def calc_defend_pos(self):
ball = self.bb.ball_global
if attackRight():
dest = VecPos(-330, 0, 0)
else:
dest = VecPos(330, 0, 180)
return dest
def tick(self):
if self.bb.see_ball:
self.lostBallTimer.restart()
if self.lostBallTimer.elapsed() > 15:
self.gotoGlobal(self.bb.get_default_dest())
if self.got_dest_loose(self.bb.get_default_dest()):
self.lostBallTimer.restart()
elif self.bb.closest_to_ball() or self.bb.team_lost_ball():
self.ready = False
self.strike.tick()
else:
"""
Face ball if see ball, else seek ball
Approach close to ball
Keep 1m away, don't block attack path
"""
if self.bb.see_ball:
bally = self.bb.ball_global.y
ballx = self.bb.ball_global.x
rx = self.bb.robot_pos.x
ry = self.bb.robot_pos.y
dx = rx - ballx
dy = ry - bally
dist = sqrt(dx * dx + dy * dy)
# for attack right case
change = False
if attackRight():
if ballx > rx or abs(bally -
ry) > 150 or dist > 200 or dist < 50:
if ry > bally:
y = bally + 100
else:
y = bally - 100
angle = degree_between(self.bb.robot_pos,
self.bb.ball_global)
if not self.gotoGlobal(VecPos(ballx + 100, y, angle)):
change = True
else:
if ballx < rx or abs(bally -
ry) > 150 or dict > 200 or dist < 50:
if ry > bally:
y = bally + 100
else:
y = bally - 100
angle = degree_between(self.bb.robot_pos,
self.bb.ball_global)
if not self.gotoGlobal(VecPos(ballx + 100, y, angle)):
change = True
trackBall.tick()
if not change:
self.faceBall()
else:
# to do, max turn cnt, else go back
self.seekball.tick()
return self.running()
from DecisionMaking.BehaviorTree.Task import Action, Task
from DecisionMaking.BehaviorTree.Branch import sequence, parallel
from skills.FindBallAroundOnce import FindBallAroundOnce
from skills.Attack import Attack
from skills.Strike import Strike
from utils.VecPos import VecPos
from utils.mathutil import get_dis, degree_between, get_magnitude
from skills.SeekBall import SeekBall
from Blackboard import attackRight
from headskills.TrackBall import trackBall
from math import fabs, sqrt
from Timer import Timer
from skills.SeekBall_Fuck import SeekBall_Fuck
if attackRight():
KICK_ABAILITY = 240
else:
KICK_ABAILITY = 200
class Striker(Action):
def init(self):
self.strike = Strike()
self.seekball = SeekBall()
self.ready = False
self.lostBallTimer = Timer()
self.seekballFuck = SeekBall_Fuck()
def tick(self):
if self.bb.see_ball:
self.lostBallTimer.restart()
def tick(self):
#print 'GCPlay'
self.trackBall.tick()
gc_info = self.bb.GCInfo
if gc_info is None or not gc_info.connected:
self.playing.tick()
else:
if gc_info.ourIndirectFreeKick or gc_info.ourDirectFreeKick or gc_info.ourPenaltyKick:
if gc_info.state2Freeze:
self.trackBall.tick()
self.crouch()
elif gc_info.state2Ready:
self.trackBall.tick()
if self.bb.closest_to_ball():
ball = self.bb.ball_global
if attackRight():
self.gotoGlobal(VecPos(ball.x - 80, ball.y, 0))
else:
self.gotoGlobal(VecPos(ball.x + 80, ball.y, 0))
elif gc_info.enemyIndirectFreeKick or gc_info.enemyDirectFreeKick or gc_info.enemyPenaltyKick:
self.enemy_freekick = True
self.freeKickTimer.restart()
self.lastFreeKickBallPos = self.bb.ball_global
if gc_info.state2Freeze:
self.crouch()
elif gc_info.state2Ready:
if self.bb.closest_to_ball():
ball = self.bb.ball_global
if attackRight():
self.gotoGlobal(VecPos(ball.x - 50, ball.y, 0))
else:
self.gotoGlobal(VecPos(ball.x + 50, ball.y, 0))
else:
self.playing.tick()
elif self.enemy_freekick:
if self.bb.closest_to_ball():
if not self.freeKickTimer.finished():
# print self.freeKickTimer.elapsed()
ball_now = self.bb.ball_global
diff = (ball_now - self.lastFreeKickBallPos).length()
# print diff
if diff < 20:
self.crouch()
self.gazeBall()
else:
self.playing.tick()
else:
self.enemy_freekick = False
else:
self.enemy_freekick = False
else:
if gc_info.state is GCInfo.INITIAL:
self.cur_state = self.initial
elif gc_info.state is GCInfo.READY:
self.cur_state = self.ready
elif gc_info.state is GCInfo.SET:
self.cur_state = self.set
elif gc_info.state is GCInfo.PLAYING:
self.cur_state = self.playing
elif gc_info.state is GCInfo.FINISHED:
self.cur_state = self.finished
else:
self.cur_state = self.playing
if gc_info.state != self.last_state:
if self.cur_state:
self.cur_state.fresh()
if self.cur_state:
self.cur_state.tick()
self.last_state = gc_info.state