Init gym

scripts/utils/Beam.py

@@ -0,0 +1,60 @@
+
+from agent.Base_Agent import Base_Agent as Agent
+from scripts.commons.Script import Script
+from time import sleep
+
+
+class Beam():
+    def __init__(self, script:Script) -> None:
+        self.script = script
+
+    def ask_for_input(self,prompt, default):
+        try:
+            inp=input(prompt)
+            return float(inp)
+        except ValueError:
+            if inp != '':
+                print("Illegal input:", inp, "\n")
+            return default
+
+    def beam_and_update(self,x,y,rot):
+        r = self.player.world.robot
+        d = self.player.world.draw
+
+        d.annotation((x,y,0.7), f"x:{x} y:{y} r:{rot}", d.Color.yellow, "pos_label")
+
+        self.player.scom.unofficial_beam((x,y,r.beam_height),rot)
+        for _ in range(10): # run multiple times to beam and then simulate eventual collisions (e.g. goal posts)
+            sleep(0.03)
+            self.player.behavior.execute("Zero")
+            self.player.scom.commit_and_send( r.get_command() )
+            self.player.scom.receive()
+
+    def execute(self):
+
+        a = self.script.args    
+        self.player = Agent(a.i, a.p, a.m, a.u, a.r, a.t) # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name
+        d = self.player.world.draw
+
+        self.player.scom.unofficial_set_play_mode("PlayOn")
+
+        # Draw grid
+        for x in range(-15,16):
+            for y in range(-10,11):
+                d.point((x,y), 6, d.Color.red, "grid", False)
+        d.flush("grid")
+         
+        for _ in range(10): # Initialize
+            self.player.scom.send()
+            self.player.scom.receive()
+
+        print("\nBeam player to coordinates + orientation:")
+
+        x=y=a=0
+        while True: # Beam self.player to given position
+            x = self.ask_for_input(f"\nInput x coordinate       ('' to send {x:5} again, ctrl+c to return): ",x)
+            self.beam_and_update(x,y,a)
+            y = self.ask_for_input(  f"Input y coordinate       ('' to send {y:5} again, ctrl+c to return): ",y)
+            self.beam_and_update(x,y,a)
+            a = self.ask_for_input(  f"Orientation -180 to 180  ('' to send {a:5} again, ctrl+c to return): ",a)
+            self.beam_and_update(x,y,a)