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goalie_vs_attacker.py
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goalie_vs_attacker.py
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import rospy,sys
from utils.geometry import Vector2D
from utils.functions import *
from krssg_ssl_msgs.msg import point_2d
from krssg_ssl_msgs.msg import BeliefState
from krssg_ssl_msgs.msg import gr_Commands
from krssg_ssl_msgs.msg import gr_Robot_Command
from krssg_ssl_msgs.msg import BeliefState
from role import GoToBall, GoToPoint, KickToPoint
from multiprocessing import Process
from kubs import kubs
from krssg_ssl_msgs.srv import bsServer
from math import atan2,pi
from utils.functions import *
from tactics import Goalie
import multiprocessing
import threading
#pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
def function1(id_,state,pub):
kub1 = kubs.kubs(id_,state,pub)
print("aaaaaaaaaaaaaaaaaaaa")
print(id_)
kub1.update_state(state)
#print(kub1.kubs_id)
g_fsm = Goalie.Goalie()
# g_fsm = GoToPoint.GoToPoint()
g_fsm.add_kub(kub1)
# g_fsm.add_point(point=kub.state.ballPos,orient=normalize_angle(pi+atan2(state.ballPos.y,state.ballPos.x-3000)))
#g_fsm.add_theta(theta=normalize_angle(pi+atan2(state.ballPos.y,state.ballPos.x+3000)))
g_fsm.as_graphviz()
g_fsm.write_diagram_png()
print("bbb")
#print('something before spin')
g_fsm.spin()
def function2(id_,state,pub):
kub2 = kubs.kubs(id_,state,pub)
kub2.update_state(state)
print(id_)
target = Vector2D(-4499, 0)
#print(kub1.kubs_id)
f_fsm = KickToPoint.KickToPoint(target)
# g_fsm = GoToPoint.GoToPoint()
f_fsm.add_kub(kub2)
# g_fsm.add_point(point=kub.state.ballPos,orient=normalize_angle(pi+atan2(state.ballPos.y,state.ballPos.x-3000)))
#f_fsm.add_theta(theta=normalize_angle(pi+atan2(state.ballPos.y,state.ballPos.x+3000)))
f_fsm.add_theta(theta=normalize_angle(atan2(target.y - state.ballPos.y,target.x - state.ballPos.x)))
#print('something before spin')
f_fsm.spin()
#
def main1(process_id):
pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
rospy.init_node('node' + str(process_id),anonymous=False)
while True:
state = None
# state=shared.get('state')
rospy.wait_for_service('bsServer',)
getState = rospy.ServiceProxy('bsServer',bsServer)
try:
state = getState(state)
except rospy.ServiceException, e:
print("Error ", e)
if state:
#print('lasknfcjscnajnstate',state.stateB.homePos)
#p2 = multiprocessing.Process(target=function2, args=(2,state.stateB, ))
print("kyun")
function1(1,state.stateB,pub)
#p2.start()
#p1.join()
#p2.join()
# print('chal ja')
# break
#rospy.spin()
def main2(process_id):
pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
rospy.init_node('node' + str(process_id),anonymous=False)
while True:
state = None
# state=shared.get('state')
rospy.wait_for_service('bsServer',)
getState = rospy.ServiceProxy('bsServer',bsServer)
try:
state = getState(state)
except rospy.ServiceException, e:
print("Error ", e)
if state:
#print('lasknfcjscnajnstate',state.stateB.homePos)
#p2 = multiprocessing.Process(target=function2, args=(2,state.stateB, ))
print("process 2")
function2(2,state.stateB,pub)
#p2.start()
#p1.join()
#p2.join()
# print('chal ja')
# break
#rospy.spin()
#print str(kub.kubs_id) + str('***********')
p1 = multiprocessing.Process(target=main1, args=(1,))
p2 = multiprocessing.Process(target=main2, args=(2,))
p1.start()
p2.start()
p1.join()
p2.join()
#main1()
# rospy.Subscriber('/belief_state', BeliefState, BS_callback, queue_size=1000)