class Kernel(object):
state_receiver = None
command_sender = None
debug_sender = None
def loop(self):
self.state_receiver = StateReceiver()
self.state_receiver.create_socket()
self.command_sender = CommandSender()
self.command_sender.create_socket()
self.debug_sender = DebugSender()
self.debug_sender.create_socket()
while(True):
state = self.state_receiver.receive_state()
self.command_sender.send_command(self.__build_command())
self.debug_sender.send_debug(self.__build_debug(state))
def __build_command(self):
command = Command()
command.wheels_commands.append(WheelsCommand(10, -10))
command.wheels_commands.append(WheelsCommand(10, -10))
command.wheels_commands.append(WheelsCommand(10, -10))
return command
def __build_debug(self, state):
debug = Debug()
debug.clean()
for robot in state.team_yellow:
debug.step_points.append(Point(robot.x + 10, robot.y + 10))
debug.final_poses.append(Pose(state.ball.x + 10, state.ball.y + 10, 10))
class Kernel(object):
state_receiver = None
command_sender = None
debug_sender = None
def __init__(self):
self.state_receiver = StateReceiver()
self.state_receiver.create_socket()
self.command_sender = CommandSender()
self.command_sender.create_socket()
self.debug_sender = DebugSender()
self.debug_sender.create_socket()
def __build_command(self, rvel):
command = Command()
command.wheels_commands.append(WheelsCommand(rvel[0][0], rvel[0][1]))
command.wheels_commands.append(WheelsCommand(rvel[1][0], rvel[1][1]))
command.wheels_commands.append(WheelsCommand(rvel[2][0], rvel[2][1]))
return command
def __build_debug(self, robots_points):
debug = Debug()
debug.clean()
for robot_points in robots_points:
points = robot_points["step_points"]
end_pose = robot_points["end_pose"]
for point in points:
debug.step_points.append(Point(point[0], point[1]))
debug.final_poses.append(
Pose(end_pose[0], end_pose[1] + end_pose[2]))
""" Nome da função : receive_state
Intenção da função : receber um state do simulador vss-sdk
Pré-requisitos : simulador rodando
Efeitos colaterais : recebe o state atual
Parâmetros : nenhum
Retorno : state : State
"""
def receive_state(self):
return self.state_receiver.receive_state()
""" Nome da função : send_command
Intenção da função : enviar um comando ao simulador vss-sdk
Pré-requisitos : simulador rodando
Efeitos colaterais : envia comandos a um dos times do simulador
os times movem-se com a velocidade especificada
Parâmetros : rvel : List([vel1, vel2]*3)
Retorno : nenhum
"""
def send_command(self, rvel):
self.command_sender.send_command(self.__build_command(rvel))
def send_debug(self, robots_points):
self.debug_sender.send_debug(self.__build_debug(robots_points))