def _dribble_objective(state: PlayerState):
side = 1 if state.world_view.side == "l" else -1
if not state.is_nearest_ball(1):
state.mode = DEFAULT_MODE
return determine_objective(state)
if not state.is_near_ball(KICKABLE_MARGIN):
return _rush_to_ball_objective(state)
pos: Coordinate = state.position.get_value()
if pos.euclidean_distance_from(Coordinate(52.5 * side, 0)) < 24:
return Objective(
state,
lambda: actions.shoot_to(state, Coordinate(55 * side, 0), 100),
lambda: True, 1)
should_dribble = state.received_dribble_instruction.get_value() \
and state.received_dribble_instruction.last_updated_time >= state.now() - 100
if not should_dribble:
target = _choose_pass_target(state)
if target is not None:
return Objective(state,
lambda: actions.pass_to_player(state, target),
lambda: True, 1)
else:
state.received_dribble_instruction.set_value(False, state.now())
if state.is_near_ball(
): # todo temp: and state.action_history.has_looked_for_targets:
target_coord: Coordinate = Coordinate(52.5 * side, 0)
opposing_goal_dir = math.degrees(
calculate_full_origin_angle_radians(target_coord,
state.position.get_value()))
state.action_history.has_looked_for_targets = False
return Objective(
state, lambda: actions.dribble(state, int(opposing_goal_dir)),
lambda: False, 1)
return _rush_to_ball_objective(state)
def determine_objective_field_default(state: PlayerState):
state.intercepting = False
# If lost orientation -> blind orient
if _lost_orientation(state):
return Objective(state, lambda: actions.blind_orient(state),
lambda: True, 1)
opponent_side = "r" if state.world_view.side == "l" else "l"
# If game not started or other team starting -> Idle orientation
if state.world_view.game_state == 'before_kick_off' or state.world_view.game_state == "kick_off_{0}".format(
opponent_side) or "goal" in state.world_view.game_state:
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True, 1)
# If some fault has been made by our team -> position optimally
if "fault_{0}".format(
state.world_view.side) in state.world_view.game_state:
return _position_optimally_objective(state)
# If we have a free kick, corner_kick, kick_in or kick_off
# If closest -> Go to ball and pass, else position optimally
if state.world_view.game_state == "free_kick_{0}".format(state.world_view.side) \
or state.world_view.game_state == "corner_kick_{0}".format(state.world_view.side) \
or state.world_view.game_state == "kick_in_{0}".format(state.world_view.side) \
or state.world_view.game_state == "kick_off_{0}".format(state.world_view.side) \
or state.world_view.game_state == "offside_{0}".format(opponent_side):
if _ball_unknown(state):
return _locate_ball_objective(state)
if state.is_near_ball(KICKABLE_MARGIN):
if state.world_view.sim_time - state.action_history.last_look_for_pass_targets > 2:
return Objective(state,
lambda: actions.look_for_pass_target(state),
lambda: True, 2)
if _choose_pass_target(state, must_pass=True) is not None:
return Objective(
state, lambda: actions.pass_to_player(
state, _choose_pass_target(state, must_pass=True)),
lambda: True, 1)
else:
return Objective(state,
lambda: actions.look_for_pass_target(state),
lambda: True, 2)
elif state.is_nearest_ball(1):
return _jog_to_ball_objective(state)
else:
return _position_optimally_objective(state)
# If in dribbling mode -> Dribble
if state.mode is DRIBBLING_MODE:
return _dribble_objective(state)
# If in possession mode -> Pass
if state.mode is POSSESSION_MODE:
return _pass_objective(state)
# If position known, but ball not -> Locate ball
if _ball_unknown(state):
return _locate_ball_objective(state)
# If in possession of ball -> dribble!
if state.is_near_ball() and state.is_nearest_ball(1):
state.mode = DRIBBLING_MODE
return _dribble_objective(state)
required_degree = calculate_required_degree(state)
if state.is_nearest_ball(required_degree):
intercept_actions = actions.intercept_2(state)
state.intercepting = True
if intercept_actions is not None:
return Objective(state, lambda: intercept_actions)
else:
return _rush_to_ball_objective(state)
# If ball not incoming -> Position optimally while looking at ball
if not state.ball_incoming() and not configurations.USING_PASS_CHAIN_STRAT:
if state.is_test_player():
debug_msg(str(state.now()) + " Position optimally!", "ACTIONS")
return _position_optimally_objective(state)
if state.is_test_player():
debug_msg(str(state.now()) + " Idle orientation!", "ACTIONS")
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True, 1)
def determine_objective_goalie_default(state: PlayerState):
opponent_side = "r" if state.world_view.side == "l" else "l"
# If goalie and goal_kick -> Go to ball and pass
if state.world_view.game_state == "goal_kick_{0}".format(
state.world_view.side) and state.num == 1:
debug_msg(
str(state.now()) + " | goal kick -> got to ball and pass",
"GOALIE")
if state.is_near_ball(KICKABLE_MARGIN):
return _pass_objective(state, must_pass=True)
else:
return _jog_to_ball_objective(state)
# If game not started or other team starting -> Idle orientation
if state.world_view.game_state == 'before_kick_off' or state.world_view.game_state == "kick_off_{0}".format(
opponent_side) or ("goal_r" == state.world_view.game_state
or "goal_l" == state.world_view.game_state):
debug_msg(
str(state.now()) +
" | If game not started or other team starting -> Idle orientation",
"GOALIE")
return Objective(state, lambda: actions.idle_orientation(state),
lambda: True, 1)
# If lost_orientation -> blind orient
if _lost_orientation(state):
debug_msg(
str(state.now()) + " | lost orientation -> blind orient", "GOALIE")
return Objective(state, lambda: actions.blind_orient(state),
lambda: True, 1)
# If ball unknown -> locate ball
if _ball_unknown(state):
debug_msg(
str(state.now()) + " | ball unknown -> locate ball", "GOALIE")
return Objective(state, lambda: actions.locate_ball(state),
lambda: True, 1)
# If some fault has been made by our team -> Position optimally
if "fault_{0}".format(
state.world_view.side) in state.world_view.game_state:
debug_msg(
str(state.now()) + " | Team made fault -> position optimally",
"GOALIE")
return _position_optimally_objective_goalie(state)
# If we have a free kick, corner_kick, kick_in, kick_off or goal_kick
# If closest -> Go to ball and pass, else position optimally
if state.world_view.game_state == "free_kick_{0}".format(state.world_view.side) \
or state.world_view.game_state == "corner_kick_{0}".format(state.world_view.side) \
or state.world_view.game_state == "kick_in_{0}".format(state.world_view.side) \
or state.world_view.game_state == "goal_kick_{0}".format(state.world_view.side) \
or state.world_view.game_state == "offside_{0}".format(opponent_side):
debug_msg(
str(state.now()) +
" | free_kick, corner_kick, kick_in, kick_off, goal_kick, offside -> go to ball or position optimally",
"GOALIE")
if _ball_unknown(state):
return _locate_ball_objective(state)
if state.is_near_ball(KICKABLE_MARGIN):
if state.world_view.sim_time - state.action_history.last_look_for_pass_targets > 2:
return Objective(state,
lambda: actions.look_for_pass_target(state),
lambda: True, 2)
if _choose_pass_target(state, must_pass=True) is not None:
return Objective(
state, lambda: actions.pass_to_player(
state, _choose_pass_target(state, must_pass=True)),
lambda: True, 1)
else:
return Objective(state,
lambda: actions.look_for_pass_target(state),
lambda: True, 2)
elif state.is_nearest_ball(1):
return _jog_to_ball_objective(state)
else:
return _position_optimally_objective_goalie(state)
ball: Ball = state.world_view.ball.get_value()
# If in possession of the ball -> Pass to team mate
if state.is_near_ball(KICKABLE_MARGIN):
pass_target = _choose_pass_target(state)
if pass_target is not None:
debug_msg(
str(state.now()) +
" | in possession, pass target found -> pass to teammate",
"GOALIE")
return Objective(
state, lambda: actions.pass_to_player(
state, _choose_pass_target(state)), lambda: True, 1)
# No suitable pass target
debug_msg(
str(state.now()) +
" | in possession, pass target not found -> look for pass target",
"GOALIE")
return Objective(state, lambda: actions.look_for_pass_target(state),
lambda: True, 1)
# If ball coming to goalie inside box -> Catch ball
positions = ball.project_ball_position(2, 0)
if positions is not None and state.is_inside_own_box():
debug_msg(
str(state.now()) + " | Ball incoming inside box -> Catch ball",
"GOALIE")
ball_pos_1_tick: Coordinate = positions[0]
if ball_pos_1_tick.euclidean_distance_from(
state.position.get_value()) < CATCHABLE_MARGIN:
return Objective(
state, lambda: actions.catch_ball(state, ball_pos_1_tick),
lambda: True, 1)
# If ball coming towards us or ball will hit goal soon -> Intercept
if (ball.will_hit_goal_within(ticks=5)
or (state.is_nearest_ball(1) and state.is_ball_inside_own_box())):
debug_msg(
str(state.now()) +
" | ball coming towards us or ball will hit goal soon -> run to ball and catch!",
"GOALIE")
intercept_actions = actions.intercept_2(state, "catch")
if intercept_actions is not None:
return Objective(state, lambda: intercept_actions)
else:
return _rush_to_ball_objective(state)
# If position not alligned with ball y-position -> Adjust y-position
if state.position.is_value_known(
) and state.world_view.ball.is_value_known(
) and not configurations.USING_PASS_CHAIN_STRAT:
debug_msg(
str(state.now()) + " | Position not optimal -> adjust position",
"GOALIE")
return _position_optimally_objective_goalie(state)
# If nothing to do -> Face ball
debug_msg(str(state.now()) + " | Nothing to do -> Face ball", "GOALIE")
return Objective(state, lambda: actions.face_ball(state), lambda: True, 1)