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Fixed touch detection #27

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merged 5 commits into from
Aug 28, 2019
Merged

Fixed touch detection #27

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e123be7
Fixed touch detection
omichel Aug 27, 2019
048a2bb
Fix robot touch not resetting to false
chshong Aug 28, 2019
625525f
Removed print debug statements
omichel Aug 28, 2019
f47af22
simplified
omichel Aug 28, 2019
3fa4d9b
Fixed bug introduced in a previous commit
omichel Aug 28, 2019
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24 changes: 9 additions & 15 deletions controllers/supervisor/supervisor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -306,10 +306,11 @@ def reset_robot(self, team, id, x, y, z, th):
robot.resetPhysics()
self.robot[team][id]['active'] = True
self.robot[team][id]['touch'] = False
self.robot[team][id]['fall_time'] = 0
self.robot[team][id]['fall_time'] = self.time
self.robot[team][id]['sentout_time'] = 0
self.deadlock_time = self.getTime()
self.set_speeds(team, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
self.robot[team][id]['niopa_time'] = self.time # not_in_opponent_penalty_area time
self.robot[team][id]['ipa_time'] = self.time # goalkeeper in_penalty_area time
self.stop_robots()

def reset(self, red_formation, blue_formation):
# reset the ball
Expand Down Expand Up @@ -358,15 +359,8 @@ def reset(self, red_formation, blue_formation):
constants.ROBOT_FORMATION[formation][id][1] * s,
constants.ROBOT_FORMATION[formation][id][2] + a - constants.PI / 2)

# reset touch
# reset recent touch
self.recent_touch = [[False] * constants.NUMBER_OF_ROBOTS, [False] * constants.NUMBER_OF_ROBOTS]
# reset activeness, fall time and sentout time
for t in constants.TEAMS:
for id in range(constants.NUMBER_OF_ROBOTS):
self.robot[t][id]['active'] = True
self.robot[t][id]['fall_time'] = self.time
self.robot[t][id]['sentout_time'] = 0
self.stop_robots()
self.deadlock_time = self.time
# flush touch packet
self.flush_touch_ball()
Expand Down Expand Up @@ -455,7 +449,7 @@ def get_robot_touch_ball(self):
message = self.receiver.getData()
for team in constants.TEAMS:
for id in range(constants.NUMBER_OF_ROBOTS):
if message[2 * id + team] == '1':
if message[2 * id + team] == 1:
rc[team][id] = True
self.receiver.nextPacket()
return rc
Expand Down Expand Up @@ -996,13 +990,13 @@ def run(self):
self.publish_current_frame()
self.reset_reason = Game.NONE

# if any of the robots has touched the ball at this frame, update self.recent_touch
# update touch statuses of robots
touch = self.get_robot_touch_ball()
for team in constants.TEAMS:
for id in range(constants.NUMBER_OF_ROBOTS):
if touch[team][id]:
self.robot[team][id]['touch'] = touch[team][id]
if touch[team][id]: # if any of the robots has touched the ball at this frame, update touch status
self.recent_touch = touch
break

# check if any of robots has fallen
for team in constants.TEAMS:
Expand Down