class Vision(object):
def __init__(self):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.vision_address = '127.0.0.1'
self.vision_port = 23333
self.sock.bind((self.vision_address, self.vision_port))
self.sock.settimeout(1.0)
self.vision_thread = threading.Thread(target=self.receive_vision)
self.vision_thread.start()
self.vision_frame = Vision_DetectionFrame()
# store blue robot 0's information
self.my_robot = Robot()
def receive_vision(self):
while True:
try:
data, server = self.sock.recvfrom(4096)
# print('received message from', server)
self.vision_frame.ParseFromString(data)
self.parse_vision()
except socket.timeout:
print('VISION TIMED OUT')
def parse_vision(self):
for robot_blue in self.vision_frame.robots_blue:
# print('Robot Blue {} pos: {} {}'.format(robot_blue.robot_id, robot_blue.x, robot_blue.y))
if robot_blue.robot_id == 0:
self.my_robot.x = robot_blue.x
self.my_robot.y = robot_blue.y
self.my_robot.vel_x = robot_blue.vel_x
self.my_robot.vel_y = robot_blue.vel_y
self.my_robot.orientation = robot_blue.orientation
class Vision(object):
def __init__(self):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.vision_address = '127.0.0.1'
self.vision_port = 23334
self.sock.bind((self.vision_address, self.vision_port))
self.sock.settimeout(1.0)
self.vision_thread = threading.Thread(target=self.receive_vision)
self.vision_thread.start()
self.vision_frame = Vision_DetectionFrame()
self.blue_robot = [Robot(id=i) for i in range(16)]
self.yellow_robot = [Robot(id=i) for i in range(16)]
def receive_vision(self):
while True:
try:
data, server = self.sock.recvfrom(4096)
# print('received message from', server)
self.vision_frame.ParseFromString(data)
self.parse_vision()
except socket.timeout:
print('VISION TIMED OUT')
def parse_vision(self):
# reset visible
for i in range(16):
self.blue_robot[i].visible = False
self.yellow_robot[i].visible = False
# Store new data
for robot_blue in self.vision_frame.robots_blue:
# print('Robot Blue {} pos: {} {}'.format(robot_blue.robot_id, robot_blue.x, robot_blue.y))
# Store vision info
self.blue_robot[robot_blue.robot_id].x = robot_blue.x
self.blue_robot[robot_blue.robot_id].y = robot_blue.y
self.blue_robot[robot_blue.robot_id].vel_x = robot_blue.vel_x
self.blue_robot[robot_blue.robot_id].vel_y = robot_blue.vel_y
self.blue_robot[
robot_blue.robot_id].orientation = robot_blue.orientation
self.blue_robot[robot_blue.robot_id].visible = True
for robot_yellow in self.vision_frame.robots_yellow:
# print('Robot Yellow {} pos: {} {}'.format(robot_yellow.robot_id, robot_yellow.x, robot_yellow.y))
# Store vision info
self.yellow_robot[robot_yellow.robot_id].x = robot_yellow.x
self.yellow_robot[robot_yellow.robot_id].y = robot_yellow.y
self.yellow_robot[robot_yellow.robot_id].vel_x = robot_yellow.vel_x
self.yellow_robot[robot_yellow.robot_id].vel_y = robot_yellow.vel_y
self.yellow_robot[
robot_yellow.robot_id].orientation = robot_yellow.orientation
self.yellow_robot[robot_yellow.robot_id].visible = True
@property
def my_robot(self):
return self.blue_robot[0]
class Vision(object):
def __init__(self):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.vision_address = '127.0.0.1'
self.vision_port = 23333
self.sock.bind((self.vision_address, self.vision_port))
self.sock.settimeout(1.0)
self.vision_thread = threading.Thread(target=self.receive_vision)
self.vision_thread.start()
self.vision_frame = Vision_DetectionFrame()
#self.my_robot = Robot()
self.robots_blue = dict()
self.robots_yellow = dict()
self.ball = Vision_DetectionBall()
self.my_ball = Ball()
def receive_vision(self):
while True:
try:
data, server = self.sock.recvfrom(4096)
# print('received message from', server)
self.vision_frame.ParseFromString(data)
self.parse_vision()
except socket.timeout:
print('VISION TIMED OUT')
def parse_vision(self):
for robot_blue in self.vision_frame.robots_blue:
# print('Robot Blue {} pos: {} {}'.format(robot_blue.robot_id, robot_blue.x, robot_blue.y))
self.robots_blue[robot_blue.robot_id] = robot_blue
for robot_yellow in self.vision_frame.robots_yellow:
# print('Robot Yellow {} pos: {} {}'.format(robot_yellow.robot_id, robot_yellow.x, robot_yellow.y))
self.robots_yellow[robot_yellow.robot_id] = robot_yellow
self.ball = self.vision_frame.balls
while (self.ball.valid):
self.my_ball.x = self.ball.x
self.my_ball.y = self.ball.y
break