def __init__(self, terrain_type="sim"):
self.ball = Ball()
self.field = Field(self.ball, terrain_type)
self.referee = None
self.our_team_color = None
self.enemy_team_color = None
self.blue_team = Team(TeamColor.BLUE_TEAM, type="friend")
self.yellow_team = Team(TeamColor.YELLOW_TEAM, type="enemi")
self.friends = None
self.enemies = None
self.delta_t = None
self.cmd = None
def _create_teams(self):
cfg = ConfigService()
if cfg.config_dict["GAME"]["our_color"] == "blue":
self.our_team_color == TeamColor.BLUE
self.blue_team = OurTeam(TeamColor.BLUE)
self.friends = self.blue_team
self.yellow_team = Team(TeamColor.YELLOW)
self.enemies = self.yellow_team
elif cfg.config_dict["GAME"]["our_color"] == "yellow":
self.our_team_color == TeamColor.YELLOW
self.yellow_team = OurTeam(TeamColor.YELLOW)
self.friends = self.yellow_team
self.blue_team = Team(TeamColor.BLUE)
self.enemies = self.blue_team
else:
raise ValueError("Config file contains wrong colors!")
class TestTeam(unittest.TestCase):
def setUp(self):
self.team = Team(TeamColor.YELLOW_TEAM)
self.team_blue = Team(TeamColor.BLUE_TEAM)
self.first_player = self.team.players[0]
self.second_player = self.team.players[1]
self.no_player = Player(self.team, 0)
def test_init(self):
self.assertEqual(PLAYER_PER_TEAM, len(self.team.players))
self.assertEqual(0, self.team.score)
self.assertEqual(TeamColor.YELLOW_TEAM, self.team.team_color)
def test_has_player_exists(self):
self.assertTrue(self.team.has_player(self.first_player))
def test_has_player_no_exists(self):
self.assertFalse(self.team.has_player(self.no_player))
def test_update_player(self):
init_pose = self.first_player.pose
self.assertEqual(init_pose, self.team.players[0].pose)
self.team.update_player(0, Pose(Position(500, 500)), 0)
self.assertNotEqual(init_pose, self.team.players[0].pose)
self.assertEqual(self.team.players[0].pose, self.first_player.pose)
def test_invalid_id(self):
uut = self.team.update_player
self.assertRaises(KeyError, uut, 10, Pose())
def test_is_team_yellow(self):
self.assertTrue(self.team.is_team_yellow())
self.assertFalse(self.team_blue.is_team_yellow())
class Game:
def __init__(self):
self.ball = Ball()
self.field = Field(self.ball)
self.referee = None
self.our_team_color = None
self.enemy_team_color = None
self.blue_team = None
self.yellow_team = None
self.friends = None
self.enemies = None
self.delta_t = None
self.cmd = None
self._create_teams()
self.update = self._update
if ConfigService().config_dict["IMAGE"]["kalman"] == "true":
self.update = self._kalman_update
def set_referee(self, p_referee):
self.referee = p_referee
def _create_teams(self):
cfg = ConfigService()
if cfg.config_dict["GAME"]["our_color"] == "blue":
self.our_team_color == TeamColor.BLUE
self.blue_team = OurTeam(TeamColor.BLUE)
self.friends = self.blue_team
self.yellow_team = Team(TeamColor.YELLOW)
self.enemies = self.yellow_team
elif cfg.config_dict["GAME"]["our_color"] == "yellow":
self.our_team_color == TeamColor.YELLOW
self.yellow_team = OurTeam(TeamColor.YELLOW)
self.friends = self.yellow_team
self.blue_team = Team(TeamColor.BLUE)
self.enemies = self.blue_team
else:
raise ValueError("Config file contains wrong colors!")
def update_game_state(self, referee_command):
# TODO: Réviser code, ça semble louche
# TODO: remove or change completly! WHAT IS THIS??? MGL 2017/05/14
blue_team = referee_command.teams[0]
self.blue_team.score = blue_team.goalie_count
yellow_team = referee_command.teams[0]
self.yellow_team.score = yellow_team.goalie_count
# Commented out since it is not used MGL 2017/01/07
# command = Referee.Command(referee_command.command.name)
# self.referee.command = command
def _update(self, vision_frame: messages_robocup_ssl_wrapper_pb2, delta: float) -> None:
self.delta_t = delta
# print(delta)
self._update_ball(vision_frame, delta)
self._update_players(vision_frame, delta)
def _kalman_update(self, vision_frame: List, delta: float) -> None:
self.delta_t = delta
self.kalman_update_ball(vision_frame)
self.kalman_update_players(vision_frame)
def is_team_yellow(self):
return self.our_team_color == TeamColor.YELLOW
def _update_ball(self, vision_frame, delta):
try:
ball_position = Position(vision_frame.detection.balls[0].x,
vision_frame.detection.balls[0].y,
vision_frame.detection.balls[0].z)
self.field.move_ball(ball_position, delta)
except IndexError:
pass
# print("Ball not found")
def _update_players(self, vision_frame, delta):
blue_team = vision_frame.detection.robots_blue
yellow_team = vision_frame.detection.robots_yellow
self._update_players_of_team(blue_team, self.blue_team, delta)
self._update_players_of_team(yellow_team, self.yellow_team, delta)
def kalman_update_ball(self, vision_frame):
self.ball.kalman_update(vision_frame["ball"], self.delta_t)
def kalman_update_players(self, vision_frame):
for i in range(PLAYER_PER_TEAM):
self.blue_team.update_player(i, vision_frame["blues"][i], self.delta_t)
self.yellow_team.update_player(i, vision_frame["yellows"][i], self.delta_t)
@staticmethod
def _update_players_of_team(players, team, delta):
for player in players:
player_position = Position(player.x, player.y, player.height)
player_pose = Pose(player_position, player.orientation)
team.update_player(player.robot_id, player_pose, delta)
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)
class TestTeam(unittest.TestCase):
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)
def test_init(self):
self.assertEqual(PLAYER_PER_TEAM, len(self.team.players))
self.assertEqual(0, len(self.team.available_players))
self.assertEqual(0, self.team.score)
self.assertFalse(self.team.exiting_players)
self.assertFalse(self.team.entering_players)
self.assertEqual(TeamColor.YELLOW, self.team.team_color)
def test_has_player_exists(self):
self.assertTrue(self.team.has_player(self.first_player))
def test_has_player_no_exists(self):
self.assertFalse(self.team.has_player(self.no_player))
def test_update_player(self):
init_pose = self.first_player.pose
self.assertEqual(init_pose, self.team.players[0].pose)
self.team.update_player(0, [Pose(Position(500, 500))])
self.assertNotEqual(init_pose, self.team.players[0].pose)
self.assertEqual(self.team.players[0].pose, self.first_player.pose)
def test_update_availability_players(self):
for i in range(MAX_PLAYER_ON_FIELD_PER_TEAM):
self.team.update_player(i, [Pose(Position(500, 500))])
self.assertTrue(
self.team.players[i] in self.team.available_players.values())
self.team.update_player(MAX_PLAYER_ON_FIELD_PER_TEAM + 1,
[Pose(Position(500, 500))])
self.assertTrue(
self.team.players[MAX_PLAYER_ON_FIELD_PER_TEAM +
1] in self.team.available_players.values())
self.assertTrue(
len(self.team.available_players) == MAX_PLAYER_ON_FIELD_PER_TEAM +
1)
# simulating 21 frames where we don't see the robot
for i in range(21):
self.team.update_player(0, [None])
self.assertTrue(
self.team.players[0] not in self.team.available_players.values())
def test_invalid_id(self):
AN_INVALID_ID = PLAYER_PER_TEAM + 1
uut = self.team.update_player
self.assertRaises(KeyError, uut, AN_INVALID_ID, Pose())
def test_is_team_yellow(self):
self.assertTrue(self.team.is_team_yellow())
self.assertFalse(self.team_blue.is_team_yellow())
class Game:
def __init__(self, terrain_type="sim"):
self.ball = Ball()
self.field = Field(self.ball, terrain_type)
self.referee = None
self.our_team_color = None
self.enemy_team_color = None
self.blue_team = Team(TeamColor.BLUE_TEAM, type="friend")
self.yellow_team = Team(TeamColor.YELLOW_TEAM, type="enemi")
self.friends = None
self.enemies = None
self.delta_t = None
self.cmd = None
def set_command(self, cmd):
for commands in cmd:
self.friends.update_player_command(commands.player.id, commands)
def set_referee(self, p_referee):
self.referee = p_referee
def set_our_team_color(self, p_our_team_color):
assert isinstance(p_our_team_color, TeamColor), \
"The color of any team must be a TeamColor enum!"
self.our_team_color = p_our_team_color
self._adjust_teams_color()
def set_enemy_team_color(self, p_enemy_team_color):
assert isinstance(p_enemy_team_color, TeamColor), \
"The color of any team must be a TeamColor enum!"
self.our_team_color = p_enemy_team_color
def update_game_state(self, referee_command):
# TODO: Réviser code, ça semble louche
blue_team = referee_command.teams[0]
self.blue_team.score = blue_team.goalie_count
yellow_team = referee_command.teams[0]
self.yellow_team.score = yellow_team.goalie_count
# Commented out since it is not used MGL 2017/01/07
# command = Referee.Command(referee_command.command.name)
# self.referee.command = command
def update(self, vision_frame: messages_robocup_ssl_wrapper_pb2, delta: float):
self.delta_t = delta
# print(delta)
self._update_ball(vision_frame, delta)
self._update_players(vision_frame, delta)
def update_kalman(self, vision_frame: List, delta: float):
self.delta_t = delta
self.kalman_update_ball(vision_frame, delta)
self.kalman_update_players(vision_frame, delta)
def is_team_yellow(self):
return self.our_team_color == TeamColor.YELLOW_TEAM
def _adjust_teams_color(self):
if self.our_team_color == TeamColor.YELLOW_TEAM:
self.friends = self.yellow_team
self.enemies = self.blue_team
elif self.our_team_color == TeamColor.BLUE_TEAM:
self.friends = self.blue_team
self.enemies = self.yellow_team
else:
raise ValueError("Can't adjust the teamscolor in Game object!")
def _update_ball(self, vision_frame, delta):
try:
ball_position = Position(vision_frame.detection.balls[0].x,
vision_frame.detection.balls[0].y,
vision_frame.detection.balls[0].z)
self.field.move_ball(ball_position, delta)
except IndexError:
pass
# print("Ball not found")
def _update_players(self, vision_frame, delta):
blue_team = vision_frame.detection.robots_blue
yellow_team = vision_frame.detection.robots_yellow
self._update_players_of_team(blue_team, self.blue_team, delta)
self._update_players_of_team(yellow_team, self.yellow_team, delta)
def kalman_update_ball(self, vision_frame, delta):
kalman_list = []
for c in vision_frame:
kalman_list.append(c["ball"])
self.ball.kalman_update(kalman_list, delta)
def kalman_update_players(self, vision_frame, delta):
kalman_blue = [[] for i in range(0, 5)]
kalman_yellow = [[] for i in range(0, 5)]
for c in vision_frame:
for i in range(0, 5):
kalman_blue[i].append(c["blues"][i])
kalman_yellow[i].append(c["yellows"][i])
for i in range(0, 5):
self.blue_team.kalman_update(i, kalman_blue[i], delta)
self.yellow_team.kalman_update(i, kalman_yellow[i], delta)
@staticmethod
def _update_players_of_team(players, team, delta):
for player in players:
player_position = Position(player.x, player.y, player.height)
player_pose = Pose(player_position, player.orientation)
team.update_player(player.robot_id, player_pose, delta)
def setUp(self):
self.team = Team(TeamColor.YELLOW_TEAM)
self.team_blue = Team(TeamColor.BLUE_TEAM)
self.first_player = self.team.players[0]
self.second_player = self.team.players[1]
self.no_player = Player(self.team, 0)
from RULEngine.Game.Team import Team
from RULEngine.Util.Position import Position
COMMAND_HOST = "127.0.0.1"
COMMAND_PORT = 20011
VISION_HOST = "224.5.23.2"
VISION_PORT = 10020
FPS = 1 / 60
gr_sim_cmd_sender = udp_server.GrSimCommandSender(COMMAND_HOST, COMMAND_PORT)
gr_sim_debug_sender = udp_server.GrSimDebugSender(COMMAND_HOST, COMMAND_PORT)
vision = Vision(VISION_HOST, VISION_PORT)
frames = []
blue_team = Team(False)
yellow_team = Team(True)
def main():
print("Debut test d'asservissement")
init_field()
default_player = blue_team.players[0]
center_player(default_player)
step_response(default_player)
wait_time(1)
stop_player(default_player)