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74 lines
3.5 KiB
Python
74 lines
3.5 KiB
Python
7 months ago
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from agent.Base_Agent import Base_Agent as Agent
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from itertools import count
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from scripts.commons.Script import Script
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'''
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How does communication work?
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The say command allows a player to broadcast a message to everyone on the field
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Message range: 50m (the field is 36m diagonally, so ignore this limitation)
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The hear perceptor indicates 3 things:
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- the message
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- the origin team
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- the origin absolute angle (set to "self" if the message was sent by oneself)
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Messages are heard in the next step.
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Messages are only sent every 2 steps (0.04s).
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Messages sent in muted steps are only heard by oneself.
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In one time step, a player can only hear one other player besides itself.
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If two other players say something, only the first message is heard.
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This ability exists independetly for messages from both teams.
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In theory, a player can hear its own message + the 1st teammate to speak + the 1st opponent to speak
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In practice, the opponent doesn't matter because our team's parser ignores messages from other teams
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Message characteristics:
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Maximum 20 characters, ascii between 0x20, 0x7E except ' ', '(', ')'
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Accepted: letters+numbers+symbols: !"#$%&'*+,-./:;<=>?@[\]^_`{|}~
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However, due to a server bug, sending ' or " ends the message sooner
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'''
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class Team_Communication():
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def __init__(self,script:Script) -> None:
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self.script = script
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def player1_hear(self, msg:bytes, direction, timestamp:float) -> None:
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print(f"Player 1 heard: {msg.decode():20} from:{direction:7} timestamp:{timestamp}")
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def player2_hear(self, msg:bytes, direction, timestamp:float) -> None:
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print(f"Player 2 heard: {msg.decode():20} from:{direction:7} timestamp:{timestamp}")
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def player3_hear(self, msg:bytes, direction, timestamp:float) -> None:
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print(f"Player 3 heard: {msg.decode():20} from:{direction:7} timestamp:{timestamp}")
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def execute(self):
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a = self.script.args
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hear_callbacks = (self.player1_hear, self.player2_hear, self.player3_hear)
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# Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw, Play Mode Correction, Wait for Server, Hear Callback
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self.script.batch_create(Agent, ((a.i,a.p,a.m,i+1,0,a.t,True,True,False,True,clbk) for i,clbk in enumerate(hear_callbacks)))
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p1:Agent = self.script.players[0]
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p2:Agent = self.script.players[1]
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p3:Agent = self.script.players[2]
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# Beam players
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self.script.batch_commit_beam( [(-2,i,45) for i in range(3)] )
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for i in count():
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msg1 = b"I_am_p1!_no:"+str(i).encode()
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msg2 = b"I_am_p2!_no:"+str(i).encode()
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msg3 = b"I_am_p3!_no:"+str(i).encode()
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p1.scom.commit_announcement(msg1) # commit message
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p2.scom.commit_announcement(msg2) # commit message
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p3.scom.commit_announcement(msg3) # commit message
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self.script.batch_commit_and_send() # send message
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print(f"Player 1 sent: {msg1.decode()} HEX: {' '.join([f'{m:02X}' for m in msg1])}")
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print(f"Player 2 sent: {msg2.decode()} HEX: {' '.join([f'{m:02X}' for m in msg2])}")
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print(f"Player 3 sent: {msg3.decode()} HEX: {' '.join([f'{m:02X}' for m in msg3])}")
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self.script.batch_receive()
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input("Press enter to continue or ctrl+c to return.")
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