def __init__(self, color_settings, pitch_number, team_color, color_group09, color_group10, port_group09=None,
port_group10=None):
assert port_group09 is not None or port_group10 is not None
self.vision = VisionInterface(team_color, color_group09, color_group10,
color_settings=color_settings, pitch=pitch_number, gui=True)
world_state = WorldState(self.vision, team_color, color_group09, color_group10)
if port_group09 is not None:
self.com_group09 = CommunicationGroup09(port_group09)
self.planner_group09 = PlannerGroup09(world_state, self.com_group09)
if port_group10 is not None:
self.com_group10 = CommunicationGroup10(port_group10)
self.planner_group10 = PlannerGroup10(world_state, self.com_group10)
try:
self.strategy = Strategy(world_state, self.planner_group09, self.planner_group10)
except AttributeError:
try:
self.strategy = TestStrategyGroup09(world_state, self.planner_group09)
except AttributeError:
self.strategy = TestStrategyGroup10(world_state, self.planner_group10)
self.display = TerminalDisplay(self.strategy)
self.main_thread = Thread(target=self.main_task, name="Main Thread")
self.strategy_thread = Thread(target=self.strategy_task, name="Strategy Thread")
class Launcher:
def __init__(self, color_settings, pitch_number, team_color, color_group09, color_group10, port_group09=None,
port_group10=None):
assert port_group09 is not None or port_group10 is not None
self.vision = VisionInterface(team_color, color_group09, color_group10,
color_settings=color_settings, pitch=pitch_number, gui=True)
world_state = WorldState(self.vision, team_color, color_group09, color_group10)
if port_group09 is not None:
self.com_group09 = CommunicationGroup09(port_group09)
self.planner_group09 = PlannerGroup09(world_state, self.com_group09)
if port_group10 is not None:
self.com_group10 = CommunicationGroup10(port_group10)
self.planner_group10 = PlannerGroup10(world_state, self.com_group10)
try:
self.strategy = Strategy(world_state, self.planner_group09, self.planner_group10)
except AttributeError:
try:
self.strategy = TestStrategyGroup09(world_state, self.planner_group09)
except AttributeError:
self.strategy = TestStrategyGroup10(world_state, self.planner_group10)
self.display = TerminalDisplay(self.strategy)
self.main_thread = Thread(target=self.main_task, name="Main Thread")
self.strategy_thread = Thread(target=self.strategy_task, name="Strategy Thread")
def launch(self):
try:
self.main_thread.start()
if enable_curses:
self.display.run()
except KeyboardInterrupt:
if enable_curses:
self.display.close()
self.close()
def main_task(self):
if enable_curses:
print("[LAUNCH] waiting for terminal display to start...")
if not enable_curses or self.display.wait_for_start():
self.strategy_thread.start()
self.vision.launch_vision()
else:
self.close()
def strategy_task(self):
try:
try:
self.com_group09.open(self.strategy.handle_message_group09)
except AttributeError:
pass
except (serial.SerialException, SenderException):
traceback.print_exc()
try:
try:
self.com_group10.open(self.strategy.handle_message_group10)
except AttributeError:
pass
except (serial.SerialException, SenderException):
traceback.print_exc()
vision_launched = False
while not self.display.closed and not vision_launched:
print "[LAUNCH] waiting for vision to start..."
vision_launched = self.vision.wait_for_start(1)
if vision_launched:
self.strategy.launch()
def close(self):
print("[LAUNCH] closing...")
self.strategy.close()
self.vision.close()
try:
self.com_group09.close()
except AttributeError:
pass
try:
self.com_group10.close()
except AttributeError:
pass
self.display.close()