def __init__(self, ID, leader_id, role='collector', team='blue'):
self.ID = ID
self.rinit = RobotInit().get_restore_dict()
self.rinit['init_id'] = ID
self.vinit = VisionInit()
self.role = role
self.sap = SenseActProvider()
self.state = ''
self.wm = WorldModel(robot_init=self.rinit, vision_init=self.vinit)
self.wm.leader_id = leader_id
self.set_team(team)
self.ra = RoleAssigner(senseact_provider=self.sap,
world_model=self.wm,
init_role=role)
class RobotRole:
def __init__(self, ID, leader_id, role='collector', team='blue'):
self.ID = ID
self.rinit = RobotInit().get_restore_dict()
self.rinit['init_id'] = ID
self.vinit = VisionInit()
self.role = role
self.sap = SenseActProvider()
self.state = ''
self.wm = WorldModel(robot_init=self.rinit, vision_init=self.vinit)
self.wm.leader_id = leader_id
self.set_team(team)
self.ra = RoleAssigner(senseact_provider=self.sap,
world_model=self.wm,
init_role=role)
def _tweak(self):
if self.team == 'red':
self.wm.OwnBin1 = self.wm.BinRed1
self.wm.OwnBin2 = self.wm.BinRed2
self.wm.OpponentBin1 = self.wm.BinBlue1
self.wm.own_bin_middle = self.wm.bin_middle_red
self.wm.opponent_bin_middle = self.wm.bin_middle_blue
self.wm.OwnHalfField = self.wm.half_field_red_1
self.wm.OwnColor = 'red_robot'
self.wm.GP = self.wm.bin_red
elif self.team == 'blue':
self.wm.OwnBin1 = self.wm.BinBlue1
self.wm.OwnBin2 = self.wm.BinBlue2
self.wm.OpponentBin1 = self.wm.BinRed1
self.wm.own_bin_middle = self.wm.bin_middle_blue
self.wm.opponent_bin_middle = self.wm.bin_middle_red
self.wm.OwnHalfField = self.wm.half_field_blue_1
self.wm.OwnColor = 'blue_robot'
self.wm.GP = self.wm.bin_blue
def assign_role(self, role):
self.role = role
self.ra.assign_role(role)
def feed_workbench_data(self, robot_data, object_data):
self.wm.robot_position = robot_data[self.ID]
self.wm.workbench_robot_dict = robot_data
self.wm.workbench_object_list = object_data
def feed_vision_data(self, robot_data, object_data, object_in_grabber):
self.wm.vision_robot_list = robot_data
self.wm.vision_object_list = object_data
self.wm.object_in_grabber = object_in_grabber
def run(self, params={}):
self.state, params = self.ra.active_role.run(params)
return self.state, params
def set_team(self, team):
self.team = team
self._tweak()
def speed(self):
return self.wm.speed