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60 lines
2.1 KiB
Python
60 lines
2.1 KiB
Python
7 months ago
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from agent.Base_Agent import Base_Agent as Agent
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from scripts.commons.Script import Script
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from time import sleep
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class Beam():
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def __init__(self, script:Script) -> None:
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self.script = script
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def ask_for_input(self,prompt, default):
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try:
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inp=input(prompt)
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return float(inp)
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except ValueError:
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if inp != '':
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print("Illegal input:", inp, "\n")
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return default
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def beam_and_update(self,x,y,rot):
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r = self.player.world.robot
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d = self.player.world.draw
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d.annotation((x,y,0.7), f"x:{x} y:{y} r:{rot}", d.Color.yellow, "pos_label")
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self.player.scom.unofficial_beam((x,y,r.beam_height),rot)
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for _ in range(10): # run multiple times to beam and then simulate eventual collisions (e.g. goal posts)
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sleep(0.03)
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self.player.behavior.execute("Zero")
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self.player.scom.commit_and_send( r.get_command() )
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self.player.scom.receive()
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def execute(self):
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a = self.script.args
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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
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d = self.player.world.draw
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self.player.scom.unofficial_set_play_mode("PlayOn")
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# Draw grid
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for x in range(-15,16):
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for y in range(-10,11):
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d.point((x,y), 6, d.Color.red, "grid", False)
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d.flush("grid")
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for _ in range(10): # Initialize
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self.player.scom.send()
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self.player.scom.receive()
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print("\nBeam player to coordinates + orientation:")
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x=y=a=0
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while True: # Beam self.player to given position
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x = self.ask_for_input(f"\nInput x coordinate ('' to send {x:5} again, ctrl+c to return): ",x)
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self.beam_and_update(x,y,a)
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y = self.ask_for_input( f"Input y coordinate ('' to send {y:5} again, ctrl+c to return): ",y)
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self.beam_and_update(x,y,a)
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a = self.ask_for_input( f"Orientation -180 to 180 ('' to send {a:5} again, ctrl+c to return): ",a)
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self.beam_and_update(x,y,a)
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