def goalieSave(player):
brain = player.brain
ball = brain.ball
if player.firstFrame():
player.stopWalking()
brain.tracker.trackBallFixedPitch()
player.isSaving = True
if helper.shouldSave(player):
brain.tracker.stopHeadMoves()
brain.fallController.enableFallProtection(False)
if TESTING:
print "Saving because"
print "Ball.relVelX is" + str(ball.loc.relVelX)
print "And Ball.heat is" + str(ball.vis.heat)
if helper.shouldSaveRight(player):
return player.goNow('testSaveRight')
elif helper.shouldSaveLeft(player):
return player.goNow('testSaveLeft')
else:
return player.goNow('testSaveCenter')
else:
if helper.shouldSaveRight(player):
return player.goNow('saveRight')
if helper.shouldSaveLeft(player):
return player.goNow('saveLeft')
else:
return player.goNow('saveCenter')
return player.stay()
def goalieSave(player):
brain = player.brain
ball = brain.ball
if player.firstFrame():
player.stopWalking()
brain.tracker.trackBall()
player.isSaving = True
if helper.shouldSave(player):
brain.tracker.stopHeadMoves()
brain.fallController.enableFallProtection(False)
if TESTING:
print "Saving because"
print "Ball.relVelX is" + str(ball.loc.relVelX)
print "And Ball.heat is" + str(ball.vis.heat)
if helper.shouldSaveRight(player):
return player.goNow("testSaveRight")
elif helper.shouldSaveLeft(player):
return player.goNow("testSaveLeft")
else:
return player.goNow("testSaveCenter")
else:
if helper.shouldSaveRight(player):
return player.goNow("saveRight")
if helper.shouldSaveLeft(player):
return player.goNow("saveLeft")
else:
return player.goNow("saveCenter")
return player.stay()
def goaliePosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
nav = player.brain.nav
my = player.brain.my
ball = player.brain.ball
heading = None
if player.firstFrame():
player.isPositioning = True
player.isChasing = False
player.isSaving = False
nav.positionPlaybook()
if ball.dist >= goalCon.ACTIVE_LOC_THRESH:
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
if player.brain.nav.isStopped():
if goalTran.shouldPositionLeft(player):
player.goNow('goaliePositionLeft')
elif goalTran.shouldPositionRight(player):
player.goNow('goaliePositionRight')
return player.stay()
def testShouldPositionRight(player):
if player.counter % 100 == 0:
if goalTran.shouldPositionRight(player):
print "position right"
elif goalTran.shouldPositionLeft(player):
print "position left"
elif goalTran.shouldPositionCenter(player):
print "postion center"
return player.stay()
def goaliePickSave(player):
player.brain.fallController.enableFallProtection(False)
if helper.shouldSaveRight(player):
return player.goNow('saveRight')
elif helper.shouldSaveLeft(player):
return player.goNow('saveLeft')
elif helper.shouldSaveCenter(player):
return player.goNow('saveCenter')
return player.stay()
def goaliePositionForSave(player):
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
strafeDir = helper.strafeDirForSave(player)
if strafeDir == -1:
helper.strafeRightSpeed(player)
elif strafeDir == 1:
helper.strafeLeftSpeed(player)
else:
player.stopWalking()
return player.stay()
def goaliePositionForSave(player):
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
strafeDir = helper.strafeDirForSave(player)
if strafeDir == -1:
helper.strafeRightSpeed(player)
elif strafeDir == 1:
helper.strafeLeftSpeed(player)
else:
player.stopWalking()
return player.stay()
def holdLeftSave(player):
if helper.shouldHoldSave(player):
return player.stay()
else:
return player.goLater('rollOutLeft')
return player.stay()
def testSaveDecision(player):
ball = player.brain.ball
if goalTran.shouldSave(player):
return player.goNow('goalieSave')
return player.stay()
def testSaveDecision(player):
ball = player.brain.ball
if goalTran.shouldSave(player):
return player.goNow('goalieSave')
return player.stay()
def squatPosition(player):
brain = player.brain
position = brain.play.getPosition()
nav = brain.nav
my = brain.my
if player.firstFrame():
player.changeOmniGoToCounter = 0
player.isChasing = False
player.squatting = False
if brain.ball.x >= constants.ACTIVE_LOC_THRESH:
brain.tracker.activeLoc()
else:
brain.tracker.trackBall()
useOmni = helper.useOmni(player)
changedOmni = False
ball = brain.ball
bearing = None
if (not nav.atDestinationGoalie() or
not nav.atHeading()):
if not useOmni:
nav.goTo((PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y,\
NogginConstants.OPP_GOAL_HEADING))
else:
nav.omniGoTo((PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y,\
NogginConstants.OPP_GOAL_HEADING))
else:
player.stopWalking()
return player.goLater("squat")
return player.stay()
def holdCenterSave(player):
if helper.shouldHoldSave(player):
return player.stay()
else:
return player.goLater('postCenterSave')
return player.stay()
def positionForGoalieKick(player):
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if clearBall.ballSide == RIGHT:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
positionForGoalieKick.speed = nav.GRADUAL_SPEED
player.brain.nav.goTo(positionForGoalieKick.kickPose,
speed = positionForGoalieKick.speed,
precision = nav.CLOSE_ENOUGH)
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
player.brain.nav.updateDest(positionForGoalieKick.kickPose)
if GoalieTransitions.ballReadyToKick(player, positionForGoalieKick.kickPose):
player.brain.nav.stand()
return player.goNow('kickBall')
return Transition.getNextState(player, positionForGoalieKick)
def approachBall(player):
"""
Once we are aligned with the ball, approach it
"""
# Switch to other states if we should
if player.penaltyKicking and \
player.brain.ball.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
elif player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
elif transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
if player.firstFrame():
player.brain.nav.chaseBall()
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
return player.stay()
def holdRightSave(player):
if helper.shouldHoldSave(player):
return player.stay()
else:
return player.goLater('rollOutRight')
return player.stay()
def holdLeftSave(player):
if helper.shouldHoldSave(player):
return player.stay()
else:
return player.goLater("rollOutLeft")
return player.stay()
def testSaveCenter(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_TEST_CENTER_SAVE)
if player.counter > goalCon.TEST_SAVE_WAIT and not helper.shouldHoldSave(player):
player.executeMove(SweetMoves.INITIAL_POS)
return player.goNow("doneSaving")
return player.stay()
def holdCenterSave(player):
if helper.shouldHoldSave(player):
return player.stay()
else:
return player.goLater("postCenterSave")
return player.stay()
def positionForGoalieKick(player):
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if clearBall.ballSide == RIGHT:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
print("Kickpose:", positionForGoalieKick.kickPose.relX, positionForGoalieKick.kickPose.relY)
positionForGoalieKick.speed = nav.GRADUAL_SPEED
player.brain.nav.goTo(positionForGoalieKick.kickPose,
speed = positionForGoalieKick.speed,
precision = nav.CLOSE_ENOUGH)
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
player.brain.nav.updateDest(positionForGoalieKick.kickPose)
if GoalieTransitions.ballReadyToKick(player, positionForGoalieKick.kickPose):
player.brain.nav.stand()
print("Kickpose:", positionForGoalieKick.kickPose.relX, positionForGoalieKick.kickPose.relY)
return player.goNow('kickBall')
return Transition.getNextState(player, positionForGoalieKick)
def testSaveLeft(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_TEST_DIVE_LEFT)
if(player.counter > goalCon.TEST_SAVE_WAIT and
not helper.shouldHoldSave(player)):
player.executeMove(SweetMoves.INITIAL_POS)
return player.goNow('doneSaving')
return player.stay()
def testInBox(player):
if player.counter % 100 == 0:
if goalTran.goalieInBox(player):
print "in"
else:
print "out"
return player.stay()
def testDangerousBall(player):
if player.counter % 100 == 0:
if goalTran.dangerousBall(player):
print "dangerous"
else:
print "not dangerous"
return player.stay()
def testSaveCenter(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_TEST_CENTER_SAVE)
if (player.counter > goalCon.TEST_SAVE_WAIT
and not helper.shouldHoldSave(player)):
player.executeMove(SweetMoves.INITIAL_POS)
return player.goNow('doneSaving')
return player.stay()
def testInBox(player):
if player.counter % 100 == 0:
if goalTran.goalieInBox(player):
print "in"
else:
print "out"
return player.stay()
def testDangerousBall(player):
if player.counter % 100 == 0:
if goalTran.dangerousBall(player):
print "dangerous"
else:
print "not dangerous"
return player.stay()
def testStopChase(player):
player.isChasing = True
if goalTran.shouldStopChase(player):
print "stop"
else:
print "not stopping"
return player.stay()
def testChase(player):
player.isSaving = False
player.penaltyKicking = False
if goalTran.shouldChase(player):
print "chase"
else:
print "staying"
return player.stay()
def goalieStateChoice(player):
ball = player.brain.ball
# for simplicity to start off with we just want the goalie to chase
# the ball as long as it is close enough and it isnt dangerous
if player.isChasing:
if goalTran.shouldStopChase(player):
return "goaliePosition"
else:
return player.currentState
if player.isPositioning:
if goalTran.outOfPosition(player):
return player.currentState
elif goalTran.shouldChase(player):
return "goalieChase"
return player.currentState
def goalieOutOfPosition(player):
nav = player.brain.nav
if helper.useFarPosition(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
position = player.brain.play.getPosition()
if player.firstFrame() or\
nav.destX != position[0] or nav.destY != position[1]:
nav.omniGoTo(position)
if helper.useClosePosition(player):
return player.goLater('goaliePositionBallClose')
if nav.isStopped() and player.counter > 0:
player.framesFromCenter = 0
player.stepOffCenter = 0
return player.goLater('goaliePosition')
return player.stay()
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow('findBall')
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
else:
return player.goNow('positionForKick')
def goaliePositionForSave(player):
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
strafeDir = helper.strafeDirForSave(player)
if fabs(strafeDir) > 0:
player.setWalk(0, constants.STRAFE_SPEED * MyMath.sign(strafeDir), 0)
else:
player.stopWalking()
return player.stay()
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow('findBall')
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
else:
return player.goNow('spinToBall')
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if player.brain.playbook.role != pbc.GOALIE:
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.playbook.role == pbc.GOALIE and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist*constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else :
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing*constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setSpeed(sX,0,sTheta)
return player.stay()
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if not player.brain.play.isRole(GOALIE):
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist * constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else:
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing * constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setWalk(sX, 0, sTheta)
return player.stay()
def goalieSave(player):
#going to want it to get in a squat to prepare at somepoint in here
brain = player.brain
if player.firstFrame():
player.isSaving = True
player.isChasing = False
brain.motion.stopHeadMoves()
player.stopWalking()
brain.tracker.trackBall()
if helper.shouldSave(player):
return player.goNow('goaliePickSave')
return player.stay()
def approachDangerousBall(player):
if player.firstFrame():
player.stopWalking()
#print "approach dangerous ball"
#single steps towards ball and goal with spin
player.setSteps(0, 0, 0, 0)
if not goalTran.dangerousBall(player):
return player.goLater('approachBall')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
return player.stay()
def goaliePosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
nav = player.brain.nav
my = player.brain.my
ball = player.brain.ball
heading = None
if player.firstFrame():
nav.positionPlaybook()
player.brain.tracker.trackBallFixedPitch()
if goalTran.goalieIsLost(player):
return player.goLater('spinToField')
return player.stay()
def approachDangerousBall(player):
if player.firstFrame():
player.stopWalking()
#print "approach dangerous ball"
#single steps towards ball and goal with spin
player.setSteps(0, 0, 0, 0)
if not goalTran.dangerousBall(player):
return player.goLater('approachBall')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
return player.stay()
def goalieSpinToPosition(player):
nav = player.brain.nav
if helper.useFarPosition(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
if not nav.atHeading(NogginConstants.OPP_GOAL_HEADING):
spinDir = MyMath.getSpinDir(player.brain.my.h,
NogginConstants.OPP_GOAL_HEADING)
player.setSpeed(0, 0, spinDir*10)
return player.stay()
else:
player.stopWalking()
return player.goLater('goaliePosition')
return player.stay()
def goaliePosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
nav = player.brain.nav
my = player.brain.my
ball = player.brain.ball
heading = None
if player.firstFrame():
nav.positionPlaybook()
player.brain.tracker.trackBall()
if goalTran.goalieIsLost(player):
return player.goLater('spinToField')
return player.stay()
def approachDangerousBall(player):
"""adjusts position to be farther away from the ball
if the goalie is too close to the ball while in
the goal box"""
if player.firstFrame():
player.stopWalking()
#move away from the ball so it is no longer dangerous
if player.brain.nav.isStopped():
if player.brain.ball.loc.relY > 0:
player.brain.nav.walk(0, -15, 0)
else:
player.brain.nav.walk(0, 15, 0)
if not goalTran.dangerousBall(player) or transitions.shouldFindBall(player):
return player.goLater('chase')
return player.stay()
def approachDangerousBall(player):
"""adjusts position to be farther away from the ball
if the goalie is too close to the ball while in
the goal box"""
if player.firstFrame():
player.stopWalking()
#move away from the ball so it is no longer dangerous
if player.brain.nav.isStopped():
if player.brain.ball.loc.relY > 0:
player.brain.nav.walk(0, -15, 0)
else:
player.brain.nav.walk(0, 15, 0)
if not goalTran.dangerousBall(player) or transitions.shouldFindBall(player):
return player.goLater('chase')
return player.stay()
def goaliePositionBallFar(player):
nav = player.brain.nav
player.brain.tracker.activeLoc()
if helper.outOfPosition(player):
player.goLater('goalieOutOfPosition')
#elif not nav.atHeading(NogginConstants.OPP_GOAL_HEADING):
# return player.goLater('goalieSpinToPosition')
elif helper.useLeftStrafeFarSpeed(player):
helper.strafeLeftSpeed(player)
elif helper.useRightStrafeFarSpeed(player):
helper.strafeRightSpeed(player)
else:
player.stopWalking()
#Don't switch out if we don't see the ball
if helper.useClosePosition(player):
return player.goLater('goaliePositionBallClose')
return player.stay()
def approachDangerousBall(player):
ball = player.brain.ball
my = player.brain.my
if player.firstFrame():
player.stopWalking()
#move away from the ball so it is no longer dangerous
if player.brain.nav.isStopped():
if ball.relY > 0:
player.brain.nav.walk(0, -15, 0)
else:
player.brain.nav.walk(0, 15, 0)
if not goalTran.dangerousBall(player):
return player.goLater('chase')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def holdLeftSave(player):
if helper.shouldHoldSave(player):
player.executeMove(SweetMoves.SAVE_LEFT_HOLD_DEBUG)
else:
return player.goLater('postSave')
return player.stay()
def saveStrafe(player):
strafeDir = helper.strafeDirForSave(player)
if fabs(strafeDir) > 0:
player.setWalk(0, constants.STRAFE_SPEED * MyMath.sign(strafeDir), 0)
else:
player.stopWalking()
def holdCenterSave(player):
if helper.shouldHoldSave(player):
pass # player.executeMove(SweetMoves.SAVE_CENTER_HOLD_DEBUG)
else:
return player.goLater('postSave')
return player.stay()
