def get_validation_status(self, world) -> ValidationStatus:
"""Checks if the ball speed is at or above some threshold
:param world: The world msg to validate
:returns: FAILING if the ball speed is below some threshold
PASSING if the ball speed is at or above some threshold
"""
if (tbots.createVector(
world.ball.current_state.global_velocity).length() >=
self.speed_threshold):
return ValidationStatus.PASSING
return ValidationStatus.FAILING
def get_validation_geometry(self, world) -> ValidationGeometry:
"""override"""
# TODO (#2556): visualize
return create_validation_geometry([])
def __repr__(self):
return "Check that the ball speed is at or above above " + str(
self.speed_threshold)
(
BallSpeedEventuallyAtOrAboveThreshold,
BallSpeedEventuallyBelowThreshold,
BallSpeedAlwaysAtOrAboveThreshold,
BallSpeedAlwaysBelowThreshold,
) = create_validation_types(BallSpeedThreshold)
for robot in world.friendly_team.team_robots:
if not tbots.Robot(robot).isNearDribbler(ball_position, 0.01):
# if ball is not near dribbler then de-activate this validation
self.continous_dribbling_start_point = None
elif (ball_position - (self.continous_dribbling_start_point
or ball_position)).length() > 1.0:
return ValidationStatus.FAILING
elif self.continous_dribbling_start_point is None:
# ball is in dribbler, but previously wasn't in dribbler, so set continuous dribbling start point
self.continous_dribbling_start_point = ball_position
return ValidationStatus.PASSING
def get_validation_geometry(self, world) -> ValidationGeometry:
"""
(override) Shows the max allowed dribbling circle
"""
return create_validation_geometry(
[tbots.Circle(self.continous_dribbling_start_point, 1.0)] if self.
continous_dribbling_start_point is not None else [])
def __repr__(self):
return "Check that the dribbling robot has not dribbled for more than 1m"
(
EventuallyStopExcessivelyDribbling,
EventuallyStartsExcessivelyDribbling,
NeverExcessivelyDribbles,
AlwaysExcessivelyDribbles,
) = create_validation_types(ExcessivelyDribbling)
"""
for region in self.regions:
if geom.contains(
region, geom.createPoint(world.ball.current_state.global_position)
):
return ValidationStatus.PASSING
return ValidationStatus.FAILING
def get_validation_geometry(self, world) -> ValidationGeometry:
"""Returns the underlying geometry this validation is checking
:param world: The world msg to create v alidation geometry from
:returns: ValidationGeometry containing geometry to visualize
"""
return create_validation_geometry(self.regions)
def __repr__(self):
return "Checking ball in regions " + ",".join(
repr(region) for region in self.regions
)
(
BallEventuallyEntersRegion,
BallEventuallyExitsRegion,
BallStaysInRegion,
BallNeverEntersRegion,
) = create_validation_types(BallEntersRegion)
:param world: The world msg to validate
:returns: FAILING if the friendly robots' speed is below some threshold
PASSING if the friendly robots' speed is at or above some threshold
"""
for robot in world.friendly_team.team_robots:
if (
tbots.createVector(robot.current_state.global_velocity).length()
< self.speed_threshold
):
return ValidationStatus.FAILING
return ValidationStatus.PASSING
def get_validation_geometry(self, world) -> ValidationGeometry:
"""override"""
# TODO (#2556): visualize
return create_validation_geometry([])
def __repr__(self):
return "Check that the friendly robots' speed is at or above above " + str(
self.speed_threshold
)
(
RobotSpeedEventuallyAtOrAboveThreshold,
RobotSpeedEventuallyBelowThreshold,
RobotSpeedAlwaysAtOrAboveThreshold,
RobotSpeedAlwaysBelowThreshold,
) = create_validation_types(RobotSpeedThreshold)
:param world: The world msg to validate
:returns: FAILING when no friendly robot has possession of the ball
PASSING when any friendly robot has possession of the ball
"""
ball_position = tbots.createPoint(
world.ball.current_state.global_position)
for robot in world.friendly_team.team_robots:
if tbots.Robot(robot).isNearDribbler(ball_position, 0.01):
return ValidationStatus.PASSING
return ValidationStatus.FAILING
def get_validation_geometry(self, world) -> ValidationGeometry:
"""
(override) highlights the dribbler area of the robots
"""
return create_validation_geometry([
tbots.Robot(robot).dribblerArea()
for robot in world.friendly_team.team_robots
])
def __repr__(self):
return "Check that the friendly team has possession of the ball"
(
FriendlyEventuallyHasBallPossession,
FriendlyEventuallyLosesBallPossession,
FriendlyAlwaysHasBallPossession,
FriendlyNeverHasBallPossession,
) = create_validation_types(FriendlyHasBallPossession)
self.last_ball_position = current_ball_position
return validation_status
def get_validation_geometry(self, world) -> ValidationGeometry:
"""
(override) Shows the last ball position line
"""
return create_validation_geometry([
tbots.Rectangle(
tbots.Point(
self.last_ball_position.x(),
tbots.Field(world.field).fieldBoundary().yMin(),
),
tbots.Point(
self.last_ball_position.x() + 0.01,
tbots.Field(world.field).fieldBoundary().yMax(),
),
)
])
def __repr__(self):
return "Check that the ball moves forward"
(
BallEventuallyMovesForward,
BallEventuallyStopsMovingForward,
BallAlwaysMovesForward,
BallNeverMovesForward,
) = create_validation_types(BallMovesForward)
for region in self.regions:
for robot in world.friendly_team.team_robots:
if tbots_geom.contains(
region, tbots_geom.createPoint(robot.current_state.global_position)
):
return ValidationStatus.PASSING
return ValidationStatus.FAILING
def get_validation_geometry(self, world) -> ValidationGeometry:
"""Returns the underlying geometry this validation is checking
:param world: The world msg to create validation geometry from
:returns: ValidationGeometry containing geometry to visualize
"""
return create_validation_geometry(self.regions)
def __repr__(self):
return "Check for robot in regions " + ",".join(
repr(region) for region in self.regions
)
(
RobotEventuallyEntersRegion,
RobotEventuallyExitsRegion,
RobotStaysInRegion,
RobotNeverEntersRegion,
) = create_validation_types(RobotEntersRegion)