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30 lines
1.5 KiB
Python
30 lines
1.5 KiB
Python
7 months ago
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from agent.Base_Agent import Base_Agent as Agent
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from math_ops.Math_Ops import Math_Ops as M
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from scripts.commons.Script import Script
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script = Script()
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a = script.args
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# Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name
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player = Agent(a.i, a.p, a.m, a.u, a.r, a.t, enable_draw=True)
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w = player.world
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player.scom.unofficial_beam((-3,0,w.robot.beam_height), 0)
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getting_up = False
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while True:
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player_2d = w.robot.loc_head_position[:2]
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ball_2d = w.ball_abs_pos[:2]
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goal_dir = M.vector_angle( (15,0)-player_2d ) # Goal direction
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if player.behavior.is_ready("Get_Up") or getting_up:
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getting_up = not player.behavior.execute("Get_Up") # True on completion
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else:
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if ball_2d[0] > 0: # kick if ball is on opponent's side (x>0)
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player.behavior.execute("Basic_Kick", goal_dir)
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elif M.distance_point_to_segment(player_2d,ball_2d, ball_2d+ M.normalize_vec( ball_2d-(15,0) ) ) > 0.1: # not aligned
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next_pos, next_ori, dist = player.path_manager.get_path_to_ball(x_ori=goal_dir, x_dev=-0.3, torso_ori=goal_dir)
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player.behavior.execute("Walk", next_pos, True, next_ori, True, dist)
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else: # Robot is aligned
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player.behavior.execute("Walk", (15,0), True, goal_dir, True, 0.5)
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player.scom.commit_and_send( w.robot.get_command() )
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player.scom.receive()
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w.draw.annotation((*player_2d,0.6),"Hello!",w.draw.Color.white,"my_info",flush=False)
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w.draw.line(player_2d, ball_2d, 3, w.draw.Color.yellow, "my_info", flush=True)
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