class Planner(object):
"""Finite State Machine-Based planner. Generates commands for the robot based on plan classes derived from Plan"""
def __init__(self, side, pitch, attacker=True):
"""
Constructor.
:param side: "left" or "right"; The side of the pitch we are on
:param pitch: 0 or 1; The main pitch (0) or the side pitch (1)
:param attacker: True (or not given) if we are the attacker robot, otherwise False if we are the defender
"""
self.world = World(side, pitch)
# TODO catcher_areas need tweaking for our robot, they are currently set to team 7's
self.world.our_defender.catcher_area = {"width": 30, "height": 30, "front_offset": 12}
self.world.our_attacker.catcher_area = {"width": 30, "height": 30, "front_offset": 14}
self.robot = self.world.our_attacker
# List of available plans. These should be instantiated in -descending- order of desirability. All plans -must- inherit from Plan!
p = lambda plan: plan(self.world, self.robot)
self.plans = [p(ShootAll), p(GrabBallEverywhere), p(MatchY), p(IdlePlan)]
self.current_plan = self.plans[3]
global planner
planner = self
def update(self, model_positions):
"""
Main planner update function. Should be called once per frame.
:param model_positions: A dictionary containing the positions of the objects on the pitch. (See VisionWrapper.model_positions)
:return: The next command to issue to the robot.
"""
# Update the world state with the given positions
self.world.update_positions(model_positions)
# Update whether the robot is marked as busy on consol
self.robot.is_busy()
if self.world.ball != None:
consol.log("Catcher", self.robot.catcher, "Robot")
if self.current_plan.isValid() and not self.current_plan.isFinished():
return self.current_plan.nextCommand()
else:
# If self.current_plan is invalid, then choose a new plan and return a command from it
for plan in self.plans:
if plan.isValid():
prevPlan = self.current_plan
same_pl = False
if self.current_plan is plan:
same_pl = True
self.current_plan = plan
if not same_pl:
self.current_plan.initi(prevPlan)
# self.current_plan.reset()
return self.current_plan.nextCommand()
else:
return CommandDict.stop()
def __init__(self, side, pitch, attacker=True):
"""
Constructor.
:param side: "left" or "right"; The side of the pitch we are on
:param pitch: 0 or 1; The main pitch (0) or the side pitch (1)
:param attacker: True (or not given) if we are the attacker robot, otherwise False if we are the defender
"""
self.world = World(side, pitch)
# TODO catcher_areas need tweaking for our robot, they are currently set to team 7's
self.world.our_defender.catcher_area = {"width": 30, "height": 30, "front_offset": 12}
self.world.our_attacker.catcher_area = {"width": 30, "height": 30, "front_offset": 14}
self.robot = self.world.our_attacker
# List of available plans. These should be instantiated in -descending- order of desirability. All plans -must- inherit from Plan!
p = lambda plan: plan(self.world, self.robot)
self.plans = [p(ShootAll), p(GrabBallEverywhere), p(MatchY), p(IdlePlan)]
self.current_plan = self.plans[3]
global planner
planner = self
