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55 lines
2.2 KiB
Python
55 lines
2.2 KiB
Python
from agent.Base_Agent import Base_Agent as Agent
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from scripts.commons.Script import Script
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from scripts.commons.UI import UI
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class Behaviors():
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def __init__(self,script:Script) -> None:
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self.script = script
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self.player : Agent = None
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def ask_for_behavior(self):
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names, descriptions = self.player.behavior.get_all_behaviors()
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UI.print_table( [names,descriptions], ["Behavior Name","Description"], numbering=[True,False])
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choice, is_str_opt = UI.read_particle('Choose behavior ("" to skip 2 time steps, "b" to beam, ctrl+c to return): ',["","b"],int,[0,len(names)])
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if is_str_opt: return choice #skip 2 time steps or quit
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return names[choice]
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def sync(self):
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self.player.scom.commit_and_send( self.player.world.robot.get_command() )
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self.player.scom.receive()
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def beam(self):
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self.player.scom.unofficial_beam((-2.5,0,self.player.world.robot.beam_height),0)
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for _ in range(5):
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self.sync()
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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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behavior = self.player.behavior
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self.beam()
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self.player.scom.unofficial_set_play_mode("PlayOn")
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# Special behaviors
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special_behaviors = {"Step":(), "Basic_Kick":(0,), "Walk":((0.5,0),False,0,False,None), "Dribble":(None,None)}
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while True:
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behavior_name = self.ask_for_behavior()
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if behavior_name == 0: # skip 2 time steps (user request)
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self.sync()
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self.sync()
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elif behavior_name == 1: # beam
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self.beam()
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else:
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if behavior_name in special_behaviors: # not using execute_to_completion to abort behavior after a timeout
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duration = UI.read_int("For how many time steps [1,1000]? ", 1, 1001)
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for _ in range(duration):
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if behavior.execute(behavior_name, *special_behaviors[behavior_name]):
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break # break if behavior ends
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self.sync()
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else:
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behavior.execute_to_completion(behavior_name) |