def sendCommands(self, data, id):
packet = grSim_Packet_pb2.grSim_Packet()
now_time = (time.mktime(datetime.now().timetuple()))
packet.commands.timestamp = now_time
if self.friend_color == "yellow":
packet.commands.isteamyellow = True
else:
packet.commands.isteamyellow = False
commands = packet.commands.robot_commands.add()
commands.id = id
commands.kickspeedx = data.kick_speed_x
commands.kickspeedz = data.kick_speed_z
if math.isnan(data.vel_surge) \
or math.isnan(data.vel_sway) \
or math.isnan(data.omega):
commands.veltangent = 0
commands.velnormal = 0
commands.velangular = 0
else:
commands.veltangent = data.vel_surge
commands.velnormal = data.vel_sway
commands.velangular = data.omega
if data.dribble_power > 0:
commands.spinner = True
else:
commands.spinner = False
commands.wheelsspeed = False
message = packet.SerializeToString()
self.sock.sendto(message, (self.host, self.port))
def sendCommand(commands):
command = grSim_Packet_pb2.grSim_Packet()
now_time = (time.mktime(datetime.now().timetuple()))
command.commands.timestamp = now_time
if friend_color == 'yellow':
command.commands.isteamyellow= True
else:
command.commands.isteamyellow= False
robo_commands = command.commands.robot_commands.add()
robo_commands.id = 0
robo_commands.kickspeedx = commands.kick_speed_x
robo_commands.kickspeedz = commands.kick_speed_z
robo_commands.veltangent = commands.vel_surge
robo_commands.velnormal = -commands.vel_sway
robo_commands.velangular = commands.omega
if commands.dribble_power > 0 :
robo_commands.spinner = True
else:
robo_commands.spinner = False
robo_commands.wheelsspeed = False
message = command.SerializeToString()
sock.sendto(message, (host, port))
def send_value(self, msg):
for msg in msg.send:
self.recieve_info = msg
self.move_deg = self.recieve_info.move_degree
packet = grSim_Packet_pb2.grSim_Packet()
packet.commands.timestamp = 0
packet.commands.isteamyellow = False
packet_command = packet.commands.robot_commands.add()
packet_command.id = self.recieve_info.robot_id
packet_command.veltangent = math.cos(
self.recieve_info.move_degree
) * 1.6 * self.recieve_info.distance
packet_command.velnormal = math.sin(
self.recieve_info.move_degree
) * 1.6 * self.recieve_info.distance
packet_command.velangular = self.recieve_info.direction * 4
packet_command.kickspeedx = self.recieve_info.kickspeedx
packet_command.kickspeedz = 0
packet_command.spinner = self.recieve_info.spinner
packet_command.wheelsspeed = False
#print(self.recieve_info.stop)
if self.recieve_info.stop == True:
#print(self.recieve_info.stop)
packet_command.veltangent = 0
packet_command.velnormal = 0
message = packet.SerializeToString()
self.sock.sendto(message, (self.host, self.port))
def reset_ball(self):
package = sim_pkg.grSim_Packet()
replacement = package.replacement
ball_rep = replacement.ball
ball_rep.x = np.random.randint(-600, 600) / 100.0
ball_rep.y = np.random.randint(-450, 450) / 100.0
ball_rep.vx = 0.0
ball_rep.vy = 0.0
self.socket.sendto(package.SerializeToString(), self.address)
def reset_bot(self, robot_num):
package = sim_pkg.grSim_Packet()
replacement = package.replacement
bot_rep = replacement.robots.add()
bot_rep.x = np.random.randint(-600, 600) / 100.0
bot_rep.y = np.random.randint(-450, 450) / 100.0
bot_rep.dir = np.pi * np.random.randint(-180, 180) / 180.0
bot_rep.id = robot_num
bot_rep.yellowteam = False
self.socket.sendto(package.SerializeToString(), self.address)
def send_action(self, robot_num=0, vx=0, vy=0, w=0):
package = sim_pkg.grSim_Packet()
commands = package.commands
commands.timestamp = 0
commands.isteamyellow = False
command = commands.robot_commands.add()
command.id = robot_num
command.kickspeedx = 0
command.kickspeedz = 0
command.veltangent = vx
command.velnormal = vy
command.velangular = w
command.spinner = 0
command.wheelsspeed = False
self.socket.sendto(package.SerializeToString(), self.address)
def reset(self, robot_num):
package = sim_pkg.grSim_Packet()
replacement = package.replacement
#ball_rep = replacement.ball
bot_rep = replacement.robots.add()
#ball_rep.x = 100.0
#ball_rep.y = 0.0
#ball_rep.vx = 0.0
#ball_rep.vy = 0.0
bot_rep.x = 0.0
bot_rep.y = 0.0
bot_rep.dir = 0.0
bot_rep.id = robot_num
bot_rep.yellowteam = False
self.socket.sendto(package.SerializeToString(), self.address)
def reset(self):
package = sim_pkg.grSim_Packet()
replacement = package.replacement
bot_rep = replacement.robots.add()
bot_rep.x = np.random.randint(-200, 200) / 100.0
bot_rep.y = np.random.randint(-200, 200) / 100.0
bot_rep.dir = 0.0
bot_rep.id = ME
bot_rep.yellowteam = False
bot_rep = replacement.robots.add()
bot_rep.x = np.random.randint(-300, 300) / 100.0
bot_rep.y = np.random.randint(-300, 300) / 100.0
bot_rep.dir = 0.0
bot_rep.id = ENEMY
bot_rep.yellowteam = True
bot_rep = replacement.robots.add()
bot_rep.x = np.random.randint(-300, 300) / 100.0
bot_rep.y = np.random.randint(-300, 300) / 100.0
bot_rep.dir = 0.0
bot_rep.id = ENEMY2
bot_rep.yellowteam = True
bot_rep = replacement.robots.add()
bot_rep.x = np.random.randint(-300, 300) / 100.0
bot_rep.y = np.random.randint(-300, 300) / 100.0
bot_rep.dir = 0.0
bot_rep.id = ENEMY3
bot_rep.yellowteam = True
ball_rep = replacement.ball
ball_rep.x = 0
ball_rep.y = 0
ball_rep.vx = 0.0
ball_rep.vy = 0.0
self.socket.sendto(package.SerializeToString(), self.address)