def start(self):
if self._started: return
self.trace("Starting")
self._timer.start()
self._started = True
self._startFrame = util.currentFrame()
self._iterations += 1
def start(self):
if self._started: return
self.trace("Starting")
self._timer.start()
self._started = True
self._startFrame = util.currentFrame()
self._iterations += 1
def processFrame():
global currentState, lastState, currentTask
commands.setHeadTilt()
lastState = currentState
currentState = game_state.state()
if currentState == core.PLAYING and lastState != currentState and lastState != core.PENALISED:
behavior_mem.timePlayingStarted = vision_frame_info.seconds_since_start
if util.currentFrame() % 30 == 0:
util.checkTemperatures()
if areDistinct(currentState, lastState):
if currentTask:
currentTask.finish()
currentTask = createStateTask(currentState)
if util.checkFallen(
) and robot_state.WO_SELF != core.WO_TEAM_COACH and not game_state.isPenaltyKick:
commands.setStiffness(cfgstiff.Zero)
kick_request.abortKick()
walk_request.noWalk()
return
currentTask.processFrame()
def transition(self, state):
if isinstance(state, int):
self.istate = state
if self.istate < 0 or self.istate >= len(self.states):
raise Exception("Invalid state index: %i" % state)
self.state = self.states[self.istate]
elif isinstance(state, basestring):
self.state = state
if not state in self.states:
raise Exception("State does not exist in the state machine: %s" % state)
self.istate = self.states.index(state)
else:
raise Exception("Invalid state passed: %s" % str(state))
self._timer.start()
self.startFrame = util.currentFrame()
def transition(self, state):
if isinstance(state, int):
self.istate = state
if self.istate < 0 or self.istate >= len(self.states):
raise Exception("Invalid state index: %i" % state)
self.state = self.states[self.istate]
elif isinstance(state, basestring):
self.state = state
if not state in self.states:
raise Exception(
"State does not exist in the state machine: %s" % state)
self.istate = self.states.index(state)
else:
raise Exception("Invalid state passed: %s" % str(state))
self._timer.start()
self.startFrame = util.currentFrame()
def transition(self, state):
oldstate = self.state
if isinstance(state, int):
istate = state
if istate not in self.states:
raise Exception("Invalid state index: %i" % istate)
self.state = self.states[istate]
elif isinstance(state, basestring):
if state not in self.stateValues:
raise Exception("State does not exist in the state machine: %s" % state)
self.state = state
else:
raise Exception("Invalid state passed: %s" % str(state))
self._timer.start()
self.startFrame = util.currentFrame()
if self.debug:
print("transitioned from %s to %s" % (oldstate, self.state))
def transition(self, state):
oldstate = self.state
if isinstance(state, int):
istate = state
if istate not in self.states:
raise Exception("Invalid state index: %i" % istate)
self.state = self.states[istate]
elif isinstance(state, basestring):
if state not in self.stateValues:
raise Exception("State does not exist in the state machine: %s" % state)
self.state = state
else:
raise Exception("Invalid state passed: %s" % str(state))
self._timer.start()
self.startFrame = util.currentFrame()
if self.debug:
print "transitioned from %s to %s" % (oldstate, self.state)
def isFirstFrameInState(self):
return self.startFrame == util.currentFrame()
def getFrames(self):
return util.currentFrame() - self._startFrame
def framesSinceTransition(self):
return util.currentFrame() - self.startFrame
def start(self):
self._started = True
self._timer.start()
self._startFrame = util.currentFrame()
self._iterations += 1
def isFirstFrameInState(self): return self.startFrame == util.currentFrame()
def getFrames(self): return util.currentFrame() - self._startFrame
def framesSinceTransition(self): return util.currentFrame() - self.startFrame
def start(self): self._started = True self._timer.start() self._startFrame = util.currentFrame() self._iterations += 1
