def do_load(self, clear_first):
if clear_first:
self.match_list_box.Clear()
msg = Forseti.ScheduleLoadCommand()
msg.clear_first = clear_first
print('Requesting load')
self.lc.publish('Schedule/Load', msg.encode())
def send_schedule(self):
schedule = Forseti.Schedule()
for idx, match in self.matches.items():
out_match = Forseti.Match()
i = 0
for alliance in [u'alliance1', u'alliance2']:
for team in [u'team1', u'team2']:
print(match[alliance])
out_match.team_numbers[i] = match[alliance][team]
out_match.team_names[i] = \
match[alliance].get(u'{}_name'.format(team),
'Unknown Team')
i += 1
out_match.match_number = idx;
schedule.matches.append(out_match)
schedule.num_matches = len(schedule.matches)
self.lc.publish('Schedule/Schedule', schedule.encode())
def send(self, piemos_num, team):
#print('Sending')
msg = Forseti.ControlData()
msg.TeleopEnabled = self.match.stage in ['Teleop', 'Paused']
msg.HaltRadio = False
msg.AutonomousEnabled = self.match.stage == 'Autonomous'
msg.RobotEnabled = self.timer.match_timer.running
msg.Stage = self.match.stage
msg.Time = self.match.time
self.lc.publish('PiEMOS{}/Control'.format(piemos_num), msg.encode())
def get_match(self):
match = Forseti.Match()
self._set_match_panel(match, 0, 0)
self._set_match_panel(match, 1, 2)
self._set_match_panel(match, 2, 1)
self._set_match_panel(match, 3, 3)
try:
match.match_number = int(self.match_num_ctrl.GetValue())
except ValueError:
match.match_number = random.getrandbits(31)
return match
def run(self):
while self.stage_index < len(self.stages):
time.sleep(0.3)
self.check_for_stage_change()
self.match.time = int(self.match_timer.time())
msg = Forseti.Time()
msg.game_time_so_far = self.match_timer.time()
msg.stage_time_so_far = self.stage_timer.time()
msg.total_stage_time = self.current_stage().length
msg.stage_name = self.current_stage().name
self.lc.publish('Timer/Time', msg.encode())
def __init__(self, lcm):
self.lcm = lcm
subscription = self.lcm.subscribe("Match/Init", self.msg_handler)
self._read_thread = threading.Thread(target=self._read_loop)
self._read_thread.daemon = True
self._write_thread = threading.Thread(target=self._write_loop)
self._write_thread.daemon = True
self._health_thread = threading.Thread(target=self._health_loop)
self._health_thread.daemon = True
self.startTime = time.time()
self.versus_text_lock = threading.Lock()
self.versusText = Forseti.VideoVersusText()
self.boxvalsToFlagPos = {0:0, 1:1, 2:-1}
#!/usr/bin/env python2.7
import lcm
import time
#from exlcm import example_t
import Forseti
from httplib2 import Http
import json
lc = lcm.LCM("udpm://239.255.76.67:7667?ttl=1")
msg = Forseti.Score()
msg.gold_finalscore = -5
msg.blue_finalscore = 10
lc.publish('ScoreKeeper/Score', msg.encode())
'''
http = Http()
resp = http.request('https://pioneers.berkeley.edu/match_schedule/api/match/6/',
'POST', body=json.dumps({"alliance1":
{"number":1,
"autonomous":0,
"bonus":2,
"manual":2,
"penalty":0,
"team1":{"number":13,
"disqualifed":False},
"team2":{"number":12,
"disqualified":False}},
def do_time_ctrl(self, command):
msg = Forseti.TimeControl()
msg.command_name = command
self.lc.publish('Timer/Control', msg.encode())
def send(self, command):
print('Sending', command)
msg = Forseti.TimeControl()
msg.command_name = command
self.lc.publish('Timer/Control', msg.encode())
def _health_loop(self):
while True:
msg = Forseti.Health()
msg.uptime = time.time() - self.startTime
self.lcm.publish("VersusWriter/Health", msg.encode())
time.sleep(0.25)