Imported bsServer in all modified files; Removed shared.get('xyz') fr…

…om all modified files; Added getState(xyz) in all modifed files; In short replaced memcache with bsServer in all files.

run_goalie.py

@@ -10,18 +10,17 @@
 from krssg_ssl_msgs.msg import BeliefState
 from multiprocessing import Process
 from kubs import kubs
+form krssg_ssl_msgs.srv import bsServer
 from math import atan2,pi
 from utils.functions import *
 
 from tactics import  Goalie
 
 pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
 
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'],debug=False)
 # _Goalie_.main()
 flag = True
-kub = kubs.kubs(0,pub)
+kub = kubs.kubs(0,None,pub)
 def function(id_,state):
 	# global flag
 	# print(kub.kubs_id)
@@ -44,9 +43,17 @@ def function(id_,state):
 
 
 while True:
-	state = shared.get('state')
+	state = None
+	rospy.wait_for_service('bsServer',)
+	getState = rospy.ServiceProxy('bsServer',bsServer)
+	try:
+		state = getState(state)
+	except rospy.ServiceException, e:
+		print e
 	if state:
-		kub.update_state(state)
-		function(KUB_ID,state)
+		kub.update_state(state.stateB)
+		function(KUB_ID,state.stateB)
+		# break
+rospy.spin()
 
 

tactics/CoPass.py

@@ -9,6 +9,10 @@
 from utils.geometry import *
 import memcache
 shared = memcache.Client(['127.0.0.1:11211'],debug=False)
+from krssg_ssl_msgs.srv import bsServer
+
+rospy.wait_for_service('bsServer',)
+getState = rospy.ServiceProxy('bsServer',bsServer)
 
 
 # import skills.pivot_kick

tactics/Goalie.py

@@ -8,8 +8,12 @@
 import os
 import rospy
 shared = memcache.Client(['127.0.0.1:11211'],debug=False)
+from krssg_ssl_msgs.srv import  bsServer
 
 
+rospy.wait_for_service('bsServer',)
+getState = rospy.ServiceProxy('bsServer',bsServer)
+
 class Goalie(behavior.Behavior):
 
 	MIN_VEL = 10.0
@@ -64,19 +68,40 @@ def add_kub(self,kub):
 		self.kub = kub
 
 	def peace_out(self):
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		if state.ballPos.x > 0:
 			return True
 		return False
 
 	def _peace_to_clear(self):
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		# print state.ballPos.x , -HALF_FIELD_MAXX + OUR_GOAL_MAXX,state.ballPos.x < -HALF_FIELD_MAXX + OUR_GOAL_MAXX
 		return state.ballPos.x < -HALF_FIELD_MAXX + 2*OUR_GOAL_MAXX
 		pass
 
 	def _peace_to_protect(self):
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		# return False
 		return  (state.ballVel.x < -self.MIN_VEL or state.ballPos.x<=0) and \
 			not (state.ballPos.x < -HALF_FIELD_MAXX + 2*OUR_GOAL_MAXX)
@@ -86,14 +111,28 @@ def _peace_to_protect(self):
 	#     return state.ballVel.x >= 0 and state.ballPos.x>=0
 
 	def _protect_to_clear(self):
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		return state.ballPos.x < -HALF_FIELD_MAXX + 2*OUR_GOAL_MAXX and state.ballVel.x < 0 and abs(state.ballPos.y) < OUR_GOAL_MAXY  
 
 	# note that execute_running() gets called BEFORE any of the execute_SUBSTATE methods gets called
 
 	def execute_peace(self):
 		print("Sab moh maya hain")
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		if abs(state.ballPos.y) < OUR_GOAL_MAXY:
 			expected_y = state.ballPos.y
 		else:
@@ -121,7 +160,14 @@ def execute_peace(self):
 	def execute_clear(self):
 		print("Clear kar raha hoon")
 		target = Vector2D(4000,0)
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		self.gtB = GoToBall.GoToBall(BOT_BALL_THRESH)
 		self.gtB.add_kub(self.kub)
 		self.gtB.add_theta(theta=normalize_angle(atan2(target.y - state.ballPos.y,target.x - state.ballPos.x)))
@@ -136,7 +182,14 @@ def execute_clear(self):
 
 	def execute_protect(self):
 		# pass
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		print("main rakshak hoon")
 		#expected_y = goalie_expected_y(state, self.kub.kubs_id)
 		if state.ballVel.x < -10:
@@ -187,7 +240,14 @@ def on_enter_peace(self):
 		# self.theta = normalize_angle(angle_diff(self.kub.state.homePos[self.kub.kubs_id], self.kub.state.ballPos))
 		# _turnAround_.init(self.kub, self.theta )
 
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		if abs(state.ballPos.y) < OUR_GOAL_MAXY:
 				expected_y = state.ballPos.y
 		else:
@@ -204,7 +264,14 @@ def on_enter_peace(self):
 	def on_enter_clear(self):
 		pass
 	def on_enter_protect(self):
-		state = shared.get('state')
+		# state = shared.get('state')
+		state = None
+		try:
+			state = getState(state)
+		except rospy.ServiceException, e:
+			print e
+		if state:
+			state = state.stateB
 		#expected_y = goalie_expected_y(state, self.kub.kubs_id)
 		if abs(state.ballVel.x) < 10:
 			if abs(state.ballPos.y) < OUR_GOAL_MAXY:

test_GoToPoint.py

@@ -8,8 +8,7 @@
 from krssg_ssl_msgs.msg import gr_Robot_Command
 from krssg_ssl_msgs.msg import point_SF
 from utils.config import *
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'], debug = False)
+from krssg_ssl_msgs.srv import bsServer
 import sys
 
 BOT_ID = int(sys.argv[1])
@@ -22,7 +21,15 @@
 REPLANNED = 0
 homePos = None
 awayPos = None
-BState = shared.get('state')
+state = None
+rospy.wait_for_service('bsServer',)
+getState = rospy.ServiceProxy('bsServer',bsServer)
+try:
+	state = getState(state)
+except rospy.ServiceException, e:
+	print e
+if state:
+	BState = state.stateB
 kub = kubs.kubs(BOT_ID, BState, pub)
 
 def reset():

test_Kick.py

@@ -9,13 +9,12 @@
 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 *
 pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
 
 
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'],debug=False)
 
 
 
@@ -45,10 +44,17 @@ def function(id_,state):
 # rospy.Subscriber('/belief_state', BeliefState, BS_callback, queue_size=1000)
 
 while True:
-	state=shared.get('state')	
+	state=None
+	rospy.wait_for_service('bsServer',)
+	getState = rospy.ServiceProxy('bsServer',bsServer)
+	try:
+		state = getState(state)
+	except rospy.ServiceException, e:
+		print e	
 	if state:
-		function(1,state)
+		function(1,state.stateB)
 		# break
+rospy.spin()
 
 
 

test_KickToP.py

@@ -10,8 +10,7 @@
 from krssg_ssl_msgs.msg import point_SF
 from utils.math_functions import *
 from utils.config import *
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'], debug = False)
+from krssg_ssl_msgs.srv import bsServer
 import sys
 
 BOT_ID = int(sys.argv[1])
@@ -24,7 +23,15 @@
 REPLANNED = 0
 homePos = None
 awayPos = None
-BState = shared.get('state')
+state = None
+rospy.wait_for_service('bsServer',)
+getState = rospy.ServiceProxy('bsServer',bsServer)
+try:
+	state = getState(state)
+except rospy.ServiceException, e:
+	print e
+if state:
+	BState = state.stateB
 kub = kubs.kubs(BOT_ID, BState, pub)
 st = None 
 tnow = None 

test_allign.py

@@ -15,8 +15,6 @@
 pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
 
 
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'],debug=False)
 
 
 
@@ -50,17 +48,16 @@ def function(id_,state):
 
 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("chutiya")
-    #state=shared.get('state')  
+            print("chutiya") 
     if state:
         function(1,state.stateB)
         # break
+rospy.spin()
 
 
 

test_fsm.py

@@ -9,8 +9,6 @@
 from krssg_ssl_msgs.msg import point_SF
 from utils.config import *
 from utils.geometry import *
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'], debug = False)
 import sys
 
 BOT_ID = int(sys.argv[1])
@@ -29,7 +27,6 @@
 def BS_callback(BState):
     global pub,BOT_ID,state,kub,start_time, curr_pt
     global points
-    # BState = shared.get('state')
 
     if not state:
         print("__________________________________")

test_point.py

@@ -9,13 +9,12 @@
 from role import  GoToBall, GoToPoint, pass_receive
 from multiprocessing import Process
 from kubs import kubs
+from krssg_ssl_msgs.srv import bsServer
 from math import atan2,pi
 from utils.functions import *
 pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
 
 
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'],debug=False)
 
 
 
@@ -44,11 +43,17 @@ def function(id_,state):
 # rospy.Subscriber('/belief_state', BeliefState, BS_callback, queue_size=1000)
 
 while True:
-	state=shared.get('state')	
+	state=None
+	rospy.wait_for_service('bsServer',)
+	getState = rospy.ServiceProxy('bsServer',bsServer)
+	try:
+		state = getState(state)
+	except rospy.ServiceException, e:
+		print e	
 	if state:
-		function(1,state)
+		function(1,state.stateB)	
 		# break
-
+rospy.spin()
 
 
 

test_role.py

@@ -15,8 +15,6 @@
 pub = rospy.Publisher('/grsim_data',gr_Commands,queue_size=1000)
 
 
-import memcache
-shared = memcache.Client(['127.0.0.1:11211'],debug=True)
 
 
 
@@ -46,7 +44,6 @@ def function(id_,state):
 
 while True:
 	state = None
-	#state=shared.get('state')
 	rospy.wait_for_service('bsServer',)
 	getState = rospy.ServiceProxy('bsServer',bsServer)
 	try: