def tooFarFromHome(threshold, player):
"""
Returns true if LOC thinks we're more than *distance* away from our home
position
"""
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
else:
ball = None
home = player.homePosition
if ball != None:
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, player.homePosition.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, player.homePosition.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, player.homePosition.h)
else:
home = player.homePosition
distance = ((player.brain.loc.x - home.x) ** 2 + (player.brain.loc.y - home.y) ** 2) ** 0.5
return distance > threshold
def checkForConsistency(player):
"""
Checks to see if anyone else has the same role as us. If they also have
a lower playerNumber then we change. Otherwise we assume that they will
fix the issue. Very similar in structure to determineRole in penalty states.
"""
if not player.roleSwitching:
return
openSpaces = [True, True, True, True]
conflict = False
position = 0
for mate in player.brain.teamMembers:
if mate.playerNumber == player.brain.playerNumber:
continue
openSpaces[mate.role - 2] = False
if mate.role == player.role and mate.playerNumber > player.brain.playerNumber and mate.frameSinceActive < 30:
conflict = True
if not conflict:
return # The expected outcome
for i in range(3):
if openSpaces[i] and constants.canRoleSwitchTo(i + 2):
constants.setRoleConstants(player, i + 2)
return
elif openSpaces[i]:
position = i + 2
if position == 0:
print "We have conflicting role AND there are no more open roles..."
constants.setRoleConstants(player, position)
return
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 player.firstFrame():
player.brain.tracker.trackBall()
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)
fastWalk = role.isCherryPicker(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
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)
def switchRoles(player):
"""
State to decide who on the team should become the new chaser and switch accordingly.
"""
roleConstants.setRoleConstants(player, player.openChaser)
return player.goLater(player.gameState)
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.
"""
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)
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)
def calculateHomePosition(player):
"""
Calculate home position.
"""
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
if ball != None and not (role.isDefender(player.role)
and NogginConstants.FIXED_D_HOME):
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
else:
home = player.homePosition
return home
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within box.
"""
if player.firstFrame():
# print "-----------Player at home - Watching for ball-----------"
player.brain.tracker.trackBall()
player.brain.nav.stand()
# I commented this out because we were getting strange oscillations
# between this and positonAtHome, and honestly we never go here unless
# we are already at home... dumb...
# if transitions.tooFarFromHome(player, 50, 20):
# return player.goLater('positionAtHome')
if role.isFirstChaser(player.role):
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
return player.goNow('spinAtHome')
elif role.isStriker(player.role):
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME * 2:
return player.goNow('spinAtHome')
else:
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME * 2:
return player.goNow('spinAtHome')
def switchRoles(player):
"""
State to decide who on the team should become the new chaser and switch accordingly.
"""
roleConstants.setRoleConstants(player, player.openChaser)
return player.goLater(player.gameState)
def calculateHomePosition(player):
"""
Calculate home position.
"""
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
if ball != None and not (role.isDefender(player.role) and NogginConstants.FIXED_D_HOME):
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
else:
home = player.homePosition
return home
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 switchRoles(player):
"""
State to decide who on the team should become the new chaser and switch accordingly.
"""
# US Open Hack
if player.brain.game:
oppTeam = player.brain.game.team(1).team_number
else:
oppTeam = -1
roleConstants.setRoleConstants(player, player.openChaser, oppTeam)
return player.goLater(player.gameState)
def switchRoles(player):
"""
State to decide who on the team should become the new chaser and switch accordingly.
"""
# US Open Hack
if player.brain.game:
oppTeam = player.brain.game.team(1).team_number
else:
oppTeam = -1
roleConstants.setRoleConstants(player, player.openChaser, oppTeam)
return player.goLater(player.gameState)
def commMonitor(player):
if player.commMode == -1:
pass
elif player.commMode != 2 and transitions.awfulComm(player):
print "Switched to awful comm mode!"
player.role = player.brain.playerNumber
player.prevRoleConfig = RoleConstants.roleConfiguration
RoleConstants.roleConfiguration = RoleConstants.spread
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 2
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:
fast = False
positionAsSupporter.position = getSupporterPosition(player, player.role)
# TODO don't call goTo every frame
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = False, pb = False)
def getSupporterPosition(player, role):
"""
Returns a position to stand at to support teammate who is chasing the ball.
Used in positionAsSupporter in PlayOffBallStates.
"""
if RoleConstants.isLeftDefender(role):
return leftDefender(player)
elif RoleConstants.isRightDefender(role):
return rightDefender(player)
elif RoleConstants.isChaser(role):
return chaser(player)
else: # cherry picker
return cherryPicker(player)
def getSupporterPosition(player, role):
"""
Returns a position to stand at to support teammate who is chasing the ball.
Used in positionAsSupporter in PlayOffBallStates.
"""
if RoleConstants.isLeftDefender(role):
return leftDefender(player)
elif RoleConstants.isRightDefender(role):
return rightDefender(player)
elif RoleConstants.isChaser(role):
return chaser(player)
else: # cherry picker
return cherryPicker(player)
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:
fast = False
positionAsSupporter.position = getSupporterPosition(player, player.role)
if player.firstFrame():
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = False, pb = False)
player.brain.nav.updateDest(positionAsSupporter.position, fast=fast)
def chaser(player):
"""
Chasers position off to one side of the ball about a meter away if a chaser
or cherry picker is calling them off. Chasers position further away up field if
a defender is calling them off.
"""
if RoleConstants.isDefender(player.roleOfClaimer):
if player.brain.ball.y >= player.brain.loc.y:
return RobotLocation(player.brain.ball.x + 200,
player.brain.ball.y - CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
return RobotLocation(player.brain.ball.x + 200,
player.brain.ball.y + CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
else:
southEast = RobotLocation(player.brain.ball.x - CHASER_DISTANCE,
player.brain.ball.y - CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
southWest = RobotLocation(player.brain.ball.x - CHASER_DISTANCE,
player.brain.ball.y + CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
northEast = RobotLocation(player.brain.ball.x + CHASER_DISTANCE,
player.brain.ball.y - CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
northWest = RobotLocation(player.brain.ball.x + CHASER_DISTANCE,
player.brain.ball.y + CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
supportPostitions = [southEast,southWest,northEast,northWest]
positionsFilteredByInBounds = [position for position in supportPostitions if inBounds(position)]
if len(positionsFilteredByInBounds) > 0:
return min(positionsFilteredByInBounds, key=distanceToPosition(player))
# print "no in bounds position"
return southEast
def checkForConsistency(player):
"""
Checks to see if anyone else has the same role as us. If they also have
a lower playerNumber then we change. Otherwise we assume that they will
fix the issue. Very similar in structure to determineRole in penalty states.
"""
if not player.roleSwitching:
return
openSpaces = [True, True, True, True]
conflict = False
position = 0
for mate in player.brain.teamMembers:
if mate.playerNumber == player.brain.playerNumber:
continue
openSpaces[mate.role - 2] = False
if mate.role == player.role \
and mate.playerNumber > player.brain.playerNumber \
and mate.frameSinceActive < 30:
conflict = True
if not conflict:
return # The expected outcome
for i in range(3):
if openSpaces[i] and constants.canRoleSwitchTo(i + 2):
# US Open Hacks
if player.brain.game:
oppTeam = player.brain.game.team(1).team_number
else:
oppTeam = -1
constants.setRoleConstants(player, i + 2, oppTeam)
return
elif openSpaces[i]:
position = i + 2
if position == 0:
print "We have conflicting role AND there are no more open roles..."
# US Open Hacks
if player.brain.game:
oppTeam = player.brain.game.team(1).team_number
else:
oppTeam = -1
constants.setRoleConstants(player, position, oppTeam)
return
def chaser(player):
"""
Chasers position off to one side of the ball about a meter away if a chaser
or cherry picker is calling them off. Chasers position further away up field if
a defender is calling them off.
"""
if role.isStriker(player.roleOfClaimer):
return striker(player)
if role.isDefender(player.roleOfClaimer):
if player.brain.ball.y >= player.brain.loc.y:
return RobotLocation(
player.brain.ball.x + 250,
player.brain.ball.y - CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
return RobotLocation(
player.brain.ball.x + 250, player.brain.ball.y + CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
else:
southEast = RobotLocation(
player.brain.ball.x - CHASER_DISTANCE,
player.brain.ball.y - CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
southWest = RobotLocation(
player.brain.ball.x - CHASER_DISTANCE,
player.brain.ball.y + CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
northEast = RobotLocation(
player.brain.ball.x + CHASER_DISTANCE,
player.brain.ball.y - CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
northWest = RobotLocation(
player.brain.ball.x + CHASER_DISTANCE,
player.brain.ball.y + CHASER_DISTANCE,
player.brain.ball.bearing_deg + player.brain.loc.h)
supportPostitions = [southEast, southWest, northEast, northWest]
positionsFilteredByInBounds = [
position for position in supportPostitions
if (inBounds(position) and notBlockingGoal(position))
]
if len(positionsFilteredByInBounds) > 0:
return min(positionsFilteredByInBounds,
key=distanceToPosition(player))
# print "no in bounds position"
return southEast
def shouldCedeClaim(player):
if not player.useClaims:
return False
playerWeight = weightedDistAndHeading(player.brain.ball.distance, \
player.brain.loc.h, player.brain.ball.bearing_deg)
for mate in player.brain.teamMembers:
if (mate.playerNumber == player.brain.playerNumber):
continue
if not mate.claimedBall or not mate.active or mate.fallen:
continue
# Now we get into actual claims
if ((player.brain.time - mate.claimTime) > claimExpiration):
print "claim expired"
continue # That claim has expired (Comm is probably lagging)
mateWeight = weightedDistAndHeading(mate.ballDist, mate.h,
mate.ballBearing)
# sigmoid function so that the difference increases slowly at close distances but
# grows quickly at mid-range to far distances and at very far distances, asymptotically
# approaches a maximum. uses the distance of the close robot
if player.brain.ball.distance < mate.ballDist:
closerDistance = player.brain.ball.distance
else:
closerDistance = mate.ballDist
closeWeightDifference = 25 + 150 / (1 + math.e**
(6.25 - .05 * closerDistance))
if (math.fabs(mateWeight - playerWeight) < closeWeightDifference):
if roleConstants.isFirstChaser(mate.role):
player.roleOfClaimer = mate.role
player.claimedBall = False
return True
elif player.role < mate.role and not roleConstants.isFirstChaser(
player.role):
player.roleOfClaimer = mate.role
player.claimedBall = False
return True
elif (mateWeight < playerWeight):
player.roleOfClaimer = mate.role
player.claimedBall = False
return True
player.claimedBall = True
return False
def positionAtHome(player):
"""
Go to the player's home position.
"""
if role.isDefender(player.role):
home = calculateHomePosition(player)
else:
home = player.homePosition
if player.firstFrame():
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)
def doPan(player):
"""
Wide pan for 5 seconds.
"""
if player.firstFrame():
# print "------------Doing Pan-------------"
player.stand()
player.brain.tracker.trackBall()
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
if role.isFirstChaser(player.role):
return player.goNow('playerFourSearchBehavior')
elif role.isStriker(player.role):
return player.goNow('playerFiveSearchBehavior')
else:
return player.goNow('doSecondHalfSpin')
def shouldCedeClaim(player):
if not player.useClaims:
return False
playerWeight = weightedDistAndHeading(player.brain.ball.distance, \
player.brain.loc.h, player.brain.ball.bearing_deg)
for mate in player.brain.teamMembers:
if (mate.playerNumber == player.brain.playerNumber):
continue
if not mate.claimedBall or not mate.active or mate.fallen:
continue
# Now we get into actual claims
if ((player.brain.time - mate.claimTime) > claimExpiration):
print "claim expired"
continue # That claim has expired (Comm is probably lagging)
mateWeight = weightedDistAndHeading(mate.ballDist, mate.h, mate.ballBearing)
# sigmoid function so that the difference increases slowly at close distances but
# grows quickly at mid-range to far distances and at very far distances, asymptotically
# approaches a maximum. uses the distance of the close robot
if player.brain.ball.distance < mate.ballDist:
closerDistance = player.brain.ball.distance
else:
closerDistance = mate.ballDist
closeWeightDifference = 25 + 150/(1 + math.e**(6.25 - .05*closerDistance))
if (math.fabs(mateWeight - playerWeight) < closeWeightDifference):
if roleConstants.isFirstChaser(mate.role):
player.roleOfClaimer = mate.role
player.claimedBall = False
return True
elif player.role < mate.role and not roleConstants.isFirstChaser(player.role):
player.roleOfClaimer = mate.role
player.claimedBall = False
return True
elif (mateWeight < playerWeight):
player.roleOfClaimer = mate.role
player.claimedBall = False
return True
player.claimedBall = True
return False
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 afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
# pan for the ball
player.brain.tracker.repeatWidePan()
# reset state specific counters
afterPenalty.goalLeft = 0
afterPenalty.reset_loc = 0
vis = player.brain.vision
# Do we see the top of the goalbox
for i in range(0, vis.line_size()):
if vis.line(i).id == LineID.TopGoalbox:
topGoalBox = vis.line(i).inner
leftAngle = fabs(topGoalBox.t - pi) < .25
# Goalbox to the left = 1 to the right = -1
toLeft = 1 if leftAngle else -1
afterPenalty.goalLeft += toLeft
# If we've seen any landmark enough, reset localization.
if fabs(afterPenalty.goalLeft) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw goalbox enough times"
afterPenalty.reset_loc = copysign(1, afterPenalty.goalLeft)
# Send the reset loc command.
if afterPenalty.reset_loc != 0:
if DEBUG_PENALTY_STATES:
print "Sufficient sightings. reset_loc value is: " + str(
afterPenalty.reset_loc)
afterPenalty.goalLeft += afterPenalty.reset_loc
afterPenalty.reset_loc = 0
if fabs(afterPenalty.goalLeft) > 5 or player.stateTime > 15:
if DEBUG_PENALTY_STATES:
print "Consensus reached! Resetting loc. Is the goal to our right? " + str(
afterPenalty.goalLeft < 0)
# Yes, when goal_right is less than 0, our goal is to our right.
# It seems counter intuitive, but that's how it works. -Josh Z
if afterPenalty.goalLeft > 0:
print "Goal is to left. Coming out of penalty"
else:
print "Goal is to right. Coming out of penalty"
player.brain.resetLocalizationFromPenalty(afterPenalty.goalLeft < 0)
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
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.
"""
if role.isDefender(player.role):
home = calculateHomePosition(player)
else:
home = player.homePosition
if player.firstFrame():
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)
def chaserIsOut(player):
"""
There is a chaser spot ready to be filled.
"""
if not player.roleSwitching or player.brain.gameController.penalized:
return False
if not player.gameState == "gamePlaying":
return False
checkForConsistency(player)
if constants.canRoleSwitchTo(player.role):
return False
openPositions = ()
positions = [False, False, False, False]
for mate in player.brain.teamMembers:
if mate.role <= 1:
continue
if mate.frameSinceActive < 30:
positions[mate.role - 2] = True
if mate.playerNumber == player.brain.playerNumber:
continue
if constants.canRoleSwitchTo(mate.role) and mate.frameSinceActive > 30:
openPositions += (mate.role,)
if (
constants.willRoleSwitch(mate.role)
and mate.playerNumber > player.brain.playerNumber
and (mate.frameSinceActive < 30 or not mate.active)
):
return False # Active, higher numbered player takes precedence
for pos in openPositions:
if not positions[pos - 2]:
player.openChaser = pos
print "Switching to role: ", pos
return True
return False
def ballInBox(player):
"""
A transition which returns true if the ball is in the player's box
"""
ball = player.brain.ball
if ball.vis.frames_on > chaseConstants.BALL_ON_THRESH:
if role.isChaser(player.role):
return True
return (ball.x > player.box[0][0] and ball.y > player.box[0][1] and
ball.x < player.box[0][0] + player.box[1] and
ball.y < player.box[0][1] + player.box[2])
def afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
# pan for the ball
player.brain.tracker.repeatWidePan()
# reset state specific counters
afterPenalty.goalLeft = 0
afterPenalty.reset_loc = 0
lines = player.brain.visionLines
# Do we see the top of the goalbox
for i in range(0, lines.line_size()):
if lines.line(i).id == LineID.TopGoalbox:
topGoalBox = lines.line(i).inner
leftAngle = fabs(topGoalBox.t - pi) < .25
# Goalbox to the left = 1 to the right = -1
toLeft = 1 if leftAngle else -1
afterPenalty.goalLeft += toLeft
# If we've seen any landmark enough, reset localization.
if fabs(afterPenalty.goalLeft) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw goalbox enough times"
afterPenalty.reset_loc = copysign(1, afterPenalty.goalLeft)
# Send the reset loc command.
if afterPenalty.reset_loc != 0:
if DEBUG_PENALTY_STATES:
print "Sufficient sightings. reset_loc value is: " + str(afterPenalty.reset_loc)
afterPenalty.goalLeft += afterPenalty.reset_loc
afterPenalty.reset_loc = 0
if fabs(afterPenalty.goalLeft) > 5 or player.stateTime > 15:
if DEBUG_PENALTY_STATES:
print "Consensus reached! Resetting loc. Is the goal to our right? " + str(afterPenalty.goalLeft < 0)
# Yes, when goal_right is less than 0, our goal is to our right.
# It seems counter intuitive, but that's how it works. -Josh Z
if afterPenalty.goalLeft > 0:
print "Goal is to left. Coming out of penalty"
else:
print "Goal is to right. Coming out of penalty"
player.brain.resetLocalizationFromPenalty(afterPenalty.goalLeft < 0)
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
def ballInBox(player):
"""
A transition which returns true if the ball is in the player's box
"""
ball = player.brain.ball
if ball.vis.frames_on > chaseConstants.BALL_ON_THRESH:
if role.isChaser(player.role):
return True
return (ball.x > player.box[0][0] and ball.y > player.box[0][1]
and ball.x < player.box[0][0] + player.box[1]
and ball.y < player.box[0][1] + player.box[2])
def determineRole(player):
if not player.roleSwitching:
return player.goLater(player.gameState)
openSpaces = [True, True, True, True]
for mate in player.brain.teamMembers:
if mate.playerNumber == player.brain.playerNumber:
continue
if not roleConstants.isGoalie(mate.role) \
and mate.frameSinceActive < 30:
openSpaces[mate.role - 2] = False
position = 0
for i in range(4):
if openSpaces[i] and roleConstants.canRoleSwitchTo(i+2):
roleConstants.setRoleConstants(player, i+2)
return player.goLater(player.gameState)
elif openSpaces[i]:
position = i+2
if position == 0:
print "Came out of penalty and found no open spaces!!!"
roleConstants.setRoleConstants(player, i+2)
return player.goLater(player.gameState)
def determineRole(player):
if not player.roleSwitching:
return player.goLater(player.gameState)
openSpaces = [True, True, True, True]
for mate in player.brain.teamMembers:
if mate.playerNumber == player.brain.playerNumber:
continue
if not roleConstants.isGoalie(mate.role) \
and mate.frameSinceActive < 30:
openSpaces[mate.role - 2] = False
position = 0
for i in range(4):
if openSpaces[i] and roleConstants.canRoleSwitchTo(i + 2):
roleConstants.setRoleConstants(player, i + 2)
return player.goLater(player.gameState)
elif openSpaces[i]:
position = i + 2
if position == 0:
print "Came out of penalty and found no open spaces!!!"
roleConstants.setRoleConstants(player, i + 2)
return player.goLater(player.gameState)
def commMonitor(player):
if player.commMode == -1:
pass
elif player.commMode != 2 and transitions.awfulComm(player):
print "Switched to awful comm mode!"
player.role = player.brain.playerNumber
player.prevRoleConfig = RoleConstants.roleConfiguration
RoleConstants.roleConfiguration = RoleConstants.cautious
RoleConstants.oddDefenderBox = RoleConstants.oddDefenderBoxCautious
RoleConstants.evenDefenderBox = RoleConstants.evenDefenderBoxCautious
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 2
elif player.commMode != 1 and transitions.mediocreComm(player):
print "Switched to mediocre comm mode!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 1
elif player.commMode != 0 and transitions.goodComm(player):
print "Switched to good comm mode!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = True
player.commMode = 0
def panAtWayPoint(player):
if player.firstFrame():
player.stand()
player.brain.tracker.trackBall()
# if role.isFirstChaser(player.role) and not playerFourSearchBehavior.pointIndex % len(playerFourPoints) == 0:
# if player.stateTime >= FULL_WIDE_PAN_TIME:
# return player.goNow("playerFourSearchBehavior")
# elif player.stateTime >= FULL_WIDE_PAN_TIME * 2:
# return player.goNow("spinAtHome")
if role.isFirstChaser(player.role) and not playerFourSearchBehavior.pointIndex % len(playerFourPoints) == 0:
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
return player.goNow("playerFourSearchBehavior")
elif role.isStriker(player.role):
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME * 2:
return player.goNow('spinAtHome')
else:
if player.stateTime >= tracking.INITIALIZE_HEADING_TIME + tracking.FULL_WIDE_PAN_TIME:
return player.goNow('spinAtHome')
def chaserIsOut(player):
"""
There is a chaser spot ready to be filled.
"""
if not player.roleSwitching or player.brain.gameController.penalized:
return False
if not player.gameState == "gamePlaying":
return False
checkForConsistency(player)
if constants.canRoleSwitchTo(player.role):
return False
openPositions = ()
positions = [False, False, False, False]
for mate in player.brain.teamMembers:
if mate.role <= 1:
continue
if mate.frameSinceActive < 30:
positions[mate.role - 2] = True
if mate.playerNumber == player.brain.playerNumber:
continue
if constants.canRoleSwitchTo(mate.role) and mate.frameSinceActive > 30:
openPositions += (mate.role, )
if constants.willRoleSwitch(mate.role) \
and mate.playerNumber > player.brain.playerNumber \
and (mate.frameSinceActive < 30 or not mate.active):
return False # Active, higher numbered player takes precedence
for pos in openPositions:
if not positions[pos - 2]:
player.openChaser = pos
print "Switching to role: ", pos
return True
return False
def doSecondHalfSpin(player):
"""
Keep spinning in the same direction.
"""
if player.firstFrame():
player.setWalk(0, 0, nav.QUICK_SPEED)
player.brain.tracker.lookToSpinDirection(1)
while player.stateTime < chaseConstants.SPUN_ONCE_TIME_THRESH / 2:
return player.stay()
if role.isFirstChaser(player.role):
return player.goNow('searchFieldByQuad')
return player.goNow('playOffBall')
def ballNotInBufferedBox(player):
"""
A transition which allows a stretching of a box so that the box isn't
so ridged. Intended use is for in approachBall, ensuring that we don't loop
between approachBall and positionAtHome if the ball is close to the edge of the box.
"""
ball = player.brain.ball
buf = role.boxBuffer
inBox = (ball.x > player.box[0][0] - buf and ball.y > player.box[0][1] - buf and \
ball.x < player.box[0][0] + player.box[1] + buf and \
ball.y < player.box[0][1] + player.box[2] + buf)
return (ball.vis.frames_off > chaseConstants.BALL_OFF_THRESH
or (not inBox and not role.isFirstChaser(player.role)))
def doSecondHalfSpin(player):
"""
Keep spinning in the same direction.
"""
if player.firstFrame():
player.setWalk(0, 0, nav.QUICK_SPEED)
player.brain.tracker.lookToSpinDirection(1)
while player.stateTime < chaseConstants.SPUN_ONCE_TIME_THRESH / 2:
return player.stay()
if role.isFirstChaser(player.role):
return player.goNow('searchFieldByQuad')
return player.goNow('playOffBall')
def ballNotInBufferedBox(player):
"""
A transition which allows a stretching of a box so that the box isn't
so ridged. Intended use is for in approachBall, ensuring that we don't loop
between approachBall and positionAtHome if the ball is close to the edge of the box.
"""
ball = player.brain.ball
buf = role.boxBuffer
inBox = (ball.x > player.box[0][0] - buf and ball.y > player.box[0][1] - buf and \
ball.x < player.box[0][0] + player.box[1] + buf and \
ball.y < player.box[0][1] + player.box[2] + buf)
return (ball.vis.frames_off > chaseConstants.BALL_OFF_THRESH or
(not inBox and not role.isChaser(player.role)))
def tooFarFromHome(player, distThreshold, angleThreshold):
"""
Returns true if LOC thinks we're more than *distance* away from our home
position
"""
if role.isDefender(player.role):
home = calculateHomePosition(player)
else:
home = player.homePosition
distanceTo = ((player.brain.loc.x - home.x)**2 + (player.brain.loc.y - home.y)**2)**.5
angleTo = fabs(player.brain.loc.h - home.h)
return distanceTo > distThreshold or angleTo > angleThreshold
def tooFarFromHome(player, distThreshold, angleThreshold):
"""
Returns true if LOC thinks we're more than *distance* away from our home
position
"""
if role.isDefender(player.role):
home = calculateHomePosition(player)
else:
home = player.homePosition
distanceTo = ((player.brain.loc.x - home.x)**2 +
(player.brain.loc.y - home.y)**2)**.5
angleTo = fabs(player.brain.loc.h - home.h)
return distanceTo > distThreshold or angleTo > angleThreshold
def commMonitor(player):
if player.commMode == -1:
pass
elif player.commMode != 0 and player.brain.game.have_remote_gc:
print "Switched to good comm mode because we are on the GC BABAY!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = True
player.commMode = 0
elif not player.brain.game.have_remote_gc and player.commMode != 2 and transitions.awfulComm(
player):
print "Switched to awful comm mode!"
player.role = player.brain.playerNumber
player.prevRoleConfig = RoleConstants.roleConfiguration
RoleConstants.roleConfiguration = RoleConstants.spread
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 2
elif not player.brain.game.have_remote_gc and player.commMode != 1 and transitions.mediocreComm(
player):
print "Switched to mediocre comm mode!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 1
elif player.commMode != 0 and transitions.goodComm(player):
print "Switched to good comm mode!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = True
player.commMode = 0
def commMonitor(player):
if player.commMode == -1:
pass
elif player.commMode != 0 and player.brain.game.have_remote_gc:
print "Switched to good comm mode because we are on the GC BABAY!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = True
player.commMode = 0
elif not player.brain.game.have_remote_gc and player.commMode != 2 and transitions.awfulComm(player):
print "Switched to awful comm mode!"
player.role = player.brain.playerNumber
player.prevRoleConfig = RoleConstants.roleConfiguration
RoleConstants.roleConfiguration = RoleConstants.spread
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 2
elif not player.brain.game.have_remote_gc and player.commMode != 1 and transitions.mediocreComm(player):
print "Switched to mediocre comm mode!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = False
player.commMode = 1
elif player.commMode != 0 and transitions.goodComm(player):
print "Switched to good comm mode!"
player.role = player.brain.playerNumber
if player.commMode == 2:
RoleConstants.roleConfiguration = player.prevRoleConfig
RoleConstants.oddDefenderBox = RoleConstants.defenderBox
RoleConstants.evenDefenderBox = RoleConstants.defenderBox
RoleConstants.setRoleConstants(player, player.role)
player.roleSwitching = True
player.commMode = 0
def positionAsSupporter(player):
positionAsSupporter.position = getSupporterPosition(player, player.role)
if player.firstFrame():
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
if positionAsSupporter.position.distTo(player.brain.loc) > 20:
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(positionAsSupporter.position, fast = fastWalk)
def doSecondHalfSpin(player):
"""
Keep spinning in the same direction.
"""
if player.firstFrame():
# print "----------Doing second half spin-------------"
player.brain.tracker.repeatFixedPitchLookAhead()
if player.brain.playerNumber == 3:
player.setWalk(0, 0, speeds.SPEED_SIX)
else:
player.setWalk(0, 0, -speeds.SPEED_SIX)
if player.stateTime > chaseConstants.SPEED_SIX_SPUN_ONCE_TIME / 2:
if role.isLeftDefender(player.role):
return player.goNow('defenderPan')
else:
return player.goNow('playOffBall')
def positionAtHome(player):
"""
Go to the player's home position.
"""
home = player.homePosition
if player.firstFrame():
# print "-----------Positioning at home-------------"
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = speeds.SPEED_EIGHT, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
def adjustHeading(player):
if player.firstFrame():
# Spin to home heading
player.stand()
player.brain.tracker.repeatFixedPitchLookAhead()
dest = RelRobotLocation(0, 0, adjustHeading.desiredHeading - player.brain.loc.h)
player.brain.nav.goTo(dest, precision = nav.HOME,
speed = speeds.SPEED_SIX, avoidObstacles = False,
fast = True, pb = False)
# player.setWalk(0, 0, player.brain.loc.h - adjustHeading.desiredHeading)
# or math.fabs()
if fabs(player.brain.loc.h - adjustHeading.desiredHeading) < 15:
player.stand()
if role.isDefender(player.role):
return player.goNow('watchForBall')
else:
return player.goNow("panAtWayPoint")
def prepareForKick(player):
if player.firstFrame():
player.decider = KickDecider.KickDecider(player.brain)
player.brain.nav.stand()
if not player.inKickOffPlay:
if player.shouldKickOff or player.brain.gameController.timeSincePlaying < 10:
print "Overriding kick decider for kickoff!"
player.shouldKickOff = False
player.kick = player.decider.kicksBeforeBallIsFree()
else:
if roleConstants.isDefender(player.role):
player.kick = player.decider.defender()
else:
player.kick = player.decider.attacker()
player.inKickingState = True
elif player.finishedPlay:
player.inKickOffPlay = False
player.motionKick = True
return player.goNow('followPotentialField')
def shouldSpinSearchFromWatching(player):
shouldExtendTimer = player.commMode == 2 and role.isDefender(player.role)
spinTimer = 25 if shouldExtendTimer else 12
return (player.stateTime > spinTimer
and player.brain.ball.vis.frames_off > 30)
def ballInTheirHalf(player):
if role.isDefender(player.role):
return player.brain.sharedBall.ball_on and (
player.brain.sharedBall.x >
(nogginC.MIDFIELD_X + nogginC.CENTER_CIRCLE_RADIUS))
return False
def shouldFindSharedBall(player):
return (role.isFirstChaser(player.role)
and player.brain.ball.vis.frames_off > 10
and player.brain.sharedBall.ball_on
and player.brain.sharedBall.reliability >= 1)
