def searchFieldForSharedBall(player):
"""
Searches the field for the shared ball.
"""
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.tracker.repeatWideSnapPan()
player.sharedBallCloseCount = 0
player.sharedBallOffCount = 0
player.brain.nav.goTo(sharedball, precision = nav.GENERAL_AREA,
speed = speeds.SPEED_EIGHT, avoidObstacles = True,
fast = True, pb = False)
if sharedball.distTo(player.brain.loc) < 100:
player.sharedBallCloseCount += 1
else:
player.sharedBallCloseCount = 0
if not transitions.shouldFindSharedBall(player):
player.sharedBallOffCount += 1
else:
player.sharedBallOffCount = 0
player.brain.nav.updateDest(sharedball)
def searchFieldForFlippedSharedBall(player):
"""
Flips the shared ball and searches for it.
"""
sharedball = Location(-1*(player.brain.sharedBall.x-NogginConstants.MIDFIELD_X) + NogginConstants.MIDFIELD_X,
-1*(player.brain.sharedBall.y-NogginConstants.MIDFIELD_Y) + NogginConstants.MIDFIELD_Y)
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.tracker.repeatWideSnapPan()
player.sharedBallCloseCount = 0
player.brain.nav.goTo(sharedball, precision = nav.GENERAL_AREA,
speed = speeds.SPEED_EIGHT, avoidObstacles = True,
fast = True, pb = False)
if sharedball.distTo(player.brain.loc) < 100:
player.sharedBallCloseCount += 1
else:
player.sharedBallCloseCount = 0
if not transitions.shouldFindSharedBall(player):
player.sharedBallOffCount += 1
else:
player.sharedBallOffCount = 0
player.brain.nav.updateDest(sharedball)
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within box.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.nav.stand()
if transitions.tooFarFromHome(player, 50, 20):
return player.goLater('positionAtHome')
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within box.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.nav.stand()
if transitions.tooFarFromHome(player, 50, 20):
return player.goLater('positionAtHome')
def branchOnRole(player):
"""
Chasers have different behavior than defenders, so we branch on
role here.
"""
if role.isChaser(player.role):
if transitions.shouldFindSharedBall(player):
return player.goNow('searchFieldForSharedBall')
return player.goNow('searchFieldByQuad')
return player.goNow('positionAtHome')
def branchOnRole(player):
"""
Chasers have different behavior than defenders, so we branch on
role here.
"""
if role.isChaser(player.role):
if transitions.shouldFindSharedBall(player):
return player.goNow('searchFieldForSharedBall')
return player.goNow('searchFieldByQuad')
return player.goNow('positionAtHome')
def branchOnRole(player):
"""
Chasers are going to have a different behavior again.
We will branch on behavior based on role here
"""
# print "----------In branch on role----------"
# print "Entered Branch on Role"
# print "----- evenDefenderIsForward, lastEvenDefenderForwardVal ----"
# print player.brain.evenDefenderIsForward, lastEvenDefenderForwardVal
# global lastEvenDefenderForwardVal
# player.brain.evenDefenderIsForward = not lastEvenDefenderForwardVal
# newEvenDefenderForwardVal = True
# print("TIME SINCE PLAYING:", player.brain.gameController.timeSincePlaying)
if role.isFirstChaser(player.role):
if transitions.shouldFindSharedBall(player) and player.brain.gameController.timeSincePlaying > 75:
return player.goNow('searchFieldForSharedBall')
return player.goNow('playerFourSearchBehavior')
elif role.isStriker(player.role):
return player.goNow('playerFiveSearchBehavior')
elif role.isLeftDefender(player.role):
# print "Player Brain Left Forward 1: " + str(leftDefenderIsForward)
# if (player.brain.sharedBall.ball_on) and (player.brain.sharedBall.x < NogginConstants.MIDFIELD_X):
# print "WE ARE IN HERE"
# return player.goNow('leftDefenderBack')
if leftDefenderIsForward:
# print "Changing to False"
global leftDefenderIsForward
leftDefenderIsForward = False
# print "Player Brain Left Forward 2: " + str(leftDefenderIsForward)
return player.goNow('leftDefenderForward')
else:
# print "Changing to True"
global leftDefenderIsForward
leftDefenderIsForward = True
# print "Player Brain Left Forward 3: " + str(leftDefenderIsForward)
return player.goNow('leftDefenderBack')
else:
return player.goNow('positionAtHome')
def branchOnRole(player):
"""
Chasers are going to have a different behavior again.
We will branch on behavior based on role here
"""
# print("TIME SINCE PLAYING:", player.brain.gameController.timeSincePlaying)
if role.isChaser(player.role):
if transitions.shouldFindSharedBall(player) and player.brain.gameController.timeSincePlaying > 75:
return player.goNow('searchFieldForSharedBall')
return player.goNow('searchFieldByQuad')
return player.goNow('positionAtHome')
def positionAtHome(player):
"""
Go to the player's home position. Defenders look in the direction of the
shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
of the shared ball if it is on with reliability >= 1.
"""
if role.isFirstChaser(player.role) and transitions.shouldFindSharedBall(player):
return player.goLater('searchFieldForSharedBall')
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
bearing = ball.bearing_deg
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
bearing = degrees(atan2(ball.y - player.brain.loc.y,
ball.x - player.brain.loc.x)) - player.brain.loc.h
else:
ball = None
home = player.homePosition
if ball != None:
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, bearing + player.brain.loc.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, bearing + player.brain.loc.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, bearing + player.brain.loc.h)
else:
home = player.homePosition
if player.firstFrame():
if role.isCherryPicker(player.role):
player.brain.tracker.repeatBasicPan()
else:
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
home = RobotLocation(player.homePosition.x, player.homePosition.y, player.homePosition.h)
if (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 2 and
role.isDefender(player.role)):
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
home.h = player.brain.loc.getRelativeBearing(sharedball)
elif (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 1 and
role.isCherryPicker(player.role)):
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
home.h = player.brain.loc.getRelativeBearing(sharedball)
player.brain.nav.updateDest(home)
@superState('playOffBall')
@stay
@ifSwitchNow(transitions.tooFarFromHome(20), 'positionAtHome')
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within it's box (range)
"""
if player.firstFrame():
player.brain.nav.stand()
@superState('playOffBall')
@stay
@ifSwitchLater(shared.ballOffForNFrames(120), 'playOffBall')
def positionAsSupporter(player):
if (role.isChaser(player.role) and role.isChaser(player.roleOfClaimer) and
player.brain.ball.distance > hypot(CHASER_DISTANCE, CHASER_DISTANCE)):
fast = True
else:
if player.firstFrame():
if role.isCherryPicker(player.role):
player.brain.tracker.repeatWidePan()
else:
player.brain.tracker.trackBall()
fastWalk = role.isCherryPicker(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
@superState('playOffBall')
@stay
@ifSwitchNow(transitions.tooFarFromHome(20), 'positionAtHome')
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within it's box (range)
"""
if player.firstFrame():
player.brain.nav.stand()
@superState('playOffBall')
@stay
@ifSwitchLater(shared.ballOffForNFrames(120), 'playOffBall')
def positionAsSupporter(player):
if (role.isChaser(player.role) and role.isChaser(player.roleOfClaimer) and
player.brain.ball.distance > hypot(CHASER_DISTANCE, CHASER_DISTANCE)):
fast = True
else:
