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72 lines
2.2 KiB
Python
72 lines
2.2 KiB
Python
import copy
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import time
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class RobotController(object):
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def __init__(self, fire_ext_max_capacity, collision_damage = 1, k_sof = 1, k_cas = 1, k_asset = 1):
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# STATE VARIABLES
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self._fire_ext_max_capacity = fire_ext_max_capacity
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self._fire_ext_capacity = self._fire_ext_max_capacity
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self._hit_points = 100
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self._collision_damage = collision_damage
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self._charge_points = 100
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self._collisions = []
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self._exted_sofs = []
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self._found_casualty = []
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self._found_assets = []
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self._k_sof = k_sof
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self._k_cas = k_cas
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self._k_asset = k_asset
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''' CONTROL '''
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# speeds in [-1, 1] extra stuff will be cut
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def send_twist_cmd(self, v, w):
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v = min(max(-1, v), 1)
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w = min(max(-1, w), 1)
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return v, w
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def send_fire_ext_burst_cmd(self):
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if self._fire_ext_capacity > 0:
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self._fire_ext_capacity -= 1
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return True
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return False
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# poses in [-1, 1] extra stuff will be cut
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def send_fire_ext_pose_cmd(self, horisontal_pose, vertical_pose):
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horisontal_pose = min(max(-1, horisontal_pose), 1)
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vertical_pose = min(max(-1, vertical_pose), 1)
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return horisontal_pose, vertical_pose
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def send_pick_asset_cmd(self):
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raise NotImplemented("")
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def get_score(self, time_stamp):
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score = self._k_sof * len(self._exted_sofs) + self._k_cas * len(self._found_casualty) + self.k_assest * len(self._found_assets)
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return score
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''' EVENTS '''
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def _register_collision(self, time_stamp):
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self._collisions.append(time_stamp)
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self._hit_points = max(0, self._hit_points - self._collision_damage)
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def _register_exted_sof(self, time_stamp, sof_params = {}):
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self._exted_sofs.append((time_stamp,
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copy.deepcopy(sof_params)))
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def _register_found_casualty(self, time_stamp, casualty_params = {}):
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self._found_casualty.append((time_stamp,
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copy.deepcopy(casualty_params)))
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def _register_found_assest(self, time_stamp, asset_params = {}):
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self._found_assets.append((time_stamp,
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copy.deepcopy(asset_params)))
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