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272 | 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 = 100
self.minimum_score: int = 0
self.camp = Camp()
self.avoidance_strategy = AvoidanceStrategy.AvoidanceCpp
self.reset()
self.tribunes_in_robot = 0
@property
def table(self) -> Table:
"""
Selected table.
"""
return tables[self.properties.table]
@property
def start_pose(self) -> Pose:
"""
Start pose.
"""
return self.start_poses[self.properties.start_position]
def reset(self):
"""
Reset the context.
"""
self.playing = False
self.score = self.minimum_score
self.countdown = self.game_duration
self.last_countdown = self.game_duration
self.tribunes_in_robot = 0
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 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 + 100 * 0.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
StartPosition.PAMI3: AdaptedPose(
x=550 + 100 * 1.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
StartPosition.PAMI4: AdaptedPose(
x=550 + 100 * 2.5,
y=-1350 - self.properties.robot_length / 2,
O=90,
),
StartPosition.PAMI5: AdaptedPose(
x=550 + 100 * 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 is_valid_start_position(self, position: StartPosition) -> bool:
if self.properties.table == TableEnum.Training and position == StartPosition.Opposite:
return False
if self.properties.robot_id == 1 and position not in [
StartPosition.Top,
StartPosition.Bottom,
StartPosition.Opposite,
]:
return False
return True
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():
adapted_pose = AdaptedPose(**area.model_dump())
self.construction_areas[id] = ConstructionAreaSmall(**adapted_pose.model_dump(), id=id, enabled=False)
self.opponent_construction_areas[id] = ConstructionAreaSmall(
x=adapted_pose.x,
y=-adapted_pose.y,
O=-adapted_pose.O,
id=id,
)
self.opponent_construction_areas[ConstructionAreaID.LocalBottomLarge3].enabled = False
self.opponent_construction_areas[ConstructionAreaID.OppositeSideLarge3].enabled = False
if self.properties.table == TableEnum.Training:
self.opponent_construction_areas[ConstructionAreaID.OppositeSideLarge1].enabled = False
self.opponent_construction_areas[ConstructionAreaID.OppositeSideLarge2].enabled = False
self.opponent_construction_areas[ConstructionAreaID.OppositeSideLarge3].enabled = False
# Tribunes
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.tribunes[TribuneID.LocalTop] = self.tribunes[TribuneID.LocalTopTraining].model_copy(
update={"id": TribuneID.LocalTop}
)
self.tribunes[TribuneID.LocalTop].x -= 73.0 / 2
self.tribunes[TribuneID.LocalCenter].x -= 73.0 / 2
del self.tribunes[TribuneID.LocalTopTraining]
def create_fixed_obstacles(self):
# Positions are related to the default camp blue.
self.fixed_obstacles: dict[FixedObstacleID, FixedObstacle] = {}
# Ramp
self.fixed_obstacles[FixedObstacleID.Ramp] = FixedObstacle(
**AdaptedPose(x=900, y=-650).model_dump(),
length=400,
width=200,
id=FixedObstacleID.Ramp,
)
# Scene
self.fixed_obstacles[FixedObstacleID.Scene] = FixedObstacle(
**AdaptedPose(x=825, y=-225).model_dump(),
length=450,
width=450,
id=FixedObstacleID.Scene,
)
# Pami 5 path
self.fixed_obstacles[FixedObstacleID.Pami5Path] = FixedObstacle(
**AdaptedPose(x=930, y=-1175).model_dump(),
length=650,
width=50,
id=FixedObstacleID.Pami5Path,
)
# Opponent ramp
self.fixed_obstacles[FixedObstacleID.OpponentRamp] = FixedObstacle(
**AdaptedPose(x=900, y=650).model_dump(),
length=400,
width=200,
id=FixedObstacleID.OpponentRamp,
)
# Opponent scene
self.fixed_obstacles[FixedObstacleID.OpponentScene] = FixedObstacle(
**AdaptedPose(x=825, y=225).model_dump(),
length=450,
width=450,
id=FixedObstacleID.OpponentScene,
)
# Backstage
self.fixed_obstacles[FixedObstacleID.Backstage] = FixedObstacle(
**AdaptedPose(x=1000 - 450 / 2, y=-1500 + 150 + 450 / 2).model_dump(),
length=450,
width=450,
enabled=False,
id=FixedObstacleID.Backstage,
)
# PAMIs starting area for robot ID 1, the main robot.
if self.properties.robot_id == 1:
self.fixed_obstacles[FixedObstacleID.PamiStartArea] = FixedObstacle(
**AdaptedPose(x=825, y=-1425).model_dump(),
length=150,
width=450,
id=FixedObstacleID.PamiStartArea,
)
self.fixed_obstacles[FixedObstacleID.PitArea] = FixedObstacle(
**AdaptedPose(x=375, y=-350).model_dump(),
length=700,
width=350,
enabled=False,
id=FixedObstacleID.PitArea,
)
self.fixed_obstacles[FixedObstacleID.OpponentPitArea] = FixedObstacle(
**AdaptedPose(x=375, y=350).model_dump(),
length=700,
width=350,
enabled=False,
id=FixedObstacleID.OpponentPitArea,
)
if (
self.properties.robot_id == 1
and self.properties.table == TableEnum.Training
or self.properties.robot_id == 5
):
self.fixed_obstacles[FixedObstacleID.Ramp].enabled = False
self.fixed_obstacles[FixedObstacleID.Scene].enabled = False
self.fixed_obstacles[FixedObstacleID.Pami5Path].enabled = False
if self.properties.table == TableEnum.Training:
for obstacle in self.fixed_obstacles.values():
obstacle.x -= 1000
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] = {}
|