def tick(blackboard):
"""
This is the main entry point from C++ into our Python behaviours and back.
More specifically it is the bridge from which C++ calls Python inside
the runswift executable, and receives a BehaviourRequest back.
Currently called in `robot/perception/behaviour/python/PythonSkill.cpp`,
the `PythonSkill::execute()` C++ function, and explicitly the line
`behaviour_tick(bb)`.
:param blackboard: The runswift Blackboard, a bunch of things
stored in global memory.
:return: A `robot.BehaviourRequest()` instance, defined in C++ inside
`robot/types/BehaviourRequest.hpp`.
"""
# Update all blackboard dependent helper modules.
Global.update(blackboard)
TeamStatus.update(blackboard)
FieldGeometry.update(blackboard)
Timer.update(blackboard)
LedOverride.reset()
Sonar.update(blackboard)
# Set the HeadSkill
HeadSkill.singleton.resetRequestState()
global skill_instance
if not skill_instance:
skill_instance = skill_instance_factory(blackboard)
if isinstance(skill_instance, BehaviourTask):
# On every tick of the perception thread, we update the blackboard,
# tick the skill, and then return the resulting behaviour request.
skill_instance.world.update(blackboard)
skill_instance.world.b_request = robot.BehaviourRequest()
skill_instance.world.b_request.actions = robot.All()
skill_instance.tick()
request = skill_instance.world.b_request
else:
# Backwards compat for old style skills if called directly via -s.
request = skill_instance.tick(blackboard)
headRequest = HeadSkill.singleton.tick(blackboard)
request.actions.head = headRequest.actions.head
# LED colouring.
if len(blackboard.vision.uncertain_balls) > 0:
request.actions.leds.rightEye = LEDColour.blue
elif len(blackboard.vision.balls) > 0:
request.actions.leds.rightEye = LEDColour.red
else:
request.actions.leds.rightEye = LEDColour.off
if Global.amILost():
request.actions.leds.leftEye = LEDColour.off
else:
request.actions.leds.leftEye = LEDColour.cyan
return request
def tick(self, blackboard):
self.numFramesTracked += 1
# get ball into centre of frame
self.lostBall = (blackboard.localisation.ballLostCount > 60)
request = robot.BehaviourRequest()
request.actions = robot.All()
neckRelative = blackboard.localisation.ballNeckRelative
self.targetPitch = self.calculateDesiredPitch(neckRelative)
if len(blackboard.vision.balls) > 0:
ball = blackboard.vision.balls[0]
imgCoords = blackboard.vision.balls[0].imageCoords
if blackboard.vision.balls[0].topCamera:
CONSTANT_X = 1280.0 / 1.06290551
xDiff = -(imgCoords[0] - 640) / CONSTANT_X
else:
CONSTANT_X = 640.0 / 1.06290551
xDiff = -(imgCoords[0] - 640 / 2) / CONSTANT_X
self.targetYaw = xDiff
if blackboard.localisation.ballLostCount < 3:
factor = abs(self.targetYaw) / 1.06290551
speed = 0.75 * factor # 10.0 * factor * factor
request.actions.head = actioncommand.head(self.targetYaw,
self.targetPitch, True,
speed, 0.2)
else:
self.ballYaw = self.calculateDesiredYaw(neckRelative)
self.targetYaw = self.ballYaw
request.actions.head = actioncommand.head(self.targetYaw,
self.targetPitch, False,
0.25, 0.2)
return request
def EmptyBehaviourRequest(): b = robot.BehaviourRequest() b.actions = robot.All() return b
def compose(head=head(), body=walk(), leds=leds()):
return robot.All(head, body, leds, 0.0)
"Could not find skill: %s in any of our behaviour folders." %
skill)
if issubclass(SkillClass, BehaviourTask):
new_world = world.World(blackboard) # It's a whole new world.
skill_instance = SkillClass(new_world)
else:
parentSkill = DummySkill(blackboard)
skill_instance = SkillClass(blackboard, parentSkill)
if isinstance(skill_instance, BehaviourTask):
# On every tick of the perception thread, we update the blackboard, tick the skill, and then return the resulting
# behaviour request.
skill_instance.world.update(blackboard)
skill_instance.world.b_request = robot.BehaviourRequest()
skill_instance.world.b_request.actions = robot.All()
skill_instance.tick()
request = skill_instance.world.b_request
else:
# Backwards compat for old style skills if called directly via -s.
request = skill_instance.tick(blackboard)
headRequest = skills.HeadSkill.instance.tick(blackboard)
request.actions.head = headRequest.actions.head
# Eye LED setting.
if len(blackboard.vision.balls) > 0:
# Right Eye Red if you can see a ball.
request.actions.leds.rightEye = LEDColour.red
else:
request.actions.leds.rightEye = LEDColour.off
def compose(head=head(), body=walk(), leds=leds()):
return robot.All(head, body, leds, 0.0, robot.StiffenCommand.NONE)