def positionall():
t1=time.time()
vision = psl.SSLVisionClient('224.5.23.2', 10020)
vision.connect()
tcontrol = psl.SSLgrSimClient('127.0.0.1', 20011)
tcontrol.connect()
L=[]
while len(L)!=5:
data=vision.receive()
if len(data.detection.robots_yellow) != 0 :
for r in data.detection.robots_yellow:
if r.robot_id==0:
dy0=data
if 'y0' not in L:
L.append('y0')
else :
dy1=data
if 'y1' not in L:
L.append('y1')
elif len(data.detection.robots_blue)!=0:
for r in data.detection.robots_blue:
if r.robot_id==1:
db1=data
if 'b1' not in L:
L.append('b1')
else :
db0=data
if 'b0' not in L:
L.append('b0')
if len(data.detection.balls)!=0:
dball=data
if 'ball' not in L:
L.append('ball')
t2=time.time()
Pos=dict()
Pos[('b',0)]=db0
Pos[('b',1)]=db1
Pos[('y',0)]=dy0
Pos[('y',1)]=dy1
Pos['ball']=dball
return Pos
"""
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.patches as patches
import matplotlib.lines as lines
import potentiel as pt
from psl_package import paris_saclay_league as psl
import cmath as c
import time
import numpy as np
import ia_v3 as ia
#Connexion au simulateur
vision = psl.SSLVisionClient(ip='224.5.23.2', port=10020)
vision.connect()
grSim = psl.SSLgrSimClient('127.0.0.1', 20011)
grSim.connect()
#%% Paramètres
#TERRAIN
longueur = 1350
largeur = 1000
xmin = -longueur
xmax = longueur
ymin = -largeur
ymax = largeur
##ROBOT
def __init__(self, robots, balle):
self.robots = robots #Contient une liste de tous les robots presents sur le terrain
self.balle = balle
self.vision = psl.SSLVisionClient(ip='224.5.23.2', port=10020)
self.vision.connect()