def answer_to_gamecontroller(self, peer):
""" Sends a life sign to the game controller """
return_message = 0 if self.man_penalize else 2
data = Container(header="RGrt",
version=GAME_CONTROLLER_RESPONSE_VERSION,
team=self.team,
player=self.player,
message=return_message)
try:
destination = peer[0], GAME_CONTROLLER_ANSWER_PORT
self.socket.sendto(ReturnData.build(data), destination)
except Exception as e:
logger.log("Network Error: %s" % str(e))
def answer_to_gamecontroller(self, peer):
""" Sends a life sign to the game controller """
return_message = 0 if self.man_penalize else 2
data = Container(header=b"RGrt",
version=GAME_CONTROLLER_RESPONSE_VERSION,
team=self.team,
player=self.player,
message=return_message)
try:
destination = peer[0], self.answer_port
rospy.logdebug('Sending answer to {} port {}'.format(
destination[0], destination[1]))
self.socket.sendto(ReturnData.build(data), destination)
except Exception as e:
rospy.logerr("Network Error: %s" % str(e))
def answer_to_gamecontroller(self, peer):
""" 向GameController发送生命信号(life sign) """
return_message = 0 if self.man_penalize else 2
data = Container(
header=b"RGrt", # 设置ReturnData消息头
version=GAME_CONTROLLER_RESPONSE_VERSION, # 设置该比赛消息结构版本号
team_number=self.team_number, # 设置该球队号码
player_number=self.player_number, # 设置该队员号码
message=return_message # 设置要返回的消息
)
try:
destination = peer[0], GAME_CONTROLLER_ANSWER_PORT
self.socket.sendto(ReturnData.build(data), destination)
except Exception as e:
logger.log("Network Error: %s" % str(e))
def answer_to_gamecontroller(self, peer):
if self.is_goal_keeper:
return_message = 3
else:
return_message = 2
if self.execute_game_interruption:
return_message = 4
data = Container(header=b"RGrt",
version=GAME_CONTROLLER_RESPONSE_VERSION,
team=self.team_id,
player=self.robot_id,
message=return_message)
destination = peer[0], self.GAME_CONTROLLER_ANSWER_PORT
self.send_socket.sendto(ReturnData.build(data), destination)
def main():
udpSocket = socket(AF_INET, SOCK_DGRAM)
try:
#tenta bindar no endereço de broadcast da rede, muda de acordo com as configurações dela. Se o programa não for matado corretamente (ex. dar ctrl+c em vez de ctrl+\), não vai dar pra bindar nessa porta, pois ela já vai estar ocupada
udpSocket.bind(('169.254.255.255', GAME_CONTROLLER_LISTEN_PORT))
except Exception as identifier:
logging.exception("Bind error")
if (identifier.errno == 98): #addr already in use
return
try:
while (1):
#tenta catar pacotes com o tamanho setado no game controller
data, peer = udpSocket.recvfrom(GameState.sizeof())
logging.debug(len(data))
#transforma dos dados puros que foram recebidos na porta para a "struct" de python.
parsed_state = GameState.parse(data)
#Checagem para a troca de lado ao trocar o tempo
if (int(parsed_state.teams[0].team_number) == 31):
unboard.teamNumber = 0
else:
unboard.teamNumber = 1
# logging.debug("packet from broadcast is :" + peer[0])
# for structKey, structValue in thisState.iteritems():
# logging.info("key: {} in struct recieved is {}".format(
# structKey, structValue))
#loggando alguns dados para saber se está recebendo o pacote corretamente
logging.debug("gamephase : {}".format(parsed_state.gamePhase))
logging.debug("game_state : {}".format(parsed_state.game_state))
logging.debug("first_half : {}".format(parsed_state.first_half))
logging.debug("secsRemaining : {}".format(
parsed_state.secsRemaining))
logging.debug("penalty : {}".format(parsed_state.teams[
unboard.teamNumber].players[unboard.playerNumber].penalty))
#update unboard
unboard.gameState = parsed_state.game_state
# print("1", unboard.gameState)
unboard.penalty = parsed_state.teams[unboard.teamNumber].players[
unboard.playerNumber].penalty
#dados de retorn para o GC
data = Container(
header=b"RGrt",
version=GAME_CONTROLLER_RESPONSE_VERSION,
team=31, #UnBeatables number
player=1,
message=0)
try:
destination = peer[0], GAME_CONTROLLER_ANSWER_PORT
udpSocket.sendto(ReturnData.build(data), destination)
except Exception as e:
logger.exception("Network Error: %s" % str(e))
finally:
#fecha a conexão se o codigo sair do while para poder ser reaberta dps
try:
udpSocket.shutdown(SHUT_RDWR)
except Exception as ex:
logging.exception("could not shutdown")
udpSocket.close()
def main():
udpSocket = socket(AF_INET, SOCK_DGRAM)
try:
#tenta bindar no endereco de broadcast da rede, muda de acordo com as
#configuracoes dela. Se o programa nao for matado corretamente (
#ex. dar ctrl+c em vez de ctrl+\), nao vai dar pra bindar nessa porta,
#pois ela ja vai estar ocupada
#leds.off('LeftFaceLeds')
leds.off('LeftFaceLeds')
leds.on('LeftFaceLedsGreen')
#leds.on('LefFootLedsGreen')
udpSocket.bind((confNAO.ip_gm, GAME_CONTROLLER_LISTEN_PORT))
print("Conectou!!!")
except Exception as identifier:
print("Bind error")
#leds.off('LeftFaceLeds')
leds.on('LeftFaceLedsRed')
#leds.on('LeftFootLedsRed')
#if (identifier.erro == 98): #addr already in use
# return
try:
while (1):
#tenta catar pacotes com o tamanho setado no game controller
data, peer = udpSocket.recvfrom(GameState.sizeof())
#logging.debug(len(data))
#transforma dos dados puros que foram recebidos na porta para a "struct" de python.
parsed_state = GameState.parse(data)
#Checagem para a troca de lado ao trocar o tempo
if (int(parsed_state.teams[0].team_number) == confNAO.team_number):
teamNumber = 0
else:
teamNumber = 1
# logging.debug("packet from broadcast is :" + peer[0])
# for structKey, structValue in thisState.iteritems():
# logging.info("key: {} in struct recieved is {}".format(
# structKey, structValue))
#loggando alguns dados para saber se esta recebendo o pacote corretamente
#print("gamephase : {}".format(parsed_state.gamePhase))
#print("game_state : {}".format(parsed_state.game_state))
memoria.insertData("gamestate", parsed_state.game_state)
#print("first_half : {}".format(parsed_state.first_half))
#print("secsRemaining : {}".format(parsed_state.secsRemaining))
memoria.insertData("secsRemaining", parsed_state.secsRemaining)
#print("penalty : {}".format(parsed_state.teams[teamNumber].players[confNAO.player_number].penalty))
memoria.insertData(
"penalty", parsed_state.teams[teamNumber].players[
confNAO.player_number].penalty)
#print("pickup : {}".format(parsed_state.teams[teamNumber].players[confNAO.player_number].pick_up))
if parsed_state.game_state == "STATE_FINISHED":
leds.off('LeftFaceLeds')
leds.on('LeftFaceLedsRed')
break
#update unboard
#print(parsed_state.game_state)
# print("1", unboard.gameState)
#print( parsed_state.teams[teamNumber].players[confNAO.player_number].penalty)
#dados de retorn para o GC
data = Container(
header=b"RGrt",
version=GAME_CONTROLLER_RESPONSE_VERSION,
team=confNAO.team_number, #50, #UnBeatables number
player=confNAO.player_number, #1,
message=0)
try:
destination = peer[0], GAME_CONTROLLER_ANSWER_PORT
udpSocket.sendto(ReturnData.build(data), destination)
except Exception as e:
print("Network Error: %s" % str(e))
finally:
#fecha a conexao se o codigo sair do while para poder ser reaberta dps
try:
udpSocket.shutdown(SHUT_RDWR)
except Exception as ex:
print("could not shutdown")
udpSocket.close()