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211 | class GameContext:
"""
A class recording the current game context.
"""
def __init__(self, shared_properties: SharedProperties, initialize: bool = True):
self.shared_properties = shared_properties
if initialize:
self.minimum_score: int = 0
self.game_duration: int = 100
self.score = self.minimum_score
self.tribunes_in_robot = 0
self.construction_areas: dict[ConstructionAreaID, ConstructionArea] = {}
self.opponent_construction_areas: dict[ConstructionAreaID, ConstructionArea] = {}
self.tribunes: dict[TribuneID, Tribune] = {}
self.fixed_obstacles: dict[FixedObstacleID, FixedObstacle] = {}
self.positional_actuator_states: dict[PositionalActuatorEnum, PositionalActuator] = {}
self.bool_sensor_states: dict[BoolSensorEnum, BoolSensor] = {}
self.emulated_actuator_states: set[PositionalActuatorEnum] = {}
self.reset()
def reset(self):
"""
Reset the context.
"""
self.score = self.minimum_score
self.countdown = self.game_duration
self.last_countdown = self.game_duration
self.tribunes_in_robot = 0
self.create_artifacts()
self.create_fixed_obstacles()
self.create_actuators_states()
def deepcopy(self):
"""
Return a deep copy of the GameContext instance.
"""
new_ctx = GameContext(self.shared_properties, initialize=False)
new_ctx.game_duration = self.game_duration
new_ctx.minimum_score = self.minimum_score
new_ctx.score = self.score
new_ctx.countdown = self.countdown
new_ctx.last_countdown = self.last_countdown
new_ctx.tribunes_in_robot = self.tribunes_in_robot
new_ctx.construction_areas = {k: v.model_copy() for k, v in self.construction_areas.items()}
new_ctx.tribunes = {k: v.model_copy() for k, v in self.tribunes.items()}
new_ctx.fixed_obstacles = {k: v.model_copy() for k, v in self.fixed_obstacles.items()}
# Do not copy artifacts that are not used in actions but keep the code in comments to no forget
# that this copy function is only a partial copy.
# new_ctx.opponent_construction_areas = {
# k: v.model_copy(deep=True) for k, v in self.opponent_construction_areas.items()
# }
# new_ctx.positional_actuator_states = {
# k: v.model_copy(deep=True) for k, v in self.positional_actuator_states.items()
# }
return new_ctx
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.shared_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.shared_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.shared_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.shared_properties.robot_id == 1
and self.shared_properties.table == TableEnum.Training
or self.shared_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.shared_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] = {}
|