def __init__(self):
super().__init__(start_state=DoubleTouchTracker.State.start)
for state in DoubleTouchTracker.State:
self.add_state(state)
# FIXME: is it only restart plays?
self.add_transition(
DoubleTouchTracker.State.start,
DoubleTouchTracker.State.restart_play_began, lambda:
(main.root_play().play != None and main.root_play().play.__class__.
is_restart() and main.game_state().is_our_restart()),
'we start running an offensive restart play')
self.add_transition(
DoubleTouchTracker.State.restart_play_began,
DoubleTouchTracker.State.kicking,
lambda: any(bot.has_ball() for bot in main.our_robots()),
'one of our bots has the ball')
self.add_transition(DoubleTouchTracker.State.kicking,
DoubleTouchTracker.State.kicker_forbidden,
lambda: not self.kicker_has_possession(),
'kicker kicks or fumbles ball')
self.add_transition(DoubleTouchTracker.State.kicker_forbidden,
DoubleTouchTracker.State.other_robot_touched,
lambda: self.other_robot_touching_ball(),
'another robot has touched the ball')
def __init__(self):
super().__init__(start_state=DoubleTouchTracker.State.start)
for state in DoubleTouchTracker.State:
self.add_state(state)
# FIXME: is it only restart plays?
self.add_transition(
DoubleTouchTracker.State.start,
DoubleTouchTracker.State.restart_play_began,
lambda: (main.root_play().play is not None and
main.root_play().play.__class__.is_restart() and
main.game_state().is_our_restart()),
'we start running an offensive restart play')
self.add_transition(
DoubleTouchTracker.State.restart_play_began,
DoubleTouchTracker.State.kicking,
lambda: ((any(self._touching_ball(bot) for bot in main.our_robots())) or
main.game_state().is_playing()) and not main.game_state().is_placement(),
'one of our bots has the ball or the ball was kicked')
self.add_transition(DoubleTouchTracker.State.kicking,
DoubleTouchTracker.State.kicker_forbidden,
# The ball is no longer in restart, we have begun playing
(lambda: main.game_state().is_playing() or
# We aren't in a restart anymore
main.root_play().play is None or
not main.root_play().play.__class__.is_restart()),
'ball has moved and is now in play')
self.add_transition(DoubleTouchTracker.State.kicker_forbidden,
DoubleTouchTracker.State.other_robot_touched,
lambda: self.other_robot_touching_ball(),
'another robot has touched the ball')
def setup():
global _has_setup_ui
global _defense_checkbox
if _has_setup_ui == True:
logging.warn("ui setup() function called more than once")
return
win = getMainWindow()
if win == None:
raise AssertionError("Unable to get a reference to the main window")
pcTab = win.findChild(QtWidgets.QTreeView, 'plays')
# setup play config tab
pcTab.setModel(main.play_registry())
pcTab.expandAll()
pcTab.resizeColumnToContents(0)
logging.debug("Initialized PlayConfigTab")
# bind the play label in the ui to the name of the current play
play_name_label = win.findChild(QtWidgets.QLabel, 'current_play_name')
_defense_checkbox = win.findChild(QtWidgets.QCheckBox,
'useDefenseCheckBox')
main.root_play().play_changed.connect(play_name_label.setText)
_has_setup_ui = True
def setup():
global _has_setup_ui
if _has_setup_ui == True:
logging.warn("ui setup() function called more than once")
return
win = getMainWindow()
if win == None:
raise AssertionError("Unable to get a reference to the main window")
pcTab = win.findChild(QtWidgets.QTreeView, 'plays')
# setup play config tab
pcTab.setModel(main.play_registry())
pcTab.expandAll()
pcTab.resizeColumnToContents(0)
logging.debug("Initialized PlayConfigTab")
# bind the play label in the ui to the name of the current play
play_name_label = win.findChild(QtWidgets.QLabel, 'current_play_name')
main.root_play().play_changed.connect(play_name_label.setText)
_has_setup_ui = True
def setup():
global _has_setup_ui
if _has_setup_ui == True:
logging.warn("ui setup() function called more than once")
return
win = getMainWindow()
if win == None:
raise AssertionError("Unable to get a reference to the main window")
pcTab = ui.play_config_tab.PlayConfigTab()
pcTab.setObjectName('play_config')
tabs = win.findChild(QtGui.QTabWidget, 'tabWidget')
tabs.insertTab(0, pcTab, 'Plays')
tabs.setCurrentIndex(0)
logging.debug("Inserted PlayConfigTab at index zero")
# bind the play label in the ui to the name of the current play
play_name_label = win.findChild(QtGui.QLabel, 'current_play_name')
main.root_play().play_changed.connect(play_name_label.setText)
_has_setup_ui = True
def __init__(self):
super().__init__(start_state=DoubleTouchTracker.State.start)
for state in DoubleTouchTracker.State:
self.add_state(state)
# FIXME: is it only restart plays?
self.add_transition(DoubleTouchTracker.State.start,
DoubleTouchTracker.State.restart_play_began,
lambda: (main.root_play().play != None
and main.root_play().play.__class__.is_restart()
and main.game_state().is_our_restart()),
'we start running an offensive restart play')
self.add_transition(DoubleTouchTracker.State.restart_play_began,
DoubleTouchTracker.State.kicking,
lambda: any(bot.has_ball() for bot in main.our_robots()),
'one of our bots has the ball')
self.add_transition(DoubleTouchTracker.State.kicking,
DoubleTouchTracker.State.kicker_forbidden,
lambda: not self.kicker_has_possession(),
'kicker kicks or fumbles ball')
self.add_transition(DoubleTouchTracker.State.kicker_forbidden,
DoubleTouchTracker.State.other_robot_touched,
lambda: self.other_robot_touching_ball(),
'another robot has touched the ball')
def __init__(self, defender_priorities=[20, 19]):
super().__init__(continuous=True)
# we could make the Defense tactic have more or less defenders, but right now we only support two
if len(defender_priorities) != 2:
raise RuntimeError("defender_priorities should have a length of two")
self.add_state(Defense.State.defending, behavior.Behavior.State.running)
self.add_state(Defense.State.clearing, behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start, Defense.State.defending, lambda: True, "immediately")
self.add_transition(
Defense.State.defending,
Defense.State.clearing,
lambda: self.should_clear_ball(),
"when it is safe to clear the ball",
)
self.add_transition(
Defense.State.clearing, Defense.State.defending, lambda: not self.should_clear_ball(), "done clearing"
)
goalie = tactics.positions.submissive_goalie.SubmissiveGoalie()
goalie.shell_id = main.root_play().goalie_id
self.add_subbehavior(goalie, "goalie", required=False)
# add defenders at the specified priority levels
for num, priority in enumerate(defender_priorities):
defender = tactics.positions.submissive_defender.SubmissiveDefender()
self.add_subbehavior(defender, "defender" + str(num + 1), required=False, priority=priority)
self.debug = True
self.win_eval = robocup.WindowEvaluator(main.system_state())
def __init__(self):
super().__init__(continuous=True)
goalie = submissive_goalie.SubmissiveGoalie()
goalie.shell_id = main.root_play().goalie_id
self.add_subbehavior(goalie, "goalie", required=True)
self.add_state(WingerWall.State.defending,
behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start,
WingerWall.State.defending, lambda: True,
"immediately")
self.aggression = 1
self.kick_eval = robocup.KickEvaluator(main.system_state())
self.wingers = []
self.forwards = []
self.max_wingers = 3
self.max_wall = 3
self.assigned_wingers = 0
# List of tuples of (class score, robot obj)
self.kick_eval.excluded_robots.clear()
for bot in main.our_robots():
self.kick_eval.add_excluded_robot(bot)
def execute_running(self):
self.recalculate()
goalie = self.subbehavior_with_name("goalie")
goalie.shell_id = main.root_play().goalie_id
if goalie.shell_id == None:
print("WARNING: No Goalie Selected")
def execute_running(self):
self.recalculate()
goalie = self.subbehavior_with_name("goalie")
goalie.shell_id = main.root_play().goalie_id
if goalie.shell_id == None:
print("WARNING: No Goalie Selected")
def __init__(self, defender_priorities=[20, 19]):
super().__init__(continuous=True)
# we could make the Defense tactic have more or less defenders, but right now we only support two
if len(defender_priorities) != 2:
raise RuntimeError("defender_priorities should have a length of two")
self.add_transition(behavior.Behavior.State.start,
behavior.Behavior.State.running,
lambda:True,
"immediately")
goalie = tactics.positions.submissive_goalie.SubmissiveGoalie()
goalie.shell_id = main.root_play().goalie_id
self.add_subbehavior(goalie, "goalie", required=False)
# add defenders at the specified priority levels
for num, priority in enumerate(defender_priorities):
defender = tactics.positions.submissive_defender.SubmissiveDefender()
self.add_subbehavior(defender, 'defender' + str(num+1), required=False, priority=priority)
self.debug = True
def __init__(self, defender_priorities=[20, 19]):
super().__init__(continuous=True)
if len(defender_priorities) != 2:
raise RuntimeError("defender_priorities should have a length of 2")
self.add_state(Defense.State.defending,
behavior.Behavior.State.running)
self.add_state(Defense.State.clearing, behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start,
Defense.State.defending, lambda: True,
"immediately")
self.add_transition(Defense.State.defending, Defense.State.clearing,
lambda: self.should_clear_ball(),
"Clearing the ball")
self.add_transition(Defense.State.clearing, Defense.State.defending,
lambda: not self.should_clear_ball(),
"Done clearing")
goalie = submissive_goalie.SubmissiveGoalie()
goalie.shell_id = main.root_play().goalie_id
self.add_subbehavior(goalie, "goalie", required=False)
# Add the defenders
for num, priority in enumerate(defender_priorities):
defender = submissive_defender.SubmissiveDefender()
self.add_subbehavior(defender,
'defender' + str(num + 1),
required=False,
priority=priority)
self.debug = True
self.kick_eval = robocup.KickEvaluator(main.system_state())
def __init__(self, defender_priorities=[20, 19]):
super().__init__(continuous=True)
# we could make the Defense tactic have more or less defenders, but right now we only support two
if len(defender_priorities) != 2:
raise RuntimeError(
"defender_priorities should have a length of two")
self.add_transition(behavior.Behavior.State.start,
behavior.Behavior.State.running, lambda: True,
"immediately")
goalie = tactics.positions.submissive_goalie.SubmissiveGoalie()
goalie.shell_id = main.root_play().goalie_id
self.add_subbehavior(goalie, "goalie", required=False)
# add defenders at the specified priority levels
for num, priority in enumerate(defender_priorities):
defender = tactics.positions.submissive_defender.SubmissiveDefender(
)
self.add_subbehavior(defender,
'defender' + str(num + 1),
required=False,
priority=priority)
self.debug = True
self.win_eval = robocup.WindowEvaluator(main.system_state())
def execute_running(self):
goalie = self.subbehavior_with_name("goalie")
goalie.shell_id = main.root_play().goalie_id
if goalie.shell_id is None:
print("WARNING: No Goalie Selected")
self.find_and_set_defender_location()
def execute_running(self):
goalie = self.subbehavior_with_name("goalie")
goalie.shell_id = main.root_play().goalie_id
if goalie.shell_id is None:
print("WARNING: No Goalie Selected")
self.find_and_set_defender_location()
def __init__(self):
super().__init__(start_state=DoubleTouchTracker.State.start)
for state in DoubleTouchTracker.State:
self.add_state(state)
# FIXME: is it only restart plays?
self.add_transition(
DoubleTouchTracker.State.start,
DoubleTouchTracker.State.restart_play_began, lambda:
(main.root_play().play is not None and main.root_play().play.
__class__.is_restart() and main.game_state().is_our_restart()),
'we start running an offensive restart play')
self.add_transition(
DoubleTouchTracker.State.restart_play_began,
DoubleTouchTracker.State.kicking, lambda: (
(any(self._touching_ball(bot)
for bot in main.our_robots())) or main.game_state(
).is_playing()) and not main.game_state().is_placement(),
'one of our bots has the ball or the ball was kicked')
self.add_transition(
DoubleTouchTracker.State.kicking,
DoubleTouchTracker.State.kicker_forbidden,
# The ball is no longer in restart, we have begun playing
(
lambda: main.game_state().is_playing() or
# We aren't in a restart anymore
main.root_play().play is None or not main.root_play().play.
__class__.is_restart()),
'ball has moved and is now in play')
self.add_transition(DoubleTouchTracker.State.kicker_forbidden,
DoubleTouchTracker.State.other_robot_touched,
lambda: self.other_robot_touching_ball(),
'another robot has touched the ball')
def setup():
global _has_setup_ui
if _has_setup_ui == True:
logging.warn("ui setup() function called more than once")
return
win = getMainWindow()
if win == None: raise AssertionError("Unable to get a reference to the main window")
pcTab = ui.play_config_tab.PlayConfigTab()
pcTab.setObjectName('play_config')
tabs = win.findChild(QtWidgets.QTabWidget, 'tabWidget')
tabs.insertTab(0, pcTab, 'Plays')
tabs.setCurrentIndex(0)
logging.debug("Inserted PlayConfigTab at index zero")
# bind the play label in the ui to the name of the current play
play_name_label = win.findChild(QtWidgets.QLabel, 'current_play_name')
main.root_play().play_changed.connect(play_name_label.setText)
_has_setup_ui = True
def on_enter_start(self):
# if we have too many robots isolate one of the robots so they don't help in the play
goalie = main.root_play(
).goalie_id #.system_state().game_state.get_goalie_id()
print(goalie)
numRobots = len(main.our_robots()) - 4
if (goalie != None):
numRobots = numRobots - 1
for i in range(numRobots):
iso = skills.move.Move(
robocup.Point(-constants.Field.Width / 2 + self.bot_buffer * i,
0))
self.add_subbehavior(iso,
'iso' + str(i),
required=True,
priority=1)
def __init__(self, defender_priorities=[20, 19]):
super().__init__(continuous=True)
if len(defender_priorities) != 2:
raise RuntimeError("defender_priorities should have a length of 2")
self.add_state(Defense.State.defending,
behavior.Behavior.State.running)
self.add_state(Defense.State.clearing, behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start,
Defense.State.defending, lambda: True,
"immediately")
self.add_transition(
Defense.State.defending,
Defense.State.clearing, lambda: self.should_clear_ball(),
"Clearing the ball")
self.add_transition(
Defense.State.clearing,
Defense.State.defending, lambda: not self.should_clear_ball(),
"Done clearing")
goalie = submissive_goalie.SubmissiveGoalie()
goalie.shell_id = main.root_play().goalie_id
self.add_subbehavior(goalie, "goalie", required=False)
# Add the defenders
for num, priority in enumerate(defender_priorities):
defender = submissive_defender.SubmissiveDefender()
self.add_subbehavior(
defender,
'defender' + str(num + 1),
required=False,
priority=priority)
self.debug = True
self.kick_eval = robocup.KickEvaluator(main.system_state())
def execute_marking(self):
# main.system_state().draw_line(robocup.Line(self._area.get_pt(0), self._area.get_pt(1)), (127,0,255), "Defender")
self.block_robot = self.find_robot_to_block()
if self.block_robot is not None:
# self.robot.add_text("Blocking Robot " + str(self.block_robot.shell_id()), (255,255,255), "RobotText")
pass
if self.robot.pos.near_point(robocup.Point(0, 0), self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
target = None
if self.block_robot is None:
target = main.ball().pos + main.ball().vel * 0.3
else:
target = self.block_robot.pos + self.block_robot.vel * 0.3
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0), robocup.Point(constants.Field.GoalWidth / 2.0, 0)
)
self._win_eval.excluded_robots = [self.robot]
# TODO defenders should register themselves with some static list on init
# TODO make this happen in python-land
# BOOST_FOREACH(Defender *f, otherDefenders)
# {
# if (f->robot)
# {
# _winEval.exclude.push_back(f->robot->pos);
# }
# }
windows = self._win_eval.eval_pt_to_seg(target, goal_line)[0]
best = None
goalie = main.our_robot_with_id(main.root_play().goalie_id)
if goalie is not None and self.side is not Defender.Side.center:
for window in windows:
if best is None:
best = window
elif (
self.side is Defender.Side.left
and window.segment.center.x < goalie.pos.x
and window.segment.length > best.segment.length
):
best = window
elif (
self.side is Defender.Side.right
and window.segment.center.x > goalie.pos.x
and window.segment.length > best.segment.length
):
best = window
else:
best_dist = 0
for window in windows:
seg = robocup.Segment(window.segment.center(), main.ball().pos)
new_dist = seg.dist_to(self.robot.pos)
if best is None or new_dist < best_dist:
best = window
best_dist = new_dist
shoot_seg = None
if best is not None:
if self.block_robot is not None:
dirvec = robocup.Point.direction(self.block_robot.angle * (math.pi / 180.0))
shoot_seg = robocup.Segment(self.block_robot.pos, self.block_robot.pos + dirvec * 7.0)
else:
shoot_seg = robocup.Segment(main.ball().pos, main.ball().pos + main.ball().vel.normalized() * 7.0)
need_task = False
if best is not None:
winseg = best.segment
if main.ball().vel.magsq() > 0.03 and winseg.segment_intersection(shoot_seg) != None:
self.robot.move_to(shoot_seg.nearest_point(self.robot.pos))
self.robot.face_none()
else:
winsize = winseg.length()
if winsize < constants.Ball.Radius:
need_task = True
else:
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(winseg.center(), target)
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
if self.block_robot is not None:
self.robot.face(self.block_robot.pos)
else:
self.robot.face(main.ball().pos)
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = backVecRot.dot(shotVec) < 0
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_area_marking(self):
if self.robot.pos.near_point(robocup.Point(0, 0), self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
goal_target = robocup.Point(0, -constants.Field.GoalDepth / 2.0)
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0), robocup.Point(constants.Field.GoalWidth / 2.0, 0)
)
if self.side is Defender.Side.left:
goal_line.get_pt(1).x = 0
goal_line.get_pt(1).y = 0
if self.side is Defender.Side.right:
goal_line.get_pt(0).x = 0
goal_line.get_pt(0).y = 0
for robot in main.system_state().their_robots:
self._win_eval.excluded_robots.append(robot)
if main.root_play().goalie_id is not None:
self._win_eval.excluded_robots.append(main.our_robot_with_id(main.root_play().goalie_id))
# TODO (cpp line 186)
# windows = self._win_eval.
windows = []
best = None
angle = 0.0
for window in windows:
if best is None:
best = window
angle = window.a0 - window.a1
elif window.a0 - window.a1 > angle:
best = window
angle = window.a0 - window.a1
shootline = robocup.Segment(robocup.Point(0, 0), robocup.Point(0, 0))
if best is not None:
angle = (best.a0 + best.a1) / 2.0
shootline = robocup.Segment(self._win_eval.origin(), robocup.Point.direction(angle * (math.pi / 180.0)))
main.system_state().draw_line(shootline, (255, 0, 0), "Defender")
need_task = False
if best is not None:
winseg = best.segment
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(shootline.get_pt(0), shootline.get_pt(1))
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
if main.ball().pos.y < constants.Field.Length / 2.0:
self.robot.set_dribble_speed(255)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = backVecRot.dot(shotVec) < 0
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_marking(self):
#main.system_state().draw_line(robocup.Line(self._area.get_pt(0), self._area.get_pt(1)), (127,0,255), "Defender")
self.block_robot = self.find_robot_to_block()
if self.block_robot is not None:
# self.robot.add_text("Blocking Robot " + str(self.block_robot.shell_id()), (255,255,255), "RobotText")
pass
if self.robot.pos.near_point(robocup.Point(0, 0),
self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
target = None
if self.block_robot is None:
target = main.ball().pos + main.ball().vel * 0.3
else:
target = self.block_robot.pos + self.block_robot.vel * 0.3
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0),
robocup.Point(constants.Field.GoalWidth / 2.0, 0))
self._win_eval.excluded_robots = [self.robot]
# TODO defenders should register themselves with some static list on init
# TODO make this happen in python-land
# for (Defender *f : otherDefenders)
# {
# if (f->robot)
# {
# _winEval.exclude.push_back(f->robot->pos);
# }
# }
windows = self._win_eval.eval_pt_to_seg(target, goal_line)[0]
best = None
goalie = main.our_robot_with_id(main.root_play().goalie_id)
if goalie is not None and self.side is not Defender.Side.center:
for window in windows:
if best is None:
best = window
elif self.side is Defender.Side.left and window.segment.center.x < goalie.pos.x and window.segment.length > best.segment.length:
best = window
elif self.side is Defender.Side.right and window.segment.center.x > goalie.pos.x and window.segment.length > best.segment.length:
best = window
else:
best_dist = 0
for window in windows:
seg = robocup.Segment(window.segment.center(), main.ball().pos)
new_dist = seg.dist_to(self.robot.pos)
if best is None or new_dist < best_dist:
best = window
best_dist = new_dist
shoot_seg = None
if best is not None:
if self.block_robot is not None:
dirvec = robocup.Point.direction(self.block_robot.angle *
(math.pi / 180.0))
shoot_seg = robocup.Segment(
self.block_robot.pos, self.block_robot.pos + dirvec * 7.0)
else:
shoot_seg = robocup.Segment(
main.ball().pos,
main.ball().pos + main.ball().vel.normalized() * 7.0)
need_task = False
if best is not None:
winseg = best.segment
if main.ball().vel.magsq() > 0.03 and winseg.segment_intersection(
shoot_seg) != None:
self.robot.move_to(shoot_seg.nearest_point(self.robot.pos))
self.robot.face_none()
else:
winsize = winseg.length()
if winsize < constants.Ball.Radius:
need_task = True
else:
arc = robocup.Circle(robocup.Point(0, 0),
self._defend_goal_radius)
shot = robocup.Line(winseg.center(), target)
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(
dest[0] if dest[0].y > 0 else dest[1])
if self.block_robot is not None:
self.robot.face(self.block_robot.pos)
else:
self.robot.face(main.ball().pos)
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = (backVecRot.dot(shotVec) < 0)
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_area_marking(self):
if self.robot.pos.near_point(robocup.Point(0, 0),
self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
goal_target = robocup.Point(0, -constants.Field.GoalDepth / 2.0)
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0),
robocup.Point(constants.Field.GoalWidth / 2.0, 0))
if self.side is Defender.Side.left:
goal_line.get_pt(1).x = 0
goal_line.get_pt(1).y = 0
if self.side is Defender.Side.right:
goal_line.get_pt(0).x = 0
goal_line.get_pt(0).y = 0
for robot in main.system_state().their_robots:
self._win_eval.excluded_robots.append(robot)
if main.root_play().goalie_id is not None:
self._win_eval.excluded_robots.append(
main.our_robot_with_id(main.root_play().goalie_id))
# TODO (cpp line 186)
# windows = self._win_eval.
windows = []
best = None
angle = 0.0
for window in windows:
if best is None:
best = window
angle = window.a0 - window.a1
elif window.a0 - window.a1 > angle:
best = window
angle = window.a0 - window.a1
shootline = robocup.Segment(robocup.Point(0, 0), robocup.Point(0, 0))
if best is not None:
angle = (best.a0 + best.a1) / 2.0
shootline = robocup.Segment(
self._win_eval.origin(),
robocup.Point.direction(
angle * (math.pi / 180.0))) # FIXME :no origin.
main.system_state().draw_line(shootline, (255, 0, 0), "Defender")
need_task = False
if best is not None:
winseg = best.segment
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(shootline.get_pt(0), shootline.get_pt(1))
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
if main.ball().pos.y < constants.Field.Length / 2.0:
self.robot.set_dribble_speed(255)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = (backVecRot.dot(shotVec) < 0)
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
