def perform(self, comms):
position = self.robot.get_blocking_position(self.world)
if utils.find_obstacle(self.world, self.robot.vector, position):
# Do nothing
return
dx = position.x - self.robot.x
dy = position.y - self.robot.y
d = math.sqrt(dx**2 + dy**2)
comms.move(d)
def get_goal(self, world, robot):
'''
Selects a goal for robot
'''
''' if robot.has_ball(world.ball):
return attacker.Score(world, robot)
else:
return attacker.GetBall(world, robot)'''
if self.current_task == 'move-grab':
return attacker.GetBall(world, robot)
elif self.current_task == 'turn-move-grab':
return attacker.GetBall(world, robot)
elif self.current_task == 'turn-shoot':
if robot.has_ball(world.ball):
return attacker.Score(world, robot)
else:
info("Trying to turn-shoot without ball. Using GetBall instead.")
return attacker.GetBall(world, robot)
elif self.current_task == 'receive-pass':
if world.our_defender.has_ball(world.ball):
return attacker.AttackPosition(world, robot)
else:
return attacker.GetBall(world, robot)
elif self.current_task == 'receive-turn-pass':
if world.their_robots[0].has_ball(world.ball) or world.their_robots[1].has_ball(world.ball):
return attacker.AttackPosition(world, robot)
elif robot.has_ball(world.ball):
return attacker.AttackerPass(world, robot)
else:
return attacker.GetBall(world, robot)
elif self.current_task == 'intercept':
return attacker.AttackerBlock(world, robot)
elif self.current_task == 'score-zone':
return attacker.AttackPosition(world, robot)
elif world.game_state == 'normal-play':
if world.our_attacker.has_ball(world.ball):
info("Attacker has ball so trying to score")
return attacker.Score(world, robot)
elif world.our_defender.has_ball(world.ball):
info("Defender has ball so going to attack position")
return attacker.AttackPosition(world, robot)
elif any([r.has_ball(world.ball) for r in world.their_attackers]):
info("Opponent in our half has ball so going to score position")
return attacker.AttackPosition(world, robot)
elif any([r.has_ball(world.ball) for r in world.their_defenders])\
and world.is_possible_vector_position(world.our_attacker, world.our_attacker.get_blocking_position(world)):
info("Opponent in their half has ball so blocking")
return attacker.AttackerBlock(world, robot)
elif world.is_possible_position(world.our_attacker, world.ball.x, world.ball.y):
info("Ball is in possible position so getting ball")
return attacker.GetBall(world, robot)
else:
info("All else failed so going to attack position")
return attacker.AttackPosition(world, robot)
elif self.current_task == 'test-obstacle':
print(math.degrees(utils.get_avoiding_angle_to_point(world,
world.our_attacker.vector,
world.ball.vector)))
from position import Vector
print(utils.find_obstacle(world, robot.vector, world.ball.vector))
return attacker.GetBall(world, robot)
