Init gym

scripts/utils/Behaviors.py

@@ -0,0 +1,55 @@
+from agent.Base_Agent import Base_Agent as Agent
+from scripts.commons.Script import Script
+from scripts.commons.UI import UI
+
+class Behaviors():
+
+    def __init__(self,script:Script) -> None:
+        self.script = script
+        self.player : Agent = None
+
+    def ask_for_behavior(self):
+        names, descriptions = self.player.behavior.get_all_behaviors()
+
+        UI.print_table( [names,descriptions], ["Behavior Name","Description"], numbering=[True,False])
+        choice, is_str_opt = UI.read_particle('Choose behavior ("" to skip 2 time steps, "b" to beam, ctrl+c to return): ',["","b"],int,[0,len(names)])
+        if is_str_opt: return choice #skip 2 time steps or quit
+        return names[choice]
+
+    def sync(self):
+        self.player.scom.commit_and_send( self.player.world.robot.get_command() ) 
+        self.player.scom.receive()
+
+    def beam(self):
+        self.player.scom.unofficial_beam((-2.5,0,self.player.world.robot.beam_height),0)
+        for _ in range(5): 
+            self.sync()
+
+    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
+        behavior = self.player.behavior
+
+        self.beam()
+        self.player.scom.unofficial_set_play_mode("PlayOn")
+
+        # Special behaviors
+        special_behaviors = {"Step":(), "Basic_Kick":(0,), "Walk":((0.5,0),False,0,False,None), "Dribble":(None,None)}
+
+        while True:
+            behavior_name = self.ask_for_behavior()
+            if behavior_name == 0: # skip 2 time steps (user request)
+                self.sync()
+                self.sync()
+            elif behavior_name == 1: # beam
+                self.beam() 
+            else:
+                if behavior_name in special_behaviors: # not using execute_to_completion to abort behavior after a timeout
+                    duration = UI.read_int("For how many time steps [1,1000]? ", 1, 1001)
+                    for _ in range(duration): 
+                        if behavior.execute(behavior_name, *special_behaviors[behavior_name]): 
+                            break # break if behavior ends
+                        self.sync()
+                else:
+                    behavior.execute_to_completion(behavior_name)