class VisionTestStrategy(TeamStrategyBase):
do_visualize = True
use_vision = True
latency = 0
visualizer_class = ClickVisualizer
THIS_SERVER = ('0.0.0.0', 9002)
VISION_SERVER = ('127.0.0.1', 9001)
CONTROL_SERVER = ('0.0.0.0', 9003)
serializer_class = VsssSerializerReal
def set_up(self):
super(VisionTestStrategy, self).set_up()
self.controller = Controller()
def strategy(self, data):
# global vitoko_gay
# vitoko_gay = not vitoko_gay
# if vitoko_gay:
# return VsssOutData(moves=[Move()]*3)
# print data.teams, data.ball
team = data.teams[self.team]
ball = data.ball
goal = RobotPosition(ball.x, ball.y, ball.angle_to(Position(75, 0)))
out_data = VsssOutData(moves=[
self.controller.go_to_from(goal, team[0]),
Move(0, 0),
Move(0, 0),
# self.controller.go_to_from(goal, team[1]),
# self.controller.go_to_from(goal, team[2]),
])
print out_data.moves
return out_data
class VisionTestStrategy(TeamStrategyBase):
do_visualize = True
use_vision = True
latency = 0
visualizer_class = ClickVisualizer
THIS_SERVER = ('0.0.0.0', 9002)
VISION_SERVER = ('127.0.0.1', 9001)
CONTROL_SERVER = ('0.0.0.0', 9003)
serializer_class = VsssSerializerReal
def set_up(self):
super(VisionTestStrategy, self).set_up()
self.controller = Controller()
def strategy(self, data):
# global vitoko_gay
# vitoko_gay = not vitoko_gay
# if vitoko_gay:
# return VsssOutData(moves=[Move()]*3)
# print data.teams, data.ball
team = data.teams[self.team]
ball = data.ball
goal = RobotPosition(ball.x, ball.y, ball.angle_to(Position(75, 0)))
out_data = VsssOutData(moves=[
self.controller.go_to_from(goal, team[0]),
Move(0,0),
Move(0,0),
# self.controller.go_to_from(goal, team[1]),
# self.controller.go_to_from(goal, team[2]),
])
print out_data.moves
return out_data
class GoWithAngleStrategy(TeamStrategyBase):
use_control = True
do_visualize = True
visualizer_class = MyVisualizer
use_vision = True
latency = 20
THIS_SERVER = ('0.0.0.0', 9010)
VISION_SERVER = ('0.0.0.0', 9009)
CONTROL_SERVER = ('0.0.0.0', 9009)
serializer_class = VsssSerializerSimulator
def set_up(self):
super(GoWithAngleStrategy, self).set_up()
self.controller = Controller()
self.file = open("data.txt", "w")
def strategy(self, data):
global temp_goal
global prev_time
cur_time = time.time()
print "TIME ELAPSED:",time.time() - prev_time
prev_time = cur_time
goal = RobotPosition(data.ball.x, data.ball.y, data.ball.angle_to(Position(75, 0)))
obstacles = data.teams[0]
obstacles.extend(data.teams[1])
obstacles.remove(data.teams[self.team][1])
temp_goal = self.controller.get_reference_position(goal, data.teams[self.team][1], obstacles=obstacles)
my_move = self.controller.go_to_from_with_angle(goal, data.teams[self.team][1], vel=1, obstacles=obstacles)
self.file.write(str(data.teams[self.team][1])+"\n")
if data.teams[self.team][1].distance_to(goal)<=9:
my_move = Move(0,0)
# if data.teams[self.team][1].has_in_front(goal):
# my_move = self.controller.go_to_from(Position(75, 0), data.teams[self.team][1], vel=0.5)
# my_move = self.controller.go_to_from(goal, data.teams[self.team][1], vel=0.5)
return VsssOutData(moves=[
Move(0,0),
my_move,
Move(0,0)
])
def tear_down(self):
super(GoWithAngleStrategy, self).tear_down()
self.file.close()
class GoWithAngleStrategy(TeamStrategyBase):
use_control = True
do_visualize = True
visualizer_class = MyVisualizer
use_vision = True
latency = 20
THIS_SERVER = ('0.0.0.0', 9010)
VISION_SERVER = ('0.0.0.0', 9009)
CONTROL_SERVER = ('0.0.0.0', 9009)
serializer_class = VsssSerializerSimulator
def set_up(self):
super(GoWithAngleStrategy, self).set_up()
self.controller = Controller()
self.file = open("data.txt", "w")
def strategy(self, data):
global temp_goal
global prev_time
cur_time = time.time()
print "TIME ELAPSED:", time.time() - prev_time
prev_time = cur_time
goal = RobotPosition(data.ball.x, data.ball.y,
data.ball.angle_to(Position(75, 0)))
obstacles = data.teams[0]
obstacles.extend(data.teams[1])
obstacles.remove(data.teams[self.team][1])
temp_goal = self.controller.get_reference_position(
goal, data.teams[self.team][1], obstacles=obstacles)
my_move = self.controller.go_to_from_with_angle(
goal, data.teams[self.team][1], vel=1, obstacles=obstacles)
self.file.write(str(data.teams[self.team][1]) + "\n")
if data.teams[self.team][1].distance_to(goal) <= 9:
my_move = Move(0, 0)
# if data.teams[self.team][1].has_in_front(goal):
# my_move = self.controller.go_to_from(Position(75, 0), data.teams[self.team][1], vel=0.5)
# my_move = self.controller.go_to_from(goal, data.teams[self.team][1], vel=0.5)
return VsssOutData(moves=[Move(0, 0), my_move, Move(0, 0)])
def tear_down(self):
super(GoWithAngleStrategy, self).tear_down()
self.file.close()
class SeguirBalonStrategy(TeamStrategyBase):
latency = 150
do_visualize = True
THIS_SERVER = ('0.0.0.0', 9002)
CONTROL_SERVER = ('0.0.0.0', 9003)
serializer_class = VsssSerializerReal
def set_up(self):
super(SeguirBalonStrategy, self).set_up()
self.controller = Controller()
def strategy(self, data):
team = data.teams[self.team]
ball = data.ball
goal = Position(50, 50)
move = self.controller.go_to_from(goal, team[0])
print move
out_data = VsssOutData(moves=[move, Move(0, 0), Move(0, 0)])
return out_data
class BalonAlArcoStrategy(TeamStrategyBase):
CONTROL_SERVER = ('0.0.0.0', 9003)
serializer_class = VsssSerializerSimulator
do_visualize = True
latency = 100
print_iteration_time = False
visualizer_class = TrajectoryVisualizer
def set_up(self):
super(BalonAlArcoStrategy, self).set_up()
self.controller = Controller()
self.traj = TrajectorySCurve(r=10)
def strategy(self, data):
global trajectory
print "TEAM", data.teams
team = data.teams[self.team]
ball = data.ball
if my_side == 0:
goal = Position(-80,0)
else:
goal = Position(80,0)
Abg = ball.angle_to(goal) # angulo ball to goal
obj = RobotPosition(ball.x, ball.y, Abg)
current = team[1]
if current.distance_to(ball) <= 8:
new_obj = move_by_radius(ball.tonp(), 10, Abg)
obj = RobotPosition(new_obj[0], new_obj[1], Abg)
move = self.controller.go_with_trajectory(obj, current)
trajectory = self.traj.get_trajectory(obj, current, 10)
out_data = VsssOutData(moves=[
Move(0,0),
move,
Move(0,0),
])
return out_data
class EstimateSpeedStrategy(FirstTimeStrategy):
do_visualize = True
use_vision = True
latency = 0
THIS_SERVER = ('0.0.0.0', 9002)
CONTROL_SERVER = ('0.0.0.0', 9003)
serializer_class = VsssSerializerSimulator
def set_up(self):
super(EstimateSpeedStrategy, self).set_up()
self.controller = Controller()
self.one_points = []
self.two_points = []
self.three_points = []
def strategy(self, data):
team = data.teams[self.team]
for i, (robot, goal) in enumerate(zip(team, self.goals)):
if robot.distance_to(goal) < 2:
self.goals[i].x = -goal.x
def do_on_first_time(self, data):
self.goals = []
team = data.teams[self.team]
moves = []
for robot in team:
if robot.y > 0:
goal = RobotPosition(-60, robot.y, 180)
else:
goal = RobotPosition(60, robot.y, 0)
self.goals.append(goal)
moves.append(self.controller.go_to_from(goal, robot))
out_data = VsssOutData(moves=moves)
return out_data
class EstimateSpeedStrategy(FirstTimeStrategy):
do_visualize = True
use_vision = True
latency = 0
THIS_SERVER = ('0.0.0.0', 9002)
CONTROL_SERVER = ('0.0.0.0', 9003)
serializer_class = VsssSerializerSimulator
def set_up(self):
super(EstimateSpeedStrategy, self).set_up()
self.controller = Controller()
self.one_points = []
self.two_points = []
self.three_points = []
def strategy(self, data):
team = data.teams[self.team]
for i, (robot, goal) in enumerate(zip(team, self.goals)):
if robot.distance_to(goal) < 2:
self.goals[i].x = -goal.x
def do_on_first_time(self, data):
self.goals = []
team = data.teams[self.team]
moves = []
for robot in team:
if robot.y > 0:
goal = RobotPosition(-60, robot.y, 180)
else:
goal = RobotPosition(60, robot.y, 0)
self.goals.append(goal)
moves.append(self.controller.go_to_from(goal, robot))
out_data = VsssOutData(moves=moves)
return out_data
def set_up(self):
"""
Function to set robots position up and initialize the communication with
vision server
"""
super(GKStrategy, self).set_up()
self.sock.sendto('', self.VISION_SERVER)
#Array for Initial Position for each team, index 0 has red robot positions
InitialPositions = [
[
RobotPosition(0, 0, 180),
RobotPosition(50, 10, 180)
],
[
RobotPosition(0, 0, 0),
RobotPosition(-50, -10, 0)
]
]
#setting robot positions up
self.goalkeeper_controller = Controller()
def set_up(self):
super(VisionTestStrategy, self).set_up()
self.controller = Controller()
def set_up(self):
super(EstimateSpeedStrategy, self).set_up()
self.controller = Controller()
self.one_points = []
self.two_points = []
self.three_points = []
def set_up(self):
super(GoWithAngleStrategy, self).set_up()
self.controller = Controller()
self.file = open("data.txt", "w")
def set_up(self):
super(SeguirBalonStrategy, self).set_up()
self.controller = Controller()
def set_up(self):
super(BalonAlArcoStrategy, self).set_up()
self.controller = Controller()
self.traj = TrajectorySCurve(r=10)
def set_up(self):
super(GoWithAngleStrategy, self).set_up()
self.controller = Controller()
self.file = open("data.txt", "w")
def set_up(self):
super(VisionTestStrategy, self).set_up()
self.controller = Controller()
def set_up(self):
super(EstimateSpeedStrategy, self).set_up()
self.controller = Controller()
self.one_points = []
self.two_points = []
self.three_points = []
