def waitForKick(wm):
print(readWM(wm, "comms"))
messages = readWM(wm, "comms")
for key in messages:
if messages[key]["msg"] == "Kick":
return True
return False
def waitForStand(wm):
print(readWM(wm, "comms"))
messages = readWM(wm, "comms")
for key in messages:
if messages[key]["msg"] == "Stand":
return True
return False
def noSeeBall(wm):
camera_data_balls = readWM(wm, "balls")
if not largestBall(wm)["pa"] == None:
print (largestBall(wm)["pa"])
if largestBall(wm)["pa"] <= 70:
print(largestBall(wm)["pa"], "no ball")
return True
else:
return False
def noSeeBall(wm):
camera_data_balls = readWM(wm, "balls")
if largestBall(wm) == None:
return False
elif largestBall(wm)["pa"] <= 200:
print(largestBall(wm)['camera'] , "noSeeBall")
return True
else:
return False
def seeBall(wm):
camera_data_balls = readWM(wm, "balls")
if largestBall(wm) == None:
return False
elif largestBall(wm)["pa"] >= 200:
print(largestBall(wm)['camera'], "SeeBall")
return True
else:
return False
def largestBall(wm):
camera_data_balls = readWM(wm,"balls")
if not camera_data_balls:
return None
else:
# Get the latest observation
cur_frame = camera_data_balls[0]
# The object with the largest area is most likely the true ball
largest_ball1 = None
for b1 in cur_frame:
if ( not largest_ball1 ) or (largest_ball1["pa"] < b1["pa"]):
largest_ball1 = b1
return largest_ball1
def seeNao(wm):
camera_data_goals = readWM(wm, "goals")
if not camera_data_goals:
return False
else:
# Get the latest observation
cur_frame = camera_data_goals[0]
# The object with the largest area is most likely the true goal
for b1 in cur_frame:
if (currentTime(wm) - b1["t"]) <= 0.5:
print("naoSize", b1["pa"])
if b1["pa"] <= 2000 and b1["pa"] >= 200:
return True
return False
def seeNao(wm):
camera_data_goals = readWM(wm,"goals")
if not camera_data_goals:
return False
else:
# Get the latest observation
cur_frame = camera_data_goals[0]
# The object with the largest area is most likely the true goal
for b1 in cur_frame:
if (currentTime(wm) - b1["t"]) <= 0.5:
print ("naoSize", b1["pa"])
if b1["pa"] <= 2000 and b1["pa"] >= 200:
return True
return False
def lookAtBall2(wm):
camera_data_balls = readWM(wm,"balls")
if not camera_data_balls:
return None
else:
# Get the latest observation
cur_frame = camera_data_balls[0]
# The object with the largest area is most likely the true ball
largest_ball = None
for b1 in cur_frame:
if (not largest_ball) or (largest_ball["pa"] < b1["pa"]):
largest_ball = b1
if largest_ball["pa"] > 100:
return turnHead(largest_ball["yaw"], largest_ball["pitch"])
def largestBall(wm):
camera_data_balls = readWM(wm, "balls")
if not camera_data_balls:
return False
else:
# Get the latest observation
cur_frame = camera_data_balls[0]
# The object with the largest area is most likely the true ball
largest_ball1 = []
for b1 in cur_frame:
if (currentTime(wm) - b1["t"]) <= 0.5:
if b1["pa"] > 100:
largest_ball1 += [b1]
return largest_ball1
def lookAtBall2(wm):
camera_data_balls = readWM(wm, "balls")
if not camera_data_balls:
return None
else:
# Get the latest observation
cur_frame = camera_data_balls[0]
# The object with the largest area is most likely the true ball
largest_ball = None
for b1 in cur_frame:
if (not largest_ball) or (largest_ball["pa"] < b1["pa"]):
largest_ball = b1
if largest_ball["pa"] > 100:
return turnHead(largest_ball["yaw"], largest_ball["pitch"])
def largestBall(wm):
camera_data_balls = readWM(wm,"balls")
if not camera_data_balls:
return False
else:
# Get the latest observation
cur_frame = camera_data_balls[0]
# The object with the largest area is most likely the true ball
largest_ball1 = []
for b1 in cur_frame:
if (currentTime(wm) - b1["t"]) <= 0.5:
if b1["pa"] > 100:
largest_ball1 += [b1]
return largest_ball1
def largestGoal(wm):
camera_data_goals = readWM(wm, "goals")
if not camera_data_goals:
return None
else:
# Get the latest observation
cur_frame = camera_data_goals[0]
# The object with the largest area is most likely the true goal
largest_goal = None
for b1 in cur_frame:
if (not largest_goal) or (largest_goal["pa"] < b1["pa"]):
largest_goal = b1
if largest_goal["pa"] > 2500:
return largest_goal
else:
return None
def largestGoal(wm):
camera_data_goals = readWM(wm,"goals")
if not camera_data_goals:
return None
else:
# Get the latest observation
cur_frame = camera_data_goals[0]
# The object with the largest area is most likely the true goal
largest_goal = None
for b1 in cur_frame:
if (not largest_goal) or (largest_goal["pa"] < b1["pa"]):
largest_goal = b1
if largest_goal["pa"] > 2500:
return largest_goal
else:
return None
def averageLook(wm):
camera_data_balls = readWM(wm, "balls")
if not camera_data_balls:
return None
else:
largest_ball2 = None
second_frame = camera_data_balls[1]
for b in second_frame:
if (not largest_ball2) or (largest_ball2["pa"] < b["pa"]):
largest_ball2 = b
largest_ball3 = None
third_frame = camera_data_balls[2]
for c in third_frame:
if (not largest_ball3) or (largest_ball3["pa"] < c["pa"]):
largest_ball3 = c
pitch_average = (largestBall(wm)["pitch"] + largest_ball2["pitch"] +
largest_ball3["pitch"]) / 3
yaw_average = (largestBall(wm)["yaw"] + largest_ball2["yaw"] +
largest_ball3["yaw"]) / 3
return [yaw_average, pitch_average]
def currentTime(wm):
return readWM(wm, "time", "current")
def entryTime(wm):
return readWM(wm, "time", "entry")
def waitForKick(wm):
messages = readWM(wm, "comms")
for key in messages:
if messages[key]["msg"] == "Kick":
return True
return False
def waitForFindBall(wm):
messages = readWM(wm, "comms")
for key in messages:
if messages[key]["msg"] == "Find ball":
return True
return False
def detectTouch(wm):
return readWM(wm, "tactile", "middle")
def touchDelay(wm):
return ((currentTime(wm) - entryTime(wm)) > 3) and readWM(
wm, "tactile", "middle")
def waitForSit(wm):
messages = readWM(wm, "comms")
for key in messages:
if messages[key]["msg"] == "Sit":
return True
return False
def waitForFindBall(wm):
messages = readWM(wm, "comms")
for key in messages:
if messages[key]["msg"] == "Find ball":
return True
return False
def touchDelay(wm):
return ((currentTime(wm) - entryTime(wm)) > 3) and readWM(wm, "tactile", "middle")