def setup():
global _has_setup_ui
if _has_setup_ui == True:
logging.warn("ui setup() function called more than once")
return
win = getMainWindow()
if win == None:
raise AssertionError("Unable to get a reference to the main window")
pcTab = win.findChild(QtWidgets.QTreeView, 'plays')
# setup play config tab
pcTab.setModel(main.play_registry())
pcTab.expandAll()
pcTab.resizeColumnToContents(0)
logging.debug("Initialized PlayConfigTab")
# bind the play label in the ui to the name of the current play
play_name_label = win.findChild(QtWidgets.QLabel, 'current_play_name')
main.root_play().play_changed.connect(play_name_label.setText)
_has_setup_ui = True
def setup():
global _has_setup_ui
global _defense_checkbox
if _has_setup_ui == True:
logging.warn("ui setup() function called more than once")
return
win = getMainWindow()
if win == None:
raise AssertionError("Unable to get a reference to the main window")
pcTab = win.findChild(QtWidgets.QTreeView, 'plays')
# setup play config tab
pcTab.setModel(main.play_registry())
pcTab.expandAll()
pcTab.resizeColumnToContents(0)
logging.debug("Initialized PlayConfigTab")
# bind the play label in the ui to the name of the current play
play_name_label = win.findChild(QtWidgets.QLabel, 'current_play_name')
_defense_checkbox = win.findChild(QtWidgets.QCheckBox,
'useDefenseCheckBox')
main.root_play().play_changed.connect(play_name_label.setText)
_has_setup_ui = True
def execute_running(self):
# update double touch tracker
evaluation.double_touch.tracker().spin()
# cache and calculate the score() function for each play class
main.play_registry().recalculate_scores()
# Play Selection
################################################################################
if main.game_state().is_stopped():
evaluation.double_touch.tracker().restart()
if main.game_state().is_placement():
if not isinstance(self.play,
plays.restarts.placement.Placement):
logging.info("Placing Ball")
self.play = plays.restarts.placement.Placement()
self._currently_restarting = True
else:
if self.play is None or not self.play.run_during_stopped():
logging.info(
"Running 'Stopped' play due to game state change")
self.play = plays.stopped.Stopped()
self._currently_restarting = True
elif main.game_state().is_halted():
evaluation.double_touch.tracker().restart()
self.play = None
else:
# (play_class, score value) tuples
enabled_plays_and_scores = [
p for p in main.play_registry().get_enabled_plays_and_scores()
]
# only let restart play run once
enabled_plays_and_scores = [
p for p in enabled_plays_and_scores
if not p[0].is_restart() or (
p[0].is_restart() and self._currently_restarting)
]
# handle temporary blacklisting
# we remove the blacklisted play class from selection for this iteration, then unblacklist it
enabled_plays_and_scores = [
p for p in enabled_plays_and_scores
if p[0] != self.temporarily_blacklisted_play_class
]
self.temporarily_blacklisted_play_class = None
# see if we need to kill current play or if it's done running
if self.play is not None:
if self.play.__class__ not in map(lambda tup: tup[0],
enabled_plays_and_scores):
logging.info("Current play '" +
self.play.__class__.__name__ +
"' no longer enabled, aborting")
self.play.terminate()
self.play = None
elif self.play.is_done_running():
logging.info("Current play '" +
self.play.__class__.__name__ +
"' finished running")
if self.play.is_restart:
self._currently_restarting = False
self.play = None
elif self.play.__class__.score() == float("inf"):
logging.info("Current play '" +
self.play.__class__.__name__ +
"' no longer applicable, ending")
self.play.terminate()
self.play = None
if self.play is None:
try:
if len(enabled_plays_and_scores) > 0:
# select the play with the smallest value for score()
play_class_and_score = min(enabled_plays_and_scores,
key=lambda tup: tup[1])
# run the play with the lowest score, as long as it isn't inf
if play_class_and_score[1] != float("inf"):
play_class = play_class_and_score[0]
self.play = play_class() # instantiate it
else:
# there's no available plays to run
pass
except Exception as e:
logging.error(
"Exception occurred during play selection: " + str(e))
traceback.print_exc()
if self.play is not None:
logging.info("Chose new play: '" +
self.play.__class__.__name__ + "'")
# Role Assignment
################################################################################
try:
assignments = role_assignment.assign_roles(
self.robots, self.role_requirements())
except role_assignment.ImpossibleAssignmentError as e:
logging.error(
"Unable to satisfy role assignment constraints. Dropping and temp. blacklisting current play..."
)
self.drop_current_play(temporarily_blacklist=True)
else:
self.assign_roles(assignments)
def execute_running(self):
# update double touch tracker
evaluation.double_touch.tracker().spin()
# cache and calculate the score() function for each play class
main.play_registry().recalculate_scores()
# Play Selection
################################################################################
if main.game_state().is_stopped():
if not isinstance(self.play, plays.stopped.Stopped):
logging.info("Running 'Stopped' play due to game state change")
self.play = plays.stopped.Stopped()
self._currently_restarting = True
elif main.game_state().is_halted():
self.play = None
else:
# (play_class, score value) tuples
enabled_plays_and_scores = [p for p in main.play_registry().get_enabled_plays_and_scores()]
# only let restart play run once
enabled_plays_and_scores = [p for p in enabled_plays_and_scores if not p[0].is_restart() or ( p[0].is_restart() and self._currently_restarting)]
# handle temporary blacklisting
# we remove the blacklisted play class from selection for this iteration, then unblacklist it
enabled_plays_and_scores = [p for p in enabled_plays_and_scores if p[0] != self.temporarily_blacklisted_play_class]
self.temporarily_blacklisted_play_class = None
# see if we need to kill current play or if it's done running
if self.play != None:
if self.play.__class__ not in map(lambda tup: tup[0], enabled_plays_and_scores):
logging.info("Current play '" + self.play.__class__.__name__ + "' no longer enabled, aborting")
self.play.terminate()
self.play = None
elif self.play.is_done_running():
logging.info("Current play '" + self.play.__class__.__name__ + "' finished running")
if self.play.is_restart:
self._currently_restarting = False
self.play = None
elif self.play.__class__.score() == float("inf"):
logging.info("Current play '" + self.play.__class__.__name__ + "' no longer applicable, ending")
self.play.terminate()
self.play = None
if self.play == None:
# reset the double-touch tracker
evaluation.double_touch.tracker().restart()
try:
if len(enabled_plays_and_scores) > 0:
# select the play with the smallest value for score()
play_class_and_score = min(enabled_plays_and_scores, key=lambda tup: tup[1])
# run the play with the lowest score, as long as it isn't inf
if play_class_and_score[1] != float("inf"):
play_class = play_class_and_score[0]
self.play = play_class() # instantiate it
else:
# there's no available plays to run
pass
except Exception as e:
logging.error("Exception occurred during play selection: " + str(e))
traceback.print_exc()
if self.play != None:
logging.info("Chose new play: '" + self.play.__class__.__name__ + "'")
# Role Assignment
################################################################################
try:
assignments = role_assignment.assign_roles(self.robots, self.role_requirements())
except role_assignment.ImpossibleAssignmentError as e:
logging.error("Unable to satisfy role assignment constraints. Dropping and temp. blacklisting current play...")
self.drop_current_play(temporarily_blacklist=True)
else:
self.assign_roles(assignments)
def __init__(self):
super().__init__()
self.setModel(main.play_registry())
self.expandAll()
self.resizeColumnToContents(0)
def __init__(self):
super().__init__()
self.setModel(main.play_registry())
self.expandAll()
self.resizeColumnToContents(0)
