def Playing():
"""Playing state: play game according to phase transitions
ledProxy: Chest Green
"""
global phase
global firstCall
if firstCall["Set"]:
mot.stiff() # stiffness on (if it wasnt already)
mot.setHead(0, 0) # head in normal position
# if a regular player
if playerType == 0:
phase = "BallNotFound"
mot.normalPose(True) # normalPose, forcing call
# if a keeper
else:
phase = "BallNotFoundKeep"
mot.keepNormalPose()
firstCall["Set"] = False
if firstCall["Playing"]:
mHandler.killWalk()
visThread.startScan()
print "In playing state"
firstCall["Initial"] = True
firstCall["Ready"] = True
firstCall["Set"] = True
firstCall["Playing"] = False
firstCall["Penalized"] = True
if mot.standUp():
print "Fallen"
try:
if memProxy.getData("dntAction"):
phase = memProxy.getData("dntAction")
print "coach says: " + phase
else:
print "coach says: nothing"
except:
pass
# Execute the phase as specified by phase variable
phases.get(phase)()
def Playing():
global phase
global firstCall
if firstCall['Playing']:
print 'In playing state'
ledProxy.fadeRGB('ChestLeds', 0x0000ff00, 0)
firstCall['Initial'] = True
firstCall['Ready'] = True
firstCall['Set'] = True
firstCall['Playing'] = False
firstCall['Penalized'] = True
# if nao has fallen down, stand up
if mot.standUp():
print 'Fallen'
#particleFilter.reset( position )
# relocalize
else:
# localization features on field:
# - goals, both yellow
# - lines
# - other robots ???
# hacks:
# - rules for placement on field -> clustered particles in according place
# - falling -> scattered particles
# - ...
# position = particleFilter.meanState
pass
try:
coachPhase = coachproxy.getData('dnt'+str(robot))
if coachPhase:
print 'Coach says: ', coachPhase
phase = coachPhase
except:
pass
# Execute the phase as specified by phase variable
phases.get(phase)()