stp.play

This module contains data structures for the Plays level of STP.

Submodules

Package Contents

Classes

DiamondFormation

IPlay

Helper class that provides a standard way to create an ABC using

Play

Coordinate full-team behaviors via Tactics. Assumes number of Roles matches number of robots on the field.

Attributes

PropT

class stp.play.DiamondFormation(world_state: stp.rc.WorldState)

Bases: stp.formations.Formations

property get_regions: List
Hard Coded Region Bounds

  • starting with the top left region being the first element, top right, center, bottom left, and then bottom right in order

  • bounds are x min, x max, y min, y max

property get_centroids: List

Convenience function for getting center of each region in get_regions() :return: list of region centroids for DiamondFormation

stp.play.PropT
class stp.play.IPlay

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

exception stp.play.RoleAssignFailure

Bases: Exception

Common base class for all non-exit exceptions.

class stp.play.Play

Bases: abc.ABC

Coordinate full-team behaviors via Tactics. Assumes number of Roles matches number of robots on the field. Ends when SituationAnalysis switches the Play, so no is_done() necessary. See tick() for more details on behavior.

abstract tick(world_state: stp.rc.WorldState) → List[rj_msgs.msg.RobotIntent]

Performs one “tick” of the specified play.

This should:

  1. Determine if role assignment is necessary.

  2. If so, perform role assignment with self.assign_roles().

  3. Tick Tactics to aggregate robot_intents with self.get_robot_intents().

Parameters:

world_state – Current state of the world.

Returns:

list of robot intents where index = robot_id

assign_roles(world_state: stp.rc.WorldState) → None

Given that all Roles are in sorted order of priority, greedily assign the highest-priority Role to the lowest-cost robot for that Role. Instantiate Tactics with the correct robots post-assignment. (Note that this behavior is largely handled by the init_roles() of each Tactic.) Satisfy constraint that all Roles of a Tactic must all be assigned at once. If a Tactic’s Roles cannot all be filled, none will be filled and a debug message signifying error is displayed along with the tactic’s tick not running.”

get_robot_intents(world_state: stp.rc.WorldState) → List[rj_msgs.msg.RobotIntent]

Has to be called after assigned_roles has been called. Tick each tactic to get a list of RobotIntents for GameplayNode. Each RobotIntent in this list is at index robot_id, or in Python terms: return_list[robot_id] = robot_intent

__repr__()

returns the string with the current play and the current state of the play.