def test_eval_pt_to_seg(self):
# NOTE: setting the root play like this is really hacky and should be changed
# without doing this though, set_our_robots() fails
main._root_play = root_play.RootPlay()
# add an opponent sitting right in front of their goal
bot = robocup.OpponentRobot(11)
bot.pos = robocup.Point(0, constants.Field.Length - constants.Robot.Radius * 1.5)
bot.visible = True
main.set_their_robots([bot])
main.set_our_robots([])
shot_from = robocup.Point(0, constants.Field.Length / 2.0)
win_eval = evaluation.window_evaluator.WindowEvaluator()
windows, best = win_eval.eval_pt_to_opp_goal(shot_from)
# the obstacle should split our shot into two windows
self.assertEqual(len(windows), 2)
self.assertTrue(best != None)
def init():
# by default, the logger only shows messages at the WARNING level or greater
logging.getLogger().setLevel(logging.INFO)
global _has_initialized
if _has_initialized:
logging.warn(
"main robocoup python init() method called twice - ignoring")
return
# init root play
global _root_play
import root_play as root_play_module
_root_play = root_play_module.RootPlay()
# init play registry
global _play_registry
_play_registry = play_registry_module.PlayRegistry()
# load all plays
play_classes = class_import.recursive_import_classes(
GAMEPLAY_DIR, ['plays'], play.Play)
for entry in play_classes:
# keep in mind that @entry is a tuple
mod_path = entry[0][1:]
_play_registry.insert(mod_path, entry[1])
# this callback lets us do cool stuff when our python files change on disk
def fswatch_callback(event_type, module_path):
# the top-level folders we care about watching
autoloadables = ['plays', 'skills', 'tactics', 'evaluation']
if module_path[0] in autoloadables:
logging.info('.'.join(module_path) + " " + event_type)
is_play = module_path[0] == 'plays'
if event_type == 'created':
if is_play:
# we load the module and register the play class it contains with the play registry
# this makes it automatically show up in the play config tab in the gui
try:
module = importlib.import_module('.'.join(module_path))
except:
logging.error("Error reloading module '" +
'.'.join(module_path) + "': e")
traceback.print_exc()
return
try:
play_class = class_import.find_subclasses(
module, play.Play)[0]
_play_registry.insert(
module_path[1:], play_class
) # note: skipping index zero of module_path cuts off the 'plays' part
except IndexError as e:
# we'll get an IndexError exception if the module didn't contain any Plays
# FIXME: instead, we should unload the module and just log a warning
raise Exception(
"Error: python files within the plays directory must contain a subclass of play.Play"
)
elif event_type == 'modified':
try:
# reload the module
containing_dict = sys.modules
for modname in module_path[:-1]:
containing_dict = containing_dict[modname].__dict__
module = containing_dict[module_path[-1]]
try:
module = imp.reload(module)
except:
logging.error("Error reloading module '" +
'.'.join(module_path) + "': e")
traceback.print_exc()
return
logging.info("reloaded module '" + '.'.join(module_path) +
"'")
if is_play:
# re-register the new play class
# FIXME: this logic should go inside the play_registry
play_reg_node = _play_registry.node_for_module_path(
module_path[1:])
play_reg_node.play_class = class_import.find_subclasses(
module, play.Play)[0]
# _play_registry.modelReset.emit()
# kill currently-running stuff if needed
if not is_play:
_root_play.drop_current_play()
_root_play.drop_goalie_behavior()
elif is_play and root_play != None and root_play.__class__.__name__ == play_reg_node.play_class.__name__:
_root_play.drop_current_play()
except Exception as e:
logging.error("EXCEPTION in file modified event: " +
repr(e))
traceback.print_exc()
raise e
elif event_type == 'deleted':
if is_play:
node = _play_registry.node_for_module_path(module_path[1:])
if _root_play.play != None and _root_play.play.__class__.__name__ == node.play_class.__name__:
_root_play.drop_current_play()
_play_registry.delete(module_path[1:])
else:
_root_play.drop_current_play()
_root_play.drop_goalie_behavior()
else:
raise AssertionError("Unknown FsWatcher event type: '" +
event_type + "'")
# start up filesystem-watching
watcher = fs_watcher.FsWatcher(GAMEPLAY_DIR)
watcher.subscribe(fswatch_callback)
watcher.start()
_has_initialized = True
