Merge pull request #12 from OneNightROBOCON/dev

Dev

judge/README.md

@@ -10,6 +10,19 @@ bash test_scripts/view_test.sh
 ```
 画面が出てうごけばOK
 
+### 試合時間の設定
+`judgeServer.py`の引数で試合時間と延長時間を設定する。
+
+--matchtime (--mt) 試合時間を秒単位で指定
+
+--extendtime (--et) 引き分けだった場合の最大延長時間を秒単位で指定
+
+
+試合時間３分（１８０秒） 延長時間１分（６０秒）の場合次のようになる。
+```
+python judgeServer.py --mt 180 --et 60
+```
+
 ### 試合の初期化スクリプト
 #### 引数
 - マーカーセットのcsvファイル
@@ -47,10 +60,10 @@ bash test_scripts/init_single_play.sh {makerset file} {server IP(default localho
 
 サンプル
 ```
-BL_B,5,0011
+BL_B,100,0011
 BL_L,5,0012
 BL_R,5,0013
-RE_B,5,0021
+RE_B,100,0021
 RE_L,5,0022
 RE_R,5,0023
 hoge1_N,1,0064

judge/judgeServer.py

@@ -28,23 +28,81 @@ def makeJson(self):
 
 
 class WarState:
-    def __init__(self):
+    def __init__(self, matchtime, extendtime=60.):
         self.state = "end"
         self.players = {"r": "NoPlayer", "b": "NoPlayer"}
         self.ready = {"r": False, "b": False}
         self.scores = {"r": 0, "b": 0}
         self.targets = []
 
+        self.passed_time = 0.
+        self.init_time = None
+        self.stoped_time = 0.
+
+        self.match_time = matchtime # [sec]
+        self.extend_time = extendtime # 1 minutes [sec]
+
     def makeJson(self):
         json = {
             "players": self.players,
             "ready": self.ready,
             "scores": self.scores,
             "state": self.state,
             "targets": [t.makeJson() for t in self.targets],
+            "time": self.passed_time,
         }
         return json
 
+    def makeCsv(self):
+        '''
+        convert war_state to one line string
+        datetime, player_name_r, player_name_b, score_r, score_b, state, time, targets
+        '''
+        csv_list = ["{0:%y%m%d-%H%M%S}".format(datetime.datetime.now()),
+                    str(self.players["r"]),
+                    str(self.players["b"]),
+                    str(self.scores["r"]),
+                    str(self.scores["b"]),
+                    str(self.state),
+                    str(self.stoped_time),
+                    ' '.join([str(t.makeJson()) for t in self.targets]),
+                    ]
+        csv = ','.join(csv_list)
+        return csv
+
+    def updateTime(self):
+        app.logger.info("updateTime")
+        if self.init_time is None:
+            return False
+
+        passed_time = self.stoped_time + (time.time() - self.init_time)
+        app.logger.info("passed_Time {}".format(passed_time))
+
+        if self.isOverMatchTime(passed_time):
+            self.setStateStop()
+            return True
+        else:
+            self.passed_time = passed_time
+        return False
+
+    def isOverMatchTime(self, passed_time):
+        if passed_time > self.match_time + self.extend_time:
+            return True
+        elif passed_time > self.match_time:
+            if self.scores['r'] == self.scores['b']:
+                return False
+            else:
+                return True
+        else:
+            return False
+
+    def setStateStop(self):
+        self.state = "stop"
+        self.init_time = None
+        self.stoped_time = self.passed_time
+        self.passed_time = 0.
+
+
 class Response:
     def __init__(self):
         self.mutch = False
@@ -66,10 +124,15 @@ def makeJson(self):
         return json
 
 
-
 class Referee:
-    def __init__(self):
-        self.war_state = WarState()
+    def __init__(self, matchtime, extendtime):
+        self.war_state = WarState(matchtime, extendtime)
+
+    def getWarStateJson(self):
+        is_finished = self.war_state.updateTime()
+        if is_finished:
+            self.writeResult()
+        return self.war_state.makeJson()
 
     def judgeTargetId(self, player_name, player_side, target_id):
         '''
@@ -78,6 +141,12 @@ def judgeTargetId(self, player_name, player_side, target_id):
         '''
         # make Response object
         response = Response()
+
+        # Update time and check match time
+        is_finished = self.war_state.updateTime()
+        if is_finished:
+            self.writeResult()
+
         # check id length
         if not len(target_id) == 4:
             app.logger.error("ERROR target length is not 4")
@@ -106,14 +175,23 @@ def judgeTargetId(self, player_name, player_side, target_id):
                 response.new = is_new
                 response.error = "no error"
                 response.target = target
+
+                if self.isIPPONTarget():
+                    self.war_state.setStateStop()
+                    self.writeResult()
                 return response.makeJson()
         response.error = "ERR not mutch id"
         return response.makeJson()
 
+
+    def isIPPONTarget(self):
+        return self.war_state.scores['r'] >= 100 or self.war_state.scores['b'] >= 100
+
     def checkBothPlayerReady(self):
         if self.war_state.ready["r"] and self.war_state.ready["b"]:
-            self.war_state.state = "running"
-        return
+            return True
+        else:
+            return False
 
     def updateWarState(self, target, player_name, player_side):
         # new target or not
@@ -159,21 +237,36 @@ def registTarget(self, name, target_id, point):
         return target.name
 
     def setState(self, state):
+        app.logger.info("setState")
         if state == "end":
             self.war_state.state = state
         elif state == "running":
             if self.checkBothPlayerReady():
                 self.war_state.state = state
+                self.war_state.init_time = time.time()
         elif state == "stop":
-            self.war_state.state = state
+            self.war_state.setStateStop
         else:
             pass
         return state
 
+    def writeResult(self):
+        result_string = self.war_state.makeCsv()
+        script_dir = os.path.dirname(os.path.abspath(__file__))
+        log_file_path = script_dir + "/log/" + "game_result.log"
+        with open(log_file_path, "a") as f:
+            f.write(result_string + "\n")
+        app.logger.info("Write Result {}".format(result_string))
 
-# global object referee
-referee = Referee()
 
+import argparse
+parser = argparse.ArgumentParser(description='burger_war judger server')
+parser.add_argument('--matchtime', '--mt', default=float('inf'), type=float, help='match time [sec]')
+parser.add_argument('--extendtime','--et', default=60, type=float, help='extend time [sec]')
+args = parser.parse_args()
+
+# global object referee
+referee = Referee(args.matchtime, args.extendtime)
 
 @app.route('/')
 def index():
@@ -202,7 +295,7 @@ def judgeTargetId():
 def getState():
     ip = request.remote_addr
     #app.logger.info("GET /warState " + str(ip))
-    state_json = referee.war_state.makeJson()
+    state_json = referee.getWarStateJson()
     res = state_json
     #app.logger.info("RESPONSE /warState "+ str(ip) + str(res))
     return jsonify(res)
@@ -266,18 +359,6 @@ def getTest():
     return jsonify(res)
 
 
-@app.route('/test', methods=['POST'])
-def postTest():
-    body = request.json
-    ip = request.remote_addr
-    app.logger.info(str(ip) + body )
-    state = body["state"]
-    ret = referee.setState(state)
-    res = ret
-    app.logger.info("RESPONSE /test "+ str(ip) + str(res))
-    return jsonify(res)
-
-
 if __name__ == '__main__':
     now = datetime.datetime.now()
     now_str = now.strftime("%y%m%d_%H%M%S")

judge/marker_set/marker_set_default.csv

@@ -1,7 +1,7 @@
-BL_B,5,0011
+BL_B,100,0011
 BL_L,5,0012
 BL_R,5,0013
-RE_B,5,0021
+RE_B,100,0021
 RE_L,5,0022
 RE_R,5,0023
 Tomato_N,1,0064

judge/marker_set/sim.csv

@@ -1,7 +1,7 @@
-BL_B,5,0052
+BL_B,100,0052
 BL_L,5,0050
 BL_R,5,0051
-RE_B,5,0042
+RE_B,100,0042
 RE_L,5,0040
 RE_R,5,0041
 Tomato_N,1,0009

judge/visualizeWindow.py

@@ -230,25 +230,31 @@ def update(self, _display):
         # print(state_json)
         j = json.dumps(state_json)
         state = json.loads(state_json)
-        
+
         #Get background image
         display = copy.deepcopy(_display)
 
         #試合開始時間の初期化
         if(self.init_time is None and state["state"] == "running"):
             self.init_time = datetime.datetime.now()
-        
+
         #####
         #文字の表示
         cv2.putText(display, "Game State: " + state["state"], (self.w_width*1/4, self.w_height/20), self.font, self.font_size, self.text_color, self.text_thickness)
         s = cv2.getTextSize("Game State: " + state["state"], self.font, self.font_size, self.text_thickness)
         cv2.putText(display, "Players", (self.w_width*3/7, self.w_height*1/7-10), self.font, self.font_size, self.text_color, self.text_thickness)
         cv2.putText(display, " Score ", (self.w_width*3/7, self.w_height*2/7-70), self.font, self.font_size, self.text_color, self.text_thickness)
+
         #経過時刻の表示
+        '''
         if(self.init_time is not None):
             elapsed_datetime = datetime.datetime.now() - self.init_time
             # print(elapsed_datetime)
-            cv2.putText(display, str(elapsed_datetime)[:-5], (self.w_width*3/7, self.w_height*2/7+10), self.font, self.font_size, self.text_color, self.text_thickness)
+            #cv2.putText(display, str(elapsed_datetime)[:-5], (self.w_width*3/7, self.w_height*2/7+10), self.font, self.font_size, self.text_color, self.text_thickness)
+        '''
+
+        elapsed_datetime = state["time"]
+        cv2.putText(display, str(elapsed_datetime)[:-5], (self.w_width*3/7, self.w_height*2/7+10), self.font, self.font_size, self.text_color, self.text_thickness)
 
         #スコア表示
         for player, position in ("b", 0), ("r", self.w_width*12/20):
@@ -258,7 +264,7 @@ def update(self, _display):
                 ready_color = (200,200,200)
             cv2.putText(display, state["players"][player].center(10, ' '), (position,  self.w_height*1/7),self.font, self.font_size+2, ready_color, self.text_thickness)
             cv2.putText(display, str(state["scores"][player]).center(10, ' '), (position,  self.w_height*2/7-50), self.font, self.font_size+2, ready_color, self.text_thickness)
-        
+
         if len(state["targets"])>0:
             for target in state["targets"]:
                 if(target["player"]=="n"):
@@ -285,14 +291,14 @@ def update(self, _display):
                     self.last_score_time[target["player"]] = str(elapsed_time)[:-5]
                     self.histories.append(target["name"])
 
-            cv2.putText(display, "Last Score Time:", (1000, 750), self.font, 2, self.p_color["r"], 2)
-            cv2.putText(display, self.last_score_time["r"], (1000, 800), self.font, 4, self.p_color["r"], 3)
-            cv2.putText(display, "Last Score Time:", (50, 500), self.font, 2, self.p_color["b"], 2)
-            cv2.putText(display, self.last_score_time["b"], (50, 550), self.font, 4, self.p_color["b"], 3)
-                    
-        
+            #cv2.putText(display, "Last Score Time:", (1000, 750), self.font, 2, self.p_color["r"], 2)
+            #cv2.putText(display, self.last_score_time["r"], (1000, 800), self.font, 4, self.p_color["r"], 3)
+            #cv2.putText(display, "Last Score Time:", (50, 500), self.font, 2, self.p_color["b"], 2)
+            #cv2.putText(display, self.last_score_time["b"], (50, 550), self.font, 4, self.p_color["b"], 3)
+
+
         #####
-        
+
         cv2.imshow(self.w_name, display)
         cv2.waitKey(3)
 
@@ -301,7 +307,8 @@ def update(self, _display):
     sw = StatusWindow(w_name="Onigiri War")
 
     display = sw.initWindow()
-    
+
     while(True):
         sw.update(display)
         sleep(1)
+

scripts/setup_semifinal.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+set -e
+set -x
+
+RED_NAME=$1
+BLUE_NAME=$2
+
+# judge
+# run judge server and visualize window
+gnome-terminal -e "python judge/judgeServer.py --mt 180 --et 60"
+gnome-terminal -e "python judge/visualizeWindow.py"
+
+# init judge server for sim setting
+bash judge/test_scripts/init_single_play.sh judge/marker_set/sim.csv localhost:5000 $RED_NAME $BLUE_NAME
+
+# robot
+roslaunch burger_war setup_sim.launch
+