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198 | class GameContext(metaclass=Singleton):
"""
A class recording the current game context.
"""
def __init__(self):
from .properties import Properties
self.properties = Properties()
self.game_duration: int = 90 if self.properties.robot_id == 1 else 100
self.minimum_score: int = 0
self.camp = Camp()
self.avoidance_strategy = AvoidanceStrategy.AvoidanceCpp
self.reset()
@property
def table(self) -> Table:
"""
Selected table.
"""
return tables[self.properties.table]
def reset(self):
"""
Reset the context.
"""
self.playing = False
self.score = self.minimum_score
self.countdown = self.game_duration
self.create_start_poses()
self.create_artifacts()
self.create_fixed_obstacles()
self.create_actuators_states()
@property
def default_controller(self) -> ControllerEnum:
match self.properties.strategy:
case actions.Strategy.PidAngularSpeedTest:
return ControllerEnum.ANGULAR_SPEED_TEST
case actions.Strategy.PidLinearSpeedTest:
return ControllerEnum.LINEAR_SPEED_TEST
case _:
return ControllerEnum.QUADPID
def get_start_pose(self, n: StartPosition) -> Pose:
"""
Define the possible start positions.
Default positions for blue camp.
"""
return self.start_poses.get(n, AdaptedPose())
def create_start_poses(self):
self.start_poses = {
StartPosition.Bottom: AdaptedPose(
x=-550 - self.properties.robot_length / 2,
y=-100 - self.properties.robot_width / 2,
O=0,
),
StartPosition.Top: AdaptedPose(
x=550 + self.properties.robot_length / 2,
y=-900 - self.properties.robot_width / 2,
O=180,
),
StartPosition.Opposite: AdaptedPose(
x=-350 + self.properties.robot_width / 2,
y=1050 + self.properties.robot_length / 2,
O=-90,
),
StartPosition.PAMI2: AdaptedPose(
x=550 + self.properties.robot_width * 0.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
StartPosition.PAMI3: AdaptedPose(
x=550 + self.properties.robot_width * 1.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
StartPosition.PAMI4: AdaptedPose(
x=550 + self.properties.robot_width * 2.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
StartPosition.PAMI5: AdaptedPose(
x=550 + self.properties.robot_width * 3.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
}
# Adapt poses for training table
if self.properties.table == TableEnum.Training:
self.start_poses[StartPosition.Top].x -= 1000
self.start_poses[StartPosition.PAMI2].x -= 1000
self.start_poses[StartPosition.PAMI3].x -= 1000
self.start_poses[StartPosition.PAMI4].x -= 1000
self.start_poses[StartPosition.PAMI5].x -= 1000
def get_available_start_poses(self) -> list[StartPosition]:
"""
Get start poses available depending on camp and table.
"""
start_pose_indices = []
for p in StartPosition:
if self.properties.robot_id == 1 and p not in [
StartPosition.Top,
StartPosition.Bottom,
StartPosition.Opposite,
]:
continue
pose = self.get_start_pose(p)
if self.table.contains(pose):
start_pose_indices.append(p)
return start_pose_indices
def create_artifacts(self):
# Positions are related to the default camp blue.
self.construction_areas: dict[ConstructionAreaID, ConstructionArea] = {}
self.opponent_construction_areas: dict[ConstructionAreaID, ConstructionArea] = {}
self.tribunes: dict[TribuneID, Tribune] = {}
# Construction areas
for id, area in construction_area_positions.items():
match id:
case ConstructionAreaID.LocalBottomSmall | ConstructionAreaID.OppositeBottomSmall:
ConstructionAreaClass = ConstructionAreaSmall
case _:
ConstructionAreaClass = ConstructionAreaLarge
adapted_pose = AdaptedPose(**area.model_dump())
self.construction_areas[id] = ConstructionAreaClass(**adapted_pose.model_dump(), id=id, enabled=False)
self.opponent_construction_areas[id] = ConstructionAreaClass(
x=adapted_pose.x,
y=-adapted_pose.y,
O=-adapted_pose.O,
id=id,
)
for id, tribune in tribune_positions.items():
adapted_pose = AdaptedPose(**tribune.model_dump())
self.tribunes[id] = Tribune(**adapted_pose.model_dump(), id=id)
if self.properties.table == TableEnum.Training:
self.opponent_construction_areas[ConstructionAreaID.OppositeCenterLarge].enabled = False
def create_fixed_obstacles(self):
# Positions are related to the default camp blue.
self.fixed_obstacles: list[DynObstacleRect] = []
# Opponent starting area, ramp and scene.
pose = AdaptedPose(x=775, y=750)
self.fixed_obstacles += [DynObstacleRect(x=pose.x, y=pose.y, angle=0, length_x=450, length_y=1500)]
# Ramp and scene except for robot ID 5, the superstar.
if self.properties.robot_id != 5:
# Ramp
pose = AdaptedPose(x=900, y=-650)
self.fixed_obstacles += [DynObstacleRect(x=pose.x, y=pose.y, angle=0, length_x=200, length_y=400)]
# Scene
pose = AdaptedPose(x=825, y=-225)
self.fixed_obstacles += [DynObstacleRect(x=pose.x, y=pose.y, angle=0, length_x=450, length_y=450)]
# PAMIs starting area for robot ID 1, the main robot.
if self.properties.robot_id == 1:
pose = AdaptedPose(x=825, y=-1425)
self.fixed_obstacles += [DynObstacleRect(x=pose.x, y=pose.y, angle=0, length_x=450, length_y=150)]
def create_actuators_states(self):
self.positional_actuator_states: dict[PositionalActuatorEnum, PositionalActuator] = {}
self.bool_sensor_states: dict[BoolSensorEnum, BoolSensor] = {id: BoolSensor(id=id) for id in BoolSensorEnum}
self.emulated_actuator_states: set[PositionalActuatorEnum] = {}
|