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227 | class CaptureGranaryAction(Action):
"""
Action used to capture crates on the granary border.
"""
def __init__(
self,
planner: "Planner",
strategy: Strategy,
weight: float = 2_000_000.0,
):
self.custom_weight = weight
super().__init__("CaptureGranary", planner, strategy)
self.before_action_func = self.before_action
self.disable_fixed_obstacles_backup: bool | None = None
self.border_offset = 115
self.align_granary_border_x = 1000 - 450 - self.border_offset
self.y = -700
# Shifts from the align pose
self.shift_approach = 110
self.shift_capture_front = 15
self.shift_capture_back = 15
self.shift_step_back = 150
if Camp().color == Camp.Colors.blue:
self.good_crate_id = 36
self.bad_crate_id = 47
else:
self.good_crate_id = 47
self.bad_crate_id = 36
async def recycle(self):
self.recycled = True
if self.disable_fixed_obstacles_backup is not None:
self.planner.shared_properties.disable_fixed_obstacles = self.disable_fixed_obstacles_backup
self.disable_fixed_obstacles_backup = None
async def init_start_pose(self):
pass
async def before_action(self):
self.logger.info(f"{self.name}: before_action")
self.poses.clear()
# # TODO: force back, to remove
# self.planner.game_context.front_free = False
if self.planner.game_context.front_free:
self.logger.info(f"{self.name}: before_action: front selected")
self.side = "front"
self.shift_capture = self.shift_capture_front
self.crates_ids = self.planner.game_context.front_crates
self.arms_open = functools.partial(actuators.front_arms_open, self.planner)
self.arms_close = functools.partial(actuators.front_arms_close, self.planner)
self.grips_open = functools.partial(actuators.front_grips_open, self.planner)
self.grips_close = functools.partial(actuators.front_grips_close, self.planner)
self.lift_granary = functools.partial(actuators.front_lift_granary, self.planner)
self.lift_up = functools.partial(actuators.front_lift_up, self.planner)
else:
self.logger.info(f"{self.name}: before_action: back selected")
self.side = "back"
self.shift_capture = self.shift_capture_back
self.crates_ids = self.planner.game_context.back_crates
self.arms_open = functools.partial(actuators.back_arms_open, self.planner)
self.arms_close = functools.partial(actuators.back_arms_close, self.planner)
self.grips_open = functools.partial(actuators.back_grips_open, self.planner)
self.grips_close = functools.partial(actuators.back_grips_close, self.planner)
self.lift_granary = functools.partial(actuators.back_lift_granary, self.planner)
self.lift_up = functools.partial(actuators.back_lift_up, self.planner)
await self.init_start_pose()
# Approach
approach_pose = AdaptedPose(
x=self.align_granary_border_x - self.shift_approach,
y=self.y,
O=0 if self.side == "front" else 180,
max_speed_linear=100,
max_speed_angular=100,
motion_direction=MotionDirection.BIDIRECTIONAL,
bypass_final_orientation=False,
before_pose_func=self.before_approach,
after_pose_func=self.after_approach,
)
self.poses.append(approach_pose)
self.logger.info(
f"{self.name}: approach: x={approach_pose.x: 5.2f} y={approach_pose.y: 5.2f} O={approach_pose.O: 3.2f}°"
)
# Align
align_pose = AdaptedPose(
x=self.align_granary_border_x + 20,
y=self.y,
O=0 if self.side == "front" else 180,
max_speed_linear=5,
max_speed_angular=5,
motion_direction=(MotionDirection.FORWARD_ONLY if self.side == "front" else MotionDirection.BACKWARD_ONLY),
bypass_anti_blocking=True,
bypass_final_orientation=True,
timeout_ms=0,
before_pose_func=self.before_align,
after_pose_func=self.after_align,
)
self.poses.append(align_pose)
self.logger.info(f"{self.name}: align: x={align_pose.x: 5.2f} y={align_pose.y: 5.2f} O={align_pose.O: 3.2f}°")
# Capture
capture_pose = AdaptedPose(
x=self.align_granary_border_x - self.shift_capture,
y=self.y,
O=0 if self.side == "front" else 180,
max_speed_linear=10,
max_speed_angular=10,
motion_direction=(MotionDirection.BACKWARD_ONLY if self.side == "front" else MotionDirection.FORWARD_ONLY),
bypass_final_orientation=True,
before_pose_func=self.before_capture,
after_pose_func=self.after_capture,
)
self.poses.append(capture_pose)
self.logger.info(
f"{self.name}: capture: x={capture_pose.x: 5.2f} y={capture_pose.y: 5.2f} O={capture_pose.O: 3.2f}°"
)
# Step back
step_back_pose = AdaptedPose(
x=self.align_granary_border_x - self.shift_step_back,
y=self.y,
O=0 if self.side == "front" else 180,
max_speed_linear=100,
max_speed_angular=100,
motion_direction=(MotionDirection.BACKWARD_ONLY if self.side == "front" else MotionDirection.FORWARD_ONLY),
bypass_final_orientation=True,
before_pose_func=self.before_step_back,
after_pose_func=self.after_step_back,
)
self.poses.append(step_back_pose)
self.logger.info(
f"{self.name}: step back: x={step_back_pose.x: 5.2f} y={step_back_pose.y: 5.2f} O={step_back_pose.O: 3.2f}°"
)
async def before_approach(self):
self.logger.info(f"{self.name}: before_approach")
if self.planner.game_context.front_free:
await actuators.front_arms_close(self.planner)
await actuators.front_lift_up(self.planner)
if self.planner.game_context.back_free:
await actuators.back_arms_close(self.planner)
await actuators.back_lift_up(self.planner)
async def after_approach(self):
self.logger.info(f"{self.name}: after_approach")
async def before_align(self):
self.logger.info(f"{self.name}: before_align")
self.disable_fixed_obstacles_backup = self.planner.shared_properties.disable_fixed_obstacles
self.planner.shared_properties.disable_fixed_obstacles = True
await self.lift_granary()
await self.arms_open()
self.logger.info(f"{self.name}: before_align end")
async def after_align(self):
self.logger.info(f"{self.name}: after_align")
pose_current = self.planner.pose_current
new_pose_current = Pose(
x=self.align_granary_border_x,
y=pose_current.y,
O=0 if self.side == "front" else 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)
async def before_capture(self):
self.logger.info(f"{self.name}: before_capture")
async def after_capture(self):
self.logger.info(f"{self.name}: after_capture")
await self.grips_open()
duration = await self.arms_close()
await asyncio.sleep(duration / 2)
async def before_step_back(self):
self.logger.info(f"{self.name}: before_step_back")
async def after_step_back(self):
self.logger.info(f"{self.name}: after_step_back")
self.planner.shared_properties.disable_fixed_obstacles = self.disable_fixed_obstacles_backup
self.disable_fixed_obstacles_backup = None
# Wait for the crates to stop moving
await asyncio.sleep(0.5)
duration = await self.lift_up()
await asyncio.sleep(duration / 2)
duration = await self.grips_close()
await asyncio.sleep(duration)
self.crates_ids[:] = [self.good_crate_id, self.good_crate_id, self.good_crate_id, self.good_crate_id]
# # TODO: force back, to remove
# self.planner.game_context.front_free = True
def weight(self) -> float:
if not self.planner.game_context.front_free and not self.planner.game_context.back_free:
self.logger.info(f"{self.name}: Rejected: both front and back are full")
return 0
return self.custom_weight
|