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272 | class GameContext(metaclass=Singleton):
"""
A class recording the current game context.
"""
def __init__(self):
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.strategy = actions.Strategy.GameSolarFirst
self._table = TableEnum.Game
self.avoidance_strategy = AvoidanceStrategy.VisibilityRoadMapQuadPid
self.reset()
@property
def table(self) -> Table:
"""
Selected table.
"""
return tables[self._table]
@table.setter
def table(self, new_table: TableEnum):
self._table = new_table
def reset(self):
"""
Reset the context.
"""
self.playing = False
self.score = self.minimum_score
self.countdown = self.game_duration
self.create_artifacts()
self.create_fixed_obstacles()
self.create_actuators_states()
@property
def default_controller(self) -> ControllerEnum:
match self.strategy:
case actions.Strategy.AngularSpeedTest:
return ControllerEnum.ANGULAR_SPEED_TEST
case actions.Strategy.LinearSpeedTest:
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 yellow camp.
"""
match n:
case StartPosition.Top:
return AdaptedPose(
x=1000 - 450 + self.properties.robot_width / 2,
y=-(1500 - 450 + self.properties.robot_length / 2),
O=90,
)
case StartPosition.Bottom:
pose = AdaptedPose(
x=-785,
y=-1285,
O=90,
)
if self.camp.color == Camp.Colors.blue and self.strategy == actions.Strategy.GameSolarFirst:
pose.O = 90
return pose
case StartPosition.Opposite:
return AdaptedPose(
x=-450 / 2 + self.properties.robot_width / 2,
y=1500 - 450 + self.properties.robot_width / 2,
O=-90,
)
case StartPosition.PAMI2:
return AdaptedPose(
x=1000 - 150 + self.properties.robot_length / 2,
y=-self.properties.robot_width / 2,
O=180,
)
case StartPosition.PAMI3:
return AdaptedPose(
x=1000 - 150 + self.properties.robot_width / 2,
y=-33,
O=-90,
)
case StartPosition.PAMI4:
return AdaptedPose(
x=1000 - 150 + self.properties.robot_width / 2,
y=-(450 - self.properties.robot_length / 2),
O=-90,
)
case StartPosition.PAMI2_TRAINING:
return AdaptedPose(
x=1000 - 150 + self.properties.robot_length / 2 - 1000,
y=-self.properties.robot_width / 2,
O=180,
)
case StartPosition.PAMI3_TRAINING:
return AdaptedPose(
x=1000 - 150 + self.properties.robot_length / 2 - 1000,
y=-450 / 2,
O=180,
)
case StartPosition.PAMI4_TRAINING:
return AdaptedPose(
x=1000 - 150 + self.properties.robot_width / 2 - 1000,
y=-(450 - self.properties.robot_length / 2),
O=-90,
)
case _:
return AdaptedPose()
def get_available_start_poses(self) -> list[StartPosition]:
"""
Get start poses available depending on camp and table.
"""
start_pose_indices = []
for p in StartPosition:
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 yellow.
self.plant_supplies: dict[PlantSupplyID, PlantSupply] = {}
self.pot_supplies: dict[PotSupplyID, PotSupply] = {}
self.dropoff_zones: dict[DropoffZoneID, DropoffZone] = {}
self.planters: dict[PlanterID, Planter] = {}
self.solar_panels: dict[SolarPanelsID, SolarPanels] = {}
bb_radius = 125 + self.properties.robot_width / 2
# Plant supplies
plant_supply_positions = {
PlantSupplyID.CenterTop: AdaptedPose(x=500, y=0),
PlantSupplyID.CenterBottom: AdaptedPose(x=-500, y=0),
PlantSupplyID.LocalTop: AdaptedPose(x=300, y=-500),
PlantSupplyID.LocalBottom: AdaptedPose(x=-300, y=-500),
PlantSupplyID.OppositeTop: AdaptedPose(x=300, y=500),
PlantSupplyID.OppositeBottom: AdaptedPose(x=-300, y=500),
}
for id, pose in plant_supply_positions.items():
plant_supply = PlantSupply(id=id, x=pose.x, y=pose.y, radius=125)
self.plant_supplies[id] = plant_supply
# Disable unused plant supplies
self.plant_supplies[PlantSupplyID.OppositeTop].enabled = False
self.plant_supplies[PlantSupplyID.OppositeBottom].enabled = False
self.plant_supplies[PlantSupplyID.CenterTop].enabled = False
for plant_supply in self.plant_supplies.values():
plant_supply.create_bounding_box(bb_radius, self.properties.obstacle_bb_vertices)
# Pot supplies
pot_supply_positions = {
PotSupplyID.LocalTop: AdaptedPose(x=450 / 2 + 325 / 2, y=-1500 + 35, O=-90),
PotSupplyID.LocalMiddle: AdaptedPose(x=-450 / 2 - 325 / 2, y=-1500 + 35, O=-90),
PotSupplyID.LocalBottom: AdaptedPose(x=-1000 + 35, y=-500, O=180),
PotSupplyID.OppositeTop: AdaptedPose(x=450 / 2 + 325 / 2, y=1500 - 35, O=90),
PotSupplyID.OppositeMiddle: AdaptedPose(x=-450 / 2 - 325 / 2, y=1500 - 35, O=90),
PotSupplyID.OppositeBottom: AdaptedPose(x=-1000 + 35, y=500, O=180),
}
for id, pose in pot_supply_positions.items():
pot_supply = PotSupply(id=id, x=pose.x, y=pose.y, radius=125, angle=pose.O)
self.pot_supplies[id] = pot_supply
# Disable unused pot supplies
self.pot_supplies[PotSupplyID.OppositeTop].enabled = False
self.pot_supplies[PotSupplyID.OppositeMiddle].enabled = False
self.pot_supplies[PotSupplyID.OppositeBottom].enabled = False
for pot_supply in self.pot_supplies.values():
pot_supply.create_bounding_box(bb_radius, self.properties.obstacle_bb_vertices)
# Drop-off zones
dropoff_zone_positions = {
DropoffZoneID.Top: AdaptedPose(x=1000 - 450 / 2, y=-1500 + 450 / 2),
DropoffZoneID.Bottom: AdaptedPose(x=-1000 + 450 / 2, y=-1500 + 450 / 2),
DropoffZoneID.Opposite: AdaptedPose(x=0, y=1500 - 450 / 2),
}
for id, pose in dropoff_zone_positions.items():
self.dropoff_zones[id] = DropoffZone(id=id, x=pose.x, y=pose.y)
# Planters
planter_positions = {
PlanterID.Top: AdaptedPose(x=1000, y=-1500 + 600 + 325 / 2, O=0),
PlanterID.LocalSide: AdaptedPose(x=450 / 2 + 325 / 2, y=-1500, O=-90),
PlanterID.OppositeSide: AdaptedPose(x=-450 / 2 - 325 / 2, y=1500, O=90),
PlanterID.Test: AdaptedPose(x=-450 / 2 - 325 / 2, y=-1500, O=-90),
}
for id, pose in planter_positions.items():
self.planters[id] = Planter(id=id, x=pose.x, y=pose.y, O=pose.O)
# Solar panels
solar_panels_positions = {
SolarPanelsID.Local: AdaptedPose(x=-1000, y=-1000),
SolarPanelsID.Shared: AdaptedPose(x=-1000, y=0),
}
for id, pose in solar_panels_positions.items():
self.solar_panels[id] = SolarPanels(id=id, x=pose.x, y=pose.y)
def create_fixed_obstacles(self):
# Positions are related to the default camp yellow.
self.fixed_obstacles: list[DynObstacleRect] = []
pose = AdaptedPose(x=1000 - 225, y=1500 - 225)
self.fixed_obstacles += [DynObstacleRect(x=pose.x, y=pose.y, angle=0, length_x=450, length_y=450)]
pose = AdaptedPose(x=1000 - 75, y=225)
self.fixed_obstacles += [DynObstacleRect(x=pose.x, y=pose.y, angle=0, length_x=150, length_y=450)]
for obstacle in self.fixed_obstacles:
obstacle.create_bounding_box(self.properties.robot_width / 2)
def create_actuators_states(self):
self.servo_states: dict[ServoEnum, Servo] = {}
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[ServoEnum | PositionalActuatorEnum] = {
ServoEnum.LXSERVO_LEFT_CART,
ServoEnum.LXSERVO_RIGHT_CART,
ServoEnum.LXSERVO_ARM_PANEL,
PositionalActuatorEnum.MOTOR_BOTTOM_LIFT,
PositionalActuatorEnum.MOTOR_TOP_LIFT,
PositionalActuatorEnum.ANALOGSERVO_BOTTOM_GRIP_LEFT,
PositionalActuatorEnum.ANALOGSERVO_BOTTOM_GRIP_RIGHT,
PositionalActuatorEnum.ANALOGSERVO_TOP_GRIP_LEFT,
PositionalActuatorEnum.ANALOGSERVO_TOP_GRIP_RIGHT,
PositionalActuatorEnum.CART_MAGNET_LEFT,
PositionalActuatorEnum.CART_MAGNET_RIGHT,
PositionalActuatorEnum.ANALOGSERVO_PAMI,
BoolSensorEnum.BOTTOM_GRIP_LEFT,
BoolSensorEnum.BOTTOM_GRIP_RIGHT,
BoolSensorEnum.TOP_GRIP_LEFT,
BoolSensorEnum.TOP_GRIP_RIGHT,
BoolSensorEnum.MAGNET_LEFT,
BoolSensorEnum.MAGNET_RIGHT,
}
|