def __init__(self, _):
super(GoalieBehaviourDynamic, self).__init__()
self.log = DebugLog(self.G_LOGFILE)
class GoalieBehaviourDynamic(AbstractDecisionModule):
# threshold angle (if ball is seen under an angle greater than the threshold
# the bitbot should correct his position)
ACTIONANGLE = 20
WALKING_THRESHOLD = 1000
# For debugging
G_DOLOG = True # should logging be activated?
G_LOGFILE = "GoalieDynamic.log" # name of the logfile
G_logcount = 0 # counting the logs
G_lastcall = int(time.time()) # when was the last log?
G_DEBUGTIMETHRESOLD = 1 # how often should be logged? (in seconds)
# Variables
goalCenter = (9000, 0)
goalCenter_old = (9000, 0)
def __init__(self, _):
super(GoalieBehaviourDynamic, self).__init__()
self.log = DebugLog(self.G_LOGFILE)
def own_debug(self, connector):
# For debugging purposes
if self.G_DOLOG:
self.G_logcount += 1
# Trennstrich und Zaehlerangabe
self.log.addLineseperator()
self.log.newLine()
self.log.add("logcount: ")
self.log.add(self.G_logcount)
self.log.newLine()
self.log.addLineseperator()
self.log.newLine()
# Ballinformationen (raw)
self.log.add("Ballinformation (raw):")
self.log.newLine()
self.log.add("u=")
self.log.addSpacesLeft(str(round(connector.use_raw_vision_info_capsule().get_ball_info("u"), 2)), 9)
self.log.addSeperator()
self.log.add("v=")
self.log.addSpacesLeft(str(round(connector.use_raw_vision_info_capsule().get_ball_info("v"), 2)), 9)
self.log.newLine()
self.log.add("distance=")
self.log.addSpacesLeft(str(round(connector.use_raw_vision_info_capsule().get_ball_info("distance"), 2)), 9)
self.log.addSeperator()
self.log.add("BallAngle= ")
self.log.addSpacesLeft(str(round(connector.use_raw_vision_info_capsule().get_ball_angle(), 2)), 7)
self.log.newLine()
self.log.add("rating=")
self.log.addSpacesLeft(str(round(connector.use_raw_vision_info_capsule().get_ball_info("rating"), 4)), 10)
self.log.newLine()
# Ballinformationen (simpleFilter)
self.log.addSmallLineseperator()
self.log.newLine()
self.log.add("Ballinformation (simpleFilter):")
self.log.newLine()
self.log.add("u=")
self.log.addSpacesLeft(
str(round(connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().u, 2)), 9)
self.log.addSeperator()
self.log.add("v=")
self.log.addSpacesLeft(
str(round(connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().v, 2)), 9)
self.log.newLine()
self.log.add("distance=")
self.log.addSpacesLeft(
str(round(connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().distance, 2)), 9)
self.log.addSeperator()
self.log.add("angle=")
self.log.addSpacesLeft(
str(round(connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().angle, 2)), 7)
self.log.newLine()
self.log.add("uestimate=")
self.log.addSpacesLeft(
str(round(connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().uestimate, 2)),
9)
self.log.addSeperator()
self.log.add("vestimate=")
self.log.addSpacesLeft(
str(round(connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().vestimate, 2)),
9)
self.log.newLine()
# Torkoordinaten
if not (connector.use_filtered_vision_info_capsule().get_center_of_seen_goal()
is None):
log_g_c = connector.use_filtered_vision_info_capsule().get_center_of_seen_goal()
else:
log_g_c = ("Not Found", "Not Found")
self.log.add("Tormittelpunkt: ")
self.log.add("u=")
self.log.add(str(log_g_c[0]))
self.log.addSeperator()
self.log.add("v=")
self.log.add(str(log_g_c[1]))
self.log.newLine()
self.log.logWrite()
def perform(self, connector, reevaluate=False):
# config laden
config = get_config()
# is last debug-call older than 1 second? (respectively older than G_DEBUGTIMETHRESHOLD)
if config["Behaviour"]["Goalie"]["goalieDynamicDoLog"]:
if int(int(time.time()) - self.G_lastcall) > self.G_DEBUGTIMETHRESOLD:
self.G_lastcall = int(time.time()) # update last call time
self.own_debug(connector)
# --- Vars ---
# rating
rating = connector.use_raw_vision_info_capsule().get_ball_info("rating")
# rating = connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().rating
# ball angle
# ball_angle = connector.use_raw_vision_info_capsule().get_ball_angle()
ball_angle = connector.use_filtered_vision_info_capsule().get_simple_filtered_ball_info().angle
# get the estimated values from the BallDataInfoFilterModule
uestimate, vestimate = connector.use_filtered_vision_info_capsule().get_uv_estimate()
# Do nothing if rating is bad
if rating > 30:
return
# Goal center (if seen)
# Tuple: u,v
# ToDo: File debuggen "FilteredVisionInfoCapsule.py"
# , line 66, in get_complete_goal_seen
if not (connector.use_filtered_vision_info_capsule().get_center_of_seen_goal() is None):
self.goalCenter_old = tuple(self.goalCenter)
self.goalCenter = connector.use_filtered_vision_info_capsule().get_center_of_seen_goal()
else:
self.goalCenter = tuple(self.goalCenter_old)
# Distance to the goal center
dist_goal_center = math.fabs(self.goalCenter[1])
# The bitbot shouldnt move to the post but stop at some threshold
# (config["field"]["goal-width"] / 2.0) -> Half goal size
# (config["field"]["goal-width"] / 20) -> 5% of the goal size
self.WALKING_THRESHOLD = (config["field"]["goal-width"] / 2.0) - (config["field"]["goal-width"] / 20)
# If ball is estimated to pass goal-line
# Check the angle to the ball and correct position, if greater than threshold
if math.fabs(ball_angle) < self.ACTIONANGLE:
return
# Check distance to the post and move or don't (if post is close or not)
elif self.WALKING_THRESHOLD > dist_goal_center:
if ball_angle < 0:
return self.push(PlainWalkAction,
[[WalkingCapsule.ZERO, WalkingCapsule.ZERO, WalkingCapsule.SLOW_SIDEWARDS_LEFT, 3]])
else:
return self.push(PlainWalkAction,
[[WalkingCapsule.ZERO, WalkingCapsule.ZERO, WalkingCapsule.SLOW_SIDEWARDS_RIGHT, 3]])
else:
return
