class FindBallState(State):
def __init__(self, worldWrapper):
# Create our internal state machine
self.stateMachine = StateMachine(DriveStraightState(worldWrapper))
def step(self, worldWrapper):
world = worldWrapper.world
# Do the global checks
# newState, changed = self.checkGlobal(worldWrapper)
# if changepd == STATE_CHANGE_FLAG:
# return newState, changed
# If we see any balls
# Step the state machine
self.stateMachine.step(worldWrapper)
return self, self.stateMachine.goal
class BallAcquisitionState(State):
TIMEOUT = 10
def __init__(self, worldWrapper):
# Create and keep track of our state machine
self.stateMachine = StateMachine(SeekBallState(worldWrapper))
# Keep track of time for a timeout
self.lastTime = time.time()
def step(self, worldWrapper):
world = worldWrapper.world
# Check globals
newState, changed = self.checkGlobal(worldWrapper)
if changed == STATE_CHANGE_FLAG:
return newState, changed
# Check for a timeout
if time.time() - self.lastTime > self.TIMEOUT:
return EscapeState(worldWrapper), STATE_CHANGE_FLAG
# Check for having lost all the balls
if len(world.balls) == 0:
return FindBallState(worldWrapper), STATE_CHANGE_FLAG
# TODO: run the Ferrous
# Otherwise, step the state machine
oldState = self.stateMachine.state
self.stateMachine.step(worldWrapper)
# Update our timer
if self.stateMachine.state != oldState:
self.lastTime = time.time()
# Step the state machine
self.stateMachine.step(worldWrapper)
return self, self.stateMachine.goal
