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35 lines
1.2 KiB
Python
35 lines
1.2 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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# This could be done in 1 line, but calling batch_create twice enhances readability
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script.batch_create(Agent, ((a.i,a.p,a.m,u+1,a.r,"Home") for u in range(3)) )
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script.batch_create(Agent, ((a.i,a.p,a.m,u+1,a.r,"Away") for u in range(3)) )
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players = script.players
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p_num = len(players) # total number of players
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script.batch_unofficial_beam( (-3, 4.5-abs(3*i-7.5), 0.5, 0) for i in range(p_num) )
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getting_up = [False]*p_num
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while True:
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for i in range(p_num):
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p = players[i]
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w = p.world
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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 p.behavior.is_ready("Get_Up") or getting_up[i]:
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getting_up[i] = not p.behavior.execute("Get_Up") # True on completion
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else:
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p.behavior.execute("Basic_Kick", goal_dir)
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script.batch_commit_and_send()
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script.batch_receive()
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