def __init__(self):
"""
Initialise le coach de l'IA.
:param mode_debug_active: (bool) indique si les commandes de debug sont actives
:param pathfinder: (str) indique le nom du pathfinder par défault
:param is_simulation: (bool) indique si en simulation (true) ou en vrai vie (false)
"""
cfg = ConfigService()
self.mode_debug_active = cfg.config_dict["DEBUG"][
"using_debug"] == "true"
self.is_simulation = cfg.config_dict["GAME"]["type"] == "sim"
# init the states
self.world_state = WorldState()
# init the executors
self.debug_executor = DebugExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state)
self.motion_executor = MotionExecutor(self.world_state)
self.robot_command_executor = CommandExecutor(self.world_state)
# logging
DebugInterface().add_log(
1, "\nCoach initialized with \nmode_debug_active = " +
str(self.mode_debug_active) + "\nis_simulation = " +
str(self.is_simulation))
class Coach(object):
def __init__(self):
"""
Initialise le coach de l'IA.
:param mode_debug_active: (bool) indique si les commandes de debug sont actives
:param pathfinder: (str) indique le nom du pathfinder par défault
:param is_simulation: (bool) indique si en simulation (true) ou en vrai vie (false)
"""
cfg = ConfigService()
self.mode_debug_active = cfg.config_dict["DEBUG"][
"using_debug"] == "true"
self.is_simulation = cfg.config_dict["GAME"]["type"] == "sim"
# init the states
self.world_state = WorldState()
# init the executors
self.debug_executor = DebugExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state)
self.motion_executor = MotionExecutor(self.world_state)
self.robot_command_executor = CommandExecutor(self.world_state)
# logging
DebugInterface().add_log(
1, "\nCoach initialized with \nmode_debug_active = " +
str(self.mode_debug_active) + "\nis_simulation = " +
str(self.is_simulation))
def main_loop(self) -> List:
"""
Execute un tour de boucle de l'IA
:return: List(_Command) les commandes des robots
"""
# main loop de l'IA
self.debug_executor.exec()
self.play_executor.exec()
self.module_executor.exec()
self.motion_executor.exec()
robot_commands = self.robot_command_executor.exec()
return robot_commands
def set_reference(self, world_reference: ReferenceTransferObject) -> None:
"""
Permet de mettre les références dans le worldstate et le debugexecutor.
:param world_reference: Objet GameWorld contenant les références des objets en jeu provenant du RULEngine.
C'est un data transfert object.
:return: None.
"""
self.world_state.set_reference(world_reference)
self.debug_executor.set_reference(world_reference.debug_info)
class Coach(object):
def __init__(self, mode_debug_active=True, pathfinder="astar", is_simulation=True):
"""
Initialise le coach de l'IA.
:param mode_debug_active: (bool) indique si les commandes de debug sont actives
:param pathfinder: (str) indique le nom du pathfinder par défault
:param is_simulation: (bool) indique si en simulation (true) ou en vrai vie (false)
"""
self.mode_debug_active = mode_debug_active
self.is_simulation = is_simulation
# init the states
self.world_state = WorldState()
# init the executors
self.debug_executor = DebugExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state, pathfinder, is_simulation)
self.movement_executor = MovementExecutor(self.world_state)
self.regulator_executor = PositionRegulator(self.world_state, is_simulation)
self.robot_command_executor = CommandExecutor(self.world_state)
# logging
DebugInterface().add_log(1, "\nCoach initialized with \nmode_debug_active = "+str(mode_debug_active) +
"\npathfinder = "+str(pathfinder)+"\nis_simulation = "+str(is_simulation))
def main_loop(self) -> List:
"""
Execute un tour de boucle de l'IA
:return: List(_Command) les commandes des robots
"""
# main loop de l'IA
self.debug_executor.exec()
self.play_executor.exec()
self.module_executor.exec()
self.movement_executor.exec()
self.regulator_executor.exec()
robot_commands = self.robot_command_executor.exec()
return robot_commands
def set_reference(self, world_reference: GameWorld) -> None:
"""
Permet de mettre les références dans le worldstate et le debugexecutor.
:param world_reference: Objet GameWorld contenant les références des objets en jeu provenant du RULEngine.
C'est un data transfert object.
:return: None.
"""
self.world_state.set_reference(world_reference)
self.debug_executor.set_reference(world_reference.debug_info)
def __init__(self, mode_debug_active=True):
self.mode_debug_active = mode_debug_active
# For the framework! TODO make this better!
self.debug_commands = []
self.robot_commands = []
self.world_state = WorldState()
self.debug_executor = DebugExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.robot_command_executor = CommandExecutor(self.world_state)
class Coach(object):
def __init__(self, mode_debug_active=True):
self.mode_debug_active = mode_debug_active
# For the framework! TODO make this better!
self.debug_commands = []
self.robot_commands = []
self.world_state = WorldState()
self.debug_executor = DebugExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.robot_command_executor = CommandExecutor(self.world_state)
def main_loop(self, p_game_state):
self.robot_commands.clear()
self.debug_commands.clear()
self.world_state.update(p_game_state)
self.debug_executor.exec()
self.module_executor.exec()
self.play_executor.exec()
self.robot_command_executor.exec()
self.debug_executor.exec()
self.robot_commands = self.world_state.play_state.ready_to_ship_robot_packet_list
if self.mode_debug_active:
self.debug_commands = self.world_state.debug_state.to_ui_packet_debug_cmds
return self.robot_commands, self.debug_commands
def set_team_color(self, p_our_team_colors):
self.world_state.set_team_color(p_our_team_colors)
def get_robot_commands(self):
return self.robot_commands
def get_debug_status(self):
return self.mode_debug_active
# FIXME only the debug command are accessed through method, the robot_commands are take straight from the variable!
def get_debug_commands_and_clear(self):
return self.debug_commands
# Throwback for the last coach! TODO see if we still need to implement them! Or HOW!
def halt(self):
""" Hack pour sync les frames de vision et les itérations de l'IA """
pass
def stop(self, game_state):
""" *Devrait* déinit pour permettre un arrêt propre. """
pass
def __init__(self, mode_debug_active=True, pathfinder="astar", is_simulation=True):
"""
Initialise le coach de l'IA.
:param mode_debug_active: (bool) indique si les commandes de debug sont actives
:param pathfinder: (str) indique le nom du pathfinder par défault
:param is_simulation: (bool) indique si en simulation (true) ou en vrai vie (false)
"""
self.mode_debug_active = mode_debug_active
self.is_simulation = is_simulation
# init the states
self.world_state = WorldState()
# init the executors
self.debug_executor = DebugExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state, pathfinder, is_simulation)
self.movement_executor = MovementExecutor(self.world_state)
self.regulator_executor = PositionRegulator(self.world_state, is_simulation)
self.robot_command_executor = CommandExecutor(self.world_state)
# logging
DebugInterface().add_log(1, "\nCoach initialized with \nmode_debug_active = "+str(mode_debug_active) +
"\npathfinder = "+str(pathfinder)+"\nis_simulation = "+str(is_simulation))
def setUp(self):
self.ws = WorldState()
self.rm = RobotMotion(self.ws, 0)
self.rm.setting.rotation.deadzone = 0.1
self.rm.setting.rotation.sensibility = 0.01
self.rm.setting.rotation.max_speed = 1
self.rm.setting.translation.deadzone = 0.1
self.rm.setting.translation.sensibility = 0.01
self.rm.setting.translation.max_speed = 2
self.rm.setting.translation.max_acc = 2
self.rm.dt = 0.05
class Coach(object):
def __init__(self):
"""
Initialise le coach de l'IA.
:param mode_debug_active: (bool) indique si les commandes de debug sont actives
:param pathfinder: (str) indique le nom du pathfinder par défault
:param is_simulation: (bool) indique si en simulation (true) ou en vrai vie (false)
"""
cfg = ConfigService()
self.mode_debug_active = cfg.config_dict["DEBUG"][
"using_debug"] == "true"
self.is_simulation = cfg.config_dict["GAME"]["type"] == "sim"
# init the states
self.world_state = WorldState()
# init the executors
self.debug_executor = DebugExecutor(self.world_state)
self.play_executor = PlayExecutor(self.world_state)
self.module_executor = ModuleExecutor(self.world_state)
self.motion_executor = MotionExecutor(self.world_state)
self.robot_command_executor = CommandExecutor(self.world_state)
# logging
DebugInterface().add_log(
1, "\nCoach initialized with \nmode_debug_active = " +
str(self.mode_debug_active) + "\nis_simulation = " +
str(self.is_simulation))
def main_loop(self) -> List:
"""
Execute un tour de boucle de l'IA
:return: List(_Command) les commandes des robots
"""
# main loop de l'IA
# debug code! no remostart_play_executorve pls (au moins pas avant le Japon)
start_debug_interface = time.time()
self.debug_executor.exec()
end_debug_interface = start_play_executor = time.time()
self.play_executor.exec()
end_play_executor = start_module_executor = time.time()
self.module_executor.exec()
end_module_executor = start_motion_executor = time.time()
self.motion_executor.exec()
end_motion_executor = start_robot_commands = time.time()
robot_commands = self.robot_command_executor.exec()
end_robot_commands = time.time()
dt_debug = end_debug_interface - start_debug_interface
dt_play_exe = end_play_executor - start_play_executor
dt_module_exe = end_module_executor - start_module_executor
dt_motion_exe = end_motion_executor - start_motion_executor
dt_robot_cmd = end_robot_commands - start_robot_commands
sum = dt_debug + dt_play_exe + dt_module_exe + dt_motion_exe + dt_robot_cmd
# Profiling code for debuging, DO NOT REMOVE
# print("[{:4.1f}ms total] debug_inter:{:4.1f}ms/{:4.1f}% | play_exec:{:4.1f}ms/{:4.1f}% | module_exec:{:4.1f}ms/{:4.1f}% | motion_exec:{:4.1f}ms/{:4.1f}% | robot_cmd:{:4.1f}ms/{:3.1f}%"
# .format(sum*1000,
# dt_debug*1000, dt_debug/sum*100.0,
# dt_play_exe*1000, dt_play_exe/sum*100.0,
# dt_module_exe*1000, dt_module_exe/sum*100.0,
# dt_motion_exe*1000, dt_motion_exe/sum*100.0,
# dt_robot_cmd*1000, dt_robot_cmd/sum*100.0))
return robot_commands
def set_reference(self, world_reference: ReferenceTransferObject) -> None:
"""
Permet de mettre les références dans le worldstate et le debugexecutor.
:param world_reference: Objet GameWorld contenant les références des objets en jeu provenant du RULEngine.
C'est un data transfert object.
:return: None.
"""
self.world_state.set_reference(world_reference)
self.debug_executor.set_reference(world_reference.debug_info)