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156 | class CursorAction(Action):
"""
Action used to move the cursor.
"""
def __init__(self, planner: "Planner", strategy: Strategy, weight: float = 2_000_000.0, unit_test: bool = True):
super().__init__("Cursor", planner, strategy)
self.custom_weight = weight
self.unit_test = unit_test
self.before_action_func = self.before_action
self.x = -810
self.y_approach = -1110
self.y_start = -1320
self.y_end = -785
self.approach_speed = 100
self.end_speed = 50
async def before_action(self):
self.logger.info(f"{self.name}: before_action")
self.poses.clear()
if self.unit_test:
self.planner.game_context.collection_areas[CollectionAreaID.LocalBottom].enabled = False
self.planner.game_context.collection_areas[CollectionAreaID.LocalBottomSide].enabled = False
if not self.planner.game_context.front_free:
self.orientation = 90
self.approach_direction = MotionDirection.BACKWARD_ONLY
self.direction = MotionDirection.FORWARD_ONLY
if Camp().color == Camp.Colors.blue:
self.arm_side = functools.partial(actuators.back_arm_left_side, self.planner)
self.arm_close = functools.partial(actuators.back_arm_left_close, self.planner)
self.arms_close = functools.partial(actuators.back_arms_close, self.planner)
self.opposite_arms_close = functools.partial(actuators.front_arms_close, self.planner)
else:
self.arm_side = functools.partial(actuators.back_arm_right_side, self.planner)
self.arm_close = functools.partial(actuators.back_arm_right_close, self.planner)
self.arms_close = functools.partial(actuators.back_arms_close, self.planner)
self.opposite_arms_close = functools.partial(actuators.front_arms_close, self.planner)
self.lift_up = functools.partial(actuators.back_lift_up, self.planner)
self.lift_mid = functools.partial(actuators.back_lift_mid, self.planner)
else:
self.orientation = -90
self.approach_direction = MotionDirection.FORWARD_ONLY
self.direction = MotionDirection.BACKWARD_ONLY
if Camp().color == Camp.Colors.blue:
self.arm_side = functools.partial(actuators.front_arm_right_side, self.planner)
self.arm_close = functools.partial(actuators.front_arm_right_close, self.planner)
self.arms_close = functools.partial(actuators.front_arms_close, self.planner)
self.opposite_arms_close = functools.partial(actuators.back_arms_close, self.planner)
else:
self.arm_side = functools.partial(actuators.front_arm_left_side, self.planner)
self.arm_close = functools.partial(actuators.front_arm_left_close, self.planner)
self.arms_close = functools.partial(actuators.front_arms_close, self.planner)
self.opposite_arms_close = functools.partial(actuators.back_arms_close, self.planner)
self.lift_up = functools.partial(actuators.front_lift_up, self.planner)
self.lift_mid = functools.partial(actuators.front_lift_mid, self.planner)
# Approach
approach_pose = AdaptedPose(
x=self.x,
y=self.y_approach,
O=self.orientation,
max_speed_linear=self.approach_speed,
max_speed_angular=self.approach_speed,
motion_direction=self.approach_direction,
before_pose_func=self.before_approach,
after_pose_func=self.after_approach,
)
self.poses.append(approach_pose)
self.logger.info(f"{self.name}: approach: {approach_pose.pose}")
# Start
start_pose = AdaptedPose(
x=self.x,
y=self.y_start,
O=self.orientation,
max_speed_linear=self.approach_speed,
max_speed_angular=self.approach_speed,
motion_direction=self.approach_direction,
before_pose_func=self.before_start,
after_pose_func=self.after_start,
)
self.poses.append(start_pose)
self.logger.info(f"{self.name}: start: {start_pose.pose}")
# End
end_pose = AdaptedPose(
x=self.x,
y=self.y_end,
O=self.orientation,
max_speed_linear=self.end_speed,
max_speed_angular=self.end_speed,
motion_direction=self.direction,
before_pose_func=self.before_end,
after_pose_func=self.after_end,
)
self.poses.append(end_pose)
self.logger.info(f"{self.name}: end: {end_pose.pose}")
async def before_approach(self):
self.logger.info(f"{self.name}: before_approach")
await self.lift_up()
await self.arms_close()
await self.opposite_arms_close()
async def after_approach(self):
self.logger.info(f"{self.name}: after_approach")
async def before_start(self):
self.logger.info(f"{self.name}: before_start")
async def after_start(self):
self.logger.info(f"{self.name}: after_start")
async def before_end(self):
self.logger.info(f"{self.name}: before_end")
duration_arm = await self.arm_side()
duration_lift = await self.lift_mid()
await asyncio.sleep(max(duration_arm, duration_lift / 2))
async def after_end(self):
self.logger.info(f"{self.name}: after_end")
self.planner.game_context.cursor_moved = True
duration_arm = await self.arm_close()
duration_lift = await self.lift_up()
await asyncio.sleep(max(duration_arm, duration_lift / 2))
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
if not self.unit_test:
if self.planner.game_context.collection_areas[CollectionAreaID.LocalBottomSide].enabled:
self.logger.info(f"{self.name}: Rejected: local bottom side collection area is not empty")
return 0
return self.custom_weight
|