def on_new_gamestate(self, state):
""" Is called with the new game state after receiving a package.
The information is processed and published as a standard message to a ROS topic.
:param state: Game State
"""
if state.teams[0].team_number == self.team:
own_team = state.teams[0]
rival_team = state.teams[1]
elif state.teams[1].team_number == self.team:
own_team = state.teams[1]
rival_team = state.teams[0]
else:
rospy.logerr('Team {} not playing, only {} and {}'.format(
self.team, state.teams[0].team_number,
state.teams[1].team_number))
return
try:
me = own_team.players[self.player - 1]
except IndexError:
rospy.logerr('Robot {} not playing'.format(self.player))
return
msg = GameStateMsg()
msg.header.stamp = rospy.Time.now()
msg.gameState = state.game_state.intvalue
msg.secondaryState = state.secondary_state.intvalue
msg.secondaryStateMode = state.secondary_state_info[1]
msg.firstHalf = state.first_half
msg.ownScore = own_team.score
msg.rivalScore = rival_team.score
msg.secondsRemaining = state.seconds_remaining
msg.secondary_seconds_remaining = state.secondary_seconds_remaining
msg.hasKickOff = state.kick_of_team == self.team
msg.penalized = me.penalty != 0
msg.secondsTillUnpenalized = me.secs_till_unpenalized
msg.secondaryStateTeam = state.secondary_state_info[0]
msg.secondaryStateMode = state.secondary_state_info[1]
msg.teamColor = own_team.team_color.intvalue
msg.dropInTeam = state.drop_in_team
msg.dropInTime = state.drop_in_time
msg.penaltyShot = own_team.penalty_shot
msg.singleShots = own_team.single_shots
msg.coach_message = own_team.coach_message
self.state_publisher.publish(msg)
def on_new_gamestate(self, state):
""" Is called with the new game state after receiving a package
Needs to be implemented or set
:param state: Game State
"""
if state.teams[0].team_number == self.team:
own_team = state.teams[0]
rival_team = state.teams[1]
elif state.teams[1].team_number == self.team:
own_team = state.teams[1]
rival_team = state.teams[0]
else:
rospy.logerr('Team {} not playing, only {} and {}'.format(
self.team, state.teams[0].team_number,
state.teams[1].team_number))
return
try:
me = own_team.players[self.player - 1]
except IndexError:
rospy.logerr('Robot {} not playing'.format(self.player))
return
msg = GameStateMsg()
msg.header.stamp = rospy.Time.now()
msg.gameState = state.game_state.intvalue
msg.secondaryState = state.secondary_state.intvalue
msg.firstHalf = state.first_half
msg.ownScore = own_team.score
msg.rivalScore = rival_team.score
msg.secondsRemaining = state.seconds_remaining
msg.secondary_seconds_remaining = state.secondary_seconds_remaining
msg.hasKickOff = state.kick_of_team == self.team
msg.penalized = me.penalty != 0
msg.secondsTillUnpenalized = me.secs_till_unpenalized
if me.penalty != 0:
msg.allowedToMove = False
elif state.game_state in ('STATE_INITIAL', 'STATE_SET'):
msg.allowedToMove = False
elif state.game_state == 'STATE_READY':
msg.allowedToMove = True
elif state.game_state == 'STATE_PLAYING':
if state.kick_of_team >= 128:
# Drop ball
msg.allowedToMove = True
elif state.secondary_state in ('STATE_DIRECT_FREEKICK',
'STATE_INDIRECT_FREEKICK',
'STATE_PENALTYKICK',
'STATE_CORNER_KICK',
'STATE_GOAL_KICK',
'STATE_THROW_IN'):
if state.secondary_state_info[1] in (0, 2):
msg.allowedToMove = False
else:
msg.allowedToMove = True
msg.secondaryStateTeam = state.secondary_state_info[0]
elif state.secondary_state == 'STATE_PENALTYSHOOT':
# we have penalty kick
if state.kick_of_team == self.team:
msg.allowedToMove = True
else:
msg.allowedToMove = False
elif state.kick_of_team == self.team:
msg.allowedToMove = True
else:
# Other team has kickoff
if msg.secondary_seconds_remaining != 0:
msg.allowedToMove = False
else:
# We have waited the kickoff time
msg.allowedToMove = True
msg.teamColor = own_team.team_color.intvalue
msg.dropInTeam = state.drop_in_team
msg.dropInTime = state.drop_in_time
msg.penaltyShot = own_team.penalty_shot
msg.singleShots = own_team.single_shots
msg.coach_message = own_team.coach_message
self.state_publisher.publish(msg)