def perform(aimToGoal = True, kickType=Action.HeadTapWT, \
tX = Constant.TARGET_GOAL_X, tY = Constant.TARGET_GOAL_Y):
global gLastFrameCalled
global gtkGenerator
global isAimToGoal, targetX, targetY, gKickType
if not sGrab.isGrabbed:
resetPerform()
return Constant.STATE_FAILED
elif not sGrab.isBallUnderChin():
sGrab.resetPerform()
resetPerform()
return Constant.STATE_FAILED
if gLastFrameCalled != Global.frame - 1:
resetPerform()
gLastFrameCalled = Global.frame
if gtkGenerator == None:
isAimToGoal = aimToGoal
if not isAimToGoal:
targetX = tX
targetY = tY
gKickType = kickType
gtkGenerator = gtkGeneratorFunc()
try:
Global.lostBall = 0
gtkGenerator.next()
except StopIteration:
resetPerform()
return Constant.STATE_SUCCESS
return Constant.STATE_EXECUTING
def perform(forward,
left,
turnCCW,
walkType=None,
minorWalkType=None,
checkForBallUnderChin=True):
if not sGrab.isGrabbed:
resetPerform()
return Constant.STATE_FAILED
elif checkForBallUnderChin and not sGrab.isBallUnderChin():
sGrab.resetPerform()
resetPerform()
return Constant.STATE_FAILED
Action.openMouth()
moveHeadForward()
wt = Action.SkellipticalWalkWT
if forward != 0 and left != 0 and turnCCW != 0:
mwt = Action.GrabDribbleMWT
elif forward != 0 and left != 0:
mwt = Action.GrabDribbleMWT
elif forward != 0 and turnCCW != 0:
if abs(turnCCW) < 10:
mwt = Action.SkeFastForwardMWT
else:
mwt = Action.SkeGrabDribbleMWT
elif left != 0 and turnCCW != 0:
mwt = Action.SkeGrabDribbleMWT
elif forward != 0:
mwt = Action.SkeFastForwardMWT
elif left != 0:
mwt = Action.SkeGrabDribbleMWT
elif turnCCW != 0:
mwt = Action.SkeGrabDribbleMWT
else:
mwt = Action.SkeGrabDribbleMWT
if walkType != None:
wt = walkType
if minorWalkType != None:
mwt = minorWalkType
Action.walk(forward, left, turnCCW, "sdd", wt, mwt)
return Constant.STATE_EXECUTING
def isBallUnderChin():
return gIsHeadLifting\
or sGrab.isBallUnderChin()
def perform(forward,
left,
turnCCW,
walkType=None,
minorWalkType=None,
checkForBallUnderChin=True):
global gLastActionFrame
global gTurnCCWSpd
if not sGrab.isGrabbed:
print "Grab failed"
resetPerform()
return Constant.STATE_FAILED
elif checkForBallUnderChin and not sGrab.isBallUnderChin():
sGrab.resetPerform()
resetPerform()
return Constant.STATE_FAILED
Action.openMouth()
moveHeadForward()
gLastActionFrame = Global.frame
wt = Action.SkellipticalWalkWT
if forward != 0 and left != 0 and turnCCW != 0:
mwt = Action.GrabDribbleMWT
elif forward != 0 and left != 0:
mwt = Action.GrabDribbleMWT
elif forward != 0 and turnCCW != 0:
if abs(turnCCW) < 10:
mwt = Action.SkeFastForwardMWT
else:
mwt = Action.SkeGrabDribbleMWT
elif left != 0 and turnCCW != 0:
mwt = Action.SkeGrabDribbleMWT
elif forward != 0:
mwt = Action.SkeFastForwardMWT
elif left != 0:
mwt = Action.SkeGrabDribbleMWT
elif turnCCW != 0:
mwt = Action.SkeGrabDribbleMWT
else:
mwt = Action.SkeGrabDribbleMWT
if walkType != None:
wt = walkType
if minorWalkType != None:
mwt = minorWalkType
Action.walk(forward, left, turnCCW, "sdd", wt, mwt)
if gTurnCCWSpd != None:
Action.finalValues[Action.TurnCCW] = gTurnCCWSpd
gTurnCCWSpd = None
return Constant.STATE_EXECUTING
def doKickWithGrab():
global gSelectedKick
if not sGrab.isGrabbed:
# If the ball is in the edge, do more get behind.
if hWhere.ballOnEdge():
r = sGrab.perform(sFindBall.GET_BEHIND_PRIORITY)
else:
r = sGrab.perform()
if r == Constant.STATE_FAILED:
hTrack.panLow = True
return r
elif r == Constant.STATE_EXECUTING:
return r
# Grab success
else:
# override kick selection
selectedKick = sSelKick.perform()
#print "kick reselected"
# If the selected kick is different, then do kick reset.
if gSelectedKick != None and selectedKick[0] != gSelectedKick[0]:
doKickReset()
gSelectedKick = selectedKick
# If kick selection returns paw kick, change it to
# grab dribble.
# Because we can't paw kick or dribble from grab.
kickType = gSelectedKick[0]
if kickType == sSelKick.KT_DRIBBLE\
or kickType == sSelKick.KT_PAW_KICK\
or kickType == sSelKick.KT_AVOID_OWN_GOAL:
gSelectedKick = (sSelKick.KT_GRAB_DRIBBLE, gSelectedKick[1],
gSelectedKick[2])
r = Constant.STATE_EXECUTING
if sGrab.isGrabbed:
if not sGrab.isBallUnderChin():
return Constant.STATE_FAILED
kickType, dkd, direction = gSelectedKick
# Find a global co-ordinate on the dkd
tx, ty = hMath.getPointRelative(Global.ballX, Global.ballY, dkd, 200)
# Setting isClockwise
isClockwise = None
if direction == Constant.dCLOCKWISE:
isClockwise = True
elif direction == Constant.dANTICLOCKWISE:
isClockwise = False
if kickType == sSelKick.KT_GRAB_TURN_KICK:
r = sGrabTurnKick.perform(False, Action.HeadTapWT, tx, ty)
#r = sGrabDribble.performToDKD(dkd, 0)
elif kickType == sSelKick.KT_GRAB_TURN_SHOOT:
r = sGrabTurnKick.perform()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_GOAL:
r = sGrabDribble.performToTargetGoal()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_STOP:
r = sGrabDribble.performToDKD(dkd,
minTimeToDribble=2500,
dontKick=True)
elif kickType == sSelKick.KT_GRAB_DRIBBLE:
r = sGrabDribble.performToDKD(dkd)
elif kickType == sSelKick.KT_TURN_KICK:
r = sTurnKick.perform(dkd, isClockwise=isClockwise)
elif kickType == sSelKick.KT_UPENN_LEFT:
#print "grab upeen left"
r = sUpennKick.perform(dkd, True)
elif kickType == sSelKick.KT_UPENN_RIGHT:
#print "grab upeen right"
r = sUpennKick.perform(dkd, False)
else:
print "rAttacker.py : No appropriate kick for grab chosen??? ", kickType
r = Constant.STATE_FAILED
return r