''parametre disp :
-1 : aucun affichage
0 : affichage dans la console des changements de postes
1 : affichage dans un plot des status des robots
2 : affichage dans un plot du terrain avec les robots et leur status'''
match_test = match.Match('test', vision, sim, communication, disp=2)
if 'b0' not in L:
L.append('b0')
if len(data.detection.balls)!=0:
dball=data
if 'ball' not in L:
L.append('ball')
t2=time.time()
Pos=dict()
Pos[('b',0)]=db0
Pos[('b',1)]=db1
Pos[('y',0)]=dy0
Pos[('y',1)]=dy1
Pos['ball']=dball
return Pos
tcontrol = psl.SSLgrSimClient('127.0.0.1', 20011)
tcontrol.connect()
class ball():
def __init__(self):
pos=positionall()
for r in pos['ball'].detection.balls:
ball.x=r.x
ball.y=r.y
class robot():
def __init__(self,i,team):
self.id=i
self.team=team
self.packet=psl.grSim_pb2.grSim_Packet()
self.commands_b0 = self.packet.commands