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134 | class AlignAction(Action):
"""
Action used align the robot before game start.
"""
def __init__(self, planner: "Planner", actions: Actions):
super().__init__("Align action", planner, actions)
self.before_action_func = self.init_poses
def set_avoidance(self, new_strategy: AvoidanceStrategy):
self.game_context.avoidance_strategy = new_strategy
self.planner.shared_properties["avoidance_strategy"] = new_strategy
async def init_poses(self):
self.start_pose = models.Pose(
x=self.planner.pose_current.x,
y=self.planner.pose_current.y,
O=self.planner.pose_current.O,
)
self.start_avoidance = self.game_context.avoidance_strategy
if Camp().adapt_y(self.start_pose.y) > 0:
# Do not do alignment if the robot is in the opposite start position because it is not in a corner
return
pose1 = AdaptedPose(
x=self.start_pose.x,
y=-1700 + self.game_context.properties.robot_length / 2,
O=0,
max_speed_linear=5,
max_speed_angular=5,
allow_reverse=True,
bypass_anti_blocking=True,
timeout_ms=0, # TODO
bypass_final_orientation=True,
before_pose_func=self.before_pose1,
after_pose_func=self.after_pose1,
)
self.poses.append(pose1)
async def before_pose1(self):
self.set_avoidance(AvoidanceStrategy.Disabled)
async def after_pose1(self):
self.set_avoidance(self.start_avoidance)
current_pose = models.Pose(
x=self.planner.pose_current.x,
y=self.planner.pose_current.y,
O=self.planner.pose_current.O,
)
current_pose.y = Camp().adapt_y(-1500 + self.game_context.properties.robot_length / 2)
current_pose.O = Camp().adapt_angle(90)
await self.planner.sio_ns.emit("pose_start", current_pose.model_dump())
pose2 = AdaptedPose(
x=current_pose.x,
y=-1250,
O=180 if current_pose.x > 0 else 0,
max_speed_linear=20,
max_speed_angular=20,
allow_reverse=False,
)
self.poses.append(pose2)
if current_pose.x > 0:
x = 1200 - self.game_context.properties.robot_length / 2
else:
x = -1200 + self.game_context.properties.robot_length / 2
pose3 = AdaptedPose(
x=x,
y=-1250,
O=0,
max_speed_linear=5,
max_speed_angular=5,
allow_reverse=True,
bypass_anti_blocking=True,
timeout_ms=0, # TODO
bypass_final_orientation=True,
before_pose_func=self.before_pose3,
after_pose_func=self.after_pose3,
)
self.poses.append(pose3)
async def before_pose3(self):
self.set_avoidance(AvoidanceStrategy.Disabled)
async def after_pose3(self):
self.set_avoidance(self.start_avoidance)
current_pose = models.Pose(
x=self.planner.pose_current.x,
y=self.planner.pose_current.y,
O=self.planner.pose_current.O,
)
if current_pose.x > 0:
current_pose.x = 1000 - self.game_context.properties.robot_length / 2
else:
current_pose.x = -1000 + self.game_context.properties.robot_length / 2
current_pose.O = 180 if current_pose.x > 0 else 0
await self.planner.sio_ns.emit("pose_start", current_pose.model_dump())
pose4 = Pose(
x=730 if current_pose.x > 0 else -730,
y=current_pose.y,
O=current_pose.O,
max_speed_linear=33,
max_speed_angular=33,
allow_reverse=False,
)
self.poses.append(pose4)
pose5 = Pose(
x=self.start_pose.x,
y=self.start_pose.y,
O=self.start_pose.O,
max_speed_linear=33,
max_speed_angular=33,
allow_reverse=True,
)
self.poses.append(pose5)
def weight(self) -> float:
return 1000000.0
|