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 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 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