def rotateToOpenSpace(player):
"""
Rotate around ball, so as to find an open lane to dribble thru
"""
if player.firstFrame():
rotateToOpenSpace.counter = 0
if transitions.rotateLeft(player):
player.setWalk(0, -.7, .25)
else:
player.setWalk(0, .7, -.25)
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif rotateToOpenSpace.counter == constants.ROTATE_FC:
player.stand()
return player.goLater('decideDribble')
elif transitions.centerLaneOpen(player):
rotateToOpenSpace.counter += 1
return player.stay() # so counter is not reset, see below
rotateToOpenSpace.counter = 0
return player.stay()
def rotateToOpenSpace(player):
"""
Rotate around ball, so as to find an open lane to dribble thru
"""
if player.firstFrame():
rotateToOpenSpace.counter = 0
if transitions.rotateLeft(player):
player.setWalk(0, -.7, .25)
else:
player.setWalk(0, .7, -.25)
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif rotateToOpenSpace.counter == constants.ROTATE_FC:
player.stand()
return player.goLater('decideDribble')
elif transitions.centerLaneOpen(player):
rotateToOpenSpace.counter += 1
return player.stay() # so counter is not reset, see below
rotateToOpenSpace.counter = 0
return player.stay()
def decideDribble(player):
"""
Decide to dribble straight ahead or rotate to avoid other robots.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
if not transitions.shouldDribble(player):
player.inKickingState = False
return player.goLater('chase')
elif transitions.centerLaneOpen(player):
return player.goNow('executeDribble')
else:
return player.goNow('rotateToOpenSpace')
def executeDribble(player):
"""
Move through the ball, so as to execute a dribble.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.aboutToRotate = False
player.ballBeforeDribble = ball
if player.corner_dribble:
player.brain.nav.goTo(player.kickPose,
Navigator.PRECISELY,
Navigator.CAREFUL_SPEED,
False,
False)
else:
player.brain.nav.goTo(player.kickPose,
Navigator.PRECISELY,
Navigator.GRADUAL_SPEED,
False,
False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('approachBall')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
elif transitions.centerField(player):
player.corner_dribble = False
return player.goLater('approachBall')
else:
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
return player.goLater('approachBall')
elif not transitions.centerLaneOpen(player):
player.aboutToRotate = True # we will go from position to rotate
return player.goNow('positionForDribble')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
return player.stay()
def decideDribble(player):
"""
Decide to dribble straight ahead or rotate to avoid other robots.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
if not transitions.shouldDribble(player):
player.inKickingState = False
return player.goLater('chase')
elif transitions.centerLaneOpen(player):
return player.goNow('executeDribble')
else:
return player.goNow('rotateToOpenSpace')
def executeDribble(player):
"""
Move through the ball, so as to execute a dribble.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.aboutToRotate = False
player.ballBeforeDribble = ball
if player.corner_dribble:
player.brain.nav.goTo(player.kickPose, Navigator.PRECISELY,
Navigator.CAREFUL_SPEED, False, False)
else:
player.brain.nav.goTo(player.kickPose, Navigator.PRECISELY,
Navigator.GRADUAL_SPEED, False, False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('chase')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
elif transitions.centerField(player):
player.corner_dribble = False
return player.goLater('chase')
else:
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
return player.goLater('chase')
elif not transitions.centerLaneOpen(player):
player.aboutToRotate = True # we will go from position to rotate
return player.goNow('positionForDribble')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
return player.stay()
def positionForDribble(player):
"""
We should position ourselves behind the ball for easy dribbling.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x + constants.SETUP_POSITION,
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.brain.nav.goTo(player.kickPose,
Navigator.GENERAL_AREA,
Navigator.MEDIUM_SPEED,
False,
False)
else:
player.brain.nav.updateDest(player.kickPose)
if transitions.ballLost(player):
return player.goLater('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif player.aboutToRotate and transitions.navDone(player):
player.aboutToRotate = False
return player.goLater('rotateToOpenSpace')
elif transitions.navDone(player):
return player.goLater('decideDribble')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.stat_rel_x - kick_pos[0],
ball.stat_rel_y - kick_pos[1],
0)
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
#only enque the new goTo destination once and update it afterwards
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.SLOW_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player):
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
player.ballBeforeKick = player.brain.ball
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED,
True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForDribble(player):
"""
We should position ourselves behind the ball for easy dribbling.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x + constants.SETUP_POSITION,
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.brain.nav.goTo(player.kickPose, Navigator.GENERAL_AREA,
Navigator.MEDIUM_SPEED, False, False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('chase')
elif transitions.navDone(player):
return player.goLater('executeDribble')
else:
if transitions.ballLost(player):
return player.goLater('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif player.aboutToRotate and transitions.navDone(player):
player.aboutToRotate = False
return player.goLater('rotateToOpenSpace')
elif transitions.navDone(player):
return player.goLater('decideDribble')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED, True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def prepareForKick(player):
if player.firstFrame():
prepareForKick.hackKick = hackKick.KickInformation(player.brain)
player.brain.nav.stand()
return player.stay()
if player.brain.ball.distance > constants.APPROACH_BALL_AGAIN_DIST:
# Ball has moved away. Go get it!
player.inKickingState = False
return player.goLater('chase')
player.kick = prepareForKick.hackKick.shoot()
if hackKick.DEBUG_KICK_DECISION:
print str(player.kick)
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
return player.goNow('orbitBall')
def lookForBall(player):
"""
Backup and look for ball. If fails, leave the FSA.
"""
if player.firstFrame():
lookForBall.setDest = False
player.brain.tracker.repeatWidePan()
player.stand()
if transitions.seesBall(player):
player.brain.tracker.trackBall()
return player.goNow('positionForDribble')
elif player.brain.nav.isStopped():
if not lookForBall.setDest:
backupLoc = RelRobotLocation(constants.BACKUP_WHEN_LOST,0,0)
player.brain.nav.walkTo(backupLoc)
lookForBall.setDest = True
else:
player.inKickingState = False
return player.goLater('chase')
return player.stay()
def prepareForKick(player):
if player.firstFrame():
prepareForKick.hackKick = hackKick.KickInformation(player.brain)
player.brain.nav.stand()
return player.stay()
if player.brain.ball.distance > constants.APPROACH_BALL_AGAIN_DIST:
# Ball has moved away. Go get it!
player.inKickingState = False
return player.goLater('chase')
player.kick = prepareForKick.hackKick.shoot()
if hackKick.DEBUG_KICK_DECISION:
print str(player.kick)
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
return player.goNow('orbitBall')
def lookForBall(player):
"""
Backup and look for ball. If fails, leave the FSA.
"""
if player.firstFrame():
lookForBall.setDest = False
player.brain.tracker.repeatWidePan()
player.stand()
if transitions.seesBall(player):
player.brain.tracker.trackBall()
return player.goNow('positionForDribble')
elif player.brain.nav.isStopped():
if not lookForBall.setDest:
backupLoc = RelRobotLocation(constants.BACKUP_WHEN_LOST, 0, 0)
player.brain.nav.walkTo(backupLoc)
lookForBall.setDest = True
else:
player.inKickingState = False
return player.goLater('chase')
return player.stay()
