def __init__(self, robot, width=80, height=60, depth=3, visionSystem=None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {
"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": [
"tl50", "tl40", "tl30", "tl20", "tl10", "t0", "tr50", "tr40",
"tr30", "tr20", "tr10"
],
"Left": ["lt30", "lt20", "lt10", "l0", "lb30", "lb20", "lb10"],
"Bottom": [
"bl50", "bl40", "bl30", "bl20", "bl10", "b0", "br50", "br40",
"br30", "br20", "br10"
],
"Right": ["rt30", "rt20", "rt10", "r0", "rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
