def setFieldConstantsFromField_Dimensions(value):
Field.Length = value.Length()
Field.Width = value.Width()
Field.Border = value.Border()
Field.LineWidth = value.LineWidth()
Field.GoalWidth = value.GoalWidth()
Field.GoalDepth = value.GoalDepth()
Field.GoalHeight = value.GoalHeight()
Field.PenaltyDist = value.PenaltyDist()
Field.PenaltyDiam = value.PenaltyDiam()
Field.ArcRadius = value.ArcRadius()
Field.CenterRadius = value.CenterRadius()
Field.CenterDiameter = value.CenterDiameter()
Field.GoalFlat = value.GoalFlat()
Field.FloorLength = value.FloorLength()
Field.FloorWidth = value.FloorWidth()
Field.OurGoalZoneShape = robocup.CompositeShape()
Field.OurGoalZoneShape.add_shape(robocup.Circle(robocup.Point(-Field.GoalFlat / 2.0, 0), Field.ArcRadius))
Field.OurGoalZoneShape.add_shape(robocup.Circle(robocup.Point(Field.GoalFlat / 2.0, 0), Field.ArcRadius))
Field.OurGoalZoneShape.add_shape(robocup.Rect(robocup.Point(-Field.GoalFlat / 2.0, Field.ArcRadius), robocup.Point(Field.GoalFlat / 2.0, 0)))
Field.TheirGoalShape = robocup.CompositeShape()
Field.TheirGoalShape.add_shape(robocup.Circle(robocup.Point(-Field.GoalFlat / 2.0, Field.Length), Field.ArcRadius))
Field.TheirGoalShape.add_shape(robocup.Circle(robocup.Point(Field.GoalFlat / 2.0, Field.Length), Field.ArcRadius))
Field.TheirGoalShape.add_shape(robocup.Rect(robocup.Point(-Field.GoalFlat / 2.0, Field.Length), robocup.Point(Field.GoalFlat / 2.0, Field.Length - Field.ArcRadius)))
Field.TheirGoalSegment = robocup.Segment(robocup.Point(Field.GoalWidth / 2.0, Field.Length),
robocup.Point(-Field.GoalWidth / 2.0, Field.Length))
Field.OurGoalSegment = robocup.Segment(robocup.Point(Field.GoalWidth / 2.0, 0),
robocup.Point(-Field.GoalWidth / 2.0, 0))
Field.TheirHalf = robocup.Rect(robocup.Point(-Field.Width/2, Field.Length), robocup.Point(Field.Width/2, Field.Length/2))
Field.OurHalf = robocup.Rect(robocup.Point(-Field.Width/2, 0), robocup.Point(Field.Width/2, Field.Length/2))
def generate_default_rectangle(kick_point):
offset_from_edge = 0.25
offset_from_ball = 0.4
# offset_from_ball = 0.7
if kick_point.x > 0:
# Ball is on right side of field
toReturn = robocup.Rect(
robocup.Point(
0,
min(constants.Field.Length - offset_from_edge,
main.ball().pos.y - offset_from_ball)),
robocup.Point(
-constants.Field.Width / 2 + offset_from_edge,
min(constants.Field.Length * 3 / 4,
main.ball().pos.y - 2)))
else:
# Ball is on left side of field
toReturn = robocup.Rect(
robocup.Point(
0,
min(constants.Field.Length - offset_from_edge,
main.ball().pos.y - offset_from_ball)),
robocup.Point(
constants.Field.Width / 2 - offset_from_edge,
min(constants.Field.Length * 3 / 4,
main.ball().pos.y - 2)))
return toReturn
class Field:
Length = 6.05
Width = 4.05
Border = 0.25
LineWidth = 0.01
GoalWidth = 0.700
GoalDepth = 0.180
GoalHeight = 0.160
# Distance of the penalty marker from the goal line
PenaltyDist = 0.750
PenaltyDiam = 0.010
# Radius of the goal arcs
ArcRadius = 0.8
# diameter of the center circle
CenterRadius = 0.5
CenterDiameter = 1.0
# flat area for defense markings
GoalFlat = 0.35
FloorLength = Length + 2.0 * Border
FloorWidth = Width + 2.0 * Border
CenterPoint = robocup.Point(0.0, Length / 2.0)
OurGoalZoneShape = robocup.CompositeShape()
OurGoalZoneShape.add_shape(
robocup.Circle(robocup.Point(-GoalFlat / 2.0, 0), ArcRadius))
OurGoalZoneShape.add_shape(
robocup.Circle(robocup.Point(GoalFlat / 2.0, 0), ArcRadius))
OurGoalZoneShape.add_shape(
robocup.Rect(robocup.Point(-GoalFlat / 2.0, ArcRadius),
robocup.Point(GoalFlat / 2.0, 0)))
TheirGoalShape = robocup.CompositeShape()
TheirGoalShape.add_shape(
robocup.Circle(robocup.Point(-GoalFlat / 2.0, Length), ArcRadius))
TheirGoalShape.add_shape(
robocup.Circle(robocup.Point(GoalFlat / 2.0, Length), ArcRadius))
TheirGoalShape.add_shape(
robocup.Rect(robocup.Point(-GoalFlat / 2.0, Length),
robocup.Point(GoalFlat / 2.0, Length - ArcRadius)))
TheirGoalSegment = robocup.Segment(robocup.Point(GoalWidth / 2.0, Length),
robocup.Point(-GoalWidth / 2.0, Length))
OurGoalSegment = robocup.Segment(robocup.Point(GoalWidth / 2.0, 0),
robocup.Point(-GoalWidth / 2.0, 0))
TheirHalf = robocup.Rect(robocup.Point(-Width / 2, Length),
robocup.Point(Width / 2, Length / 2))
OurHalf = robocup.Rect(robocup.Point(-Width / 2, 0),
robocup.Point(Width / 2, Length / 2))
def __init__(self, side=Side.center):
super().__init__(continuous=True)
self._block_robot = None
self._area = None
self._side = side
self._opponent_avoid_threshold = 2.0
self._defend_goal_radius = 0.9
self._win_eval = evaluation.window_evaluator.WindowEvaluator()
self._area = robocup.Rect(
robocup.Point(-constants.Field.Width / 2.0,
constants.Field.Length),
robocup.Point(constants.Field.Width / 2.0, 0))
if self._side is Defender.Side.right:
self._area.get_pt(0).x = 0
if self._side is Defender.Side.left:
self._area.get_pt(1).x = 0
self.add_state(Defender.State.marking, behavior.Behavior.State.running)
self.add_state(Defender.State.area_marking,
behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start,
Defender.State.marking, lambda: True,
"immediately")
self.add_transition(
Defender.State.marking, Defender.State.area_marking,
lambda: not self._area.contains_point(main.ball().pos) and self.
block_robot is None, "if ball not in area and no robot to block")
self.add_transition(
Defender.State.area_marking, Defender.State.marking,
lambda: self._area.contains_point(main.ball(
).pos) or self.find_robot_to_block() is not None,
"if ball or opponent enters my area")
def side(self, value): self._side = value self._area = robocup.Rect(robocup.Point(-constants.Field.Width/2.0, constants.Field.Length), robocup.Point(constants.Field.Width/2.0, 0)) if self._side is Defender.Side.right: self._area.get_pt(0).x = 0 if self._side is Defender.Side.left: self._area.get_pt(1).x = 0
def __init__(self):
super().__init__(continuous=False)
for s in Distraction.State:
self.add_state(s, behavior.Behavior.State.running)
self.ball_is_far = main.ball().pos.y < (0.4 * constants.Field.Length)
#the first Distraction point
self.Distraction_point = robocup.Point(0.40 * constants.Field.Width,
0.95 * constants.Field.Length)
#the second Distraction point
self.Distraction_recieve_pass_point = robocup.Point(
0.40 * constants.Field.Width, 0.8 * constants.Field.Length)
#striker's position
self.striker_point = robocup.Point(-0.40 * constants.Field.Width,
0.9 * constants.Field.Length)
#center of field position, used if ball is far
self.center = robocup.Point(0.5 * constants.Field.Width,
0.5 * constants.Field.Length)
self.distract_box = robocup.Rect(
robocup.Point(0.33 * constants.Field.Width / 2,
(7 / 9) * constants.Field.Length),
robocup.Point(constants.Field.Width, constants.Field.Length))
self.striker_box = robocup.Rect(
robocup.Point(-0.33 * constants.Field.Width / 2,
(7 / 9) * constants.Field.Length),
robocup.Point(-constants.Field.Width, constants.Field.Length))
self.distracter_get_close_ball = self.distract_box.contains_point(
main.ball().pos)
self.striker_get_close_ball = self.striker_box.contains_point(
main.ball().pos)
self.pass_striker_instead = False
self.dont_shoot = False
#If ball is not far
self.add_transition(
behavior.Behavior.State.start,
Distraction.State.setup, lambda: not self.ball_is_far,
'capture ball')
#If the ball is near the distracter position, then skip steps that get it to that position
self.add_transition(
Distraction.State.setup,
Distraction.State.cross, lambda: self.distracter_get_close_ball and
self.subbehavior_with_name('capture').is_done_running(),
'distracter get ball')
#If the ball is near the strikers position, then skip the steps that get it to that position
self.add_transition(
Distraction.State.setup,
Distraction.State.shoot, lambda: self.striker_get_close_ball and
self.subbehavior_with_name('capture').is_done_running(),
'striker get ball')
#If the ball is far away, then go from capturing the ball to getting robots set up to recieve a closer pass
self.add_transition(
behavior.Behavior.State.start,
Distraction.State.optional_adjustment, lambda: self.ball_is_far,
'setup close pass')
#Capture the ball and pass to a distracting robot if the ball is not far away
self.add_transition(
Distraction.State.setup, Distraction.State.passing, lambda: self.
subbehavior_with_name('capture').is_done_running(), 'pass')
#If the chance to pass and score with the striker is higher than passing to the Distraction recieve pass position
self.add_transition(
Distraction.State.setup,
Distraction.State.cross, lambda: self.distracter_get_close_ball and
self.subbehavior_with_name('capture').is_done_running(), 'cross')
#Go from setting up a close pass to making the pass towards the center of the field
self.add_transition(
Distraction.State.optional_adjustment,
Distraction.State.center_pass, lambda: self.subbehavior_with_name(
'move half').is_done_running() and self.subbehavior_with_name(
'capture 2').is_done_running(), 'closer pass')
#After getting the ball to the center right of the field, pass to the distracting robot
self.add_transition(
Distraction.State.center_pass,
Distraction.State.passing, lambda: self.subbehavior_with_name(
'center pass').is_done_running(), 'pass upfield')
#Have the distracrting robot capture the ball and go to passing to the striker
self.add_transition(
Distraction.State.passing, Distraction.State.cross, lambda:
(self.has_subbehavior_with_name('distract pass') and self.
subbehavior_with_name('distract pass').is_done_running(
)) or (self.has_subbehavior_with_name('get close ball') and self.
subbehavior_with_name('get close ball').is_done_running()),
'have the distracrting robot capture the ball and go to passing to the striker'
)
#The striker gets the ball, either through pass or capturing, and goes to shoot
self.add_transition(
Distraction.State.passing, Distraction.State.shoot, lambda: (
self.has_subbehavior_with_name('striker pass') and self.
subbehavior_with_name('striker pass').is_done_running()) or
(self.has_subbehavior_with_name('striker get close ball') and self.
subbehavior_with_name('striker get close ball').is_done_running(
)) or (self.has_subbehavior_with_name('get close ball') and self.
subbehavior_with_name('get close ball').is_done_running()),
'stiker get ball')
#go from the striker receiving the cross to shooting the ball
self.add_transition(
Distraction.State.cross,
Distraction.State.shoot, lambda: self.subbehavior_with_name(
'pass to striker').is_done_running(), 'cross shoot')
#Don't shoot if shoot chance is too low, and pass back to distracter
self.add_transition(Distraction.State.shoot,
Distraction.State.passing, lambda: self.dont_shoot,
'striker passes ')
self.add_transition(
Distraction.State.shoot, Distraction.State.setup, lambda: self.
subbehavior_with_name('shooting').is_done_running(), 'repeat')