def __init__(self, name):
super(IndirectAction, self).__init__(name)
limitTime = 30.0
# limitTime = 7.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
ACTION_SELECTOR = Selector("ACTION_SELECTOR")
DO_PASS_SHOOT = Sequence("DO_PASS_SHOOT")
DO_PASS_SHOOT.add_child(Analyst.BallIsEnemySide("BallIsEnemySide"))
DO_PASS_SHOOT.add_child(Analyst.ThereAreThreeRobots("ThreeRobots"))
DO_PASS_SHOOT.add_child(ComboSkill.PassShoot("PassShoot", 2, 1))
ACTION_SELECTOR.add_child(DO_PASS_SHOOT)
DO_SHOOT = ParallelOne("DO_SHOOT")
DO_SHOOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
DO_SHOOT.add_child(Kick.SetplayShoot("Shoot", 1))
DO_SHOOT.add_child(Defender.Defense("DefenderDefense", 2))
ACTION_SELECTOR.add_child(DO_SHOOT)
self.add_child(TIMER)
self.add_child(ACTION_SELECTOR)
self.add_child(GoalKeeper.Defense("GoalKeeperDefense", 0))
def playGameMode():
resetEachFrame()
shouldIStartDefend = Defender.shouldIStartDefend()
shouldIEndDefend = Defender.shouldIEndDefend()
shouldIStrike = Striker.shouldIBecomeStriker()
shouldIBackOff = BackOff.shouldIVisualBackOff()
shouldISupport = Supporter.ShouldIBecomeSupporter()
headFlag = True
if Attacker.lockMode:
print "Entering Lock Mode for Attacker!!!"
Attacker.DecideNextAction()
headFlag = False # for grab/turn/kick
IndicatorAction.showHeadColor((True, True, False))
elif Edger.lockMode:
Edger.DecideNextAction()
headFlag = False
IndicatorAction.showHeadColor((False, True, False))
elif ((shouldIStartDefend or Defender.lockDefender) and \
not shouldIEndDefend):
Global.myRole = Constant.DEFENDER
Defender.DecideNextAction()
IndicatorAction.showHeadColor((True, False, False))
elif shouldIStrike:
Striker.DecideNextAction()
IndicatorAction.showHeadColor((False, False, True))
elif shouldIBackOff:
BackOff.DecideNextAction()
IndicatorAction.showHeadColor((False, True, True))
elif shouldISupport:
Supporter.DecideNextAction()
IndicatorAction.showHeadColor((True, False, True))
elif Edger.shouldIBecomeEdger():
Edger.DecideNextAction()
headFlag = False
IndicatorAction.showHeadColor((False, True, False))
else:
Attacker.DecideNextAction()
IndicatorAction.showHeadColor((True, True, False))
if BackOff.shouldISideBackOff():
Global.myRole = Constant.SIDEBACKOFF
Global.finalAction[Constant.AAForward] = \
Global.finalAction[Constant.AAForward] * 0.6
IndicatorAction.showHeadColor((False, True, True))
if headFlag:
FWHead.DecideNextAction()
if Kick.shouldIContinueKick():
Kick.continueKick()
def __init__(self, name):
super(ExeNormal_Pre, self).__init__(name)
self.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
self.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
self.add_child(Kick.Approach("Approach", 1))
self.add_child(Defender.StopGame("DefenderStop", 2))
def __init__(self, name, number):
super(UltimateOffense, self).__init__(name)
SHOOT_PARA = ParallelOne("SHOOT_PARA")
SHOOT_PARA.add_child(Kick.CalcuKickTarget("calcu", number))
SHOOT_PARA.add_child(Kick.Shoot("shoot", number))
self.add_child(SHOOT_PARA)
def __init__(self, name):
super(OneRobotDirectAction, self).__init__(name)
limitTime = 7.0
# limitTime = 12.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
self.add_child(TIMER)
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
self.add_child(Kick.SetplayShoot("Shoot", 0))
def __init__(self, name):
super(OneRobotIndirectAction, self).__init__(name)
# limitTime = 12.0
limitTime = 7.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
DO_SHOOT = ParallelOne("DO_SHOOT")
DO_SHOOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
DO_SHOOT.add_child(Kick.SetplayShoot("Shoot", 0))
self.add_child(TIMER)
self.add_child(DO_SHOOT)
def DecideNextAction():
global lockMode
Global.myRole = Constant.ATTACKER
if GrabTurnKick.lockMode:
GrabTurnKick.DecideNextAction()
lockMode = True
return
lockMode = False
if Global.ballY < Constant.FIELD_LENGTH/2:
Forward.resetEachFrame()
rAttacker.DecideNextAction()
FWHead.DecideNextAction()
return
me_x = Global.selfLoc.getX()
me_y = Global.selfLoc.getY()
#ballToGoalDist = HelpMath.getDistanceBetween( \
# Global.ballX, Global.ballY, \
# Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y)
angleMeBallGoal = \
HelpMath.angleBetweenTwoPointsFromPivotPoint( \
me_x, me_y, \
Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y, \
Global.ballX, Global.ballY )
distToGoal = HelpMath.getDistanceBetween(me_x, me_y,
Constant.TARGET_GOAL_X,
Constant.TARGET_GOAL_Y)
MyTrack.DecideNextAction() # for head controlling
if canDoKick() and distToGoal < 100:
if isInRange(angleMeBallGoal, -KICK_MAX, -KICK_MIN):
Kick.UPright()
elif isInRange(angleMeBallGoal, KICK_MIN, KICK_MAX):
Kick.UPleft()
elif HelpTrack.inTargetGoalBox(Global.ballX, Global.ballY):
# if ball in the goal box
goalBoxKick(angleMeBallGoal)
else:
GrabTurnKick.DecideNextAction()
def __init__(self, name):
super(KickoffExecute, self).__init__(name)
SHOOT = Kick.SetplayShoot("Shoot", 1)
INPLAY = InPlay.Execute("Execute inplay")
self.add_child(SHOOT)
self.add_child(INPLAY)
def __init__(self, name):
super(DirectAction, self).__init__(name)
limitTime = 7.0
# limitTime = 12.0
timerName = "SuccessTimer" + str(limitTime)
TIMER = BaseSkill.SuccessTimer(timerName, limitTime)
CALCU = Kick.CalcuKickTarget("CalcuKickTarget", 1)
SHOOT = Kick.SetplayShoot("Shoot", 1)
self.add_child(TIMER)
self.add_child(CALCU)
self.add_child(SHOOT)
self.add_child(GoalKeeper.Defense("GoalKeeperDefense", 0))
self.add_child(Defender.Defense("DefenderDefense", 2))
def __init__(self, name):
super(ExeNormal_Shoot, self).__init__(name)
self.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
SHOOT_ITERATOR = Iterator("SHOOT_ITERATOR")
SHOOT_ITERATOR.add_child(Kick.SetplayShoot("Shoot", 1))
SHOOT_ITERATOR.add_child(InPlay.Execute("Execute inplay"))
self.add_child(SHOOT_ITERATOR)
def __init__(self, name):
super(Execute, self).__init__(name)
EXE_SELECTOR = Selector("EXE_SELECTOR")
ONE_ROBOT = ParallelAll("ONE_ROBOT")
ONE_ROBOT.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
ONE_ROBOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
ONE_ROBOT.add_child(Kick.SetplayShoot("Shoot", 0))
EXE_SELECTOR.add_child(ONE_ROBOT)
SOME_ROBOTS = ParallelAll("SOME_ROBOTS")
SOME_ROBOTS.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
SOME_ROBOTS.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
SOME_ROBOTS.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
SOME_ROBOTS.add_child(Kick.SetplayShoot("Shoot", 1))
SOME_ROBOTS.add_child(Defender.StopGame("DefenderStop", 2))
EXE_SELECTOR.add_child(SOME_ROBOTS)
self.add_child(IsNORMAL_START("IsNORMAL_START"))
self.add_child(EXE_SELECTOR)
def __init__(self, name):
super(Prepare, self).__init__(name)
EXE_SELECTOR = Selector("EXE_SELECTOR")
ONE_ROBOT = ParallelAll("ONE_ROBOT")
ONE_ROBOT.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
ONE_ROBOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
ONE_ROBOT.add_child(Kick.Approach("Approach", 0))
EXE_SELECTOR.add_child(ONE_ROBOT)
SOME_ROBOTS = ParallelAll("SOME_ROBOTS")
SOME_ROBOTS.add_child(Analyst.ThereAreRobots("ThereAreRobots"))
SOME_ROBOTS.add_child(GoalKeeper.StopGame("GoalKeeperStop", 0))
SOME_ROBOTS.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 1))
SOME_ROBOTS.add_child(Kick.Approach("Approach", 1))
SOME_ROBOTS.add_child(Defender.StopGame("DefenderStop", 2))
EXE_SELECTOR.add_child(SOME_ROBOTS)
self.add_child(IsPENALTY_FRIEND("IsPENALTY_FRIEND"))
self.add_child(EXE_SELECTOR)
def goalBoxKick(angleMeBallGoal):
if not canDoKick():
MyTrack.DecideNextAction()
else:
FACE_GOAL = 160
if isInRange(angleMeBallGoal, -KICK_MIN, 0):
rotateAboutBall(MyTrack.LEFT)
elif isInRange(angleMeBallGoal, -KICK_MAX, -KICK_MIN):
Kick.UPright()
elif isInRange(angleMeBallGoal, -FACE_GOAL, -KICK_MAX):
rotateAboutBall(MyTrack.RIGHT)
elif isInRange(angleMeBallGoal, 0, KICK_MIN):
rotateAboutBall(MyTrack.RIGHT)
elif isInRange(angleMeBallGoal, KICK_MIN, KICK_MAX):
Kick.UPleft()
elif isInRange(angleMeBallGoal, KICK_MAX, FACE_GOAL):
rotateAboutBall(MyTrack.LEFT)
else: # if < -FACE_GOAL or > FACE_GOAL
WalkAction.setNormalWalk(5, 0, 0)
def __init__(self, name, passerNo, shooterNo):
super(PassShoot, self).__init__(name)
# 1 passerがボールに近づく
FIRST = ParallelOne("FIRST")
FIRST.add_child(
Kick.SetPassTarget("Set pass target", passerNo, shooterNo))
FIRST.add_child(Kick.Approach("Passer approach", passerNo))
FIRST.add_child(BaseSkill.SuccessTimer("SuccessTimer1.0", 1.0))
self.add_child(FIRST)
# 2 shooterがshoot位置に移動する
SECOND = ParallelOne("SECOND")
SECOND.add_child(BaseSkill.WaitToReceive("Shooter wait", shooterNo))
SECOND.add_child(
Analyst.IsOnTarget("Shooter is on target", shooterNo, 0.5))
SECOND.add_child(BaseSkill.SuccessTimer("SuccessTimer2.0", 3.0))
self.add_child(SECOND)
#
# 3 passerがボールを蹴る
THIRD = ParallelAll("THIRD")
THIRD.add_child(
Kick.SetPassTarget("Set pass target", passerNo, shooterNo))
THIRD.add_child(Kick.Pass("PASS", passerNo))
# 3 shooterが受け取りshootする
THIRD.add_child(Kick.CalcuKickTarget("CalcuKickTarget", shooterNo))
THIRD.add_child(Kick.ReceiveShoot("ReceiveShoot", shooterNo))
THIRD.add_child(BaseSkill.FailureTimer("FailureTimer7.0", 10.0))
INVERT = Invert("Invert")
INVERT.add_child(Analyst.IsBaller("IsBaller", shooterNo, 1.0))
THIRD.add_child(INVERT)
self.add_child(THIRD)
def __init__(self, name):
super(Execute, self).__init__(name)
IS_NORMAL_START = IsNORMAL_START('is_normal_start')
INPLAY_SWITCH = Sequence("INPLAY_SWITCH")
EXE_DEFEND = ParallelOne("EXE_DEFEND")
EXE_DEFEND.add_child(Analyst.BallMoved("BallMoved"))
EXE_DEFEND.add_child(GoalKeeper.PenaltyDefense("PenaltyDefense", 0))
EXE_DEFEND.add_child(BaseSkill.WaitPenaltyShoot("Wait1", 1))
EXE_DEFEND.add_child(BaseSkill.WaitPenaltyShoot("Wait2", 2))
INPLAY_SWITCH.add_child(EXE_DEFEND)
EXE_SHOOT = ParallelAll("EXE_SHOOT")
EXE_SHOOT.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
EXE_SHOOT.add_child(Kick.Shoot("Shoot", 0))
EXE_SHOOT.add_child(BaseSkill.WaitPenaltyShoot("Wait1", 1))
EXE_SHOOT.add_child(BaseSkill.WaitPenaltyShoot("Wait2", 2))
INPLAY_SWITCH.add_child(EXE_SHOOT)
self.add_child(IS_NORMAL_START)
self.add_child(INPLAY_SWITCH)
def __init__(self, name, num1, num2):
super(PassAndPass, self).__init__(name)
wait1X, wait1Y, wait1Yaw = (-2.0, 2.0, -math.pi*0.5)
wait2X, wait2Y, wait2Yaw = (-2.0, -2.0, math.pi*0.5)
PLAYER1 = Sequence("player1")
wait_ = ParallelOne("wait1")
wait_.add_child(Analyst.BallEnteringQuadrant("ballEntering",2))
wait_.add_child(BaseSkill.Stay("stay1", num1, wait1X, wait1Y, wait1Yaw))
pass_ = ParallelOne("pass1")
pass_.add_child(Kick.SetPassTarget("setTarget1",num1, num2))
pass_.add_child(Kick.Pass("GoPassing1", num1))
pass_.add_child(Analyst.BallEnteringQuadrant("ballEntering",3))
PLAYER1.add_child(wait_)
PLAYER1.add_child(pass_)
PLAYER1.add_child(GoToPosition("goto1",num1,wait1X,wait1Y,wait1Yaw))
self.add_child(PLAYER1)
PLAYER2 = Sequence("player2")
wait_ = ParallelOne("wait2")
wait_.add_child(Analyst.BallEnteringQuadrant("ballEntering",3))
wait_.add_child(BaseSkill.Stay("stay2", num2, wait2X, wait2Y, wait2Yaw))
pass_ = ParallelOne("pass2")
pass_.add_child(Kick.SetPassTarget("setTarget2",num2, num1))
pass_.add_child(Kick.Pass("GoPassing2", num2))
pass_.add_child(Analyst.BallEnteringQuadrant("ballEntering",2))
PLAYER2.add_child(wait_)
PLAYER2.add_child(pass_)
PLAYER2.add_child(GoToPosition("goto2",num2,wait2X,wait2Y,wait2Yaw))
self.add_child(PLAYER2)
def __init__(self, name):
super(ExeOneRobot_Pre, self).__init__(name)
self.add_child(Analyst.ThereIsOnlyOneRobot("ThereIsOneRobot"))
self.add_child(Kick.CalcuKickTarget("CalcuKickTarget", 0))
self.add_child(Kick.Approach("Approach", 0))
def StillDoingGetBehind():
global debugLed
global AttackMode, LockDKDRegion
global AllowLocaliseTimer, DisallowLocaliseTimer
global AttackDistMem, AttackAngleMem, AttackDirMem
##~ global StandTimer
debug = False
##~ if debug:
##~ print "", HelpLong.getStuckInfo()
if AttackMode == Constant.GET_BEHIND_BALL:
if debug:
print ""
print "In StillDoingGetBehind()"
print "mode %d dkd-region %d" % (AttackMode,
LockDKDRegion)
print "allowTimer %d disallowTimer %d" % (AllowLocaliseTimer,
DisallowLocaliseTimer)
print "radius %d, angle %.2f, dir %d" % (
AttackDistMem, AttackAngleMem, AttackDirMem)
##~ print "AttackPosX %.2f, AttackPosY %.2f" % (AttackPosX, AttackPosY)
print "myh %.2f" % (Global.selfLoc.getHeading())
# Break out the get behind if:
# 1. u have done it, a fire paw kick case will catch it if on edges, and it should
# 2. the ball rolls out far, then chase it rather than get behind
# 3. the ball keeps rolling out
if abs(
HelpMath.normalizeAngle_180(Global.selfLoc.getHeading() -
AttackAngleMem)) < 20:
GetBehindBreakOutAction()
if debug:
print "break out, lined up: the h", Global.selfLoc.getHeading()
return False
if Global.ballD > 65: # Ball has rolled out far away
if debug:
print "break out: ballD > 65", Global.ballD
GetBehindBreakOutAction()
return False
if Global.lastForward < -3:
GetBehindBreakOutAction()
return False
# Otherwise, continue getBehindBall, and additionally may do a kick.
GetBehindBall.getBehindBall(AttackDistMem, AttackAngleMem,
AttackDirMem, False, 60, 1.2)
IndicatorAction.showFacePattern(debugLed)
if (Global.ballD < 25 and LockDKDRegion != Constant.DKDBlank):
Global.finalAction[Constant.AAForward] *= 0.7
Global.finalAction[Constant.AALeft] *= 0.7
Global.finalAction[Constant.AATurnCCW] *= 0.7
# Check if ready to do a YouPanCake.
if LockDKDRegion == Constant.DKDLeft and BallUnderChinForUpenn():
debugLed = None
LockDKDRegion = Constant.DKDBlank
AttackMode = Constant.HOVER_TO_BALL
setLocaliseTimer(0, 30)
if debug:
print "break out doing upenn"
Kick.UPright()
elif LockDKDRegion == Constant.DKDRight and BallUnderChinForUpenn():
debugLed = None
LockDKDRegion = Constant.DKDBlank
AttackMode = Constant.HOVER_TO_BALL
setLocaliseTimer(0, 30)
Kick.UPleft()
if debug:
print "break out doing upenn"
return True
# then it must be HOVER_TO_BALL.
else:
return False