def __init__(self, controller):
self.controller = controller
self.convertor = Convertor()
self.commands = []
self.waiting = False
self.waitFinish = False
self.waitTimer = None
self.timer = None
self.rateTimer = 0.0
self.commandRate = 0.1
self.maxCommands = 10
self.warningTimer = 0.0
self.CommandFunctions = {
"Blank": self.blank,
"Forward": self.controller.driveForward,
"Backward": self.controller.driveBackward,
"Stop": self.controller.driveStop,
"TurnLeft": self.controller.turnLeft,
"TurnRight": self.controller.turnRight,
"Kick": self.controller.kick,
"SendInt": self.controller.sendInt,
"Wait": self.wait,
"WaitForFinish": self.waitForFinish,
"ClearQueue": self.clearQueue,
"LeftMotorSpeed": self.controller.setLeftMotorSpeed,
"RightMotorSpeed": self.controller.setRightMotorSpeed,
}
def __init__(self,controller):
self.controller = controller
self.convertor = Convertor()
self.commands = []
self.waiting = False
self.waitFinish = False
self.waitTimer = None
self.timer = None
self.rateTimer = 0.0
self.commandRate = 0.1
self.maxCommands = 10
self.warningTimer = 0.0
self.CommandFunctions = {
"Blank" :self.blank,
"Forward" :self.controller.driveForward,
"Backward" :self.controller.driveBackward,
"Stop" :self.controller.driveStop,
"TurnLeft" :self.controller.turnLeft,
"TurnRight" :self.controller.turnRight,
"Kick" :self.controller.kick,
"SendInt" :self.controller.sendInt,
"Wait" :self.wait,
"WaitForFinish" :self.waitForFinish,
"ClearQueue" :self.clearQueue,
"LeftMotorSpeed" :self.controller.setLeftMotorSpeed,
"RightMotorSpeed" :self.controller.setRightMotorSpeed,
}
class Commander:
"""
This class acts as an intermediate between the control interface and the AI.
It stores a list of commands or instructions to be issued to the robot.
It gets these from some strategy class, converts everything to commands,
and maps these to functions, either to change internal state or to send
something to the robot.
"""
def __init__(self,controller):
self.controller = controller
self.convertor = Convertor()
self.commands = []
self.waiting = False
self.waitFinish = False
self.waitTimer = None
self.timer = None
self.rateTimer = 0.0
self.commandRate = 0.1
self.maxCommands = 10
self.warningTimer = 0.0
self.CommandFunctions = {
"Blank" :self.blank,
"Forward" :self.controller.driveForward,
"Backward" :self.controller.driveBackward,
"Stop" :self.controller.driveStop,
"TurnLeft" :self.controller.turnLeft,
"TurnRight" :self.controller.turnRight,
"Kick" :self.controller.kick,
"SendInt" :self.controller.sendInt,
"Wait" :self.wait,
"WaitForFinish" :self.waitForFinish,
"ClearQueue" :self.clearQueue,
"LeftMotorSpeed" :self.controller.setLeftMotorSpeed,
"RightMotorSpeed" :self.controller.setRightMotorSpeed,
}
def executeCommand(self,command):
name = command.name
args = command.args
Log("Command",command)
try:
function = self.CommandFunctions[name]
function(*args)
except Exception as e:
print ">> Unknown low level robot Command: "+name
def iterate(self,new_instructions,world_state,frametime):
"""
Called every frame. Does the following:
- Converts any passed instructions into command lists.
- Appends these to the internal command list.
- Checks for a clear instruction in list.
- If clear instruction exists loops over and clears everything
before it.
- Loops over command list. If waiting, or waiting to finish, will
skip commands. Otherwise executes.
"""
if new_instructions is None:
new_instructions = []
command_lists = map( lambda x : self.convertor.convert(x,world_state,frametime) , new_instructions )
for command_list in command_lists: self.commands += command_list
self.warningTimer += frametime
if len(self.commands) > self.maxCommands:
if self.warningTimer > 2.0:
print ">> Recieving Commands too fast! Queue full - Commands discarded."
self.warningTimer = 0.0
for i in range(0,len(self.commands) - self.maxCommands) : self.commands.pop()
clear_found = False
for command in self.commands:
if command.name == "ClearQueue":
clear_found = True
if clear_found:
cleared_list = []
past_clear = False
for command in self.commands:
if past_clear:
cleared_list.append(command)
if command.name == "ClearQueue":
cleared_list.append(command)
past_clear = True
self.commands = cleared_list
self.rateTimer += frametime
num_commands = int(self.rateTimer // self.commandRate)
self.rateTimer = self.rateTimer % self.commandRate
num_commands = min(num_commands, len(self.commands))
for i in range(0,num_commands ):
if self.waiting:
self.timer += frametime
if self.timer > self.waitTime:
self.resume()
elif self.waitFinish:
self.waitFinish = self.controller.isMoving()
else:
command = self.commands.pop(0)
self.executeCommand(command)
def blank(self,*args):
return
def stop(self):
self.controller.driveStop()
def clearQueue(self,*args):
self.commands = []
def wait(self,*args):
try:
self.waitTime = args[0]
self.waiting = True
self.timer = 0.0
except Exception as e:
print ">> Wait command cannot be issued - passed without parameter."
def resume(self):
self.waiting = False
self.timer = None
self.waitTime = None
def waitForFinish(self):
self.waitFinish = True
class Commander:
"""
This class acts as an intermediate between the control interface and the AI.
It stores a list of commands or instructions to be issued to the robot.
It gets these from some strategy class, converts everything to commands,
and maps these to functions, either to change internal state or to send
something to the robot.
"""
def __init__(self, controller):
self.controller = controller
self.convertor = Convertor()
self.commands = []
self.waiting = False
self.waitFinish = False
self.waitTimer = None
self.timer = None
self.rateTimer = 0.0
self.commandRate = 0.1
self.maxCommands = 10
self.warningTimer = 0.0
self.CommandFunctions = {
"Blank": self.blank,
"Forward": self.controller.driveForward,
"Backward": self.controller.driveBackward,
"Stop": self.controller.driveStop,
"TurnLeft": self.controller.turnLeft,
"TurnRight": self.controller.turnRight,
"Kick": self.controller.kick,
"SendInt": self.controller.sendInt,
"Wait": self.wait,
"WaitForFinish": self.waitForFinish,
"ClearQueue": self.clearQueue,
"LeftMotorSpeed": self.controller.setLeftMotorSpeed,
"RightMotorSpeed": self.controller.setRightMotorSpeed,
}
def executeCommand(self, command):
name = command.name
args = command.args
Log("Command", command)
try:
function = self.CommandFunctions[name]
function(*args)
except Exception as e:
print ">> Unknown low level robot Command: " + name
def iterate(self, new_instructions, world_state, frametime):
"""
Called every frame. Does the following:
- Converts any passed instructions into command lists.
- Appends these to the internal command list.
- Checks for a clear instruction in list.
- If clear instruction exists loops over and clears everything
before it.
- Loops over command list. If waiting, or waiting to finish, will
skip commands. Otherwise executes.
"""
if new_instructions is None:
new_instructions = []
command_lists = map(
lambda x: self.convertor.convert(x, world_state, frametime),
new_instructions)
for command_list in command_lists:
self.commands += command_list
self.warningTimer += frametime
if len(self.commands) > self.maxCommands:
if self.warningTimer > 2.0:
print ">> Recieving Commands too fast! Queue full - Commands discarded."
self.warningTimer = 0.0
for i in range(0, len(self.commands) - self.maxCommands):
self.commands.pop()
clear_found = False
for command in self.commands:
if command.name == "ClearQueue":
clear_found = True
if clear_found:
cleared_list = []
past_clear = False
for command in self.commands:
if past_clear:
cleared_list.append(command)
if command.name == "ClearQueue":
cleared_list.append(command)
past_clear = True
self.commands = cleared_list
self.rateTimer += frametime
num_commands = int(self.rateTimer // self.commandRate)
self.rateTimer = self.rateTimer % self.commandRate
num_commands = min(num_commands, len(self.commands))
for i in range(0, num_commands):
if self.waiting:
self.timer += frametime
if self.timer > self.waitTime:
self.resume()
elif self.waitFinish:
self.waitFinish = self.controller.isMoving()
else:
command = self.commands.pop(0)
self.executeCommand(command)
def blank(self, *args):
return
def stop(self):
self.controller.driveStop()
def clearQueue(self, *args):
self.commands = []
def wait(self, *args):
try:
self.waitTime = args[0]
self.waiting = True
self.timer = 0.0
except Exception as e:
print ">> Wait command cannot be issued - passed without parameter."
def resume(self):
self.waiting = False
self.timer = None
self.waitTime = None
def waitForFinish(self):
self.waitFinish = True
