def __init__(self,
match_time: int,
progress_check_steps: int,
progress_check_threshold: int,
ball_progress_check_steps: int,
ball_progress_check_threshold: int,
post_goal_wait_time: int = 3,
add_noise_to_initial_position: bool = True):
super().__init__()
self.match_time = match_time
self.post_goal_wait_time = post_goal_wait_time
self.add_noise_to_initial_position = add_noise_to_initial_position
self.time = match_time
self.emitter = self.getEmitter("emitter")
self.robot_translation = ROBOT_INITIAL_TRANSLATION.copy()
self.robot_rotation = ROBOT_INITIAL_ROTATION.copy()
self.robot_translation_fields = {}
self.robot_rotation_fields = {}
self.robot_in_penalty_counter = {}
self.progress_chck = {}
for robot in ROBOT_NAMES:
robot_node = self.getFromDef(robot)
field = robot_node.getField('translation')
self.robot_translation_fields[robot] = field
field = robot_node.getField('rotation')
self.robot_rotation_fields[robot] = field
self.robot_in_penalty_counter[robot] = 0
pc = ProgressChecker(progress_check_steps,
progress_check_threshold)
self.progress_chck[robot] = pc
self.ball = self.getFromDef("BALL")
self.ball_translation_field = self.ball.getField("translation")
bpc = ProgressChecker(ball_progress_check_steps,
ball_progress_check_threshold)
self.progress_chck['ball'] = bpc
self.reset_positions()
self._update_positions()
self.ball_reset_timer = 0
self.score_blue = self.score_yellow = 0
self.draw_scores(self.score_blue, self.score_yellow)
def test_track_multiple_times(checker: ProgressChecker):
checker.track([0.0, 0.0, 0.0])
checker.track([0.01, 0.0, 0.0])
checker.track([0.02, 0.0, 0.0])
assert checker.iterator == 2
assert checker.samples[0] == 0.01
assert checker.samples[1] == 0.01
assert checker.samples[2] == 0
assert checker.prev_position == [0.02, 0.0, 0.0]
def test_no_progress(checker: ProgressChecker):
x = 0.0
checker.track([x, 0.0, 0.0])
for _ in range(234):
x += 0.002
checker.track([x, 0.0, 0.0])
assert checker.is_progress()
checker.track([x + 0.002, 0.0, 0.0])
assert not checker.is_progress()
def test_progress_ok(checker: ProgressChecker):
for _ in range(235):
checker.track([0.0, 0.0, 0.0])
assert checker.is_progress()
checker.track([0.5, 0.0, 0.0])
assert checker.is_progress()
def __init__(self,
match_time: int,
match_id: int,
half_id: int,
progress_check_steps: int,
progress_check_threshold: int,
ball_progress_check_steps: int,
ball_progress_check_threshold: int,
team_name_blue: str,
team_name_yellow: str,
initial_score_blue: int,
initial_score_yellow: int,
penalty_area_allowed_time: int,
penalty_area_reset_after: int,
post_goal_wait_time: int = 3,
initial_position_noise: float = 0.15):
super().__init__()
self.match_time = match_time
self.match_id = match_id
self.half_id = half_id
self.post_goal_wait_time = post_goal_wait_time
self.initial_position_noise = initial_position_noise
self.time = match_time
# Event message queue to be drawn
# List of Tuples of int (time) and string (message)
self.event_messages_to_draw: List[Tuple[int, str]] = []
self.eventer = Eventer()
self.team_name_blue = team_name_blue
self.team_name_yellow = team_name_yellow
self.emitter = self.getDevice("emitter")
self.ball_stop = 2
self.robot_translation = ROBOT_INITIAL_TRANSLATION.copy()
self.robot_rotation = ROBOT_INITIAL_ROTATION.copy()
self.robot_nodes = {}
self.robot_translation_fields = {}
self.robot_rotation_fields = {}
self.robot_in_penalty_counter = {}
self.progress_chck = {}
self.penalty_area_chck = {}
for robot in ROBOT_NAMES:
robot_node = self.getFromDef(robot)
self.robot_nodes[robot] = robot_node
field = robot_node.getField('translation')
self.robot_translation_fields[robot] = field
field = robot_node.getField('rotation')
self.robot_rotation_fields[robot] = field
self.robot_in_penalty_counter[robot] = 0
self.progress_chck[robot] = ProgressChecker(
progress_check_steps, progress_check_threshold)
self.penalty_area_chck[robot] = PenaltyAreaChecker(
penalty_area_allowed_time,
penalty_area_reset_after,
)
self.ball = self.getFromDef("BALL")
self.ball_translation_field = self.ball.getField("translation")
bpc = ProgressChecker(ball_progress_check_steps,
ball_progress_check_threshold)
self.progress_chck['ball'] = bpc
self.reset_positions()
self._update_positions()
self.ball_reset_timer = 0
self.score_blue = initial_score_blue
self.score_yellow = initial_score_yellow
# The team that ought to have the kickoff at the next restart
self.team_to_kickoff = None
self.draw_team_names()
self.draw_scores(self.score_blue, self.score_yellow)
def checker() -> ProgressChecker:
return ProgressChecker(steps=235, threshold=0.5)
def test_progress_enough_steps(checker: ProgressChecker):
checker.iterator = 235
assert not checker.is_progress()
def test_progress_after_initialize(checker: ProgressChecker):
assert checker.is_progress()
def test_first_track(checker: ProgressChecker):
position = [0.0, 0.0, 0.0]
checker.track(position)
assert checker.prev_position == position
assert checker.samples[0] == 0