Init

world/world.py

@@ -0,0 +1,66 @@
+from dataclasses import Field
+import numpy as np
+from world.commons.other_robot import OtherRobot
+from world.commons.field import FIFAField, HLAdultField
+from world.commons.play_mode import PlayModeEnum, PlayModeGroupEnum
+
+
+class World:
+    """
+    Represents the current simulation world, containing all relevant
+    information about the environment, the ball, and the robots.
+    """
+
+    MAX_PLAYERS_PER_TEAM = 11
+
+    def __init__(self, agent, team_name: str, number: int, field_name: str):
+        """
+        Initializes the world state.
+
+        Args:
+            agent: Reference to the agent that owns this world.
+            team_name (str): The name of the agent's team.
+            number (int): The player's number within the team.
+            field_name (str): The name of the field to initialize
+                              (e.g., 'fifa' or 'hl_adult').
+        """
+
+        from agent.base_agent import Agent  # type hinting
+
+        self.agent: Agent = agent
+        self.team_name: str = team_name
+        self.number: int = number
+        self.playmode: PlayModeEnum = PlayModeEnum.NOT_INITIALIZED
+        self.playmode_group: PlayModeGroupEnum = PlayModeGroupEnum.NOT_INITIALIZED
+        self.is_left_team: bool = None
+        self.game_time: float = None
+        self.server_time: float = None
+        self.score_left: int = None
+        self.score_right: int = None
+        self.their_team_name: str = None
+        self.last_server_time: str = None
+        self._global_cheat_position: np.ndarray = np.zeros(3)
+        self.global_position: np.ndarray = np.zeros(3)
+        self.ball_pos: np.ndarray = np.zeros(3)
+        self.is_ball_pos_updated: bool = False
+        self.our_team_players: list[OtherRobot] = [OtherRobot() for _ in range(self.MAX_PLAYERS_PER_TEAM)]
+        self.their_team_players: list[OtherRobot] = [OtherRobot(is_teammate=False) for _ in
+                                                     range(self.MAX_PLAYERS_PER_TEAM)]
+        self.field: Field = self.__initialize_field(field_name=field_name)
+
+    def update(self) -> None:
+        """
+        Updates the world state
+        """
+        self.playmode_group = PlayModeGroupEnum.get_group_from_playmode(
+            playmode=self.playmode, is_left_team=self.is_left_team
+        )
+
+    def is_fallen(self) -> bool:
+        return self.global_position[2] < 0.3
+
+    def __initialize_field(self, field_name: str) -> Field:
+        if field_name in ('hl_adult', 'hl_adult_2020', 'hl_adult_2019',):
+            return HLAdultField(world=self)
+        else:
+            return FIFAField(world=self)