def add_line(self, start_point, end_point, timeout=DEFAULT_DEBUG_TIMEOUT):
data = {
'start': start_point,
'end': end_point,
'color': MAGENTA.repr(),
'timeout': timeout
}
command = DebugCommand(3001, data)
self.debug_state.append(command)
def add_rectangle(self, top_left, bottom_right):
data = {
'top_left': top_left,
'bottom_right': bottom_right,
'color': YELLOW.repr(),
'is_fill': True
}
command = DebugCommand(3006, data)
self.debug_state.append(command)
def send_books(self, cmd_tactics_dict):
"""
of the form:
cmd_tactics = {'strategy': strategybook.get_strategies_name_list(),
'tactic': tacticbook.get_tactics_name_list(),
'action': ['None']}
"""
cmd = DebugCommand(1001, cmd_tactics_dict)
self.debug_state.append(cmd)
def send_play_info(self, referee_info, referee_team_info, auto_play_info,
auto_flag):
cmd = DebugCommand(
1005, {
'referee': referee_info,
'referee_team': referee_team_info,
'auto_play': auto_play_info,
'auto_flag': auto_flag
})
self.debug_state.append(cmd)
def add_circle(self, center, radius):
data = {
'center': center,
'radius': radius,
'color': CYAN.repr(),
'is_fill': True,
'timeout': 0
}
circle = DebugCommand(3003, data)
self.debug_state.append(circle)
def add_influence_map(self, influence_map):
data = {
'field_data': influence_map,
'coldest_numb': -100,
'hottest_numb': 100,
'coldest_color': (0, 255, 0),
'hottest_color': (255, 0, 0),
'timeout': 2
}
command = DebugCommand(3007, data)
self.debug_state.append(command)
def add_text(self, position, text, color=DEFAULT_TEXT_COLOR):
data = {
'position': position,
'text': text,
'size': DEFAULT_TEXT_SIZE,
'font': DEFAULT_TEXT_FONT,
'align': DEFAULT_TEXT_ALIGN,
'color': color,
'has_bold': False,
'has_italic': False,
'timeout': DEFAULT_DEBUG_TIMEOUT
}
text = DebugCommand(3008, data)
self.debug_state.append(text)
def add_point(self,
point,
color=VIOLET,
width=5,
link=None,
timeout=DEFAULT_DEBUG_TIMEOUT):
int_point = int(point[0]), int(point[1])
data = {
'point': int_point,
'color': color.repr(),
'width': width,
'timeout': timeout
}
point = DebugCommand(3004, data, p_link=link)
self.debug_state.append(point)
def add_circle(self,
center,
radius,
color=CYAN.repr(),
is_fill=True,
timeout=DEFAULT_DEBUG_TIMEOUT):
data = {
'center': (int(center[0]), int(center[1])),
'radius': radius,
'color': color,
'is_fill': is_fill,
'timeout': timeout
}
circle = DebugCommand(3003, data)
self.debug_state.append(circle)
def add_vector(self,
vector: Position(),
start_point=Position(),
timeout=DEFAULT_DEBUG_TIMEOUT):
end_point = start_point + vector
start_point = (start_point.x, start_point.y)
end_point = (end_point.x, end_point.y)
data = {
'start': start_point,
'end': end_point,
'color': CYAN.repr(),
'timeout': timeout
}
command = DebugCommand(3001, data)
self.debug_state.append(command)
def send_robot_status(self,
player_id,
tactic,
action,
target="not implemented"):
data = {
'blue': {
player_id: {
'tactic': tactic,
'action': action,
'target': target
}
}
}
cmd = DebugCommand(1002, data)
self.debug_state.append(cmd)
def send_robot_state(self, player_id, battery_volt, time_last_response):
MAX_BAT = 16.4
MIN_BAT = 12.0
battery_lvl = (battery_volt - MIN_BAT) / (MAX_BAT - MIN_BAT) * 100
time_since_last_response = time.time() - time_last_response
if time_since_last_response > 5.0:
battery_lvl = 0
data = {
'blue': {
player_id: {
'battery_lvl': battery_lvl,
'time_since_last_response': time_since_last_response
}
}
}
cmd = DebugCommand(1006, data)
self.debug_state.append(cmd)
def send_robot_strategic_state(self,
player: OurPlayer,
tactic: str,
action: str,
target: str = "not implemented"):
teamcolor_str = player.team.team_color.__str__()
data = {
teamcolor_str: {
player.id: {
'tactic': tactic,
'action': action,
'target': target
}
}
}
cmd = DebugCommand(1002, data)
self.debug_state.append(cmd)
def add_multiple_points(self,
points,
color=VIOLET,
width=5,
link=None,
timeout=DEFAULT_DEBUG_TIMEOUT):
points_as_tuple = []
for point in points:
points_as_tuple.append((int(point[0]), int(point[1])))
data = {
'points': points_as_tuple,
'color': color.repr(),
'width': width,
'timeout': timeout
}
point = DebugCommand(3005, data, p_link=link)
self.debug_state.append(point)
def wrap_command(raw_command):
command = DebugCommand(raw_command['type'], raw_command['link'], raw_command['data'])
command.name = 'ui'
return command
def add_log(self, level, message):
log = DebugCommand(2, {'level': level, 'message': message})
self.debug_state.append(log)
def send_team_color(self):
cmd = DebugCommand(
1004,
{'team_color': TeamColorService().OUR_TEAM_COLOR.name.lower()})
self.debug_state.append(cmd)
def wrap_command(raw_command):
command = DebugCommand(raw_command['type'], raw_command['link'],
raw_command['data'])
command.name = 'ui'
return command