def triangulateClearKick(self):
# Assert: Neither far post was seen.
# Both near posts were seen.
bearingDiff = self.nearLeftPostBearing - self.nearRightPostBearing
leftDist = self.nearRightPostDist
rightDist = self.nearLeftPostDist
leftPostY = constants.LANDMARK_BLUE_GOAL_TOP_POST_Y
rightPostY = constants.LANDMARK_BLUE_GOAL_BOTTOM_POST_Y
farSideLenth = constants.CROSSBAR_CM_WIDTH
# Should be generalized into a helper method somewhere.
y = (math.pow(leftPostY,2) + math.pow(leftDist,2) - math.pow(rightPostY,2) - math.pow(rightDist,2)) / (2 * (leftPostY - rightPostY))
x = math.sqrt(math.pow(leftDist,2) - math.pow((y-rightPostY),2))
# Use locations to get global heading.
post = Objects.Location(constants.FIELD_WHITE_LEFT_SIDELINE_X,constants.LANDMARK_BLUE_GOAL_TOP_POST_Y)
me = Objects.Location(x,y)
meToPost = me.relativeLocationOf(post)
myGlobalHeading = meToPost.bearing - self.nearLeftPostBearing
if myGlobalHeading < -180:
myGlobalHeading += 360
elif myGlobalHeading > 180:
myGlobalHeading -= 360
return self.chooseClearKick(myGlobalHeading, x, y)
def goalieBasedKick(self):
# Assert: Neither far post was seen.
# At least one near post was seen.
# Either Goalie can see the ball, or not.
goalieBearing = 0
goalieDist = 0
kick = None
for mate in self.brain.teamMembers:
if mate.playerNumber == 1:
goalieBearing = mate.ballBearing
goalieDist = mate.ballDist
# Sanity check.
if goalieBearing == 0 or goalieDist == 0:
# Something went wrong. Abort and default to no info orbit.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
# Calculate coordinates of ball, assuming goalie is perfectly centered.
goalieX = nogginConstants.FIELD_WHITE_LEFT_SIDELINE_X
goalieY = nogginConstants.CENTER_FIELD_Y
diffX = math.cos(math.radians(goalieBearing)) * goalieDist
diffY = math.sin(math.radians(goalieBearing)) * goalieDist
ballX = goalieX + diffX
ballY = goalieY + diffY
ballLocation = Objects.Location(ballX, ballY)
# Calculate your bearing on the post with more sightings
if len(self.nearGoalRightPostBearings) > len(
self.nearGoalLeftPostBearings):
# Use the right post
relPostBearing = self.nearRightPostBearing
ballToPost = ballLocation.relativeLocationOf(
Objects.Location(
nogginConstants.FIELD_WHITE_LEFT_SIDELINE_X,
nogginConstants.LANDMARK_BLUE_GOAL_BOTTOM_POST_Y))
else:
# Use the left post
relPostBearing = self.nearLeftPostBearing
ballToPost = ballLocation.relativeLocationOf(
Objects.Location(
nogginConstants.FIELD_WHITE_LEFT_SIDELINE_X,
nogginConstants.LANDMARK_BLUE_GOAL_TOP_POST_Y))
ballToPostBearing = ballToPost.bearing
myGlobalHeading = ballToPostBearing - relPostBearing
if myGlobalHeading < -180:
myGlobalHeading += 360
elif myGlobalHeading > 180:
myGlobalHeading -= 360
return self.chooseClearKick(myGlobalHeading, ballX, ballY)
def ballToOurLeft(player):
"""
The ball is to our left.
"""
goalCenter = objects.Location(nogginConstants.FIELD_WHITE_RIGHT_SIDELINE_X,
nogginConstants.CENTER_FIELD_Y)
ballLocation = objects.Location(player.brain.ball.x, player.brain.ball.y)
headingBallToGoalCenter = ballLocation.headingTo(goalCenter)
bearingForKick = headingBallToGoalCenter - player.brain.loc.h
return (bearingForKick > 0)
def facingGoal(player):
"""
We are facing generally towards the goal we want to score on.
"""
goalCenter = objects.Location(nogginConstants.FIELD_WHITE_RIGHT_SIDELINE_X,
nogginConstants.CENTER_FIELD_Y)
ballLocation = objects.Location(player.brain.ball.x, player.brain.ball.y)
headingBallToGoalCenter = ballLocation.headingTo(goalCenter)
bearingForKick = headingBallToGoalCenter - player.brain.loc.h
return (bearingForKick < constants.FACING_FORWARD_DEG and
bearingForKick > -constants.FACING_FORWARD_DEG)
def sync_sites(session: http_session.PortalSession, sites, locations: dict):
"""
Convert UFO sites into Awesome locations.
Either update or create a new location for each site.
:param session: Awesome portal HTTP session
:param sites: UFO sites
:param locations: Map of Awesome location names to identifiers
"""
for site in sites:
LOGGER.debug("SITE %s", site)
# Convert to Awesome object
location = maps.site_to_location(site)
try:
# Retrieve existing location
location_id = locations[site['name']]
loc = objects.Location(location_id)
# Amend existing location
loc.update(session, location)
# Location doesn't exist on in Awesome database
except KeyError:
# Create new location
body = objects.Location.add(session, location)
new_location = body['data']
# Store id of new location
locations[new_location['name']] = new_location['id']
def setUp(self):
self.job = objects.Job()
self.job.employer = "Nike"
self.job.title = "Designer"
self.loc = objects.Location()
self.loc.city = "Portland"
self.loc.state = "OR"
self.obj = objects.Female()
self.obj.name = "Anne"
self.obj.age = 27
self.obj.height = 65
self.obj.weight = 120
self.person = {
"name":
u"Anne",
"age":
27,
"height":
65.0,
"weight":
120.0,
"genitalia":
u"inny",
"jobs": [{
"employer": u"Nike",
"title": u"Designer",
"locations": [{
"city": u"Portland",
"state": u"OR"
}]
}]
}
def setUp(self):
self.name = "Anne"
self.genitalia = "inny"
self.obj = objects.Female()
self.job = objects.Job()
self.loca = objects.LocationGeo()
self.location = objects.Location()
def test_bad_rel_type(self):
with self.assertRaises(Exception) as cm:
self.obj.jobs.append(objects.Location())
print cm.exception
def shoot(self):
"""
returns the kick we should do in a shooting situation
"""
kick = None
if DEBUG_KICK_DECISION:
print "In method shoot."
# Is loc GOOD_ENOUGH for a kick decision?
# Need to use aimCenter in decision.
if USE_LOC: #self.brain.my.locScore == constants.locScore.GOOD_LOC:
if DEBUG_KICK_DECISION:
#print "loc Score is good. Using it to decide kick."
print "Flag is set: using loc for decision."
relLocationBallToGoal = self.brain.ball.loc.relativeLocationOf(Objects.Location(constants.FIELD_WHITE_RIGHT_SIDELINE_X,constants.CENTER_FIELD_Y))
bearingBallToGoal = relLocationBallToGoal.bearing
# Assume our bearing at the ball will equal our current bearing
relLocationMeToBall = self.brain.my.relativeLocationOf(self.brain.ball.loc)
bearingMeToBall = relLocationMeToBall.bearing
bearingDifference = bearingBallToGoal - bearingMeToBall
if bearingDifference < 35 and bearingDifference > -35:
#choose straight kick!
kick = self.chooseQuickFrontKick()
kick.h = 0 - bearingDifference
elif bearingDifference > 35 and bearingDifference < 125:
#choose a right side kick! (using right foot)
kick = kicks.RIGHT_SIDE_KICK
kick.h = 70 - bearingDifference
elif bearingDifference < -35 and bearingDifference > -125:
#choose a left side kick! (using left foot)
kick = kicks.LEFT_SIDE_KICK
kick.h = -70 - bearingDifference
else:
#choose a back kick!
kick = self.chooseBackKick()
if bearingDifference < -125:
kick.h = -180 - bearingDifference
else:
kick.h = 180 - bearingDifference
# Make sure heading is an int before passing it to the orbit.
kick.h = int(kick.h)
return kick
# Loc is bad- use only visual information to choose a kick.
if DEBUG_KICK_DECISION:
print "Using vision for kick decision."
print "Dangerous ball count: ",self.dangerousBallCount
print "Own goalie in near goal? ",self.nearGoalieOwn
# Determine which goal to aim at
if self.farAvgPostDist != 0 and self.nearAvgPostDist != 0:
# Goalie detection too easily fooled.
# Screw it. We need it anyway.
if self.dangerousBallCount > 5 or self.nearGoalieOwn or \
self.brain.onOwnFieldSide:
rightPostBearing = self.farRightPostBearing
leftPostBearing = self.farLeftPostBearing
else:
rightPostBearing = self.nearRightPostBearing
leftPostBearing = self.nearLeftPostBearing
elif self.farAvgPostDist != 0:
rightPostBearing = self.farRightPostBearing
leftPostBearing = self.farLeftPostBearing
elif self.nearAvgPostDist != 0:
# Goalie detection too easily fooled.
# Screw it. We need it anyway.
if self.dangerousBallCount > 5 or self.nearGoalieOwn or \
self.brain.onOwnFieldSide:
# Can only see our own goal: Use goalie to make decision
if self.dangerousBallCount > 5:
if DEBUG_KICK_DECISION:
print "Doing a goalie based clearing kick."
return self.goalieBasedKick()
# Saw two posts: use them to triangulate.
if self.nearRightPostBearing != 0 and self.nearLeftPostBearing != 0:
if DEBUG_KICK_DECISION:
print "Saw two own posts. Triangulating and clearing."
return self.triangulateClearKick()
# Saw one post: oh god, what now?
# Default to no-info orbit.
"""
if self.nearRightPostBearing != 0:
pass
else:
pass
"""
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
else:
rightPostBearing = self.nearRightPostBearing
leftPostBearing = self.nearLeftPostBearing
else:
# No information at all? Orbit arbitrarily and try again.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
if DEBUG_KICK_DECISION:
print "farRightPostBearing: ",self.farRightPostBearing
print "farLeftPostBearing: ",self.farLeftPostBearing
print "nearRightPostBearing: ",self.nearRightPostBearing
print "nearLeftPostBearing: ",self.nearLeftPostBearing
print "rightPostBearing: ",rightPostBearing
print "leftPostBearing: ",leftPostBearing
if rightPostBearing == 0 and leftPostBearing == 0:
# Can't see any posts: orbit.
# Note: this case should already be covered above,
# but is repeated for safety.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
elif rightPostBearing != 0 and leftPostBearing != 0:
# Can see both posts: shoot between them.
leftScorePoint = rightPostBearing - 10
rightScorePoint = leftPostBearing + 10
if leftScorePoint < rightScorePoint:
# less than 20 degrees of goal available to shoot in.
leftScorePoint = ((rightPostBearing + leftPostBearing) / 2) + 5
rightScorePoint = leftScorePoint - 10
elif rightPostBearing != 0:
# Can only see the right post.
leftScorePoint = rightPostBearing - 15
rightScorePoint = leftScorePoint - 10
else:
# Can only see the left post.
rightScorePoint = leftPostBearing + 15
leftScorePoint = rightScorePoint + 10
if DEBUG_KICK_DECISION:
print "rightScorePoint: ",rightScorePoint
print "leftScorePoint: ",leftScorePoint
# If any kick is currently valid, choose that kick.
# Note: this ignores the aimCenter distinction.
if leftScorePoint > 0 and rightScorePoint < 0:
kick = self.chooseQuickFrontKick()
elif leftScorePoint > 70 and rightScorePoint < 70:
kick = kicks.RIGHT_SIDE_KICK
elif leftScorePoint > -70 and rightScorePoint < -70:
kick = kicks.LEFT_SIDE_KICK
elif leftScorePoint < -90 and rightScorePoint > 90:
kick =self.chooseBackKick()
# Did we pick a kick yet?
if kick is not None:
kick.h = 0 # Straight is fine.
return kick
# Choose whichever kick is closest to being between the score points.
# Note: no kick bearing is between the posts, so they are all
# to the right of the rightScorePoint or left of leftScorePoint.
# If not aimCenter, pick whichever kick is closest to either score point.
avgScorePoint = int((rightScorePoint + leftScorePoint) * .5)
if DEBUG_KICK_DECISION:
print "Didn't choose a 0 heading kick.\navgScorePoint: ",avgScorePoint
if rightScorePoint > 70:
# Quadrant 2
if (180 - leftScorePoint) - (rightScorePoint - 70) < 0:
#Closer to the leftScorePoint
kick = self.chooseBackKick()
if self.aimCenter:
kick.h = 180 - avgScorePoint
else:
kick.h = 180 - leftScorePoint
else:
kick = kicks.RIGHT_SIDE_KICK
if self.aimCenter:
kick.h = 70 - avgScorePoint
else:
kick.h = 70 - rightScorePoint
elif rightScorePoint > 0:
# Quadrant 1
if (70 - leftScorePoint) - (rightScorePoint - 0) < 0:
kick = kicks.RIGHT_SIDE_KICK
if self.aimCenter:
kick.h = 70 - avgScorePoint
else:
kick.h = 70 - leftScorePoint
else:
kick = self.chooseQuickFrontKick()
if self.aimCenter:
kick.h = 0 - avgScorePoint
else:
kick.h = 0 - rightScorePoint
elif rightScorePoint > -70:
# Quadrant 4
if (0 - leftScorePoint) - (rightScorePoint + 70) < 0:
kick = self.chooseQuickFrontKick()
if self.aimCenter:
kick.h = 0 - avgScorePoint
else:
kick.h = 0 - leftScorePoint
else:
kick = kicks.LEFT_SIDE_KICK
if self.aimCenter:
kick.h = -70 - avgScorePoint
else:
kick.h = -70 - rightScorePoint
else:
# Quadrant 3
if (-70 - leftScorePoint) - (rightScorePoint + 180) < 0:
kick = kicks.LEFT_SIDE_KICK
if self.aimCenter:
kick.h = -70 - avgScorePoint
else:
kick.h = -70 - leftScorePoint
else:
kick = self.chooseBackKick()
if self.aimCenter:
kick.h = -180 - avgScorePoint
else:
kick.h = -180 - rightScorePoint
if kick is not None:
return kick
if DEBUG_KICK_DECISION:
print "Somehow got to end without a kick..."
# If all else fails, orbit and re-decide.
# Note: this case should already be covered above,
# but is repeated for safety.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
def shoot(self):
"""
returns the kick we should do in a shooting situation
"""
kick = None
# Is loc good enough for a kick decision?
# Need to use aimCenter in decision.
if USE_LOC:
# COMPETITION HACK -- dribbling from the corner
if (self.brain.ball.x > constants.FIELD_WHITE_RIGHT_SIDELINE_X - 65
and
(self.brain.ball.y < constants.LANDMARK_OPP_GOAL_RIGHT_POST_Y -
30 or self.brain.ball.y >
constants.LANDMARK_OPP_GOAL_LEFT_POST_Y + 30)):
self.brain.player.corner_dribble = True
kick = self.chooseShortFrontKick()
kick.h = self.brain.loc.headingTo(
Objects.Location(constants.YELLOW_GOALBOX_LEFT_X - 100,
constants.MIDFIELD_Y))
return kick
# Get the bearing for the shot, i.e. from the ball to the goal.
# Note: currently always aimCenter
goalCenter = Objects.Location(
constants.FIELD_WHITE_RIGHT_SIDELINE_X,
constants.CENTER_FIELD_Y)
goalLeft = Objects.Location(
constants.LANDMARK_OPP_GOAL_LEFT_POST_X,
constants.LANDMARK_OPP_GOAL_LEFT_POST_Y)
goalRight = Objects.Location(
constants.LANDMARK_OPP_GOAL_RIGHT_POST_X,
constants.LANDMARK_OPP_GOAL_RIGHT_POST_Y)
ballLocation = Objects.Location(self.brain.ball.x,
self.brain.ball.y)
closeShot = (self.brain.loc.distTo(goalCenter) < 100
) # within 1 meter
ourHalf = (self.brain.loc.x < constants.MIDFIELD_X
) # on our half of the field
headingBallToGoalCenter = ballLocation.headingTo(goalCenter)
headingBallToGoalLeft = ballLocation.headingTo(goalLeft)
headingBallToGoalRight = ballLocation.headingTo(goalRight)
if DEBUG_KICK_DECISION:
print "Heading from the ball to the goal center: " + str(
headingBallToGoalCenter)
print "My global heading on the field: " + str(
self.brain.loc.h)
# Assume our heading at the ball will equal our current heading
# We shouldn't be spinning at this point, so the assumption is valid.
# Note: all headings are in degrees at this point.
bearingForKick = headingBallToGoalCenter - self.brain.loc.h
bearingKickLeft = headingBallToGoalLeft - self.brain.loc.h
bearingKickRight = headingBallToGoalRight - self.brain.loc.h
bearingLimitLeft = headingBallToGoalLeft - headingBallToGoalCenter
bearingLimitRight = headingBallToGoalRight - headingBallToGoalCenter
if not closeShot:
if DEBUG_KICK_DECISION:
print("Acceptable bearing range for kick: " +
str(headingBallToGoalLeft) + "/" +
str(headingBallToGoalRight))
kickBearings = [[0, 0], [70, 0],
[-70, 0]] # straight, right side, left side
for b in kickBearings:
adjustedBearingLeft = bearingKickLeft - b[0]
adjustedBearingRight = bearingKickRight - b[0]
if adjustedBearingLeft > 0 and adjustedBearingRight < 0:
#goal is in front of us
b[1] = 0
elif adjustedBearingLeft < 0 and adjustedBearingRight > 0:
#goal is behind us
if math.fabs(adjustedBearingLeft) < math.fabs(
adjustedBearingRight):
#use the left bearing
b[1] = -adjustedBearingLeft
else:
#use the right bearing
b[1] = -adjustedBearingRight
elif adjustedBearingRight > 0:
#goal is to our left
b[1] = -adjustedBearingRight
elif adjustedBearingLeft < 0:
#goal is to our right
b[1] = -adjustedBearingLeft
sortedBearings = sorted(
map(math.fabs, [x[1] for x in kickBearings]))
if sortedBearings[0] < math.fabs(
kickBearings[0][1]) - STRAIGHT_KICK_BIAS:
# side kicks must beat straight kick by more than ~10 degrees
if sortedBearings[0] == math.fabs(kickBearings[1][1]):
# choose a right side kick
kick = kicks.RIGHT_SIDE_KICK
elif sortedBearings[0] == math.fabs(kickBearings[2][1]):
# choose a left side kick
kick = kicks.LEFT_SIDE_KICK
else:
# choose a straight kick
kick = self.chooseShortFrontKick()
kick.h = sortedBearings[0]
# If we're defending near our goal box, just kick it: clearing the ball
# is more important than being super accurate.
if (self.brain.loc.x < constants.LANDMARK_MY_FIELD_CROSS[0]
and self.brain.loc.y < constants.MY_GOALBOX_TOP_Y
and self.brain.loc.y > constants.MY_GOALBOX_BOTTOM_Y):
kick.h = 0
else: # if closeShot is True
if DEBUG_KICK_DECISION:
print "I am shooting very close to the opponent's goal."
if DEBUG_KICK_DECISION:
print("Acceptable bearing range for kick: " +
str(headingBallToGoalLeft) + "/" +
str(headingBallToGoalRight))
if (bearingKickLeft - bearingKickRight) > 60:
# even an inaccurate straight kick will work
if (30 < bearingKickLeft and -30 > bearingKickLeft):
#choose a straight motion kick with no orbit NOW!
kick = self.chooseFrontMotionKick()
kick.h = 0
return kick
elif (bearingKickLeft < 30):
# closer to left limit
straightBearing = 30 - bearingKickLeft
else: #assert bearingLimitRight > -30
# closer to right limit
straightBearing = -30 - bearingKickRight
else:
# aim for the center and hope we're accurate enough
straightBearing = 0 - bearingForKick
if (bearingKickLeft - bearingKickRight > 35):
# even an inaccurate side kick will work
if (90 < bearingKickLeft and 60 > bearingKickRight):
#choose a right side motion kick with no orbit NOW!
self.brain.player.motionKick = True
kick = kicks.M_RIGHT_SIDE
kick.h = 0
return kick
elif (-60 < bearingKickLeft and -90 > bearingKickRight):
#choose a left side kick with no orbit!
self.brain.player.motionKick = True
kick = kicks.M_LEFT_SIDE
kick.h = 0
return kick
if (bearingKickLeft < 90):
# right side kick is closer to left limit
rightSideBearing = 90 - bearingKickLeft
else: #assert bearingKickRight > 60
rightSideBearing = 60 - bearingKickRight
if (bearingKickLeft < -60):
# left side kick is closer to the left limit
leftSideBearing = -60 - bearingKickLeft
else: #assert bearingKickRight > -90
leftSideBearing = -90 - bearingKickRight
else:
# aim for the center and hope we're accurate enough
rightSideBearing = 70 - bearingForKick
leftSideBearing = -70 - bearingForKick
# Currently, we ignore the possibility of doing a back kick here.
# make sure all the kick bearings are sub-180 angles
straightBearing = MyMath.sub180Angle(straightBearing)
rightSideBearing = MyMath.sub180Angle(rightSideBearing)
leftSideBearing = MyMath.sub180Angle(leftSideBearing)
# the kick bearing that has least magnitude should be chosen
kickList = sorted(
[straightBearing, leftSideBearing, rightSideBearing],
key=math.fabs)
if math.fabs(
kickList[0]
) < math.fabs(straightBearing) - STRAIGHT_KICK_BIAS:
# side kicks must beat straight kicks by more than ~10 degrees
if (kickList[0] == rightSideBearing):
kick = kicks.RIGHT_SIDE_KICK
kick.h = rightSideBearing
elif (kickList[0] == leftSideBearing):
kick = kicks.LEFT_SIDE_KICK
kick.h = leftSideBearing
else:
# choose a straight kick
kick = self.chooseFrontMotionKick()
kick.h = straightBearing
# Convert kick.h to be a desired global heading for the orbit.
kick.h = self.brain.loc.h - kick.h
# Make sure heading is an int before passing it to the orbit.
kick.h = int(MyMath.sub180Angle(kick.h))
if DEBUG_KICK_DECISION:
print "Returning a kick with heading: " + str(kick.h)
return kick
# Loc is bad- use only visual information to choose a kick.
if DEBUG_KICK_DECISION:
print "Using vision for kick decision."
print "Dangerous ball count: ", self.dangerousBallCount
print "Own goalie in near goal? ", self.nearGoalieOwn
# Determine which goal to aim at
if self.farAvgPostDist != 0 and self.nearAvgPostDist != 0:
# Goalie detection too easily fooled.
# Screw it. We need it anyway.
if (self.dangerousBallCount > 5 or self.nearGoalieOwn):
# Don't aim at the near goal.
rightPostBearing = self.farRightPostBearing
leftPostBearing = self.farLeftPostBearing
else:
# Aim at the near goal.
rightPostBearing = self.nearRightPostBearing
leftPostBearing = self.nearLeftPostBearing
elif self.farAvgPostDist != 0:
# Only saw far goal? Kick towards it and hope.
# Goalie detection too unreliable for far goal?
rightPostBearing = self.farRightPostBearing
leftPostBearing = self.farLeftPostBearing
elif self.nearAvgPostDist != 0:
# Goalie detection too easily fooled.
# Screw it. We need it anyway.
if (self.dangerousBallCount > 5 or self.nearGoalieOwn):
# Can only see our own goal: Use goalie to make decision
if self.dangerousBallCount > 5:
if DEBUG_KICK_DECISION:
print "Doing a goalie based clearing kick."
return self.goalieBasedKick()
# Saw two posts: use them to triangulate.
if self.nearRightPostBearing != 0 and self.nearLeftPostBearing != 0:
if DEBUG_KICK_DECISION:
print "Saw two own posts. Triangulating and clearing."
return self.triangulateClearKick()
# Saw one post: oh god, what now?
# Default to no-info orbit.
"""
if self.nearRightPostBearing != 0:
pass
else:
pass
"""
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
else:
rightPostBearing = self.nearRightPostBearing
leftPostBearing = self.nearLeftPostBearing
else:
# No information at all? Orbit arbitrarily and try again.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
if DEBUG_KICK_DECISION:
print "farRightPostBearing: ", self.farRightPostBearing
print "farLeftPostBearing: ", self.farLeftPostBearing
print "nearRightPostBearing: ", self.nearRightPostBearing
print "nearLeftPostBearing: ", self.nearLeftPostBearing
print "rightPostBearing: ", rightPostBearing
print "leftPostBearing: ", leftPostBearing
if rightPostBearing == 0 and leftPostBearing == 0:
# Can't see any posts: orbit.
# Note: this case should already be covered above,
# but is repeated for safety.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
elif rightPostBearing != 0 and leftPostBearing != 0:
# Can see both posts: shoot between them.
leftScorePoint = rightPostBearing - 10
rightScorePoint = leftPostBearing + 10
if leftScorePoint < rightScorePoint:
# less than 20 degrees of goal available to shoot in.
leftScorePoint = ((rightPostBearing + leftPostBearing) / 2) + 5
rightScorePoint = leftScorePoint - 10
elif rightPostBearing != 0:
# Can only see the right post.
leftScorePoint = rightPostBearing - 15
rightScorePoint = leftScorePoint - 10
else:
# Can only see the left post.
rightScorePoint = leftPostBearing + 15
leftScorePoint = rightScorePoint + 10
if DEBUG_KICK_DECISION:
print "rightScorePoint: ", rightScorePoint
print "leftScorePoint: ", leftScorePoint
# If any kick is currently valid, choose that kick.
# Note: this ignores the aimCenter distinction.
if leftScorePoint > 0 and rightScorePoint < 0:
kick = self.chooseQuickFrontKick()
elif leftScorePoint > 70 and rightScorePoint < 70:
kick = kicks.RIGHT_SIDE_KICK
elif leftScorePoint > -70 and rightScorePoint < -70:
kick = kicks.LEFT_SIDE_KICK
elif leftScorePoint < -90 and rightScorePoint > 90:
kick = self.chooseBackKick()
# Did we pick a kick yet?
if kick is not None:
kick.h = 0 # Straight is fine- don't orbit.
return kick
# Choose whichever kick is closest to being between the score points.
# Note: no kick bearing is between the posts, so they are all
# to the right of the rightScorePoint or left of leftScorePoint.
# If not aimCenter, pick whichever kick is closest to either score point.
avgScorePoint = int((rightScorePoint + leftScorePoint) * .5)
if DEBUG_KICK_DECISION:
print "Didn't choose a 0 heading kick.\navgScorePoint: ", avgScorePoint
if rightScorePoint > 70:
# Quadrant 2
if (180 - leftScorePoint) - (rightScorePoint - 70) < 0:
#Closer to the leftScorePoint
kick = self.chooseBackKick()
if self.aimCenter:
kick.h = 180 - avgScorePoint
else:
kick.h = 180 - leftScorePoint
else:
kick = kicks.RIGHT_SIDE_KICK
if self.aimCenter:
kick.h = 70 - avgScorePoint
else:
kick.h = 70 - rightScorePoint
elif rightScorePoint > 0:
# Quadrant 1
if (70 - leftScorePoint) - (rightScorePoint - 0) < 0:
kick = kicks.RIGHT_SIDE_KICK
if self.aimCenter:
kick.h = 70 - avgScorePoint
else:
kick.h = 70 - leftScorePoint
else:
kick = self.chooseQuickFrontKick()
if self.aimCenter:
kick.h = 0 - avgScorePoint
else:
kick.h = 0 - rightScorePoint
elif rightScorePoint > -70:
# Quadrant 4
if (0 - leftScorePoint) - (rightScorePoint + 70) < 0:
kick = self.chooseQuickFrontKick()
if self.aimCenter:
kick.h = 0 - avgScorePoint
else:
kick.h = 0 - leftScorePoint
else:
kick = kicks.LEFT_SIDE_KICK
if self.aimCenter:
kick.h = -70 - avgScorePoint
else:
kick.h = -70 - rightScorePoint
else:
# Quadrant 3
if (-70 - leftScorePoint) - (rightScorePoint + 180) < 0:
kick = kicks.LEFT_SIDE_KICK
if self.aimCenter:
kick.h = -70 - avgScorePoint
else:
kick.h = -70 - leftScorePoint
else:
kick = self.chooseBackKick()
if self.aimCenter:
kick.h = -180 - avgScorePoint
else:
kick.h = -180 - rightScorePoint
if kick is not None:
return kick
if DEBUG_KICK_DECISION:
print "Somehow got to end without a kick..."
# If all else fails, orbit and re-decide.
# Note: this case should already be covered above,
# but is repeated for safety.
kick = kicks.ORBIT_KICK_POSITION
kick.h = 45
return kick
print(type(data))
print(data.keys())
sd_objects = []
for i in range(len(data['results'])):
if (isInsidePolygon(
{
'lat': float(data['results'][i]['latitude']),
'lng': float(data['results'][i]['longitude'])
}, dublin_coordinates) == True):
# if np.sqrt((53.343792 - float(data['results'][i]['latitude']))**2 + (-6.254572 - float(data['results'][i]['longitude']))**2) < 0.08:
sd_objects.append(
oo.Stop(
data['results'][i]['stopid'],
data['results'][i]['shortname'],
oo.Location(float(data['results'][i]['latitude']),
float(data['results'][i]['longitude'])),
True))
feature_collection = []
for i in range(len(sd_objects)):
point = Point(
(sd_objects[i].location.lng, sd_objects[i].location.lat))
feature = Feature(geometry=point,
id=sd_objects[i].ID,
properties=dict(name=sd_objects[i].name,
isOpen=sd_objects[i].isOpen))
feature_collection.append(feature)
geojson_file = FeatureCollection(feature_collection)
