def perform(self, comms):
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 rotate by: " + str(angle))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
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 rotate by: " + str(angle))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
# takes take opponent's robot that is closer to ours
robots = filter(lambda r: not r.is_missing(), self.world.their_robots)
robots.sort(key=lambda r: math.hypot(r.x - self.robot.x, r.y - self.robot.y))
if len(robots) == 0:
logging.error("There is no enemy here. Gimme someone to destroy!")
return 1
robot = robots[0]
angle = utils.get_rotation_to_point(self.robot.vector, robot.vector)
logging.info("Facing opponent: Rotating %f" % angle)
comms.turn(angle)
def perform(self, comms):
turn_angle = (self.world.ball.angle - self.robot.angle) % (2 * pi) - pi
dist = math.hypot(self.robot.x - self.world.ball.x, self.robot.y - self.world.ball.y)
tri_angle = utils.get_rotation_to_point(self.world.ball.vector, self.robot)
dist *= math.cos(tri_angle)
if abs(turn_angle) < ROTATION_BALL_THRESHOLD:
logging.info("Adjusting to ball position by distance: " + str(dist))
comms.move(dist)
else:
logging.info("Adjusting angle by %f, distance by %f." % (turn_angle, dist))
comms.turn_then_move(turn_angle, dist)
return 2
class FaceBall(Action):
preconditions = [
(lambda w, r: abs(utils.get_rotation_to_point(r.vector, w.ball.vector))
> ROTATION_DEFEND_BALL_THRESHOLD, "Defender is not facing ball"),
(lambda w, r: r.catcher == 'OPEN', "Grabbers are open.")
]
def perform(self, comms):
angle = utils.get_rotation_to_point(self.robot.vector,
self.world.ball.vector)
logging.info("Facing ball: Rotating %f" % angle)
comms.turn(angle)
return utils.defender_turn_delay(angle)
class WaitForBallToCome(Action):
'''
Defender just waits for the ball to approach it
'''
# FIXME: ball_can_reach_robot doesn't do anything.
# FIXME: robot_can_reach_ball doesn't do anything.
preconditions = [(lambda w, r: abs(utils.get_rotation_to_point(r.vector, w.ball.vector)) < ROTATION_BALL_THRESHOLD, "Defender is facing ball"),
(lambda w, r: utils.ball_can_reach_robot(w.ball, r), "The ball can reach the robot"),
(lambda w, r: utils.robot_can_reach_ball(w.ball, r), "Defender can reach the ball"),
(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: not utils.ball_is_static(w), "The ball is moving.")]
def perform(self, comms):
pass
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 __init__(self, world, robot):
if robot.catched_ball:
print("222222222")
self.actions = [Kick(world, robot, [
(lambda w, r: abs(utils.get_rotation_to_point(r.vector, w.our_attacker)) < ROTATION_BALL_THRESHOLD, "Defender is facing attacker.")]),
FaceFriendly(world, robot, [])]
else:
print("111111111")
self.actions = [FaceFriendly(world, robot, [
(lambda w, r: r.has_ball(w.ball), "Our robot has the ball")]),
GrabBall(world, robot),
GoToStaticBall(world, robot, [
(opponent_doesnt_have_ball, "The house robot has the ball")]),
TurnToCatchPoint(world, robot, [
(opponent_doesnt_have_ball, "The house robot has the ball")]),
OpenGrabbers(world, robot),
FaceOpponent(world, robot)]
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):
angle = utils.get_rotation_to_point(self.robot.vector, self.world.ball.vector)
logging.info("Facing ball: Rotating %f" % angle)
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
self.robot._catched_ball = True
angle = utils.get_rotation_to_point(self.robot.vector, self.world.our_attacker.vector)
logging.info("Facing friendly: Rotating %f" % angle)
comms.turn(angle)
def perform(self, comms):
angle = utils.get_rotation_to_point(self.robot.vector, self.world.ball.vector)
logging.info("Facing ball: Rotating %f" % angle)
comms.turn(angle)
