def perform(self, comms):
rot_angle = utils.defender_get_rotation_to_catch_point(
Vector(self.robot.x, self.robot.y, self.robot.angle, 0),
utils.get_defence_point(self.world), 0)[0]
logging.info("Facing direction to move to defence area. Rotating %f degrees.", math.degrees(rot_angle))
comms.turn(rot_angle)
return utils.defender_turn_delay(rot_angle)
class GoToStaticBall(Action):
'''
Move defender to the ball when static
'''
preconditions = [(lambda w, r: abs(
utils.defender_get_rotation_to_catch_point(
Vector(r.x, r.y, r.angle, 0), Vector(w.ball.x, w.ball.y, 0, 0), r.
catch_distance)[0]) < ROTATION_THRESHOLD,
"Defender is facing ball"),
(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: utils.ball_is_static(w), "Ball is static.")]
def perform(self, comms):
# reset dynamic threshold
# TODO: has to be restarted everywhere!
global ROTATION_THRESHOLD
ROTATION_THRESHOLD = 0.1
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
displacement = math.hypot(dx, dy)
if displacement == 0:
alpha = 0
else:
# TODO: has to handle this edge case better
try:
alpha = math.degrees(
math.asin(self.robot.catch_distance / float(displacement)))
except ValueError as er:
print(er)
x = self.world.ball.x
y = self.world.ball.y
angle = utils.get_rotation_to_point(self.robot.vector,
Vector(x, y, 0, 0))
logging.info("Wants to close-rotate by: " + str(angle))
comms.turn(angle)
return 1 # TODO: NO FIXED DELAY
beta = 90 - alpha
if math.sin(math.radians(alpha)) == 0:
distance_to_move = 15 # something is obviously wrong so we have to move a bit
else:
distance_to_move = math.sin(
math.radians(beta)) * self.robot.catch_distance / math.sin(
math.radians(alpha))
# Find the movement side
angle, side = utils.defender_get_rotation_to_catch_point(
Vector(self.robot.x, self.robot.y, self.robot.angle, 0),
Vector(self.world.ball.x, self.world.ball.y, 0, 0),
self.robot.catch_distance)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
return utils.defender_move_delay(distance_to_move)
class KickToScoreZone(Action):
'''
Pass ball to our attacker's score zone
'''
preconditions = [(lambda w, r: abs(r=utils.defender_get_rotation_to_catch_point(Vector(r.x, r.y, r.angle, 0)[0], Vector(w.score_zone.x, w.score_zone.y, 0, 0), r.catch_distance)) < FACING_ROTATION_THRESHOLD,
"Defender is facing attacker's score zone"),
(lambda w, r: r.has_ball(w.ball), "Defender has ball")]
def perform(self, comms):
raise NotImplementedError
class MoveToDefenceArea(Action):
preconditions = [(lambda w, r: abs(utils.defender_get_rotation_to_catch_point(Vector(r.x, r.y, r.angle, 0), utils.get_defence_point(w), 0)[0]) < ROTATION_THRESHOLD, "Aligned to move to defence point.")]
def perform(self, comms):
dist = utils.dist(self.robot, utils.get_defence_point(self.world))
dist *= utils.get_movement_direction_from_vector(self.robot, utils.get_defence_point(self.world))
logging.info("Moving to defence area. Moving %f right.", dist)
comms.move(dist)
return utils.defender_move_delay(abs(dist))
def perform(self, comms):
global ROTATION_THRESHOLD
logging.info('---- ' + str(ROTATION_THRESHOLD))
x = self.world.ball.x
y = self.world.ball.y
angle = utils.defender_get_rotation_to_catch_point(Vector(self.robot.x, self.robot.y, self.robot.angle, 0), Vector(x, y, 0, 0), self.robot.catch_distance)[0]
logging.info("Wants to rotate by: " + str(angle))
comms.turn(angle)
if ROTATION_THRESHOLD < 0.30:
ROTATION_THRESHOLD += 0.07
return utils.defender_turn_delay(angle)
def perform(self, comms):
logging.info('---- ' + str(ROTATION_THRESHOLD))
x = self.world.ball.x
y = self.world.ball.y
angle = utils.defender_get_rotation_to_catch_point(Vector(self.robot.x, self.robot.y, self.robot.angle, 0), Vector(x, y, 0, 0), self.robot.catch_distance)[0]
logging.info("Wants to rotate by: " + str(angle))
comms.turn(angle)
global ROTATION_THRESHOLD
if ROTATION_THRESHOLD < 0.30:
ROTATION_THRESHOLD += 0.07
return utils.defender_turn_delay(angle)
def perform(self, comms):
# reset dynamic threshold
# TODO: has to be restarted everywhere!
global ROTATION_THRESHOLD
ROTATION_THRESHOLD = 0.1
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
displacement = math.hypot(dx, dy)
if displacement == 0:
alpha = 0
else:
# TODO: has to handle this edge case better
try:
alpha = math.degrees(
math.asin(self.robot.catch_distance / float(displacement)))
except ValueError as er:
print(er)
x = self.world.ball.x
y = self.world.ball.y
angle = utils.get_rotation_to_point(self.robot.vector,
Vector(x, y, 0, 0))
logging.info("Wants to close-rotate by: " + str(angle))
comms.turn(angle)
return 1 # TODO: NO FIXED DELAY
beta = 90 - alpha
if math.sin(math.radians(alpha)) == 0:
distance_to_move = 15 # something is obviously wrong so we have to move a bit
else:
distance_to_move = math.sin(
math.radians(beta)) * self.robot.catch_distance / math.sin(
math.radians(alpha))
# Find the movement side
angle, side = utils.defender_get_rotation_to_catch_point(
Vector(self.robot.x, self.robot.y, self.robot.angle, 0),
Vector(self.world.ball.x, self.world.ball.y, 0, 0),
self.robot.catch_distance)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
return utils.defender_move_delay(distance_to_move)
def perform(self, comms):
# reset dynamic threshold
# TODO: has to be restarted everywhere!
global ROTATION_THRESHOLD
ROTATION_THRESHOLD = 0.1
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
displacement = math.hypot(dx, dy)
if displacement == 0:
alpha = 0
else:
# TODO: has to handle this edge case better
try:
alpha = math.degrees(math.asin(self.robot.catch_distance / float(displacement)))
except ValueError as er:
print(er)
x = self.world.ball.x
y = self.world.ball.y
angle = utils.get_rotation_to_point(self.robot.vector, Vector(x, y, 0, 0))
logging.info("Wants to close-rotate by: " + str(angle))
comms.turn(angle)
return 1 # TODO: NO FIXED DELAY
beta = 90 - alpha
if math.sin(math.radians(alpha)) == 0:
distance_to_move = 15 # something is obviously wrong so we have to move a bit
else:
distance_to_move = math.sin(math.radians(beta)) * self.robot.catch_distance / math.sin(math.radians(alpha))
# Find the movement side
angle, side = utils.defender_get_rotation_to_catch_point(Vector(self.robot.x, self.robot.y, self.robot.angle, 0), Vector(self.world.ball.x, self.world.ball.y, 0, 0), self.robot.catch_distance)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
return utils.defender_move_delay(distance_to_move)
def rotation_precondition(self, w, r):
possessing = w.robot_in_posession
rotation = utils.defender_get_rotation_to_catch_point(Vector(r.x, r.y, r.angle, 0), Vector(possessing.x, possessing.y, 0, 0), r.catch_distance)[0]
return abs(rotation) < FACING_ROTATION_THRESHOLD
