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36 lines
1.1 KiB
Python
36 lines
1.1 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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p1 = Agent(a.i, a.p, a.m, a.u, a.r, a.t)
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p2 = Agent(a.i, a.p, a.m, a.u, a.r, "Opponent")
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players = [p1,p2]
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p1.scom.unofficial_beam((-3,0,p1.world.robot.beam_height), 0)
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p2.scom.unofficial_beam((-3,0,p2.world.robot.beam_height), 0)
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getting_up = [False]*2
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while True:
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for i in range(len(players)):
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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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p.scom.commit_and_send( w.robot.get_command() )
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# all players must commit and send before the server updates
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p1.scom.receive()
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p2.scom.receive()
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