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209 | class AlignTopCornerAction(Action):
"""
Action used to align the robot on the top corner (blue camp by default) before game start.
"""
def __init__(
self,
planner: "Planner",
strategy: Strategy,
*,
final_pose: models.Pose | None = None,
reset_countdown=False,
weight: float = 2000000.0,
):
self.final_pose = final_pose
self.reset_countdown = reset_countdown
self.custom_weight = weight
super().__init__("Align Top Corner action", planner, strategy)
self.before_action_func = self.before_action
self.after_action_func = self.after_action
self.align_x = 700
self.align_y = -1300
self.border_offset = 115
def set_avoidance(self, new_strategy: AvoidanceStrategy):
self.logger.info(f"{self.name}: set avoidance to {new_strategy.name}")
self.planner.shared_properties.avoidance_strategy = new_strategy.val
async def init_start_pose(self):
pass
async def before_action(self):
self.logger.info(f"{self.name}: before_action")
self.avoidance_backup = AvoidanceStrategy(self.planner.shared_properties.avoidance_strategy)
self.set_avoidance(AvoidanceStrategy.Disabled)
self.disable_fixed_obstacles_backup = self.planner.shared_properties.disable_fixed_obstacles
self.planner.shared_properties.disable_fixed_obstacles = True
self.start_position = self.planner.start_positions.get()
if not self.final_pose:
self.final_pose = self.start_position
await self.init_start_pose()
# Align top
pose = Pose(
x=1100,
y=self.start_position.y,
O=180,
max_speed_linear=5,
max_speed_angular=5,
motion_direction=MotionDirection.BACKWARD_ONLY,
bypass_anti_blocking=True,
timeout_ms=0,
bypass_final_orientation=True,
before_pose_func=self.before_align_top,
after_pose_func=self.after_align_top,
)
if self.planner.shared_properties.table == TableEnum.Training:
pose.x -= 1000
self.poses.append(pose)
async def before_align_top(self):
self.logger.info(f"{self.name}: before_align_top")
await actuators.front_arms_open(self.planner)
await actuators.back_arms_open(self.planner)
await actuators.front_lift_mid(self.planner)
await actuators.back_lift_mid(self.planner)
async def after_align_top(self):
self.logger.info(f"{self.name}: after_align_top")
pose_current = self.planner.pose_current
new_pose_current = Pose(
x=1000 - self.border_offset,
y=pose_current.y,
O=180,
)
if self.planner.shared_properties.table == TableEnum.Training:
new_pose_current.x -= 1000
self.planner.shared_pose_current_buffer.push(new_pose_current.x, new_pose_current.y, new_pose_current.O)
await self.planner.sio_ns.emit("pose_start", new_pose_current.pose.model_dump())
await asyncio.sleep(0.5)
# Step forward from top
pose = Pose(
x=self.start_position.x,
y=pose_current.y,
O=180,
max_speed_linear=10,
max_speed_angular=10,
motion_direction=MotionDirection.FORWARD_ONLY,
bypass_final_orientation=False,
before_pose_func=self.before_step_forward_from_top,
after_pose_func=self.after_step_forward_from_top,
)
self.poses.append(pose)
async def before_step_forward_from_top(self):
self.logger.info(f"{self.name}: before_step_forward_from_top")
async def after_step_forward_from_top(self):
self.logger.info(f"{self.name}: after_step_forward_from_top")
pose_current = self.planner.pose_current
# Align side
pose = AdaptedPose(
x=pose_current.x,
y=-1600,
O=90,
max_speed_linear=5,
max_speed_angular=20,
motion_direction=MotionDirection.BACKWARD_ONLY,
bypass_anti_blocking=True,
timeout_ms=0,
bypass_final_orientation=True,
before_pose_func=self.before_align_side,
after_pose_func=self.after_align_side,
)
self.poses.append(pose)
async def before_align_side(self):
self.logger.info(f"{self.name}: before_align_side")
async def after_align_side(self):
self.logger.info(f"{self.name}: after_align_side")
pose_current = self.planner.pose_current
new_pose_current = AdaptedPose(
x=pose_current.x,
y=-1500 + self.border_offset,
O=90,
)
self.planner.shared_pose_current_buffer.push(new_pose_current.x, new_pose_current.y, new_pose_current.O)
await self.planner.sio_ns.emit("pose_start", new_pose_current.pose.model_dump())
await asyncio.sleep(0.5)
# Step forward from side
pose = Pose(
x=pose_current.x,
y=self.start_position.y,
O=90,
max_speed_linear=10,
max_speed_angular=10,
motion_direction=MotionDirection.FORWARD_ONLY,
bypass_final_orientation=False,
before_pose_func=self.before_step_forward_from_side,
after_pose_func=self.after_step_forward_from_side,
)
self.poses.append(pose)
async def before_step_forward_from_side(self):
self.logger.info(f"{self.name}: before_step_forward_from_side")
async def after_step_forward_from_side(self):
self.logger.info(f"{self.name}: after_step_forward_from_side")
# Final pose
pose = Pose(
x=self.final_pose.x,
y=self.final_pose.y,
O=self.final_pose.O,
max_speed_linear=10,
max_speed_angular=10,
motion_direction=MotionDirection.BIDIRECTIONAL,
before_pose_func=self.before_final_pose,
after_pose_func=self.after_final_pose,
)
self.poses.append(pose)
async def before_final_pose(self):
self.logger.info(f"{self.name}: before_final_pose")
async def after_final_pose(self):
self.logger.info(f"{self.name}: after_final_pose")
await actuators.front_arms_close(self.planner)
await actuators.back_arms_close(self.planner)
await actuators.front_lift_down(self.planner)
await actuators.back_lift_down(self.planner)
async def after_action(self):
self.logger.info(f"{self.name}: after_action")
self.set_avoidance(self.avoidance_backup)
self.planner.shared_properties.disable_fixed_obstacles = self.disable_fixed_obstacles_backup
if self.reset_countdown:
now = datetime.now(UTC)
self.planner.countdown_start_timestamp = now
await self.planner.sio_ns.emit(
"start_countdown",
(self.planner.robot_id, self.planner.game_context.game_duration, now.isoformat(), "deepskyblue"),
)
def weight(self) -> float:
return self.custom_weight
|