class App:
screen_size = (160, 120)
margin = 10
@property
def objects(self):
yield self.paddle
def __init__(self):
pyxel.init(*App.screen_size)
self.background = Background(App.screen_size, App.margin)
self.ball = Ball(App.screen_size, App.margin)
self.paddle = Paddle(App.screen_size, App.margin)
pyxel.run(self.update, self.draw)
def update(self):
if pyxel.btnp(pyxel.KEY_Q):
pyxel.quit()
self.ball.update()
for obj in self.objects:
obj.update()
if obj.ball_collide(self.ball) and obj == 'rectangle':
obj.alive = False
def draw(self):
self.background.draw()
self.ball.draw()
for obj in self.objects:
obj.draw()
def __init__(self,
number,
x_range,
y_range,
width,
height,
fps=30,
background="black",
gravity=9.81):
super().__init__(width, height, fps, background)
allowed_colours = list(self.colours.keys())
allowed_colours.remove('black')
self.balls = [
Ball(1,
self.colours[choice(allowed_colours)],
(randint(40, self.width - 100), 60),
id=i,
radius=3) for i in range(number)
]
self.centre_ball = Ball(2,
self.colours["red"],
(self.width / 2, self.height / 2),
id=69,
radius=10)
def __init__(self):
pyxel.init(*App.screen_size)
self.background = Background(App.screen_size, App.margin)
self.ball = Ball(App.screen_size, App.margin)
self.paddle = Paddle(App.screen_size, App.margin)
pyxel.run(self.update, self.draw)
def reset_game(self):
"""Reset score and position."""
self.l_score = 0
self.r_score = 0
self.finish = False
self.music.start_music()
self.l_paddle = Paddle(
coordinates=(PADDLE_SIDE, (HEIGHT - PADDLE_HEIGHT) // 2),
colour=COL_PADDLE,
width=PADDLE_WIDTH,
height=PADDLE_HEIGHT,
control_up=pyxel.KEY_W,
control_down=pyxel.KEY_S,
move_speed=PADDLE_MOVE_SPEED,
dimensions=DIMENSIONS,
)
self.r_paddle = Paddle(
coordinates=(
WIDTH - PADDLE_SIDE - PADDLE_WIDTH,
(HEIGHT - PADDLE_HEIGHT) // 2,
),
colour=COL_PADDLE,
width=PADDLE_WIDTH,
height=PADDLE_HEIGHT,
control_up=pyxel.KEY_UP,
control_down=pyxel.KEY_DOWN,
move_speed=PADDLE_MOVE_SPEED,
dimensions=DIMENSIONS,
)
self.ball = Ball(
coordinates=(WIDTH // 2, HEIGHT // 2),
colour=COL_BALL,
width=BALL_SIDE,
height=BALL_SIDE,
initial_velocity=BALL_INITIAL_VELOCITY,
dimensions=DIMENSIONS,
)
self.sparkler = ParticleEmitter(self.ball)
pickup_types = {
"sparkle": PickupType(14, self.sparkler.turn_on, self.sparkler.turn_off),
"expand": PickupType(12, self.expand_paddle, self.contract_paddle),
"slow": PickupType(8, self.slow_paddle, self.speed_paddle),
"bounce": PickupType(11, self.ball.bounce_on, self.ball.bounce_off),
"giantball": PickupType(10, self.ball.giant_on, self.ball.giant_off),
}
self.expand_stack = []
self.speed_stack = []
pickup_side_buffer = PADDLE_WIDTH + PADDLE_SIDE + 2
self.pickups = Pickups(
pickup_types, self.music, pickup_side_buffer, WIDTH - pickup_side_buffer, 0, HEIGHT
)
self.reset_after_score()
def __init__(self, caption='Server'):
pygame.init()
pygame.font.init()
self.paddle1 = PaddlePlayer(self.WIDTH, self.HEIGHT,
self.OFFSET) # player
self.paddle2 = PaddleEnemy(self.WIDTH, self.HEIGHT,
self.WIDTH - 40) # bot
self.b = Ball(self.WIDTH, self.HEIGHT)
self.screen = pygame.display.set_mode((self.WIDTH, self.HEIGHT))
pygame.display.set_caption(caption)
self.running = True
self.font = pygame.font.SysFont('Arial', 30)
self.local = False
def game():
clock = pygame.time.Clock()
fps = 120
size = width, height = 460, 620
win = pygame.display.set_mode(size)
all_sprites = pygame.sprite.Group()
horizontal_border_bottom = pygame.sprite.Group()
horizontal_border_top = pygame.sprite.Group()
vertical_borders = pygame.sprite.Group()
ball_sprite = pygame.sprite.Group()
platform_sprite_bottom = pygame.sprite.Group()
platform_sprite_top = pygame.sprite.Group()
bg = pygame.image.load(f'bg/bg_{random.randint(1, 5)}.png')
Border(5, 5, width - 5, 5, all_sprites, horizontal_border_top)
Border(5, height - 5, width - 5, height - 5, all_sprites,
horizontal_border_bottom)
Border(5, 5, 5, height - 5, all_sprites, vertical_borders)
Border(width - 5, 5, width - 5, height - 5, all_sprites, vertical_borders)
ball = Ball(20, 100, 100, all_sprites, ball_sprite, platform_sprite_bottom,
platform_sprite_top)
run = False
while not run:
for event in pygame.event.get():
if event.type == pygame.QUIT:
sys.exit()
if event.type == pygame.KEYDOWN:
run = True
font = pygame.font.Font('fonts/Quicksand-Regular.ttf', 40)
rendered = font.render('Press any key', True,
pygame.color.Color('white'))
rect = rendered.get_rect()
rect.y = 260
rect.x = (width - rect.width) / 2
win.blit(rendered, rect)
pygame.display.flip()
pygame.display.update()
time.sleep(1)
while run:
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
draw_window(win, bg, width, ball_sprite, horizontal_border_bottom,
horizontal_border_top, vertical_borders, victory, clock,
fps, platform_sprite_bottom, platform_sprite_top,
all_sprites)
if ball.restart == True:
return 0
def get_empty_3dof_environment():
"""An easy difficulty environment for planning tests with two obstacles,
a ball as a target, and a simple human arm.
"""
obstacles = []
ball = Ball([2.5, 2.5, 2.0], 0.25, target=True)
q = np.array([0, 0, 0, np.pi / 2, 0, 0, 0])
robot = simple_3dof_arm(2.0, 2.0, 2.0, q, np.array([3.0, 1.0, 0.0]))
return Environment(dynamic_objects=[ball],
static_objects=obstacles,
robot=robot)
def __init__(self ,progs, visualizer,gwidth = 90, glength = 120 , gfriction = 1):
self.cycle = Cycle()
self.ground = Ground(glength , gwidth ,gfriction )
self.players =[]
for i in range(2):
for j in range(5):
self.players.append(Player(self.ground, progs[i] , i , j , Vector( ((1.0*indexi[j]) * (gwidth / 2)) , (1.0*indexj[j]) * (glength / 2) * ((-1) ** (i)) ) ))
#print >>sys.stderr, 'PLAYER %d, %d: %f, %f'%(i, j, self.players[j].pos.x, self.players[j].pos.y)
#print >>sys.stderr, 'PLAYER %d, %d: %f, %f'%(i, j, indexi[j] * gwidth / 2, indexj[j] * glength / 2 * (-1) ** (i))
self.ball = Ball(self.ground)
self.state = State(self.players , self.ball)
self.referee = Referee(self.state)
self.visualizer = visualizer
def get_medium_environment():
"""A medium difficulty environment for planning tests with two obstacles,
a ball as a target, and a simple human arm.
"""
obstacles = [
Obstacle([2.5, 0, 2.2], [3.5, 1, 2.5]),
Obstacle([3, 2, 1], [4, 2.5, 1.5])
]
ball = Ball([2.5, 2.5, 2.0], 0.25, target=True)
q = np.array([0, 0, 0, 0, 0, 0, 0])
robot = simple_human_arm(2.0, 2.0, q, np.array([3.0, 1.0, 0.0]))
return Environment(dynamic_objects=[ball],
static_objects=obstacles,
robot=robot)
def _initialize_game_objects(self):
self.screen.fill(BLACK)
self.line = MiddleLine(GREY, self.screen,
(int(self.screen_width / 2), 0), 1,
self.screen_height)
pod_player1_position, pod_player2_position = self._compute_player_pods_initial_positions(
)
self.pod_player1 = Paddle('seznam_logo.png', self.screen,
pod_player1_position, POD_WIDTH, POD_HEIGHT)
self.pod_player2 = Paddle('seznam_logo.png', self.screen,
pod_player2_position, POD_WIDTH, POD_HEIGHT)
score_player1_position, score_player2_position = self._compute_player_score_positions(
)
self.score_player1 = Score(self.state['player1']['score'],
DARK_GREY,
self.screen,
score_player1_position,
width=SCORE_WIDTH,
heigth=SCORE_HEIGHT)
self.score_player2 = Score(self.state['player2']['score'],
DARK_GREY,
self.screen,
score_player2_position,
width=SCORE_WIDTH,
heigth=SCORE_HEIGHT)
self.frame = Frame(WHITE,
self.screen, (0, 0),
self.screen_width,
self.screen_height,
border=1)
self.ball = Ball([5, 5],
'seznam_icon.png',
self.screen,
width=BALL_WIDTH,
height=BALL_HEIGHT)
pygame.display.flip()
def initialize_game(self):
while True:
window = Window(self.level, self.lives, self.score)
self.initialize_brickpattern(window)
ball1 = Ball(config.PADDLE_X + int(config.PADDLE_WIDTH / 2),
config.PADDLE_Y - 1, 1, 1, config.BALL_VX,
config.BALL_VY, config.BALL_COLOR, config.BALL_SPRITE)
paddle = Paddle(config.PADDLE_X, config.PADDLE_Y, 1,
config.PADDLE_WIDTH, config.PADDLE_COLOR,
config.PADDLE_SPRITE)
window.add(ball1)
window.addPaddle(paddle)
self.level, self.lives, self.score = window.render()
if self.lives == 0:
print("Game over youe score is :", self.score)
break
def get_hard_environment_v2():
"""A very hard difficulty environment for planning tests with three
obstacles, a ball as a target, and a simple human arm.
"""
obstacles = [
Obstacle([2.5, 2.0, 0.0], [4.0, 2.5, 4.0]),
Obstacle([1.5, 2.0, 0.0], [2.5, 3.5, 4.0]),
Obstacle([3.2, 3.5, 0.0], [5.5, 4.0, 4.0])
]
ball = Ball([2.8, 3.8, 2.0], 0.25, target=True)
q = np.array([0, 0, 0, 0, 0, 0, 0])
robot = simple_human_arm(2.0, 2.0, q, np.array([3.0, 3.0, 0.0]))
return Environment(dynamic_objects=[ball],
static_objects=obstacles,
robot=robot)
def get_hard_environment():
"""A hard difficulty environment for planning tests with five obstacles,
a ball as a target, and a simple human arm.
"""
obstacles = [
Obstacle([0.0, 2.0, 0.0], [1.5, 2.5, 3.0]),
Obstacle([0.0, 4.0, 0.0], [1.5, 4.5, 3.0]),
Obstacle([0.0, 2.5, 0.0], [0.5, 4.0, 3.0]),
Obstacle([0.0, 2.0, 3.0], [1.5, 4.5, 3.5]),
Obstacle([0.5, 2.5, 0.0], [1.5, 4.0, 1.0])
]
ball = Ball([1.0, 3.25, 2.0], 0.5, target=True)
q = np.array([0, 0, 0, -np.pi / 2.0, 0, 0, 0])
robot = simple_human_arm(3.0, 2.0, q, np.array([1.0, 1.0, 0.0]))
return Environment(dynamic_objects=[ball],
static_objects=obstacles,
robot=robot)
def get_tutorial_environment():
"""Our environment from our documentation tutorial"""
# Create an arm with a specific config and base position
q0 = np.array([0.5, 0.2, 0, 0.5, 0, 0, 0])
base_pos = np.array([2.0, 2.0, 0.0])
# And link segments of length 2.0
arm = simple_human_arm(2.0, 2.0, q0, base_pos)
# We then create a ball, target, and obstacle
ball = Ball(position=[2.0, 0.0, 2.0], radius=0.15)
target = Target(position=[5.0, 8.0, 2.0], radius=0.5)
obstacle = Obstacle([4, 4, 0], [5, 5, 2])
# And use these to create an environment with dimensions 10x10x10
return Environment(dimensions=[10, 10, 10],
dynamic_objects=[ball],
static_objects=[target, obstacle],
robot=arm)
def get_noodle_environment():
"""An absurd environment for our noodle arm to do planning tests. It has
five obstacles, a ball as a target, and our 10 link noodle arm
"""
obstacles = [
Obstacle([0.0, 2.0, 0.0], [1.5, 2.5, 3.0]),
Obstacle([4.0, 4.0, 0.0], [4.5, 4.5, 3.0]),
Obstacle([5.0, 0, 2.0], [5.5, 0.5, 3.0]),
Obstacle([2.0, 2.0, 3.0], [5.0, 2.5, 3.5]),
Obstacle([3.0, 4.5, 6.0], [7.0, 6.0, 5.0])
]
ball = Ball([5.0, 5.0, 3.0], 0.5, target=True)
q = np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
seg_lengths = [1, 2, 1, 2, 1, 2, 1, 2, 1, 2]
robot = noodle_arm(seg_lengths, q, np.array([3.0, 1.0, 0.0]))
return Environment(dynamic_objects=[ball],
static_objects=obstacles,
robot=robot)
def __init__(self,
number,
x_range,
y_range,
width,
height,
fps=30,
background="black",
gravity=9.81):
super().__init__(width, height, fps, background)
allowed_colours = list(self.colours.keys())
allowed_colours.remove('black')
self.balls = [
Ball(uniform(0.5, 4),
self.colours[choice(allowed_colours)],
(randint(0, x_range), 60),
id=i) for i in range(number)
]
def __init__(self, entities, balls=[]):
# Calculate sprite corners
spr_corner = SpriteManager.load_sprite('spr_corner.png')
width = spr_corner.get_width()
height = spr_corner.get_height()
spr_corner_top_left = swap_color(spr_corner, Colors.WHITE, Colors.GREY)
spr_corner_top_right = pygame.transform.flip(spr_corner_top_left, True,
False)
spr_corner_bottom_left = pygame.transform.flip(spr_corner_top_left,
False, True)
spr_corner_bottom_right = pygame.transform.flip(
spr_corner_top_right, False, True)
# Generate sprite panel
self.spr_panel = pygame.Surface((width * 2, height * 2))
self.spr_panel.fill(Colors.BLACK)
self.spr_panel.blit(spr_corner_top_left, (0, 0))
self.spr_panel.blit(spr_corner_top_right, (width, 0))
self.spr_panel.blit(spr_corner_bottom_left, (0, height))
self.spr_panel.blit(spr_corner_bottom_right, (width, height))
self.spr_panel.set_colorkey(Colors.BLACK)
# Surface for objects that are going to have a shadow
self.display = pygame.Surface((250, 350))
# Entities group
self.entities = Group(entities)
# Projectiles group
self.projectiles = Group()
# Balls group
self.balls = Group()
for x, y, radius in balls:
self.balls.add(Ball(x, y, radius))
# Particles groups
self.top_particles = Group()
self.bottom_particles = Group()
def initialize_game(self):
begin = clock()
while True:
window = Window(self.level, self.lives, self.score)
self.initialize_brickpattern(window)
ball1 = Ball(config.PADDLE_X+int(config.PADDLE_WIDTH / 2), config.PADDLE_Y - 1,
1, 1, config.BALL_VX, config.BALL_VY, config.BALL_COLOR, config.BALL_SPRITE)
paddle = Paddle(config.PADDLE_X, config.PADDLE_Y, 1,
config.PADDLE_WIDTH, config.PADDLE_COLOR, config.PADDLE_SPRITE)
window.add(ball1)
window.addPaddle(paddle)
self.level, self.lives, self.score = window.render()
if self.lives == 0:
print("Game over your score is :", self.score)
print("time taken :", clock() - begin)
break
elif self.lives > 0 and self.level == 5:
print("You finished the game your score is :", self.score)
print("Time taken :", clock() - begin)
break
def create_ball(self):
speed = (random.randint(-2, 2), c.ball_speed)
self.ball = Ball(c.screen_width // 2, c.screen_height // 2,
c.ball_radius, c.ball_color, speed)
self.objects.append(self.ball)
self.pause = c.pause_ball * c.frame_rate
port = 5555
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
s.bind((server, port))
except socket.error as e:
str(e)
s.listen(2)
print('Waiting for connection, Server started')
game = Game([
Player(45, 285, 10, 150, (255, 255, 255)),
Player(945, 285, 10, 150, (255, 255, 255))
], Ball(465, 330, 25, (255, 255, 255)), -1, 0, 0)
def threaded_client(conn, player):
global playersCount
conn.send(str.encode(str(player)))
while True:
try:
data = pickle.loads(conn.recv(2048))
if not data:
print('Disconnected')
break
else:
if data == 'ready':
if player == 0:
def __init__(self):
"""
Class constructor
"""
self.counter = 0
self.time = time.time()
self.on = True
# Output Class
self.out = NaoOutput.NaoOutput(self)
# Setup nao modules inside brain for easy access
self.vision = vision.vision
self.sensors = sensors.sensors
self.logger = loggingBoard.loggingBoard
self.comm = comm.inst
self.comm.gc.team = TeamConfig.TEAM_NUMBER
self.comm.gc.player = TeamConfig.PLAYER_NUMBER
#initalize the leds
#print leds
self.leds = Leds.Leds(self)
self.speech = _speech.speech
# Initialize motion interface and module references
self.motion = motion.MotionInterface()
self.motionModule = motion
# Get the pointer to the C++ RoboGuardian object for use with Python
self.roboguardian = _roboguardian.roboguardian
self.roboguardian.enableFallProtection(True)
# Get our reference to the C++ localization system
self.loc = Loc()
# Retrieve our robot identification and set per-robot parameters
self.CoA = robots.get_certificate()
self.CoA.setRobotGait(self.motion)
# coa is Certificate of Authenticity (to keep things short)
self.out.printf(self.CoA)
self.out.printf("GC: I am on team " + str(TeamConfig.TEAM_NUMBER))
self.out.printf("GC: I am player " + str(TeamConfig.PLAYER_NUMBER))
# Initialize various components
self.my = MyInfo(self.loc)
# Functional Variables
self.my.playerNumber = self.comm.gc.player
if self.comm.gc.color == GameController.TEAM_BLUE:
self.my.teamColor = Constants.teamColor.TEAM_BLUE
else:
self.my.teamColor = Constants.teamColor.TEAM_RED
# Information about the environment
self.initFieldObjects()
self.initTeamMembers()
self.ball = Ball(self.vision.ball, self.loc, self.my)
self.play = Play.Play()
self.sonar = Sonar.Sonar()
if Constants.LOG_COMM:
self.out.startCommLog()
# Stability data
self.stability = Stability.Stability(self.sensors)
# FSAs
self.player = Switch.selectedPlayer.SoccerPlayer(self)
self.tracker = HeadTracking.HeadTracking(self)
self.nav = Navigator.Navigator(self)
self.playbook = PBInterface.PBInterface(self)
self.kickDecider = KickDecider.KickDecider(self)
self.gameController = GameController.GameController(self)
self.fallController = FallController.FallController(self)
class Simulator(object):
def __init__(self ,progs, visualizer,gwidth = 90, glength = 120 , gfriction = 1):
self.cycle = Cycle()
self.ground = Ground(glength , gwidth ,gfriction )
self.players =[]
for i in range(2):
for j in range(5):
self.players.append(Player(self.ground, progs[i] , i , j , Vector( ((1.0*indexi[j]) * (gwidth / 2)) , (1.0*indexj[j]) * (glength / 2) * ((-1) ** (i)) ) ))
#print >>sys.stderr, 'PLAYER %d, %d: %f, %f'%(i, j, self.players[j].pos.x, self.players[j].pos.y)
#print >>sys.stderr, 'PLAYER %d, %d: %f, %f'%(i, j, indexi[j] * gwidth / 2, indexj[j] * glength / 2 * (-1) ** (i))
self.ball = Ball(self.ground)
self.state = State(self.players , self.ball)
self.referee = Referee(self.state)
self.visualizer = visualizer
def send_data(self):
for i in range(10):
self.visualizer.stdin.write(`int(self.state.players[i].pos.x)`+'\n')
self.visualizer.stdin.write(`int(self.state.players[i].pos.y)`+'\n')
#print >>sys.stderr, 'THIS IS RS, PLAYER %d: %d, %d'%(i, int(self.state.players[i].pos.x), int(self.state.players[i].pos.y))
self.visualizer.stdin.write(`int(self.state.ball.pos.x)`+'\n')
self.visualizer.stdin.write(`int(self.state.ball.pos.y)`+'\n')
self.visualizer.stdin.write(`self.state.game_state `+'\n')
#def player_move(self, i , coefficient=1.0/100):
# self.players[i].move(coefficient)
def ball_move(self , coefficient=1.0/100):
self.ball.move(coefficient)
width = self.ground.width
length = self.ground.length
while True:
x = self.ball.pos.x
y = self.ball.pos.y
if x <= width/2 and x >= -width/2 and y <= length/2 and y >= -length/2:
break
#print >>sys.stderr, 'BALL IS OUTSIDE GROUND, VELOCITY IS: %f, %f'%(self.ball.vel.x, self.ball.vel.y)
if x>(width/2) :
self.ball.vel.x= -self.ball.vel.x
self.ball.pos.x= width-x
#print >>sys.stderr, 'THE BALL WENT TOO RIGHT, NEW X: %f'%(self.ball.pos.x)
if x<-(width/2) :
self.ball.vel.x= -self.ball.vel.x
self.ball.pos.x= -width-x
#print >>sys.stderr, 'THE BALL WENT TOO LEFT, NEW X: %f'%(self.ball.pos.x)
if y>(length/2) :
self.state.update( self.referee.is_goal(self.ball , self.ground) )
self.ball.vel.y= -self.ball.vel.y
self.ball.pos.y= length-y
#print >>sys.stderr, 'THE BALL WENT TOO UP, NEW Y: %f'%(self.ball.pos.y)
if y<(-(length/2)) :
self.state.update( self.referee.is_goal(self.ball , self.ground) )
self.ball.pos.y= -length-y
self.ball.vel.y=-self.ball.vel.y
#print >>sys.stderr, 'THE BALL WENT TOO DOWN, NEW Y: %f'%(self.ball.pos.y)
# def check_pos(self , coefficient=1.0/100):
# a = range(10)
# random.shuffle(a)
# sizes = [i/20.0 for i in xrange(1, 11)]
# random.shuffle(sizes)
# for i in a:
# temp_pos = self.players[i].pos
# for j in range(10):
# if( ( self.players[j].is_overlap(sizes[i], sizes[j], temp_pos) ) and (j!=i)):
# self.players[i].move(-coefficient)
# break
def move(self):
# for j in xrange(100):
# for i in xrange(10):
# self.player_move(i)
# self.ball_move()
# self.check_pos()
#for t in xrange(steps_per_cycle):
coefficient = 1.0/config.steps_per_cycle
q = deque(self.players)
if self.state.kicked:
if self.ball.vel.len() < 4:
self.ball.vel = Vector(2*random.choice([-1, 1]), 2*random.choice([-1, 1]))
for t in xrange(config.steps_per_cycle):
self.ball_move(coefficient)
for p in self.players:
p.rsteps = config.steps_per_cycle
no_change = 0
#print >>sys.stderr, 'move called'
#player_size = random.choice([0.3, 0.4, 0.5])
while len(q):
c = q.popleft()
#print >>sys.stderr, 'moving %d, %d, %d'%(c.team, c.number, c.rsteps)
c.move(coefficient)
c.rsteps-=1
change = True
for other in self.players:
if c==other:
continue
if c.is_overlap(config.player_size, config.player_size,
other.pos):
c.move(-coefficient)
c.rsteps+=1
change = False
break
if change:
no_change=0
else:
no_change+=1
if c.rsteps:
q.append(c)
if no_change==20:
#print >>sys.stderr, 'breaking'
#for p in self.players:
# print >>sys.stderr, 'PLAYER %d, %d: %f, %f'%(p.team,
# p.number,
# p.pos.x,
# p.pos.y)
#print >>sys.stderr, 'BALL: %f, %f'%(self.ball.pos.x,
# self.ball.pos.y)
break
# while True:
# change = False
# for p in self.players:
# if not p.rsteps:
# continue
# p.move(coefficient)
# p.rsteps-=1
# change = True
# for other in self.players:
# if other==p:
# continue
# if p.is_overlap(config.player_size, config.player_size,
# other.pos):
# p.move(-coefficient)
# change = False
# break
# if not change:
# break
def goto_kickoff(self):
self.ball.pos = Vector(0, 0)
self.ball.vel = Vector(0, 0)
gwidth = config.gwidth
glength = config.glength
for i in xrange(2):
for j in xrange(5):
self.players[i*5+j].pos=Vector( ((1.0*indexi[j]) * (gwidth / 2)) , (1.0*indexj[j]) * (glength / 2) * ((-1) ** (i)) )
self.players[i*5+j].vel = Vector(0, 0)
def simulate(self) :
global cycle_length
#print self.state.game_state
prev_locs = [Vector(0, 0) for i in xrange(10)]
for i in xrange(game_duration):
#print >>sys.stderr, 'CYCLE #%d'%(i)
self.state.kicked = False
self.referee.update_state()
self.send_data()
#self.state.update()
for j in xrange(10):
self.players[j].comm.send_state(self.state)
#print >>sys.stderr, 'DOOOOOOOOOOOOOOOOOOOOOOONE SENDING DATA AT %f'%(time.time())
time.sleep(cycle_length)
self.cycle.update_players(self.state)
self.move()
soc = 0
for (i, p) in enumerate(self.players):
soc += (p.pos-prev_locs[i]).len()
if soc < 1 and self.state.game_state!=state.kickoff_team1 and self.state.game_state!=state.kickoff_team2:
self.ball.vel += Vector(random.choice([-1, 1])*5, random.choice([-1, 1])*5)
print 'accel'
prev_locs = [Vector(p.pos.x, p.pos.y) for p in self.players]
if self.state.game_state==state.team1_goal:
self.state.game_state = state.kickoff_team2
self.goto_kickoff()
if self.state.game_state==state.team2_goal:
self.state.game_state = state.kickoff_team1
self.goto_kickoff()
if(self.state.last_kicked != None):
pass
for i in xrange(10):
self.players[i].comm.terminate()
class Pong:
"""The class that sets up and runs the game."""
def __init__(self):
"""Initiate pyxel, set up initial game variables, and run."""
pyxel.init(WIDTH, HEIGHT, caption="Pong!", scale=8, fps=60)
self.music = Music()
self.reset_game()
pyxel.run(self.update, self.draw)
def reset_game(self):
"""Reset score and position."""
self.l_score = 0
self.r_score = 0
self.finish = False
self.music.start_music()
self.l_paddle = Paddle(
coordinates=(PADDLE_SIDE, (HEIGHT - PADDLE_HEIGHT) // 2),
colour=COL_PADDLE,
width=PADDLE_WIDTH,
height=PADDLE_HEIGHT,
control_up=pyxel.KEY_W,
control_down=pyxel.KEY_S,
move_speed=PADDLE_MOVE_SPEED,
dimensions=DIMENSIONS,
)
self.r_paddle = Paddle(
coordinates=(
WIDTH - PADDLE_SIDE - PADDLE_WIDTH,
(HEIGHT - PADDLE_HEIGHT) // 2,
),
colour=COL_PADDLE,
width=PADDLE_WIDTH,
height=PADDLE_HEIGHT,
control_up=pyxel.KEY_UP,
control_down=pyxel.KEY_DOWN,
move_speed=PADDLE_MOVE_SPEED,
dimensions=DIMENSIONS,
)
self.ball = Ball(
coordinates=(WIDTH // 2, HEIGHT // 2),
colour=COL_BALL,
width=BALL_SIDE,
height=BALL_SIDE,
initial_velocity=BALL_INITIAL_VELOCITY,
dimensions=DIMENSIONS,
)
self.sparkler = ParticleEmitter(self.ball)
pickup_types = {
"sparkle": PickupType(14, self.sparkler.turn_on, self.sparkler.turn_off),
"expand": PickupType(12, self.expand_paddle, self.contract_paddle),
"slow": PickupType(8, self.slow_paddle, self.speed_paddle),
"bounce": PickupType(11, self.ball.bounce_on, self.ball.bounce_off),
"giantball": PickupType(10, self.ball.giant_on, self.ball.giant_off),
}
self.expand_stack = []
self.speed_stack = []
pickup_side_buffer = PADDLE_WIDTH + PADDLE_SIDE + 2
self.pickups = Pickups(
pickup_types, self.music, pickup_side_buffer, WIDTH - pickup_side_buffer, 0, HEIGHT
)
self.reset_after_score()
def reset_after_score(self):
"""Reset paddles and ball."""
self.start = pyxel.frame_count + 50
self.speed_up = self.start + SPEED_PERIOD
self.ball.reset()
##############
# Game logic #
##############
def update(self):
"""Update logic of game. Updates the paddles, ball, and checks for scoring/win condition."""
self.l_paddle.update()
self.r_paddle.update()
self.sparkler.sparkle()
if pyxel.frame_count > self.start and not self.finish:
outcome = self.ball.update()
if outcome:
self.score(outcome)
self.check_speed()
if self.ball.check_collision([self.l_paddle, self.r_paddle]):
self.music.sfx_hit()
self.pickups.check_pickup()
self.pickups.check_collision(self.ball)
if pyxel.btn(pyxel.KEY_Q):
pyxel.quit()
if pyxel.btnp(pyxel.KEY_R):
self.reset_game()
def check_speed(self):
"""Adds velocity to the ball periodically."""
if pyxel.frame_count > self.speed_up:
self.speed_up += SPEED_PERIOD
self.ball.x_vol += SPEED_AMOUNT * sign(self.ball.x_vol)
self.ball.y_vol += SPEED_AMOUNT * sign(self.ball.y_vol)
def score(self, outcome):
"""Adds to the score if the ball hits the side. Check win condition."""
self.music.sfx_score()
if outcome == "l":
self.l_score += 1
elif outcome == "r":
self.r_score += 1
if self.l_score >= WIN_CONDITION or self.r_score >= WIN_CONDITION:
self.win_event()
self.reset_after_score()
def win_event(self):
"""What happens when someone wins the game!"""
self.finish = True
self.music.stop_music()
self.music.sfx_finish()
######################
# Pickup controllers #
######################
def expand_paddle(self):
"""Expand the pandle temporarily."""
if self.ball.x_vol > 0:
paddle = self.l_paddle
else:
paddle = self.r_paddle
paddle.height = PADDLE_HEIGHT_EXPANDED
paddle.y -= (PADDLE_HEIGHT_EXPANDED - PADDLE_HEIGHT) // 2
self.expand_stack.append(paddle)
def contract_paddle(self):
"""Revert paddle side to normal."""
paddle = self.expand_stack.pop(0)
if paddle not in self.expand_stack:
paddle.height = PADDLE_HEIGHT
paddle.y += (PADDLE_HEIGHT_EXPANDED - PADDLE_HEIGHT) // 2
def slow_paddle(self):
"""Slow the pandle temporarily."""
if self.ball.x_vol > 0:
paddle = self.l_paddle
else:
paddle = self.r_paddle
paddle.move_speed = PADDLE_MOVE_SPEED_SLOW
paddle.colour = COL_PADDLE_SLOW
self.speed_stack.append(paddle)
def speed_paddle(self):
"""Speed the paddle back up to normal speed."""
paddle = self.speed_stack.pop(0)
if paddle not in self.speed_stack:
paddle.move_speed = PADDLE_MOVE_SPEED
paddle.colour = COL_PADDLE
##############
# Draw logic #
##############
def draw(self):
"""Draw the paddles and ball OR the end screen."""
if self.finish:
self.draw_end_screen()
else:
pyxel.cls(COL_BACKGROUND)
self.sparkler.display()
self.l_paddle.display()
self.r_paddle.display()
self.pickups.display()
self.ball.display()
self.draw_score()
def draw_score(self):
"""Draw the score at the top."""
l_score = "{:01}".format(self.l_score)
r_score = "{:01}".format(self.r_score)
buffer = PADDLE_SIDE + PADDLE_WIDTH + 2
r_x_position = WIDTH - FONT_WIDTH - buffer
pyxel.text(x=buffer, y=2, s=l_score, col=COL_SCORE)
pyxel.text(x=r_x_position, y=2, s=r_score, col=COL_SCORE)
def draw_end_screen(self):
"""Draw the final screen with the winner!"""
pyxel.cls(col=COL_FINISH)
display_text = TEXT_FINISH[:]
if self.l_score >= WIN_CONDITION:
winner = "The LEFT player!"
else:
winner = "The RIGHT player!"
display_text.insert(1, winner)
for i, text in enumerate(display_text):
y_offset = (FONT_HEIGHT + 2) * i
text_x = self.center_text(text, WIDTH)
pyxel.text(text_x, HEIGHT_FINISH + y_offset, text, COL_FINISH_TEXT)
@staticmethod
def center_text(text, page_width, char_width=FONT_WIDTH):
"""Helper function for calcuating the start x value for centered text."""
text_width = len(text) * char_width
return (page_width - text_width) // 2
class Brain(object):
"""
Class brings all of our components together and runs the behaviors
"""
def __init__(self):
"""
Class constructor
"""
self.counter = 0
self.time = time.time()
self.on = True
# Output Class
self.out = NaoOutput.NaoOutput(self)
# Setup nao modules inside brain for easy access
self.vision = vision.vision
self.sensors = sensors.sensors
self.logger = loggingBoard.loggingBoard
self.comm = comm.inst
self.comm.gc.team = TeamConfig.TEAM_NUMBER
self.comm.gc.player = TeamConfig.PLAYER_NUMBER
#initalize the leds
#print leds
self.leds = Leds.Leds(self)
self.speech = _speech.speech
# Initialize motion interface and module references
self.motion = motion.MotionInterface()
self.motionModule = motion
# Get the pointer to the C++ RoboGuardian object for use with Python
self.roboguardian = _roboguardian.roboguardian
self.roboguardian.enableFallProtection(True)
# Get our reference to the C++ localization system
self.loc = Loc()
# Retrieve our robot identification and set per-robot parameters
self.CoA = robots.get_certificate()
self.CoA.setRobotGait(self.motion)
# coa is Certificate of Authenticity (to keep things short)
self.out.printf(self.CoA)
self.out.printf("GC: I am on team " + str(TeamConfig.TEAM_NUMBER))
self.out.printf("GC: I am player " + str(TeamConfig.PLAYER_NUMBER))
# Initialize various components
self.my = MyInfo(self.loc)
# Functional Variables
self.my.playerNumber = self.comm.gc.player
if self.comm.gc.color == GameController.TEAM_BLUE:
self.my.teamColor = Constants.teamColor.TEAM_BLUE
else:
self.my.teamColor = Constants.teamColor.TEAM_RED
# Information about the environment
self.initFieldObjects()
self.initTeamMembers()
self.ball = Ball(self.vision.ball, self.loc, self.my)
self.play = Play.Play()
self.sonar = Sonar.Sonar()
if Constants.LOG_COMM:
self.out.startCommLog()
# Stability data
self.stability = Stability.Stability(self.sensors)
# FSAs
self.player = Switch.selectedPlayer.SoccerPlayer(self)
self.tracker = HeadTracking.HeadTracking(self)
self.nav = Navigator.Navigator(self)
self.playbook = PBInterface.PBInterface(self)
self.kickDecider = KickDecider.KickDecider(self)
self.gameController = GameController.GameController(self)
self.fallController = FallController.FallController(self)
def initFieldObjects(self):
"""
Build our set of Field Objects which are team specific compared
to the generic forms used in the vision system
"""
# Build instances of the vision based field objects
# Left post is on that goalie's left
# Note: As of 6/8/12, ygrp holds info about ambiguous posts
# Yellow goal left and right posts
self.yglp = FieldObject(self.vision.yglp,
Constants.vis_landmark.VISION_YGLP, self.loc)
self.ygrp = FieldObject(self.vision.ygrp,
Constants.vis_landmark.VISION_YGRP, self.loc)
# Blue Goal left and right posts
self.bglp = FieldObject(self.vision.bglp,
Constants.vis_landmark.VISION_BGLP, self.loc)
self.bgrp = FieldObject(self.vision.bgrp,
Constants.vis_landmark.VISION_BGRP, self.loc)
# Now we build the field objects to be based on our team color
self.makeFieldObjectsRelative()
def makeFieldObjectsRelative(self):
"""
Builds a list of fieldObjects based on their relative names to the robot
Needs to be called when team color is determined
"""
# Note: corner directions are relative to perspective of own goalie
# Blue team setup
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
# Yellow goal
self.oppGoalRightPost = self.yglp
self.oppGoalLeftPost = self.ygrp
# Blue Goal
self.myGoalLeftPost = self.bglp
self.myGoalRightPost = self.bgrp
# Yellow team setup
else:
# Yellow goal
self.myGoalLeftPost = self.yglp
self.myGoalRightPost = self.ygrp
# Blue Goal
self.oppGoalRightPost = self.bglp
self.oppGoalLeftPost = self.bgrp
# Since, for ex. bgrp points to the same things as myGoalLeftPost,
# we can set these regardless of our team color
self.myGoalLeftPost.associateWithRelativeLandmark(
Constants.LANDMARK_MY_GOAL_LEFT_POST)
self.myGoalRightPost.associateWithRelativeLandmark(
Constants.LANDMARK_MY_GOAL_RIGHT_POST)
self.oppGoalLeftPost.associateWithRelativeLandmark(
Constants.LANDMARK_OPP_GOAL_LEFT_POST)
self.oppGoalRightPost.associateWithRelativeLandmark(
Constants.LANDMARK_OPP_GOAL_RIGHT_POST)
# Build a list of all of the field objects with respect to team color
self.myFieldObjects = [self.yglp, self.ygrp, self.bglp, self.bgrp]
def initTeamMembers(self):
self.teamMembers = []
for i in xrange(Constants.NUM_PLAYERS_PER_TEAM):
mate = TeamMember.TeamMember(self)
mate.playerNumber = i + 1
self.teamMembers.append(mate)
##
##--------------CONTROL METHODS---------------##
##
def profile(self):
if self.counter == 0:
cProfile.runctx('self.run()', self.__dict__, locals(),
'pythonStats')
self.p = pstats.Stats('pythonStats')
elif self.counter < 3000:
self.p.add('pythonStats')
cProfile.runctx('self.run()', self.__dict__, locals(),
'pythonStats')
elif self.counter == 3000:
self.p.strip_dirs()
self.p.sort_stats('cumulative')
## print 'PYTHON STATS:'
## self.p.print_stats()
## print 'OUTGOING CALLEES:'
## self.p.print_callees()
## print 'OUTGOING CALLEES:'
## self.p.print_callers()
self.p.dump_stats('pythonStats')
self.counter += 1
def run(self):
"""
Main control loop called every TIME_STEP milliseconds
"""
# order here is very important
# Update Environment
self.time = time.time()
self.sonar.updateSensors(self.sensors)
# Communications update
self.updateComm()
# Update objects
self.updateObjects()
# Behavior stuff
self.gameController.run()
self.fallController.run()
self.updatePlaybook()
self.player.run()
self.tracker.run()
self.nav.run()
# Kinda of a hack...
# check and set loc boolean
if ((self.my.teamColor == Constants.teamColor.TEAM_BLUE and self.loc.x
> Constants.MIDFIELD_X - Constants.CENTER_CIRCLE_RADIUS) or
(self.my.teamColor == Constants.teamColor.TEAM_RED and self.loc.x <
Constants.MIDFIELD_X + Constants.CENTER_CIRCLE_RADIUS)):
self.onOwnFieldSide = False
#Set LEDS
self.leds.processLeds()
# Broadcast Report for Teammates
self.setPacketData()
# Update any logs we have
self.out.updateLogs()
def updateComm(self):
temp = self.comm.latestComm()
for packet in temp:
if len(packet) == Constants.NUM_PACKET_ELEMENTS:
packet = Packet.Packet(packet)
if packet.playerNumber != self.my.playerNumber:
self.teamMembers[packet.playerNumber - 1].update(packet)
if Constants.LOG_COMM:
self.out.logRComm(packet)
# update the activity of our teammates here
# active field is set to true upon recipt of a new packet.
for mate in self.teamMembers:
if (mate.active and mate.isDead()):
mate.active = False
def updateObjects(self):
"""
Update estimates of robot and ball positions on the field
"""
self.ball.update()
self.my.update()
self.yglp.setBest()
self.ygrp.setBest()
self.bglp.setBest()
self.bgrp.setBest()
def updatePlaybook(self):
"""
updates self.play to the new play
"""
self.playbook.update(self.play)
# move to comm
def setPacketData(self):
# Team color, team number, and player number are all appended to this
# list by the underlying comm module implemented in C++
loc = self.loc
self.comm.setData(loc.x, loc.y, loc.h, loc.xUncert, loc.yUncert,
loc.hUncert, loc.ballX, loc.ballY, loc.ballXUncert,
loc.ballYUncert, self.ball.loc.dist,
self.ball.loc.bearing, self.ball.vis.on,
self.play.role, self.play.subRole,
self.playbook.pb.me.chaseTime, loc.ballVelX,
loc.ballVelY)
# TODO: remove this and log through C++ and the Logger instead.
if Constants.LOG_COMM:
packet = Packet.Packet(
(TeamConfig.TEAM_NUMBER, TeamConfig.PLAYER_NUMBER,
self.my.teamColor, loc.x, loc.y, loc.h, loc.xUncert,
loc.yUncert, loc.hUncert, loc.ballX, loc.ballY,
loc.ballXUncert, loc.ballYUncert, self.ball.loc.dist,
self.ball.loc.bearing, self.ball.vis.on, self.play.role,
self.play.subRole, self.playbook.pb.me.chaseTime,
loc.ballVelX, loc.ballVelY))
self.out.logSComm(packet)
# TODO: Take this out once new comm is in...
def activeTeamMates(self):
activeMates = 0
for i in xrange(Constants.NUM_PLAYERS_PER_TEAM):
mate = self.teamMembers[i]
if mate.active:
activeMates += 1
return activeMates
def resetInitialLocalization(self):
"""
Reset loc according to team number and team color.
Note: Loc uses truly global coordinates.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
if self.my.playerNumber == 1:
self.loc.resetLocTo(
Constants.BLUE_GOALBOX_RIGHT_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 2:
self.loc.resetLocTo(
Constants.BLUE_GOALBOX_RIGHT_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 3:
self.loc.resetLocTo(
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 4:
self.loc.resetLocTo(
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
if self.my.playerNumber == 1:
self.loc.resetLocTo(
Constants.YELLOW_GOALBOX_LEFT_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 2:
self.loc.resetLocTo(
Constants.YELLOW_GOALBOX_LEFT_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 3:
self.loc.resetLocTo(
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 4:
self.loc.resetLocTo(
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
#@todo: HACK HACK HACK Mexico 2012 to make sure we still re-converge properly even if
#we get manually positioned
#should make this nicer (or at least the locations)
def resetSetLocalization(self):
gameSetResetUncertainties = _localization.LocNormalParams(50, 200, 1.0)
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
# # if self.my.playerNumber == 1:
# # self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
# # Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
# # Constants.HEADING_UP)
# if self.gameController.ownKickOff:
# self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
# Constants.CENTER_FIELD_Y,
# 0,
# gameSetResetUncertainties)
# else:
# self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
# Constants.CENTER_FIELD_Y,
# 0,
# gameSetResetUncertainties)
self.loc.resetLocToSide(True)
else:
# if self.gameController.ownKickOff:
# self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
# Constants.CENTER_FIELD_Y,
# 180,
# gameSetResetUncertainties)
# else:
# self.loc.resetLocTo(Constants.YELLOW_GOALBOX_LEFT_X,
# Constants.CENTER_FIELD_Y,
# 180,
# gameSetResetUncertainties)
self.loc.resetLocToSide(False)
def resetLocalizationFromPenalty(self):
"""
Resets localization to both possible locations, depending on team color.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0),
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0),
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
def resetGoalieLocalization(self):
"""
Resets the goalie's localization to the manual position in the goalbox.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.resetLocTo(Constants.FIELD_WHITE_LEFT_SIDELINE_X,
Constants.MIDFIELD_Y, Constants.HEADING_RIGHT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
self.loc.resetLocTo(Constants.FIELD_WHITE_RIGHT_SIDELINE_X,
Constants.MIDFIELD_Y, Constants.HEADING_LEFT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
#TODO: write this method!
def resetPenaltyKickLocalization(self):
pass
class Brain(object):
"""
Class brings all of our components together and runs the behaviors
"""
def __init__(self):
"""
Class constructor
"""
self.counter = 0
self.time = time.time()
self.on = True
# Output Class
self.out = NaoOutput.NaoOutput(self)
# Setup nao modules inside brain for easy access
self.vision = vision.vision
self.sensors = sensors.sensors
self.logger = loggingBoard.loggingBoard
self.comm = comm.inst
self.comm.gc.team = TeamConfig.TEAM_NUMBER
self.comm.gc.player = TeamConfig.PLAYER_NUMBER
#initalize the leds
#print leds
self.leds = Leds.Leds(self)
self.speech = _speech.speech
# Initialize motion interface and module references
self.motion = motion.MotionInterface()
self.motionModule = motion
# Get the pointer to the C++ RoboGuardian object for use with Python
self.roboguardian = _roboguardian.roboguardian
self.roboguardian.enableFallProtection(True)
# Get our reference to the C++ localization system
self.loc = Loc()
# Retrieve our robot identification and set per-robot parameters
self.CoA = robots.get_certificate()
self.CoA.setRobotGait(self.motion)
# coa is Certificate of Authenticity (to keep things short)
self.out.printf(self.CoA)
self.out.printf("GC: I am on team "+str(TeamConfig.TEAM_NUMBER))
self.out.printf("GC: I am player "+str(TeamConfig.PLAYER_NUMBER))
# Initialize various components
self.my = MyInfo(self.loc)
# Functional Variables
self.my.playerNumber = self.comm.gc.player
if self.comm.gc.color == GameController.TEAM_BLUE:
self.my.teamColor = Constants.teamColor.TEAM_BLUE
else:
self.my.teamColor = Constants.teamColor.TEAM_RED
# Information about the environment
self.initFieldObjects()
self.initTeamMembers()
self.ball = Ball(self.vision.ball, self.loc, self.my)
self.play = Play.Play()
self.sonar = Sonar.Sonar()
if Constants.LOG_COMM:
self.out.startCommLog()
# Stability data
self.stability = Stability.Stability(self.sensors)
# FSAs
self.player = Switch.selectedPlayer.SoccerPlayer(self)
self.tracker = HeadTracking.HeadTracking(self)
self.nav = Navigator.Navigator(self)
self.playbook = PBInterface.PBInterface(self)
self.kickDecider = KickDecider.KickDecider(self)
self.gameController = GameController.GameController(self)
self.fallController = FallController.FallController(self)
def initFieldObjects(self):
"""
Build our set of Field Objects which are team specific compared
to the generic forms used in the vision system
"""
# Build instances of the vision based field objects
# Left post is on that goalie's left
# Note: As of 6/8/12, ygrp holds info about ambiguous posts
# Yellow goal left and right posts
self.yglp = FieldObject(self.vision.yglp,
Constants.vis_landmark.VISION_YGLP,
self.loc)
self.ygrp = FieldObject(self.vision.ygrp,
Constants.vis_landmark.VISION_YGRP,
self.loc)
# Blue Goal left and right posts
self.bglp = FieldObject(self.vision.bglp,
Constants.vis_landmark.VISION_BGLP,
self.loc)
self.bgrp = FieldObject(self.vision.bgrp,
Constants.vis_landmark.VISION_BGRP,
self.loc)
# Now we build the field objects to be based on our team color
self.makeFieldObjectsRelative()
def makeFieldObjectsRelative(self):
"""
Builds a list of fieldObjects based on their relative names to the robot
Needs to be called when team color is determined
"""
# Note: corner directions are relative to perspective of own goalie
# Blue team setup
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
# Yellow goal
self.oppGoalRightPost = self.yglp
self.oppGoalLeftPost = self.ygrp
# Blue Goal
self.myGoalLeftPost = self.bglp
self.myGoalRightPost = self.bgrp
# Yellow team setup
else:
# Yellow goal
self.myGoalLeftPost = self.yglp
self.myGoalRightPost = self.ygrp
# Blue Goal
self.oppGoalRightPost = self.bglp
self.oppGoalLeftPost = self.bgrp
# Since, for ex. bgrp points to the same things as myGoalLeftPost,
# we can set these regardless of our team color
self.myGoalLeftPost.associateWithRelativeLandmark(
Constants.LANDMARK_MY_GOAL_LEFT_POST)
self.myGoalRightPost.associateWithRelativeLandmark(
Constants.LANDMARK_MY_GOAL_RIGHT_POST)
self.oppGoalLeftPost.associateWithRelativeLandmark(
Constants.LANDMARK_OPP_GOAL_LEFT_POST)
self.oppGoalRightPost.associateWithRelativeLandmark(
Constants.LANDMARK_OPP_GOAL_RIGHT_POST)
# Build a list of all of the field objects with respect to team color
self.myFieldObjects = [self.yglp, self.ygrp, self.bglp, self.bgrp]
def initTeamMembers(self):
self.teamMembers = []
for i in xrange(Constants.NUM_PLAYERS_PER_TEAM):
mate = TeamMember.TeamMember(self)
mate.playerNumber = i + 1
self.teamMembers.append(mate)
##
##--------------CONTROL METHODS---------------##
##
def profile(self):
if self.counter == 0:
cProfile.runctx('self.run()', self.__dict__, locals(),
'pythonStats')
self.p = pstats.Stats('pythonStats')
elif self.counter < 3000:
self.p.add('pythonStats')
cProfile.runctx('self.run()', self.__dict__, locals(),
'pythonStats')
elif self.counter == 3000:
self.p.strip_dirs()
self.p.sort_stats('cumulative')
## print 'PYTHON STATS:'
## self.p.print_stats()
## print 'OUTGOING CALLEES:'
## self.p.print_callees()
## print 'OUTGOING CALLEES:'
## self.p.print_callers()
self.p.dump_stats('pythonStats')
self.counter += 1
def run(self):
"""
Main control loop called every TIME_STEP milliseconds
"""
# order here is very important
# Update Environment
self.time = time.time()
self.sonar.updateSensors(self.sensors)
# Communications update
self.updateComm()
# Update objects
self.updateObjects()
# Behavior stuff
self.gameController.run()
self.fallController.run()
self.updatePlaybook()
self.player.run()
self.tracker.run()
self.nav.run()
# Kinda of a hack...
# check and set loc boolean
if ((self.my.teamColor == Constants.teamColor.TEAM_BLUE and
self.loc.x > Constants.MIDFIELD_X - Constants.CENTER_CIRCLE_RADIUS) or
(self.my.teamColor == Constants.teamColor.TEAM_RED and
self.loc.x < Constants.MIDFIELD_X + Constants.CENTER_CIRCLE_RADIUS)):
self.onOwnFieldSide = False
#Set LEDS
self.leds.processLeds()
# Broadcast Report for Teammates
self.setPacketData()
# Update any logs we have
self.out.updateLogs()
def updateComm(self):
temp = self.comm.latestComm()
for packet in temp:
if len(packet) == Constants.NUM_PACKET_ELEMENTS:
packet = Packet.Packet(packet)
if packet.playerNumber != self.my.playerNumber:
self.teamMembers[packet.playerNumber-1].update(packet)
if Constants.LOG_COMM:
self.out.logRComm(packet)
# update the activity of our teammates here
# active field is set to true upon recipt of a new packet.
for mate in self.teamMembers:
if (mate.active and mate.isDead()):
mate.active = False
def updateObjects(self):
"""
Update estimates of robot and ball positions on the field
"""
self.ball.update()
self.my.update()
self.yglp.setBest()
self.ygrp.setBest()
self.bglp.setBest()
self.bgrp.setBest()
def updatePlaybook(self):
"""
updates self.play to the new play
"""
self.playbook.update(self.play)
# move to comm
def setPacketData(self):
# Team color, team number, and player number are all appended to this
# list by the underlying comm module implemented in C++
loc = self.loc
self.comm.setData(loc.x,
loc.y,
loc.h,
loc.xUncert,
loc.yUncert,
loc.hUncert,
loc.ballX,
loc.ballY,
loc.ballXUncert,
loc.ballYUncert,
self.ball.loc.dist,
self.ball.loc.bearing,
self.ball.vis.on,
self.play.role,
self.play.subRole,
self.playbook.pb.me.chaseTime,
loc.ballVelX,
loc.ballVelY)
# TODO: remove this and log through C++ and the Logger instead.
if Constants.LOG_COMM:
packet = Packet.Packet((TeamConfig.TEAM_NUMBER,
TeamConfig.PLAYER_NUMBER,
self.my.teamColor,
loc.x,
loc.y,
loc.h,
loc.xUncert,
loc.yUncert,
loc.hUncert,
loc.ballX,
loc.ballY,
loc.ballXUncert,
loc.ballYUncert,
self.ball.loc.dist,
self.ball.loc.bearing,
self.ball.vis.on,
self.play.role,
self.play.subRole,
self.playbook.pb.me.chaseTime,
loc.ballVelX,
loc.ballVelY))
self.out.logSComm(packet)
# TODO: Take this out once new comm is in...
def activeTeamMates(self):
activeMates = 0
for i in xrange(Constants.NUM_PLAYERS_PER_TEAM):
mate = self.teamMembers[i]
if mate.active:
activeMates += 1
return activeMates
def resetInitialLocalization(self):
"""
Reset loc according to team number and team color.
Note: Loc uses truly global coordinates.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
if self.my.playerNumber == 1:
self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 2:
self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 3:
self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 4:
self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
if self.my.playerNumber == 1:
self.loc.resetLocTo(Constants.YELLOW_GOALBOX_LEFT_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 2:
self.loc.resetLocTo(Constants.YELLOW_GOALBOX_LEFT_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 3:
self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 4:
self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
#@todo: HACK HACK HACK Mexico 2012 to make sure we still re-converge properly even if
#we get manually positioned
#should make this nicer (or at least the locations)
def resetSetLocalization(self):
gameSetResetUncertainties = _localization.LocNormalParams(50, 200, 1.0)
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
# # if self.my.playerNumber == 1:
# # self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
# # Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
# # Constants.HEADING_UP)
# if self.gameController.ownKickOff:
# self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
# Constants.CENTER_FIELD_Y,
# 0,
# gameSetResetUncertainties)
# else:
# self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
# Constants.CENTER_FIELD_Y,
# 0,
# gameSetResetUncertainties)
self.loc.resetLocToSide(True)
else:
# if self.gameController.ownKickOff:
# self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
# Constants.CENTER_FIELD_Y,
# 180,
# gameSetResetUncertainties)
# else:
# self.loc.resetLocTo(Constants.YELLOW_GOALBOX_LEFT_X,
# Constants.CENTER_FIELD_Y,
# 180,
# gameSetResetUncertainties)
self.loc.resetLocToSide(False)
def resetLocalizationFromPenalty(self):
"""
Resets localization to both possible locations, depending on team color.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0),
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0),
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
def resetGoalieLocalization(self):
"""
Resets the goalie's localization to the manual position in the goalbox.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.resetLocTo(Constants.FIELD_WHITE_LEFT_SIDELINE_X,
Constants.MIDFIELD_Y,
Constants.HEADING_RIGHT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
self.loc.resetLocTo(Constants.FIELD_WHITE_RIGHT_SIDELINE_X,
Constants.MIDFIELD_Y,
Constants.HEADING_LEFT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
#TODO: write this method!
def resetPenaltyKickLocalization(self):
pass
class Game:
WIDTH = 640
HEIGHT = 480
OFFSET = 20
clock = pygame.time.Clock()
FPS = 200
def __init__(self, caption='Server'):
pygame.init()
pygame.font.init()
self.paddle1 = PaddlePlayer(self.WIDTH, self.HEIGHT,
self.OFFSET) # player
self.paddle2 = PaddleEnemy(self.WIDTH, self.HEIGHT,
self.WIDTH - 40) # bot
self.b = Ball(self.WIDTH, self.HEIGHT)
self.screen = pygame.display.set_mode((self.WIDTH, self.HEIGHT))
pygame.display.set_caption(caption)
self.running = True
self.font = pygame.font.SysFont('Arial', 30)
self.local = False
def handle_events(self):
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()
self.running = 0
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_UP:
self.paddle1.KEYUP = True
self.paddle1.direction = -1
elif event.key == pygame.K_DOWN:
self.paddle1.KEYUP = True
self.paddle1.direction = 1
elif event.type == pygame.KEYUP:
if event.key == pygame.K_UP or event.key == pygame.K_DOWN:
self.paddle1.KEYUP = False
self.paddle1.direction = 0
def move_objects(self, autonomy=True):
self.b.move(self.screen)
self.paddle1.move(self.screen, self.b, autonomy=autonomy)
self.paddle1.collision(self.b, self.screen)
if self.local or autonomy:
self.paddle2.move(self.screen, self.b)
self.paddle2.collision(self.b, self.screen)
def run(self, autonomy=True, move=True):
if not self.running:
return
self.clock.tick(self.FPS)
self.handle_events()
if move:
self.move_objects(autonomy)
self.show()
def show_background(self, width=10, height=20, gap=10):
self.screen.fill(colors.get('gray'))
lines = self.screen.get_height() // height
color = colors.get('white')
y = gap // 2
for i in range(lines):
pygame.draw.rect(
self.screen, color,
(self.screen.get_width() // 2 - width, y, width, height))
y += height + gap
def show_objects(self):
self.b.show(self.screen)
self.paddle1.show(self.screen)
self.paddle2.show(self.screen)
def draw_score(self):
score1 = self.paddle2.score
score2 = self.paddle1.score
surface1 = self.font.render(str(score1), False, (0, 0, 0))
surface2 = self.font.render(str(score2), False, (0, 0, 0))
self.screen.blit(surface1, (self.screen.get_width() // 4, 0))
self.screen.blit(surface2, (self.screen.get_width() // 4 * 3 - 30, 0))
def show(self):
self.show_background()
self.show_objects()
self.draw_score()
pygame.display.flip()
def move_player(self, value):
self.paddle1.move_by_value(value, self.screen)
def move_enemy(self, value):
self.paddle2.move_by_value(value, self.screen)
def get_info(self):
game_info = {
'player_y': self.paddle1.y,
'enemy_y': self.paddle2.y,
'ball_pos': (self.b.x, self.b.y)
}
return game_info
def update(self, game_info):
print(type(game_info))
if type(game_info) == dict:
self.paddle1.y = game_info['player_y']
self.paddle2.y = game_info['enemy_y']
self.b.x, self.b.y = game_info['ball_pos']
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
from drawer import WindowDrawer, MP4Drawer
from region import Region
from move import StandardMove
from objects import Ball, Trace, Area
if __name__ == '__main__':
# drawer = WindowDrawer()
drawer = MP4Drawer()
region = Region([[-0.8, -0.8], [-0.8, 0.8], [0.8, 0.8], [0.8, -0.8]])
move = StandardMove([0.5, 0.5], [-0.5, 0], [0, -0.3])
ball = Ball(move, region, 0.1)
trace = Trace(ball)
area = Area(move, region)
drawer.add_object(ball)
drawer.add_object(trace, color='b')
drawer.add_object(area, color='g')
drawer.start()
boss = 0
shoot = 0
#throws error is window is small
if wxcor < 140 or wycor < 40:
print("terminal size is too small")
time.sleep(3)
loopvar = 0
print("welcome to BRICK BREAKER 1.0")
print("press x to exit")
print("press c to continue paused game")
print("press a and d to move paddle")
print("press s to skip levels")
#give paddlewidth as a multiple of 2 everytime
paddle = Paddle(int(wxcor / 2) - 5, wycor - 5, 30, 4, 1)
ball = Ball(int(wxcor / 2), wycor - 6, 0, 1)
bossitem = Boss(int(wxcor / 2) - 5, 5, 20)
# bossitem = 0
randomvar = random.choice(randvelocity)
ball.setvel(randomvar, -1)
# randomloc = random.randint( int(wxcor/2) - 5, wycor-5)
# ball.setloc(randomloc, wycor - 6)
# print(randomvar)
# window.addpaddletoboard(paddle)
# window.rendergame()
timeout = config.timeouts
keyinput = manageinput()
time.sleep(4)
#test variable
test = 0
bossdead = 0
#Standard liraries
import sys, time
#Third party libraries
import pygame
#My libraries
from objects import Ball, Brick
#Initialization
pygame.init()
screenSize = screenWidth, screenHeight = 320, 240
screen = pygame.display.set_mode(screenSize)
tiles = pygame.image.load("sprites.png").convert()
collide = []
ball = Ball(tiles, loc=[160, 160])
#player = Player()
bricks = [
Brick(tiles, 0, [40, 40]),
Brick(tiles, 2, [80, 40]),
Brick(tiles, 3, [120, 40])
]
brickRects = []
for brick in bricks:
brickRects.append(brick.rect)
#Main loop
while 1:
#Input handling
for event in pygame.event.get():
class Brain(object):
"""
Class brings all of our components together and runs the behaviors
"""
def __init__(self):
"""
Class constructor
"""
self.counter = 0
self.time = time.time()
self.on = True
# Output Class
self.out = NaoOutput.NaoOutput(self)
# Setup nao modules inside brain for easy access
self.vision = vision.vision
self.sensors = sensors.sensors
self.logger = loggingBoard.loggingBoard
self.comm = comm.inst
self.comm.gc.team = TeamConfig.TEAM_NUMBER
self.comm.gc.player = TeamConfig.PLAYER_NUMBER
#initalize the leds
#print leds
self.leds = Leds.Leds(self)
self.speech = _speech.speech
# Initialize motion interface and module references
self.motion = motion.MotionInterface()
self.motionModule = motion
# Get the pointer to the C++ RoboGuardian object for use with Python
self.roboguardian = _roboguardian.roboguardian
self.roboguardian.enableFallProtection(True)
# Get our reference to the C++ localization system
self.loc = Loc()
# Retrieve our robot identification and set per-robot parameters
self.CoA = robots.get_certificate()
self.CoA.setRobotGait(self.motion)
# coa is Certificate of Authenticity (to keep things short)
self.out.printf(self.CoA)
self.out.printf("GC: I am on team "+str(TeamConfig.TEAM_NUMBER))
self.out.printf("GC: I am player "+str(TeamConfig.PLAYER_NUMBER))
# Initialize various components
self.my = MyInfo(self.loc)
# Functional Variables
self.my.playerNumber = self.comm.gc.player
if self.comm.gc.color == GameController.TEAM_BLUE:
self.my.teamColor = Constants.teamColor.TEAM_BLUE
else:
self.my.teamColor = Constants.teamColor.TEAM_RED
# Information about the environment
self.initFieldObjects()
self.initTeamMembers()
self.ball = Ball(self.vision.ball, self.loc, self.my)
self.play = Play.Play()
self.sonar = Sonar.Sonar()
if Constants.LOG_COMM:
self.out.startCommLog()
# Stability data
self.stability = Stability.Stability(self.sensors)
# FSAs
self.player = Switch.selectedPlayer.SoccerPlayer(self)
self.tracker = HeadTracking.HeadTracking(self)
self.nav = Navigator.Navigator(self)
self.playbook = PBInterface.PBInterface(self)
self.kickDecider = KickDecider.KickDecider(self)
self.gameController = GameController.GameController(self)
self.fallController = FallController.FallController(self)
def initFieldObjects(self):
"""
Build our set of Field Objects which are team specific compared
to the generic forms used in the vision system
"""
# Build instances of the vision based field objects
# Left post is on that goalie's left
# Yellow goal left and right posts
self.yglp = FieldObject(self.vision.yglp,
Constants.vis_landmark.VISION_YGLP,
self.loc)
self.ygrp = FieldObject(self.vision.ygrp,
Constants.vis_landmark.VISION_YGRP,
self.loc)
# Blue Goal left and right posts
self.bglp = FieldObject(self.vision.bglp,
Constants.vis_landmark.VISION_BGLP,
self.loc)
self.bgrp = FieldObject(self.vision.bgrp,
Constants.vis_landmark.VISION_BGRP,
self.loc)
# Now we build the field objects to be based on our team color
self.makeFieldObjectsRelative()
def makeFieldObjectsRelative(self):
"""
Builds a list of fieldObjects based on their relative names to the robot
Needs to be called when team color is determined
"""
# Note: corner directions are relative to perspective of own goalie
# Blue team setup
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
# Yellow goal
self.oppGoalRightPost = self.yglp
self.oppGoalLeftPost = self.ygrp
# Blue Goal
self.myGoalLeftPost = self.bglp
self.myGoalRightPost = self.bgrp
# Yellow team setup
else:
# Yellow goal
self.myGoalLeftPost = self.yglp
self.myGoalRightPost = self.ygrp
# Blue Goal
self.oppGoalRightPost = self.bglp
self.oppGoalLeftPost = self.bgrp
# Since, for ex. bgrp points to the same things as myGoalLeftPost,
# we can set these regardless of our team color
self.myGoalLeftPost.associateWithRelativeLandmark(
Constants.LANDMARK_MY_GOAL_LEFT_POST)
self.myGoalRightPost.associateWithRelativeLandmark(
Constants.LANDMARK_MY_GOAL_RIGHT_POST)
self.oppGoalLeftPost.associateWithRelativeLandmark(
Constants.LANDMARK_OPP_GOAL_LEFT_POST)
self.oppGoalRightPost.associateWithRelativeLandmark(
Constants.LANDMARK_OPP_GOAL_RIGHT_POST)
# Build a list of all of the field objects with respect to team color
self.myFieldObjects = [self.yglp, self.ygrp, self.bglp, self.bgrp]
def initTeamMembers(self):
self.teamMembers = []
for i in xrange(Constants.NUM_PLAYERS_PER_TEAM):
mate = TeamMember.TeamMember(self)
mate.playerNumber = i + 1
self.teamMembers.append(mate)
##
##--------------CONTROL METHODS---------------##
##
def profile(self):
if self.counter == 0:
cProfile.runctx('self.run()', self.__dict__, locals(),
'pythonStats')
self.p = pstats.Stats('pythonStats')
elif self.counter < 3000:
self.p.add('pythonStats')
cProfile.runctx('self.run()', self.__dict__, locals(),
'pythonStats')
elif self.counter == 3000:
self.p.strip_dirs()
self.p.sort_stats('cumulative')
## print 'PYTHON STATS:'
## self.p.print_stats()
## print 'OUTGOING CALLEES:'
## self.p.print_callees()
## print 'OUTGOING CALLEES:'
## self.p.print_callers()
self.p.dump_stats('pythonStats')
self.counter += 1
def run(self):
"""
Main control loop called every TIME_STEP milliseconds
"""
# order here is very important
# Update Environment
self.time = time.time()
self.sonar.updateSensors(self.sensors)
# Communications update
self.updateComm()
# Update objects
self.update()
#Set LEDS
self.leds.processLeds()
# Behavior stuff
self.gameController.run()
self.fallController.run()
self.updatePlaybook()
self.player.run()
self.tracker.run()
self.nav.run()
# Broadcast Report for Teammates
self.setPacketData()
# Update any logs we have
self.out.updateLogs()
def updateComm(self):
temp = self.comm.latestComm()
for packet in temp:
if len(packet) == Constants.NUM_PACKET_ELEMENTS:
packet = Packet.Packet(packet)
if packet.playerNumber != self.my.playerNumber:
self.teamMembers[packet.playerNumber-1].update(packet)
if Constants.LOG_COMM:
self.out.logRComm(packet)
# update the activity of our teammates here
# active field is set to true upon recipt of a new packet.
for mate in self.teamMembers:
if (mate.active and mate.isDead()):
mate.active = False
def update(self):
"""
Update estimates of robot and ball positions on the field
"""
self.ball.update()
self.my.update()
self.yglp.setBest()
self.ygrp.setBest()
self.bglp.setBest()
self.bgrp.setBest()
def updatePlaybook(self):
"""
updates self.play to the new play
"""
self.playbook.update(self.play)
# move to comm
def setPacketData(self):
# Team color, team number, and player number are all appended to this
# list by the underlying comm module implemented in C++
loc = self.loc
self.comm.setData(loc.x,
loc.y,
loc.h,
loc.xUncert,
loc.yUncert,
loc.hUncert,
loc.ballX,
loc.ballY,
loc.ballXUncert,
loc.ballYUncert,
self.ball.dist,
self.ball.bearing,
self.play.role,
self.play.subRole,
self.playbook.pb.me.chaseTime,
loc.ballVelX,
loc.ballVelY)
if Constants.LOG_COMM:
packet = Packet.Packet((TeamConfig.TEAM_NUMBER,
TeamConfig.PLAYER_NUMBER,
self.my.teamColor,
loc.x,
loc.y,
loc.h,
loc.xUncert,
loc.yUncert,
loc.hUncert,
loc.ballX,
loc.ballY,
loc.ballXUncert,
loc.ballYUncert,
self.ball.dist,
self.ball.bearing,
self.play.role,
self.play.subRole,
self.playbook.pb.me.chaseTime,
loc.ballVelX,
loc.ballVelY))
self.out.logSComm(packet)
def resetLocalization(self):
"""
Reset our localization
"""
if self.out.loggingLoc:
self.out.stopLocLog()
self.out.startLocLog()
self.loc.reset()
def resetGoalieLocalization(self):
"""
Reset our localization
"""
if self.out.loggingLoc:
self.out.stopLocLog()
self.out.startLocLog()
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.blueGoalieReset()
else:
self.loc.redGoalieReset()
class Game(Animation):
def __init__(self,
number,
x_range,
y_range,
width,
height,
fps=30,
background="black",
gravity=9.81):
super().__init__(width, height, fps, background)
allowed_colours = list(self.colours.keys())
allowed_colours.remove('black')
self.balls = [
Ball(1,
self.colours[choice(allowed_colours)],
(randint(40, self.width - 100), 60),
id=i,
radius=3) for i in range(number)
]
self.centre_ball = Ball(2,
self.colours["red"],
(self.width / 2, self.height / 2),
id=69,
radius=10)
def event_logic(self, event):
if event.type == pygame.QUIT:
exit()
elif event.type == pygame.MOUSEBUTTONDOWN:
for ball in self.balls:
ball.apply_force([4, 2])
def game_logic(self):
selected = None
moving = False
gravity = [0, 3]
for ball in self.balls:
#ball.apply_gravity(gravity)
#ball.apply_fluid_resistance(1, 0.0001)
ball.apply_force([0.1, 0])
force = ball.apply_gravitation_attraction(1, self.centre_ball.mass,
self.centre_ball.pos)
#self.centre_ball.apply_gravitation_attraction(0.0001, ball.mass, ball.pos)
print(force)
#if ball.pos[1] == self.height - ball.radius:
# ball.apply_friction(0.1, gravity)
ball.update()
#self.centre_ball.update()
#trimmed = trim([0+ball.radius, 0+ball.radius],
# [self.width-ball.radius, self.height-ball.radius],
# ball.pos)
#ball.pos = trimmed[0]
#if trimmed[1][0]:
# ball.velocity[0] *= -1
#if trimmed[1][1]:
# ball.velocity[1] *= -1
print(
f"ID: {ball.id}\n\tVelocity: {ball.velocity}\n\tAcceleration: {ball.acceleration}\n\t(x,y): {ball.pos}\n\tmass: {ball.mass}\n\tTouching {ball.pos[1] == self.height - ball.radius}"
)
ball.acceleration = np.multiply(ball.acceleration, 0)
def display_logic(self):
for ball in self.balls:
ball.draw(self.screen)
self.centre_ball.draw(self.screen)
def update(self, delta_time, scene):
# Update the entities
self.entities.update(delta_time, self)
# Update the projectiles
self.projectiles.update(delta_time, self)
# Update the balls
self.balls.update(delta_time, self)
# Update the top particles
self.top_particles.update(delta_time)
# Update the bottom particles
self.bottom_particles.update(delta_time)
# Check if an entity has score
if self.score:
# Wait until all the balls have been removed to reset the scene
if len(self.top_particles) == 0 and len(self.balls) == 0:
# Check if the stage has ended
self.check_score(scene)
# Reset score
self.score = False
# Reset the time for the next ball
self.ball_time = self.ball_delay
# Add the balls with which the stage began
for x, y, radius in self.stage_balls:
self.balls.add(Ball(x, y, radius))
else:
# Check if the screen have to shake
if self.shake:
# Stop screen shake
if self.shake_time == 0:
self.shake = False
self.shake_time = self.shake_duration
# Reduce time left
else:
self.shake_time = approach(self.shake_time, 0, 0.06 * delta_time)
# Check if a new ball should appear
if len(self.balls) < self.max_balls and self.ball_time == 0:
# Check if the new ball would collide
if collide(self.balls):
# If the new ball collides, its appearance is delayed
self.ball_time = 60
# Spawn a new ball
else:
# Reset the time for the next ball
self.ball_time = self.ball_delay * len(self.balls)
# Add a new ball to the stage
self.balls.add(Ball(125, 175, 10))
# Play a sound when a new ball appears
random.choice(self.snd_ball).play()
# Reduce time left
else:
self.ball_time = approach(self.ball_time, 0, 0.06 * delta_time)
def main():
clock = pygame.time.Clock()
pygame.init()
# Some extra variables
asseleration = 0.025
speed_game = 30
points = 0
direction = "left_down"
# Initializing objects
player = Player()
ball = Ball()
# Adding ball to group balls (that's for collision)
balls = pygame.sprite.Group()
balls.add(ball)
# Making group of all sprites (to blit them later faster)
all_sprites = pygame.sprite.Group()
all_sprites.add(player)
all_sprites.add(ball)
running = True
screen = pygame.display.set_mode((C.SCREEN_WIDTH, C.SCREEN_HEIGHT))
pygame.display.set_caption("Ping-Pong")
font = pygame.font.SysFont('Arial', 800)
# Main loop
while running:
# Check wheather ball hits botoom
running = check_collision(player, ball, balls, direction)[0]
# Checking events for quiting
for event in pygame.event.get():
if event.type == KEYDOWN:
if event.key == K_ESCAPE:
running = False
elif event.type == QUIT:
running = False
# User's input
pressed_keys = pygame.key.get_pressed()
# Updating ackground
screen.fill((25, 50, 50))
# Rendering text and drawing it
text_points = font.render('{0}'.format(points), True, (100, 100, 100))
text_points_rect = text_points.get_rect(center = (C.SCREEN_WIDTH/2, C.SCREEN_HEIGHT/2))
screen.blit(text_points, text_points_rect)
# Updating objects
player.update(pressed_keys)
ball.update(direction)
# Drawing objects
for sprite in all_sprites:
screen.blit(sprite.surf, sprite.rect)
points += check_collision(player, ball, balls, direction)[1]
direction = check_collision(player, ball, balls, direction)[2]
# flipping and asselereting of framerate
pygame.display.flip()
if speed_game <+ 120:
speed_game += asseleration
clock.tick(speed_game)
pygame.quit()
over.over(points)
def __init__(self):
"""
Class constructor
"""
self.counter = 0
self.time = time.time()
self.on = True
# Output Class
self.out = NaoOutput.NaoOutput(self)
# Setup nao modules inside brain for easy access
self.vision = vision.vision
self.sensors = sensors.sensors
self.logger = loggingBoard.loggingBoard
self.comm = comm.inst
self.comm.gc.team = TeamConfig.TEAM_NUMBER
self.comm.gc.player = TeamConfig.PLAYER_NUMBER
#initalize the leds
#print leds
self.leds = Leds.Leds(self)
self.speech = _speech.speech
# Initialize motion interface and module references
self.motion = motion.MotionInterface()
self.motionModule = motion
# Get the pointer to the C++ RoboGuardian object for use with Python
self.roboguardian = _roboguardian.roboguardian
self.roboguardian.enableFallProtection(True)
# Get our reference to the C++ localization system
self.loc = Loc()
# Retrieve our robot identification and set per-robot parameters
self.CoA = robots.get_certificate()
self.CoA.setRobotGait(self.motion)
# coa is Certificate of Authenticity (to keep things short)
self.out.printf(self.CoA)
self.out.printf("GC: I am on team "+str(TeamConfig.TEAM_NUMBER))
self.out.printf("GC: I am player "+str(TeamConfig.PLAYER_NUMBER))
# Initialize various components
self.my = MyInfo(self.loc)
# Functional Variables
self.my.playerNumber = self.comm.gc.player
if self.comm.gc.color == GameController.TEAM_BLUE:
self.my.teamColor = Constants.teamColor.TEAM_BLUE
else:
self.my.teamColor = Constants.teamColor.TEAM_RED
# Information about the environment
self.initFieldObjects()
self.initTeamMembers()
self.ball = Ball(self.vision.ball, self.loc, self.my)
self.play = Play.Play()
self.sonar = Sonar.Sonar()
if Constants.LOG_COMM:
self.out.startCommLog()
# Stability data
self.stability = Stability.Stability(self.sensors)
# FSAs
self.player = Switch.selectedPlayer.SoccerPlayer(self)
self.tracker = HeadTracking.HeadTracking(self)
self.nav = Navigator.Navigator(self)
self.playbook = PBInterface.PBInterface(self)
self.kickDecider = KickDecider.KickDecider(self)
self.gameController = GameController.GameController(self)
self.fallController = FallController.FallController(self)
def main():
pygame.init()
SCREEN_WIDTH = 800
SCREEN_HEIGHT = 600
SCALE = 80 # pixels per meter
WIDTH = SCREEN_WIDTH/SCALE
HEIGHT = SCREEN_HEIGHT/SCALE
SCREEN_CENTRE = Point(WIDTH/2, HEIGHT/2)
CENTRE = SCREEN_CENTRE/SCALE
DISPLAY = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT))
CLOCK = pygame.time.Clock()
totalTime = 0
GRAVITY = 9.81
helper = Helper(DISPLAY, SCALE, WIDTH, HEIGHT)
drawPos = helper.drawPos
worldPos = helper.worldPos
drawVector = helper.drawVector
personImage = pygame.image.load(os.getcwd()+"/person.jpg")
personRect = personImage.get_rect()
personImage = pygame.transform.scale(personImage, (int(personRect.width*(int(1.8*SCALE)/personRect.height)), int(1.8*SCALE)))
moveData = {
"lastPos": Point(),
"currentPos": Point(CENTRE.x, 0),
"lastScreenMousePos": Point(),
"mouseHeld": False,
"lastVelocity": Vector()
}
mouseVelocity = Vector()
mouseBall = Ball()
mouseBall.moveable = False
tickerPoints = []
MAX_TICKER_POINTS = 100
TICKER_PERIOD = 0.02
timeSinceLastTicker = 0
ball = Ball()
ball.setPos(Point(WIDTH/2, HEIGHT/2))
string = String()
string.setConnections(mouseBall, ball)
string.active = False
while True:
DISPLAY.fill(WHITE)
deltaT = CLOCK.get_time()/1000
totalTime += deltaT
moveData["lastPos"] = Point(moveData["currentPos"])
if not moveData["lastScreenMousePos"] == Point(pygame.mouse.get_pos()):
moveData["currentPos"] = Point(worldPos(Point(pygame.mouse.get_pos())))
moveData["lastScreenMousePos"] = Point(pygame.mouse.get_pos())
heldKeys = pygame.key.get_pressed()
for e in pygame.event.get():
if e.type == pygame.QUIT:
pygame.quit()
elif e.type == pygame.KEYDOWN:
heldKeys = pygame.key.get_pressed()
if (heldKeys[pygame.K_RCTRL] or heldKeys[pygame.K_LCTRL]) and\
(heldKeys[pygame.K_w] or heldKeys[pygame.K_q]):
pygame.quit()
if (heldKeys[pygame.K_SPACE]):
mouseBallDist = moveData["currentPos"].distance(ball.pos)
if mouseBallDist > 0:
string.toggle()
string.length = mouseBallDist
elif e.type == pygame.MOUSEBUTTONDOWN:
if e.button == 1:
moveData["mouseHeld"] = True
elif e.type == pygame.MOUSEBUTTONUP:
if e.button == 1:
moveData["mouseHeld"] = False
keyboardMoveSpeed = 1
if heldKeys[pygame.K_a]:
moveData["currentPos"] = moveData["currentPos"] - Point(keyboardMoveSpeed*deltaT, 0)
elif heldKeys[pygame.K_d]:
moveData["currentPos"] = moveData["currentPos"] + Point(keyboardMoveSpeed*deltaT, 0)
if heldKeys[pygame.K_w]:
moveData["currentPos"] = moveData["currentPos"] + Point(0, keyboardMoveSpeed*deltaT)
elif heldKeys[pygame.K_s]:
moveData["currentPos"] = moveData["currentPos"] - Point(0, keyboardMoveSpeed*deltaT)
if deltaT > 0:
moveData["lastVelocity"] = Vector(mouseBall.velocity)
mouseVelocity = Vector(((moveData["currentPos"]-moveData["lastPos"])/deltaT).pos())
mouseAcceleration = (mouseVelocity - moveData["lastVelocity"])/deltaT
else:
mouseVelocity = Vector()
mouseAcceleration = Vector()
mouseBall.setPos(moveData["currentPos"])
mouseBall.setVelocity(mouseVelocity)
#gravity adjustment
if heldKeys[pygame.K_i]:
GRAVITY = min(30.0,GRAVITY+0.1)
elif heldKeys[pygame.K_k]:
GRAVITY = max(0.0,GRAVITY-0.1)
#ball radius
if heldKeys[pygame.K_o]:
ball.radius = min(4.0,ball.radius+0.01)
elif heldKeys[pygame.K_l]:
ball.radius = max(0.1,ball.radius-0.01)
#string length
if heldKeys[pygame.K_u]:
string.length = min(8.0,string.length+0.01)
elif heldKeys[pygame.K_j]:
string.length = max(0.01,string.length-0.01)
#reset all
if heldKeys[pygame.K_r]:
GRAVITY = 9.81
ball.radius = 0.1
string.length = 2.0
if ball.bottom <= 0:
if ball.velocity.y < 0:
ball.accelerate(Vector((0, -ball.velocity.y-ball.velocity.y*ball.cor)))
else:
ball.accelerate(Vector((0, -GRAVITY))*deltaT)
#print(ball.velocity)
if ball.left <= 0:
if ball.velocity.x < 0:
ball.accelerate(Vector((-ball.velocity.x-ball.velocity.x*ball.cor, 0)))
if ball.right >= WIDTH:
if ball.velocity.x > 0:
ball.accelerate(Vector((-ball.velocity.x-ball.velocity.x*ball.cor, 0)))
string.applyTension(deltaT)
if moveData["mouseHeld"]:
ball.setPos(moveData["currentPos"])
ball.setVelocity(mouseBall.velocity)
ball.setInEquilibrium()
else:
ball.move(deltaT)
string.correctPositions()
# === DRAW
# draw person
DISPLAY.blit(personImage, (-(1/3)*personImage.get_rect().width, SCREEN_HEIGHT-personImage.get_rect().height))
# draw ticker tape
if not moveData["mouseHeld"]:
timeSinceLastTicker += deltaT
if timeSinceLastTicker >= TICKER_PERIOD:
tickerPoints.append(Point(ball.pos))
if len(tickerPoints) > MAX_TICKER_POINTS:
del tickerPoints[0]
timeSinceLastTicker = 0
else:
tickerPoints = []
for p in tickerPoints:
pygame.draw.circle(DISPLAY, BLUE, drawPos(p), 2, 2)
# draw mouse velocity vector
drawVector(mouseBall.velocity, moveData["currentPos"], 20, False, BLUE)
# velocity vector is scaled so it can be more easily comprehended
drawVector(ball.velocity, ball.pos, 10, False, GREEN, 1)
# draw ball
pygame.draw.circle(DISPLAY, RED, drawPos(ball.pos), int(ball.radius*SCALE), 1)
if string.active:
pygame.draw.line(DISPLAY, GREEN, drawPos(ball.pos), drawPos(moveData["currentPos"]), 1)
font = pygame.font.SysFont("monospace", 15)
# render text
fps = font.render("{}fps".format(int(CLOCK.get_fps())), 1, BLACK)
DISPLAY.blit(fps, (10, 10))
ballVelLabel = font.render("Ball velocity: {:.2f}ms-1".format(ball.velocity.mag), 1, BLACK)
DISPLAY.blit(ballVelLabel, (10, 30))
mouseVelLabel = font.render("Mouse velocity: {:.2f}ms-1".format(mouseBall.velocity.mag), 1, BLACK)
DISPLAY.blit(mouseVelLabel, (10, 50))
gravityVelLabel = font.render("Gravity: {:.2f}ms-2".format(GRAVITY), 1, BLACK)
DISPLAY.blit(gravityVelLabel, (10, 70))
diameterVelLabel = font.render("Ball diameter: {:.2f}m".format(ball.radius*2), 1, BLACK)
DISPLAY.blit(diameterVelLabel, (10, 90))
stringVelLabel = font.render("String length: {:.2f}m".format(string.length), 1, BLACK)
DISPLAY.blit(stringVelLabel, (10, 110))
#control prompts
stringConnect = font.render("Connect string: SPACE", 1, BLACK)
DISPLAY.blit(stringConnect, (SCREEN_WIDTH-stringConnect.get_rect().width-10, 10))
stringControl = font.render("String length +/-: U/J", 1, BLACK)
DISPLAY.blit(stringControl, (SCREEN_WIDTH-stringConnect.get_rect().width-10, 30))
gravityControl = font.render("Gravity +/-: I/K", 1, BLACK)
DISPLAY.blit(gravityControl, (SCREEN_WIDTH-stringConnect.get_rect().width-10, 50))
diameterControl = font.render("Ball diameter +/-: O/L", 1, BLACK)
DISPLAY.blit(diameterControl, (SCREEN_WIDTH-stringConnect.get_rect().width-10, 70))
resetAllControl = font.render("Reset all: R", 1, BLACK)
DISPLAY.blit(resetAllControl, (SCREEN_WIDTH-stringConnect.get_rect().width-10, 90))
pygame.display.update()
CLOCK.tick(120)
