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 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 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