def _format_entities(entities: Iterable[Union[RobotFilter, BallFilter]]) -> List[Dict[str, Any]]:
formatted_list = []
for entity in entities:
fields = dict()
if type(entity) is RobotFilter:
fields['pose'] = Pose.from_values(*entity.pose)
fields['velocity'] = Pose.from_values(*entity.velocity)
elif type(entity) is BallFilter:
fields['position'] = Position(*entity.position)
fields['velocity'] = Position(*entity.velocity)
else:
raise TypeError('Invalid type provided: {}'.format(type(entity)))
fields['id'] = entity.id
formatted_list.append(fields)
return formatted_list
def _find_best_passing_option(self):
assignation_delay = (time.time() - self.target_assignation_last_time)
if assignation_delay > TARGET_ASSIGNATION_DELAY:
tentative_target_id = best_passing_option(self.player)
if tentative_target_id is None:
self.target = Pose.from_values(GameState().field.their_goal_x, 0, 0)
else:
self.target = Pose(GameState().get_player_position(tentative_target_id))
self.target_assignation_last_time = time.time()
def execute(self, robot: Robot, dt: float):
pos_error = robot.position_error
orientation_error = robot.orientation_error
command = Pose.from_values(self.controllers['x'].execute(pos_error.x),
self.controllers['y'].execute(pos_error.y),
self.controllers['orientation'].execute(orientation_error))
# Limit max linear speed
command.position /= max(1.0, command.norm / MAX_LINEAR_SPEED)
command.orientation /= max(1.0, abs(command.orientation) / MAX_ANGULAR_SPEED)
return command
def execute(self, robot: Robot, dt: float):
pos_error = robot.position_error
orientation_error = robot.orientation_error
command = Pose.from_values(
self.controllers['x'].execute(pos_error.x),
self.controllers['y'].execute(pos_error.y),
self.controllers['orientation'].execute(orientation_error))
# Limit max linear speed
command.position /= max(1.0, command.norm / MAX_LINEAR_SPEED)
command.orientation /= max(
1.0,
abs(command.orientation) / MAX_ANGULAR_SPEED)
return command
def test_givenXYOrientation_whenFromValues_thenReturnNewPose(self):
pose = Pose.from_values(A_X, A_Y, A_ORIENTATION)
self.assertEqual(pose.x, A_X)
self.assertEqual(pose.y, A_Y)
self.assertEqual(pose.orientation, A_ORIENTATION)
import unittest
from time import sleep
from Util import Pose, Position
from ai.STA.Tactic.go_kick import GoKick, COMMAND_DELAY
from tests.STA.perfect_sim import PerfectSim
A_ROBOT_ID = 1
START_POSE = Pose.from_values(300, 0, 0)
START_BALL_POSITION = START_POSE.position + Position(100, 0)
GOAL_POSE = Pose.from_values(700, 0, 0)
MAX_TICK_UNTIL_KICK = 7
class TestGoKick(unittest.TestCase):
def setUp(self):
self.sim = PerfectSim(GoKick)
def test_givenARobotAndABall_thenKickTheBall(self):
self.sim.add_robot(A_ROBOT_ID, START_POSE)
self.sim.move_ball(START_BALL_POSITION)
self.sim.start(A_ROBOT_ID, target=GOAL_POSE)
self.sim.tick() # initialize
for _ in range(0, MAX_TICK_UNTIL_KICK):
self.sim.tick()
if self.sim.has_kick() and self.sim.has_hit_ball:
return
assert False, "Reach max number of tick and no kick"
def test_givenXYOrientation_whenFromValues_thenReturnNewPose(self):
pose = Pose.from_values(A_X, A_Y, A_ORIENTATION)
self.assertEqual(pose.x, A_X)
self.assertEqual(pose.y, A_Y)
self.assertEqual(pose.orientation, A_ORIENTATION)
import unittest
from time import sleep
from Util import Pose, Position
from ai.STA.Tactic.go_kick import GoKick, COMMAND_DELAY
from tests.STA.perfect_sim import PerfectSim
A_ROBOT_ID = 1
START_POSE = Pose.from_values(300, 0, 0)
START_BALL_POSITION = START_POSE.position + Position(100, 0)
GOAL_POSE = Pose.from_values(700, 0, 0)
MAX_TICK_UNTIL_KICK = 7
class TestGoKick(unittest.TestCase):
def setUp(self):
self.sim = PerfectSim(GoKick)
def test_givenARobotAndABall_thenKickTheBall(self):
self.sim.add_robot(A_ROBOT_ID, START_POSE)
self.sim.move_ball(START_BALL_POSITION)
self.sim.start(A_ROBOT_ID, target=GOAL_POSE)
self.sim.tick() # initialize
for _ in range(0, MAX_TICK_UNTIL_KICK):
self.sim.tick()
if self.sim.has_kick() and self.sim.has_hit_ball:
return