def create_alert_message(self):
data = []
for robot in self.robots:
data.append((robot.x, robot.y))
return SensorData(SensorData.ALERT_STRING, data, self.time_stamp)
def create_vision_message(self, robot):
"New message type for FoV-data of a robot."
# list of wall object tuples:
# ((xpos, ypos), type, distance)
board_data = self.calculate_vision_board(robot)
# list of robot object tuples:
# ((xpos, ypos), distance)
robot_data = self.calculate_vision_robots(robot)
data = (board_data, robot_data)
return SensorData(SensorData.VISION_STRING, data, self.time_stamp)
def create_position_message(self, robot):
data = (robot.x, robot.y, robot.alpha, robot.v, robot.v_alpha)
return SensorData(SensorData.POSITION_STRING, data, self.time_stamp)
def create_bonk_message(self, collision):
print('B O N K')
data = None
return SensorData(SensorData.BONK_STRING, data, self.time_stamp)