def execute(self, state, pub):
#bot_list = [self.bot_id, self.bot_id]
print "BALL_POS : ", state.ballPos.x, ",", state.ballPos.y
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
botPos = Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))
ballVel = Vector2D(int(state.ballVel.x), int(state.ballVel.y))
distance = botPos.dist(ballPos)
attacker_id = state.opp_bot_closest_to_ball
attacker_pos = Vector2D(int(state.awayPos[attacker_id].x),
int(state.awayPos[attacker_id].y))
gameState = self.getState(state)
if gameState == TGoalie.State.block:
print("ATTACKER_HAS_THE_BALL")
self.sParams.GoToPointP.x = -HALF_FIELD_MAXX + 2 * BOT_RADIUS
if (ballPos.x - attacker_pos.x) != 0:
y = ballPos.y + (ballPos.y - attacker_pos.y) * abs(
(-HALF_FIELD_MAXX + 2 * BOT_RADIUS - ballPos.x) /
(ballPos.x - attacker_pos.x))
else:
y = ballPos.y
y = min(y, OUR_GOAL_MAXY - BOT_RADIUS)
y = max(y, OUR_GOAL_MINY + BOT_RADIUS)
self.sParams.GoToPointP.y = y
finalPos = Vector2D(self.sParams.GoToPointP.x,
self.sParams.GoToPointP.y)
self.sParams.GoToPointP.finalSlope = ballPos.angle(finalPos)
sGoalie.execute(self.sParams, state, self.bot_id, pub)
elif gameState == TGoalie.State.intercept:
print("___BALL_APPROACHING______")
self.sParams.GoToPointP.x = -HALF_FIELD_MAXX + 2 * BOT_RADIUS
y = ballPos.y + ballVel.y * abs(
(-HALF_FIELD_MAXX + 2 * BOT_RADIUS - ballPos.x) / ballVel.x)
y = min(y, OUR_GOAL_MAXY - BOT_RADIUS)
y = max(y, OUR_GOAL_MINY + BOT_RADIUS)
self.sParams.GoToPointP.y = y
finalPos = Vector2D(self.sParams.GoToPointP.x,
self.sParams.GoToPointP.y)
self.sParams.GoToPointP.finalSlope = ballPos.angle(finalPos)
sGoalie.execute(self.sParams, state, self.bot_id, pub)
elif gameState == TGoalie.State.chill:
print("___BALL_NOT_APPROACHING______")
self.sParams.GoToPointP.x = -HALF_FIELD_MAXX + 2 * BOT_RADIUS
y = ballPos.y
y = min(y, OUR_GOAL_MAXY - BOT_RADIUS)
y = max(y, OUR_GOAL_MINY + BOT_RADIUS)
self.sParams.GoToPointP.y = y
self.sParams.GoToPointP.finalSlope = ballPos.angle(botPos) + pi
sGoalie.execute(self.sParams, state, self.bot_id, pub)
elif gameState == TGoalie.State.clear:
print(" ___CLEAR_THE_BALL________")
# TO DO decide the point where the ball is to be kicked
self.sParams.KickToPointP.x = 0
self.sParams.KickToPointP.y = 0
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
else:
print("___REFREE_PLAY__________")
def execute(self, state, pub, reciever_bot_id=[-1]):
ballPos = Vector2D(state.ballPos.x, state.ballPos.y)
botPos = Vector2D(state.homePos[self.bot_id].x,
state.homePos[self.bot_id].y)
params = Vector2D(4500, 0)
self.sParams.GoToPointP.x = params.x
self.sParams.GoToPointP.y = params.y
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
def execute(self, state, pub):
print "BALL_POS : ", state.ballPos.x, ",", state.ballPos.y
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
botPos = Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))
ballVel = Vector2D(int(state.ballVel.x), int(state.ballVel.y))
gameState = self.getState(state)
global k1
global k2
if gameState == TDumbattacker.State.shoot:
if not (state.ballPos.x < -HALF_FIELD_MAXX + DBOX_WIDTH):
if fabs(
ballPos.dist(
Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))) >
BOT_BALL_THRESH):
sGoToBall.execute(self.sParams, state, self.bot_id, pub)
else:
return
if k1 and not k2:
self.sParams.KickToPointP.x = HALF_FIELD_MAXX
self.sParams.KickToPointP.y = 0.8 * OUR_GOAL_MINY
self.sParams.KickToPointP.power = 10
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
else:
self.sParams.KickToPointP.x = HALF_FIELD_MAXX
self.sParams.KickToPointP.y = 0.8 * OUR_GOAL_MAXY
self.sParams.KickToPointP.power = 10
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
if gameState == TDumbattacker.State.cross_pass:
self.sParams.KickToPointP.x = state.homePos[self.receive_bot_id].x
self.sParams.KickToPointP.y = state.homePos[self.receive_bot_id].y
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
if gameState == TDumbattacker.State.cross_receive:
self.SParams.sTurnToPoint.x = state.homePos[self.passer_bot_id].x
self.SParams.sTurnToPoint.y = state.homePos[self.passer_bot_id].y
self.SParams.sTurnToPoint.max_omega = MAX_BOT_OMEGA
sTurnToPoint.execute(self.sParams, state, self.bot_id, pub)
if gameState == TDumbattacker.State.optimum_pos:
if state.homePos[self.passer_bot_id].y > 0:
if state.homePos[self.bot_id].x < state.homePos[
self.passer_bot_id].x:
self.SParams.sGoToPoint.y = OUR_GOAL_MAXY * 1.5
self.SParams.sGoToPoint.x = state.homePos[
self.passer_bot_id].x + 100
self.SParams.sGoToPoint.finalSlope = -State.homePos[
self.bot_id].angle(State.homePos[self.passer_bot_id])
self.SParams.sGoToPoint.align = False
self.SParams.sGoToPoint.finalVelocity = 0
sGoToPoint.execute(self.sParams, state, self.bot_id, pub)
else:
self.SParams.sGoToPoint.y = OUR_GOAL_MAXY * 1.5
self.SParams.sGoToPoint.x = self.SParams.sGoToPoint.x + 75
self.SParams.sGoToPoint.finalSlope = -State.homePos[
self.bot_id].angle(State.homePos[self.passer_bot_id])
self.SParams.sGoToPoint.align = False
self.SParams.sGoToPoint.finalVelocity = 0
else:
if state.homePos[self.bot_id].x < state.homePos[
self.passer_bot_id].x:
self.SParams.sGoToPoint.y = OUR_GOAL_MINY * 1.5
self.SParams.sGoToPoint.x = state.homePos[
self.passer_bot_id].x + 100
self.SParams.sGoToPoint.finalSlope = -State.homePos[
self.bot_id].angle(State.homePos[self.passer_bot_id])
self.SParams.sGoToPoint.align = False
self.SParams.sGoToPoint.finalVelocity = 0
sGoToPoint.execute(self.sParams, state, self.bot_id, pub)
else:
self.SParams.sGoToPoint.y = OUR_GOAL_MINY * 1.5
self.SParams.sGoToPoint.x = self.SParams.sGoToPoint.x + 75
self.SParams.sGoToPoint.finalSlope = -State.homePos[
self.bot_id].angle(State.homePos[self.passer_bot_id])
self.SParams.sGoToPoint.align = False
self.SParams.sGoToPoint.finalVelocity = 0
def execute(self, state , pub):
#bot_list = [self.bot_id, self.bot_id]
print "BALL_POS : ",state.ballPos.x,",",state.ballPos.y
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
botPos = Vector2D(int(state.homePos[self.bot_id].x), int(state.homePos[self.bot_id].y))
ballVel = Vector2D(int(state.ballVel.x) , int(state.ballVel.y))
distance = botPos.dist(ballPos)
attacker_id = state.opp_bot_closest_to_ball
attacker_pos = Vector2D (int(state.awayPos[attacker_id].x),int(state.awayPos[attacker_id].y))
gameState = self.getState(state)
# self.sParams.GoToPointP.x = ballPos.x
# self.sParams.GoToPointP.y = ballPos.y
# sGoToPoint.execute(self.sParams, state, self.bot_id, pub)
# return
if gameState == TLDefender.State.block:
print ("ATTACKER_HAS_THE_BALL")
self.sParams.GoToPointP.x = -HALF_FIELD_MAXX+DBOX_WIDTH+BOT_RADIUS
if (ballPos.x-attacker_pos.x) != 0 :
y = ballPos.y + (ballPos.y-attacker_pos.y)*abs((-HALF_FIELD_MAXX+2*BOT_RADIUS-ballPos.x)/(ballPos.x-attacker_pos.x))
else :
y = ballPos.y
y = min(y,OUR_GOAL_MAXY - BOT_RADIUS)
y = max(y,OUR_GOAL_MINY + BOT_RADIUS)
if y - OUR_GOAL_MINY <= 2*BOT_RADIUS :
y = y + 4.4*BOT_RADIUS
elif OUR_GOAL_MAXY - y <= 2*BOT_RADIUS :
y = y - 1.7*BOT_RADIUS
else :
y = y + 2.4*BOT_RADIUS
self.sParams.GoToPointP.y = y
finalPos = Vector2D(self.sParams.GoToPointP.x,self.sParams.GoToPointP.y)
self.sParams.GoToPointP.finalSlope = ballPos.angle(finalPos)
if finalPos.dist(state.homePos[self.bot_id]) <= BOT_BALL_THRESH :
print (" TURN TOWARDS BALL")
self.sParams.TurnToPointP.x = ballPos.x
self.sParams.TurnToPointP.y = ballPos.y
self.sParams.TurnToPointP.max_omega = MAX_BOT_OMEGA
sTurnToPoint.execute(self.sParams,state,self.bot_id,pub)
else :
print (" GET POSITIONED ")
sGoToPoint.execute(self.sParams, state, self.bot_id, pub)
elif gameState == TLDefender.State.intercept:
print ("___BALL_APPROACHING______")
self.sParams.GoToPointP.x = -HALF_FIELD_MAXX+DBOX_WIDTH+BOT_RADIUS
y = ballPos.y + ballVel.y*abs((-HALF_FIELD_MAXX+2*BOT_RADIUS-ballPos.x)/ballVel.x)
y = min(y,OUR_GOAL_MAXY - BOT_RADIUS)
y = max(y,OUR_GOAL_MINY + BOT_RADIUS)
if y - OUR_GOAL_MINY <= 2*BOT_RADIUS :
y = y + 4.4*BOT_RADIUS
elif OUR_GOAL_MAXY - y <= 2*BOT_RADIUS :
y = y - 1.7*BOT_RADIUS
else :
y = y + 2.4*BOT_RADIUS
self.sParams.GoToPointP.y = y
finalPos = Vector2D(self.sParams.GoToPointP.x,self.sParams.GoToPointP.y)
self.sParams.GoToPointP.finalSlope = ballPos.angle(finalPos)
if distance <= DRIBBLER_BALL_THRESH and ballPos.y < 0:
self.sParams.KickToPointP.x = 0 # TO DO decide the point to clear the ball
self.sParams.KickToPointP.y = 0
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams,state,self.bot_id,pub, True)
else :
sGoToPoint.execute(self.sParams, state, self.bot_id, pub)
elif gameState == TLDefender.State.chill :
print ("___BALL_NOT_APPROACHING______")
pointL,pointR = self.getPoints(state)
self.sParams.GoToPointP.x = pointL.x
self.sParams.GoToPointP.y = pointL.y
finalPos = pointL
self.sParams.GoToPointP.finalSlope = ballPos.angle(finalPos)
print(finalPos.x,finalPos.y)
if distance <= DRIBBLER_BALL_THRESH and ballPos.y > 0:
print ("KICK TO POINT")
self.sParams.KickToPointP.x = 0 # TO DO decide the point to clear the ball
self.sParams.KickToPointP.y = 0
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams,state,self.bot_id,pub)
else :
if finalPos.dist(state.homePos[self.bot_id]) <= BOT_BALL_THRESH :
print (" TURN TOWARDS BALL")
self.sParams.TurnToPointP.x = ballPos.x
self.sParams.TurnToPointP.y = ballPos.y
self.sParams.TurnToPointP.max_omega = MAX_BOT_OMEGA
sTurnToPoint.execute(self.sParams,state,self.bot_id,pub)
else :
print (" GET POSITIONED ")
sGoToPoint.execute(self.sParams, state, self.bot_id, pub)
elif gameState == TLDefender.State.clear_block:
print (" ___CLEAR_THE_BALL________")
sStop.execute(self.sParams,state,self.bot_id,pub)
# TO DO decide the opponent to block
else :
print ("___REFREE_PLAY__________")
def execute(self, state, pub):
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
botPos = Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))
ballVel = Vector2D(int(state.ballVel.x), int(state.ballVel.y))
gameState = self.getState(state)
global k1, k2
if gameState == TAttacker.State.shoot:
# if fabs(ballPos.dist(botPos)>BOT_BALL_THRESH/400):
# sGoToBall.execute(self.sParams, state, self.bot_id, pub)
# #fuzzy logic to find best angle
# #print "shoot_State"
if k1 and not k2:
self.sParams.KickToPointP.x = HALF_FIELD_MAXX
self.sParams.KickToPointP.y = 0.8 * OUR_GOAL_MINY
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
#print "shot"
elif k2 and not k1:
self.sParams.KickToPointP.x = HALF_FIELD_MAXX
self.sParams.KickToPointP.y = 0.8 * OUR_GOAL_MAXY
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
#print "shot"
else:
if state.awayPos[4].y < 0:
self.sParams.KickToPointP.x = HALF_FIELD_MAXX
self.sParams.KickToPointP.y = 0.8 * OUR_GOAL_MAXY
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
#print "shot"
if state.awayPos[4].y > 0:
self.sParams.KickToPointP.x = HALF_FIELD_MAXX
self.sParams.KickToPointP.y = 0.8 * OUR_GOAL_MINY
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
#print "shot"
if gameState == TAttacker.State.cross_pass:
# if fabs(ballPos.dist(botPos)>BOT_BALL_THRESH/4):
# sGoToBall.execute(self.sParams, state, self.bot_id, pub)
print "pass_state"
p = get_all(state, self.bot_id)
self.receive_bot_id = p[0]
print "receiver =", p[0]
self.sParams.KickToPointP.x = state.homePos[self.receive_bot_id].x
self.sParams.KickToPointP.y = state.homePos[self.receive_bot_id].y
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id, pub)
if gameState == TAttacker.State.cross_receive:
mindist = 9999999
print "recieve_state"
for our_bot in xrange(len(state.homePos)):
if state.homePos[our_bot].x > state.homePos[bots].x:
curr_home_bot = Vector2D(int(state.homePos[our_bot].x),
int(state.homePos[our_bot].y))
# #print'Bot id: {}, Pos {},{}'.format(our_bot,curr_opp_bot.x, curr_opp_bot.y)
dist_bot = ballPos.dist(curr_home_bot)
# #print our_bot , " " ,mindist , " " , dist_bot
# #print int(state.homePos[our_bot].x)," " ,int(state.homePos[our_bot].y)
if dist_bot < mindist:
mindist = dist_bot
closest_home_bot = our_bot
passer_bot_id = closest_home_bot
self.SParams.sTurnToPoint.x = state.homePos[self.passer_bot_id].x
self.SParams.sTurnToPoint.y = state.homePos[self.passer_bot_id].y
self.SParams.sTurnToPoint.max_omega = MAX_BOT_OMEGA
def execute(self, state, pub, receiver_bot_id=[-1]):
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
DistancesFromBot = inf
if not (state.ballPos.x < -HALF_FIELD_MAXX + DBOX_WIDTH
and fabs(state.ballPos.y) < OUR_GOAL_MAXY * 0.8):
# print(ballPos.x,ballPos.y)
if fabs(
ballPos.dist(
Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))) >
BOT_BALL_THRESH):
sGoToBall.execute(self.sParams, state, self.bot_id, pub)
else:
return
flaggu = 0
possibility = isPossible(self.bot_id, state)
bool_goal = possibility.isGoalPossible(state)
goal_chck = self.goal_possible(state)
scores_of_bot = self.calculate_score(state, self.bot_id)
AttackBot_ID = self.bot_id
self.oh_my_bot = scores_of_bot[0][0]
self.oh_my_bot = 1
#print("\n\n\n\n\n\n\n\n\n\nScore: "+str(scores_of_bot))
# print("kickinf to",self.oh_my_bot)
passprobable = possibility.isPassPossible(state, self.oh_my_bot)
geom = Vector2D()
angle2 = -geom.normalizeAngle(passprobable[1])
receiveprobable = possibility.isReceivePossible(
state, self.oh_my_bot, angle2)
# print (passprobable[0])
if not flaggu:
if passprobable[0]:
print("Passing", self.bot_id, self.oh_my_bot)
if receiveprobable:
print("Receiving", self.bot_id, self.oh_my_bot)
receiverbot = Vector2D(
int(state.homePos[self.oh_my_bot].x),
int(state.homePos[self.oh_my_bot].y))
receiver_bot_id[0] = self.oh_my_bot
distance = ballPos.dist(receiverbot)
point = Vector2D(int(ballPos.x - distance * cos(angle2)),
int(ballPos.y - distance * sin(angle2)))
# print(self.oh_my_bot)
# ob =Vector2D()
# finalSlope = ballPos.angle(Vector2D(int(state.homePos[self.oh_my_bot].x),int(state.homePos[self.oh_my_bot].y)))
# turnAngleLeft = ob.normalizeAngle(finalSlope - state.homePos[self.bot_id].theta)
botPos = Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))
# ballPos=Vector2D(int(state.ballPos.x), int(state.ballPos.y))
dist = ballPos.dist(botPos)
# finalSlope1 = ballPos.angle(botPosition)
# anglediff = state.homePos[self.bot_id].theta - ballPos.angle(Vector2D(botPosition))
# turnAngleLeft1 = ob.normalizeAngle(finalSlope1 - state.homePos[self.bot_id].theta)
if dist > BOT_BALL_THRESH + 10:
print('sGoToBall', dist, BOT_BALL_THRESH)
sGoToBall.execute(self.sParams, state, self.bot_id,
pub)
return
# elif math.fabs(turnAngleLeft1) > SATISFIABLE_THETA/2 : # SATISFIABLE_THETA in config file
# sParam = skills_union.SParam()
# import sTurnToPoint
# sParam.TurnToPointP.x = botPosition.x
# sParam.TurnToPointP.y = botPosition.y
# sParam.TurnToPointP.max_omega = MAX_BOT_OMEGA
# print("before turn")
# sTurnToPoint.execute(self.sParams, state,self.bot_id, pub)
# print("after turn")
# return
# elif fabs(anglediff)>SATISFIABLE_THETA:
# argument = "align_properly"
# print(argument)
# return
else:
self.sParams.KickToPointP.x = 3000
self.sParams.KickToPointP.y = 0
# self.sParams.KickToPointP.x = point.x
# self.sParams.KickToPointP.y = point.y
# for i in xrange(10):
# print("cordadfsd $$$$$$$$$$$$$$$$$$$$$$$$ ",point.x," , ",point.y)
self.sParams.KickToPointP.power = 7
sKickToPoint.execute(self.sParams, state, self.bot_id,
pub)
# argument = "kicking"
# print(argument)
return