demo version

Author: isaac0804

main.py

@@ -27,8 +27,8 @@ def main():
     message_queue = queue.SimpleQueue()
 
     referee_receiver = RefereeMessageReceiver(message_queue, debug=False)
-    vision_receiver = VisionDataReceiver(message_queue, debug=False)
-    decision_maker = StartUpController(game, debug=False)
+    vision_receiver = VisionDataReceiver(message_queue)
+    decision_maker = StartUpController(game)
 
     # Start the data receiving in separate threads
     vision_thread = threading.Thread(target=vision_receiver.pull_game_data)
@@ -42,19 +42,10 @@ def main():
     vision_thread.start()
     referee_thread.start()
 
-<<<<<<< HEAD
     TIME = 0.5
     FRAMES_IN_TIME = round(60 * TIME)
-=======
-    begin = time.time()
-
-    TIME = 0.5
-    FRAMES_IN_TIME = round(60 * TIME)
-
->>>>>>> 05bd7f6 (Change RefereeCommand and Stage to enum class)
     frames = 0
 
-    begin = time.time()
     try:
         logger.debug("LOCATED BALL")
         logger.debug(f"Predicting robot position with {TIME} seconds of motion")
@@ -66,34 +57,14 @@ def main():
             if message_type == MessageType.VISION:
                 frames += 1
                 game.add_new_state(message)
-<<<<<<< HEAD
                 actual = game.records[-1]  # JUST FOR TESTING - don't do this irl
-=======
-                # access current state data
-                # print(
-                #     game.current_state.yellow_robots[0].x,
-                #     game.current_state.yellow_robots[0].y,
-                # )
-
-                # access game records from -x number of frames ago
-                # print(game.records[-1].ts, game.records[-1].ball[0].x)
-
-                actual = game._records[-1]  # JUST FOR TESTING - don't do this irl
-
->>>>>>> 05bd7f6 (Change RefereeCommand and Stage to enum class)
                 if (
                     len(predictions) >= FRAMES_IN_TIME
                     and predictions[-FRAMES_IN_TIME] != None
                 ):
-<<<<<<< HEAD
                     logger.debug(
                         "Ball prediction inaccuracy delta (cm): "
                         + "{:.20f}".format(
-=======
-                    print(
-                        "Ball prediction inaccuracy delta (cm): ",
-                        "{:.20f}".format(
->>>>>>> 05bd7f6 (Change RefereeCommand and Stage to enum class)
                             100
                             * math.sqrt(
                                 (
@@ -107,7 +78,6 @@ def main():
                                 )
                                 ** 2
                             )
-<<<<<<< HEAD
                         )
                     )
                     for i in range(6):
@@ -152,21 +122,11 @@ def main():
                                 )
                             )
                         )
-=======
-                        ),
-                    )
-                    # for i in range(6):
-                    #     print(f"Blue robot {i} prediction inaccuracy delta (cm): ", '{:.20f}'.format(100 * math.sqrt((actual.blue_robots[i].x - predictions[-FRAMES_IN_TIME].blue_robots[i].x)**2 + (actual.blue_robots[i].y - predictions[-FRAMES_IN_TIME].blue_robots[i].y)**2)))
-                    # for i in range(6):
-                    #     print(f"Yellow robot {i} prediction inaccuracy delta (cm): ", '{:.20f}'.format(100 * math.sqrt((actual.yellow_robots[i].x - predictions[-FRAMES_IN_TIME].yellow_robots[i].x)**2 + (actual.yellow_robots[i].y - predictions[-FRAMES_IN_TIME].yellow_robots[i].y)**2)))
->>>>>>> 05bd7f6 (Change RefereeCommand and Stage to enum class)
 
                 predictions.append(game.predict_frame_after(TIME))
 
             elif message_type == MessageType.REF:
                 game.add_new_referee_data(message)
-                print(game.last_command)
-                print(game.stage_time_left)
 
             decision_maker.make_decision()
 

team_controller/src/utils/network_utils.py

@@ -8,6 +8,7 @@
 
 logger = logging.getLogger(__name__)
 
+
 def setup_socket(
     sock: socket.socket, address: Tuple[str, int], bind_socket: bool = False
 ) -> socket.socket:
@@ -40,7 +41,6 @@ def setup_socket(
             sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
 
         # sock.settimeout(0.005)  # Set timeout to 1 frame period (60 FPS)
-        logger.info(
         logging.info(
             "Socket setup completed with address %s and bind_socket=%s",
             address,
@@ -79,7 +79,9 @@ def receive_data(sock: socket.socket) -> Optional[bytes]:
         return None
 
 
-def send_command(address: Tuple[str, int], command: object, is_sim_robot_cmd: bool = False) -> Optional[bytes]:
+def send_command(
+    address: Tuple[str, int], command: object, is_sim_robot_cmd: bool = False
+) -> Optional[bytes]:
     """
     Sends a command to the specified address over a UDP socket.
 
@@ -89,8 +91,8 @@ def send_command(address: Tuple[str, int], command: object, is_sim_robot_cmd: bo
         is_sim_robot_cmd (bool): If True, the function will attempt to receive a response from the server.
 
     Returns:
-        Optional[bytes]: The data received, or None if no data is received or if an error occurs.   
-     
+        Optional[bytes]: The data received, or None if no data is received or if an error occurs.
+
     This function creates a temporary UDP socket, serializes the command, and sends it to the specified address.
     If the command being sent is a RobotControl packet there will be a response packet which will be received.
     Errors during serialization or socket operations are logged, with specific handling if the `SerializeToString`