def _update_availability_player(self, player: Player):
player_is_playing = self.available_players.get(player.id, None)
if not player.check_if_on_field():
if player_is_playing:
del (self.available_players[player.id])
else:
if player_is_playing is None:
self.available_players[player.id] = player
def init_field():
print("Déplacement robot au centre")
for idx in range(6):
blue_team.players[idx] = Player(blue_team, idx)
yellow_team.players[idx] = Player(yellow_team, idx)
out_fields_cmd = []
for player in yellow_team.players.values():
cmd = command.MoveTo(
player, Position(random.random() * 3,
random.random() * 3 + 5))
out_fields_cmd.append(cmd)
for player in blue_team.players.values():
cmd = command.MoveTo(
player, Position(random.random() * 3,
random.random() * 3 + 5))
out_fields_cmd.append(cmd)
for cmd in out_fields_cmd:
gr_sim_debug_sender.send_command(cmd)
class TestPlayer(unittest.TestCase):
def setUp(self):
self.team = Team(TeamColor.BLUE)
self.player1 = Player(self.team, 1)
self.player2 = Player(self.team, 2)
def test_init_normal(self):
random_player_id = 0
p = Player(self.team, random_player_id)
self.assertIsNotNone(p)
self.assertIsNotNone(p.id)
self.assertEqual(random_player_id, p.id)
self.assertIsNotNone(p.team)
self.assertIsNotNone(p.pose)
self.assertEqual(p.pose, Pose())
self.assertIsNotNone(p.velocity)
self.assertEqual(p.velocity, Pose())
self.assertIsNotNone(p.kf)
self.assertTrue(isinstance(p.kf, EnemyKalmanFilter))
self.assertIsNotNone(p.update)
def test_has_id(self):
player_id = 0
p = Player(self.team, player_id)
self.assertTrue(p.has_id(0))
for i in range(1, 13):
self.assertFalse(p.has_id(i))
def test_check_if_on_field(self):
# needs to fails since the pose is the default one
self.assertFalse(self.player1.check_if_on_field())
self.player1.pose = Pose(Position(200, 200), 1)
self.assertTrue(self.player1.check_if_on_field())
def test__update(self):
self.player1._update(Pose(Position(200, 200), 1))
self.assertEqual(self.player1.pose, Pose(Position(200, 200), 1))
self.assertNotEqual(self.player1.pose, Pose())
def test__kalman_update(self):
self.assertEqual(self.player1.pose, Pose())
# one kalman update and the kalman filter will put the pose of the player to Pose(9999, 9999, 0) or something
self.player1._kalman_update([None], 0.5)
self.assertNotEqual(self.player1.pose, Pose())
self.assertNotEqual(self.player1.pose, Pose(200, 200, 1))
# send enough image where the robot has no position for the kalman to say the robot
# isnt on the field with Pose()
for i in range(21):
self.player1._kalman_update([None], 0.5)
self.assertEqual(self.player1.pose, Pose())
def test_init_normal(self):
random_player_id = 0
p = Player(self.team, random_player_id)
self.assertIsNotNone(p)
self.assertIsNotNone(p.id)
self.assertEqual(random_player_id, p.id)
self.assertIsNotNone(p.team)
self.assertIsNotNone(p.pose)
self.assertEqual(p.pose, Pose())
self.assertIsNotNone(p.velocity)
self.assertEqual(p.velocity, Pose())
self.assertIsNotNone(p.kf)
self.assertTrue(isinstance(p.kf, EnemyKalmanFilter))
self.assertIsNotNone(p.update)
def __init__(self, team_color: TeamColor):
assert isinstance(team_color, TeamColor)
self.players = {}
self.available_players = {}
for player_id in range(PLAYER_PER_TEAM):
self.players[player_id] = Player(self, player_id)
if player_id < 6:
self.players[player_id].in_play = True
self.available_players[player_id] = self.players[player_id]
self.team_color = team_color
self.score = 0
self.update_player = self._update_player
if ConfigService().config_dict["IMAGE"]["kalman"] == "true":
self.update_player = self._kalman_update
def test_has_id(self):
player_id = 0
p = Player(self.team, player_id)
self.assertTrue(p.has_id(0))
for i in range(1, 13):
self.assertFalse(p.has_id(i))
def setUp(self):
self.team = Team(TeamColor.BLUE)
self.player1 = Player(self.team, 1)
self.player2 = Player(self.team, 2)
def setUp(self):
self.team = Team(TeamColor.YELLOW)
self.team_blue = Team(TeamColor.BLUE)
self.first_player = self.team.players[0]
self.second_player = self.team.players[1]
self.no_player = Player(self.team, 0)