, type="int"
, help="Which framerate the server runs at"
, default=25
)
(options, args) = parser.parse_args()
(w, h) = Params.pitchSize
objects = {}
objects['ball'] = Ball((w/2, h/2), (0, 0))
objects['blue'] = Robot((60, h/2), (0,0), 0, "blue")
objects['yellow'] = Robot((w-60, h/2), (0,0), pi, "yellow")
simulation = Simulation(objects, draw=True)
def goal_scored(simulation, space, arbiter, obj, goal):
simulation.reset()
robot_string = "Yellow" if goal == CT_LEFT_GOAL else "Blue"
print "%s robot scored!" % robot_string
return True
simulation.addGoalCollisionFunc(goal_scored, objects['ball'], CT_LEFT_GOAL)
simulation.addGoalCollisionFunc(goal_scored, objects['ball'], CT_RIGHT_GOAL)
vss = VisionServerStarter(simulation, options.fps * 5) #FIXME: Multiplying by 5, because FPS is not correct - suspect that 5 clients connect
vss.start(31410)
csf = CommsServerFactory(simulation)
csf.start()
simulation.start()
#!/usr/bin/env python
from Simulator.VisionWrapper import VisionWrapper
from Simulator.CommsWrapper import CommsWrapper
from Simulator.StrategyWrapper import StrategyWrapper
from Simulator.Servers.VisionServer import VisionServerStarter
from Simulator.Servers.CommsServer import CommsServerFactory
from Simulator.Simulation import Simulation
from Simulator.Model.WorldObjects import Robot, Ball
objects = { 'blue' : Robot((0,0), (0,0), 0, "blue")
, 'yellow' : Robot((0,0), (0,0), 0, "yellow")
, 'ball' : Ball((0,0), (0,0))
}
sim = Simulation(objects, draw=True)
sim.start()
try:
vw = VisionWrapper(sim)
except Exception, e:
print "VisionWrapper Error: %s" % e
try:
cw = CommsWrapper(sim)
except Exception, e:
print "CommsWrapper Error: %s" % e
try:
sw = StrategyWrapper(sim)
except Exception, e:
print "StrategyWrapper Error: %s" % e
