class Comms(Provider):
"""Comms class spins a thread to repeated send the commands stored in
gamestate to the robots via radio"""
def __init__(self, team, is_second_comms=False):
super().__init__()
assert (team in ['blue', 'yellow'])
self._team = team
self._is_second_comms = is_second_comms
self._radio = None
self._owned_fields = [
'_blue_robot_status',
'_yellow_robot_status',
]
# self._receive_loop_sleep = Radio.MESSAGE_DELAY
# self._messages_received = []
# self._last_receive_loop_time = None
def pre_run(self):
if self._radio is None:
self._radio = Radio(self._is_second_comms)
def run(self):
team_commands = self.gs.get_team_commands(self._team)
for robot_id, commands in team_commands.items():
# self.logger.info(commands)
if self.gs.is_robot_lost(self._team, robot_id):
self.logger.debug(f"Robot {robot_id} is lost")
commands.set_speeds(0, 0, 0)
else:
# recalculate the speed the robot should be commanded at
pos = self.gs.get_robot_position(self._team, robot_id)
commands.derive_speeds(pos)
# send serialized message for whole team
message = RobotCommands.get_serialized_team_command(team_commands)
self._radio.send(message)
for robot_id, commands in team_commands.items():
robot_status = self.gs.get_robot_status(self._team, robot_id)
# simulate charge of capacitors according to commands
if commands.is_charging:
robot_status.simulate_charge(self.delta_time)
# TODO: UNTESTED
if commands.is_kicking:
robot_status.charge_level = 0
# sleep to avoid spamming the xbee radio
time.sleep(Radio.MESSAGE_DELAY)
def post_run(self):
if self._radio is not None:
self._radio.close()
FL.update_params(val[0], val[1])
elif key == FR.identifier:
FR.update_params(val[0], val[1])
elif key == RR.identifier:
RR.update_params(val[0], val[1])
elif key == RL.identifier:
RL.update_params(val[0], val[1])
for each in Tires:
pygame.draw.rect(screen, each.get_color(), each.background_area)
screen.blit(pfont.render(each.pressure(), 1, BLACK), each.pressure_pos)
screen.blit(tfont.render(each.temperature(), 1, GREY),
each.temperature_pos)
screen.blit(sfont.render(each.tire_status(), 1, BLUE), each.status_pos)
screen.blit(mazda, (screen_pixels.w / 2 - car_pixels.w / 2, 40))
# print count
# --- Drawing code should go here
# --- Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# --- Limit to 10 frames per second
clock.tick(30)
# Close the window and quit.
radio_dev.close()
pygame.quit()
__version = '0.1'
