def debug_cmd(self):
if self.current_state == self.defense:
return DebugCommandFactory().line(self.game_state.ball.position,
self._best_target_into_goal(),
timeout=0.1)
elif self.current_state == self.intercept and self.last_intersection is not None:
return DebugCommandFactory().line(self.game_state.ball.position,
self.last_intersection,
timeout=0.1)
else:
return []
def debug_cmd(self):
if self.wall_segment is None or self.player_number_in_formation != 0:
return []
return [DebugCommandFactory().line(self.wall_segment.p1,
self.wall_segment.p2,
timeout=0.1),
DebugCommandFactory().line(self.center_formation,
self.bisect_inter,
timeout=0.1),
DebugCommandFactory().line(self.game_state.ball_position,
self.game_state.field.our_goal_line.p1,
timeout=0.1),
DebugCommandFactory().line(self.game_state.ball_position,
self.game_state.field.our_goal_line.p2,
timeout=0.1)
]
def debug_cmd(self):
cmds = []
[
cmds.extend(DebugCommandFactory().area(area, color=VIOLET))
for area in self.forbidden_areas
]
return cmds
def _send_auto_state(self):
if self.play_executor.ref_states:
ref_state = self.play_executor.ref_states[-1]
msg = DebugCommandFactory().auto_play_info(
ref_state.info, ref_state.team_info,
self.play_executor.auto_play.info,
self.play_executor.autonomous_flag)
self.ui_send_queue.put(msg)
def _send_books(self):
msg = DebugCommandFactory().books(
strategy_book=self.play_state.strategy_book.strategies_roles,
strategy_default=self.play_state.strategy_book.default_strategies,
tactic_book=self.play_state.tactic_book.tactics_name,
tactic_default=self.play_state.tactic_book.default_tactics)
self.ui_send_queue.put(msg)
def __init__(self,
game_state: GameState,
player: Player,
target: Pose = Pose(),
args: List[str] = None):
super().__init__(game_state, player, target, args)
self.current_state = self.get_behind_ball
self.next_state = self.get_behind_ball
self.debug_interface = DebugCommandFactory()
self.move_action = self._generate_move_to()
self.last_ball_position = self.game_state.ball_position
self.charge_time = 0
self.last_time = time.time()
self.orientation_target = 0
self.target = target