class VisionWrapper:
world = None
blue = Array("f", range(3))
yellow = Array("f", range(3))
ball = Array("f", range(2))
dims = Array("i", range(2))
sim = None
def __init__(self, sim):
self.world = World()
self.sim = sim
self.done = sim.done
self._run_subprocess()
def _run_subprocess(self):
self._subp = Process(target=self.mainLoop)
self._subp.start()
def mainLoop(self):
dims = self.world.getDimensions()
self.dims[0] = dims[0]
self.dims[1] = dims[1]
while not self.done.value:
self.world.updateAll()
self.keyframe()
def keyframe(self):
w = self.world
keyframe = {
"blue": {"position": w.getBluePosition(), "angle": w.getBlueAngle(), "velocity": w.getBlueVelocity()},
"yellow": {
"position": w.getYellowPosition(),
"angle": w.getYellowAngle(),
"velocity": w.getYellowVelocity(),
},
"ball": {"position": w.getBallPosition(), "velocity": w.getBallVelocity(), "angle": 0},
}
self.sim.keyFrame(keyframe, external=True)
def getBlueBot(self):
return self.sim.getBlueBot()
def getBlueRobot(self):
return self.getBlueBot()
def getYellowBot(self):
return self.sim.getYellowBot()
def getYellowRobot(self):
return self.getYellowBot()
def getBall(self):
return self.sim.getBall()
def getDimensions(self):
return tuple(self.dims)
class StrategyWrapper:
world = None
blue = Array("f", range(3))
yellow = Array("f", range(3))
ball = Array("f", range(2))
dims = Array("i", range(2))
sim = None
def __init__(self, sim):
self.world = World()
self.sim = sim
self.done = sim.done
self._run_subprocess()
def _run_subprocess(self):
self._subp = Process(target=self.mainLoop)
self._subp.start()
def mainLoop(self):
dims = self.world.getDimensions()
self.dims[0] = dims[0]
self.dims[1] = dims[1]
while not self.done.value:
self.world.updateAll()
self.simpleStrategy()
def simpleStrategy(self):
""" Simple strategy used for simulation ahead - just follows the ball"""
# simulates simple Follow-the-Ball strategy for both robots
w = self.world
blue = self.sim.objects["blue"]
yellow = self.sim.objects["yellow"]
bpos = w.getBluePosition()
borient = w.getBlueAngle()
ypos = w.getYellowPosition()
yorient = w.getYellowAngle()
gpos = w.getBallPosition()
ym = getWheelSpeeds(ypos, yorient, gpos)
bm = getWheelSpeeds(bpos, borient, gpos)
blue.move(*bm)
yellow.move(*ym)
def getBlueBot(self):
return self.sim.getBlueBot()
def getBlueRobot(self):
return self.getBlueBot()
def getYellowBot(self):
return self.sim.getYellowBot()
def getYellowRobot(self):
return self.getYellowBot()
def getBall(self):
return self.sim.getBall()
def getDimensions(self):
return tuple(self.dims)