test_idle.py

import play
import behavior
import robocup
import main
import constants

class TestIdle(play.Play):
    def __init__(self):
        super().__init__(continuous=True)
        self.add_transition(behavior.Behavior.State.start,
                            behavior.Behavior.State.running, lambda: True,
                            "immediately")
        self.win_eval = robocup.WindowEvaluator(main.system_state())

    def execute_running(self):
        start = robocup.Point(0,4)
        windows, best = self.win_eval.eval_pt_to_our_goal(start)
        # draw shot triangle
        pts = [start,
               best.segment.get_pt(0),
               best.segment.get_pt(1)]
        shot_color = (255, 0, 0, 150)  # translucent red
        main.system_state().draw_polygon(pts, shot_color,
                                         "Defense")
        main.system_state().draw_segment(
            best.segment, constants.Colors.Red,
            "Defense")