def Execute(self):
if self.first_run == True:
self.first_run = False
self.target_pose = Blackboard.enemy.pose
elif Helpers.CalcDist(self.target_pose,Blackboard.enemy.pose) > 1.5:
self.target_pose = Blackboard.enemy.pose
if(Helpers.CalcDist(Blackboard.myrobot.pose,self.target_pose)<=1.5):
current_pose = Helpers.Pose2D2Pose(Blackboard.myrobot.pose)
self.pub.publish(current_pose)
else:
target_pose = Helpers.Pose2D2Pose(self.target_pose)
self.pub.publish(target_pose)
def Update(self):
if Helpers.CalcDist(Blackboard.enemy.pose,
Blackboard.myrobot.pose) <= self.value:
self._status = "SUCCESS"
else:
self._status = "FAILURE"
return self._status
def Execute(self):
pose2d = Blackboard.enemy.pose
dists = [Helpers.CalcDist(pose2d,d) for d in PyConfig.DEFENCEPOINTS]
index = dists.index(max(dists))
target_pose = PyConfig.DEFENCEPOINTS[index]
target_pose = Helpers.Pose2D2Pose(target_pose)
try:
self.pub.publish(target_pose)
except:
self.success_flag = False
def checkAttack(self):
if self.init_flag == True:
self.init_flag = False
self.last_time = time.time()
mypose = Blackboard.myrobot.pose
enpose = Blackboard.enemy.pose
dist = Helpers.CalcDist(mypose, enpose)
isblock = Helpers.CheckBlock(mypose, enpose)
if dist < 2 and dist > 1:
if (time.time() - self.last_time) > 0.1:
self.last_time = time.time()
if not isblock:
if Blackboard.myrobot.bullet > 0 and Blackboard.myrobot.enableShoot:
Blackboard.enemy.blood -= 20
Blackboard.myrobot.bullet -= 1
if Blackboard.enemy.bullet > 0:
if Blackboard.myrobot.istwist == True:
Blackboard.myrobot.blood -= 10
else:
Blackboard.myrobot.blood -= 20
Blackboard.enemy.bullet -= 1
cv.setTrackbarPos("Target Blood", "Game Panel",
Blackboard.enemy.blood)
cv.setTrackbarPos("Target Bullet", "Game Panel",
Blackboard.enemy.bullet)
cv.setTrackbarPos("Self Blood", "Game Panel",
Blackboard.myrobot.blood)
cv.setTrackbarPos("Self Bullet", "Game Panel",
Blackboard.myrobot.bullet)
elif dist <= 5 and dist >= 2:
if (time.time() - self.last_time) > 0.1:
self.last_time = time.time()
if not isblock:
if Blackboard.myrobot.bullet > 0 and Blackboard.myrobot.enableShoot:
Blackboard.enemy.blood -= 10
Blackboard.myrobot.bullet -= 1
if Blackboard.enemy.bullet > 0:
if Blackboard.myrobot.istwist == True:
Blackboard.myrobot.blood -= 5
else:
Blackboard.myrobot.blood -= 10
Blackboard.enemy.bullet -= 1
cv.setTrackbarPos("Target Blood", "Game Panel",
Blackboard.enemy.blood)
cv.setTrackbarPos("Target Bullet", "Game Panel",
Blackboard.enemy.bullet)
cv.setTrackbarPos("Self Blood", "Game Panel",
Blackboard.myrobot.blood)
cv.setTrackbarPos("Self Bullet", "Game Panel",
Blackboard.myrobot.bullet)
else:
pass
def Execute(self):
self.current_status = Blackboard.myrobot.chassis
if self.first_run == True:
self.first_run = False
dists = [Helpers.CalcDist(Blackboard.myrobot.pose,i) for i in PyConfig.SEARCHZONES]
self.current_i = dists.index(min(dists))
next_goal = Helpers.Pose2D2Pose(PyConfig.SEARCHZONES[self.current_i])
self.pub.publish(next_goal)
elif self.last_status == "RUNNING" and self.current_status!= "RUNNING":
self.current_i = (self.current_i + 1)%len(PyConfig.SEARCHZONES)
next_goal = Helpers.Pose2D2Pose(PyConfig.SEARCHZONES[self.current_i])
self.pub.publish(next_goal)
else:
pass # On The Way
