def test_idle(self):
idle = Idle(self.game_state, self.a_player)
expected_command = AICommand(
self.a_player,
AICommandType.STOP,
control_loop_type=AIControlLoopType.POSITION)
actual_command = Idle.exec(idle)
self.assertEqual(actual_command, expected_command)
def kick_ball_towards_target(self):
# check alignment before kicking
if has_ball_facing_target(self.game_state, self.player.id, self.target_position):
self.next_state = self.halt
self.status_flag = Flags.SUCCESS
return Kick(self.game_state, self.player, 1)
elif has_ball(self.game_state, self.player.id):
self.next_state = self.halt
self.status_flag = Flags.FAILURE
return Idle(self.game_state, self.player)
else: # returns error, strategy goes back to GoGetBall
self.next_state = self.halt
self.status_flag = Flags.FAILURE
return Idle(self.game_state, self.player)
def exec(self):
if self.status_flag is not Flags.FAILURE and self.cmd_id < len(
self.commands) - 1:
self.status_flag = Flags.WIP
# Creating speed pose
cmd_vx, cmd_vy, cmd_vt = self.commands[self.cmd_id]
speed_pose = Pose(Position(cmd_vx, cmd_vy), cmd_vt)
self.cmd_id += 1
# Saving data
px = self.player.pose.position.x / 1000.0
vx = self.player.velocity[0]
py = self.player.pose.position.y / 1000.0
vy = self.player.velocity[1]
pt = self.player.pose.orientation
vt = self.player.velocity[2]
if self.cmd_id == 0:
self.start_time = time.time()
t = time.time() - self.start_time
with open(self.output_filename, 'a') as f:
f.write('{},{},{},{},{},{},{},{},{},{}\n'.format(
t, cmd_vx, px, vx, cmd_vy, py, vy, cmd_vt, pt, vt))
next_action = AICommand(
self.player, AICommandType.MOVE, **{
"pose_goal": speed_pose,
"control_loop_type": AIControlLoopType.OPEN
})
else:
next_action = Idle(self.game_state, self.player)
return next_action
def halt(self):
"""
S'exécute lorsque l'état courant est *Halt*
:return: l'action Stop crée
"""
stop = Idle(self.game_state, self.player_id)
self.next_state = self.halt
return stop
def halt(self) -> Idle:
"""
S'exécute lorsque l'état courant est *Halt*. Générique pour arrêter n
'importe quelles tactiques enfants
:return: un nouvelle instance de l'action Idle pour le robot
"""
self.next_state = self.halt
return Idle(self.game_state, self.player)
def halt(self):
self.status_flag = Flags.SUCCESS
if get_distance(self.player.pose.position, self.game_state.get_ball_position()) < \
POSITION_DEADZONE + ROBOT_RADIUS:
self.next_state = self.halt
else:
self.next_state = self.move_to_ball
return Idle(self.game_state, self.player)
def halt(self):
self.status_flag = Flags.SUCCESS
dist = self._get_distance_from_ball()
if dist > POSITION_DEADZONE:
self.next_state = self.get_behind_ball
else:
self.next_state = self.halt
return Idle(self.game_state, self.player_id)
def halt(self, reset=False):
stop = Idle(self.game_state, self.player_id)
if get_distance(
self.game_state.get_player_pose(self.player_id).position,
self.game_state.get_ball_position()
) < POSITION_DEADZONE + BALL_RADIUS:
self.next_state = self.halt
else:
self.next_state = self.move_to_ball
return stop
def keep(self):
if self._get_distance_from_ball() < 120:
self.next_state = self.keep
self.status_flag = Flags.SUCCESS
elif self._is_player_towards_ball_and_target(-0.4):
self.next_state = self.grab_ball
self.status_flag = Flags.WIP
else:
self.next_state = self.get_behind_ball
self.status_flag = Flags.WIP
return Idle(self.game_state, self.player)
def handle_joystick(self):
if self.status_flag is not Flags.FAILURE:
self.status_flag = Flags.WIP
pygame.event.pump()
x, y = self.joy.get_left_axis_vector()
_, t = self.joy.get_right_axis_vector()
if self.joy.get_btn_value("X"):
charge_kick = True
else:
charge_kick = False
if self.joy.get_btn_value("A"):
kick = 4
else:
kick = 0
if self.joy.get_btn_value("B"):
dribbler = 2
else:
dribbler = 0
if self.joy.get_btn_value("Y"):
self.next_state = self.halt
x_speed = -y * self.inv_y
y_speed = x * self.inv_x
speed_pose = Pose(Position(x_speed, y_speed), t * 5)
if kick == 0:
next_action = AllStar(
self.game_state, self.player, **{
"ai_command_type": AICommandType.MOVE,
"pose_goal": speed_pose,
"control_loop_type": AIControlLoopType.SPEED,
"charge_kick": charge_kick,
"kick_strength": kick,
"dribbler_on": dribbler
})
else:
next_action = AllStar(
self.game_state, self.player, **{
"ai_command_type": AICommandType.KICK,
"kick_strength": kick
})
else:
next_action = Idle(self.game_state, self.player)
return next_action
def rotate_around(self):
if self._has_reached_pose(self.pose_list[self.index]):
self.index += 1
if self.index == len(self.pose_list): # position finale atteinte
self.status_flag = Flags.SUCCESS
self.next_state = self.halt
action = Idle(self.game_state, self.player)
else: # position intermédiaire atteinte
self.status_flag = Flags.WIP
action = MoveToPosition(self.game_state, self.player, self.pose_list[self.index])
else:
self.status_flag = Flags.WIP
action = MoveToPosition(self.game_state, self.player, self.pose_list[self.index])
return action
def move_to_catch_ball(self):
ball_position = self.game_state.get_ball_position()
if has_ball(self.game_state, self.player_id):
self.next_state = self.halt
self.status_flag = Flags.SUCCESS
return Idle(self.game_state, self.player)
else: # position the robot to be able to catch the ball
current_position = self.player.pose.position
next_ball_position = ball_position + self.game_state.get_ball_velocity()
destination_position = get_closest_point_on_line(current_position, ball_position, next_ball_position)
rotation_towards_ball = get_angle(destination_position, ball_position)
pose_towards_ball = Pose(destination_position, rotation_towards_ball)
self.next_state = self.move_to_catch_ball
self.status_flag = Flags.WIP
return MoveToPosition(self.game_state, self.player, pose_towards_ball)
def rotate_towards_ball(self):
if player_grabbed_ball(self.game_state, self.player_id):
self.next_state = self.halt
self.status_flag = Flags.SUCCESS
return Idle(self.game_state, self.player_id)
else: # keep rotating
current_position = self.game_state.get_player_position()
ball_position = self.game_state.get_ball_position()
rotation_towards_ball = get_angle(current_position, ball_position)
pose_towards_ball = Pose(current_position, rotation_towards_ball)
move_to = MoveTo(self.game_state, self.player_id,
pose_towards_ball)
self.next_state = self.rotate_towards_ball
self.status_flag = Flags.WIP
return move_to
def cover_zone(self):
enemy_positions = self.get_enemy_in_zone()
ball_pos = self.game_state.get_ball_position()
if len(enemy_positions) == 0:
self.next_state = self.support_other_zone
return Idle(self.game_state, self.player)
else:
self.next_state = self.cover_zone
mean_position = Position()
for pos in enemy_positions:
mean_position = mean_position + pos
mean_position /= len(enemy_positions)
destination = stayInsideSquare(mean_position, self.y_top,
self.y_bottom, self.x_left,
self.x_right)
return GoBetween(self.game_state, self.player, ball_pos, destination,
ball_pos, 2 * ROBOT_RADIUS)
def test_exec(self):
next_ai_command = self.graph1.exec()
expected_ai_command = Idle(self.game_state, self.a_player).exec()
self.assertEqual(self.graph1.current_node, 1)
self.assertEqual(next_ai_command, expected_ai_command)
self.assertRaises(EmptyGraphException, self.empty_graph.exec)
self.empty_graph.add_node(self.node2)
self.empty_graph.add_node(self.node1)
self.empty_graph.add_vertex(0, 1, foo2)
next_ai_command = self.empty_graph.exec()
expected_ai_command = GoToPositionNoPathfinder(
self.game_state, self.a_player, Pose(Position(500, 0), 0)).exec()
self.assertEqual(self.empty_graph.current_node, 0)
self.assertEqual(next_ai_command, expected_ai_command)
next_ai_command = self.empty_graph.exec()
expected_ai_command = GoToPositionNoPathfinder(
self.game_state, self.a_player, Pose(Position(500, 0), 0)).exec()
self.assertEqual(self.empty_graph.current_node, 0)
self.assertEqual(next_ai_command, expected_ai_command)
def halt(self):
if self.status_flag == Flags.INIT:
self.next_state = self.kick_charge
else:
self.status_flag = Flags.SUCCESS
return Idle(self.game_state, self.player)
def halt(self):
self.status_flag = Flags.SUCCESS
return Idle(self.game_state, self.player)
def test_idle(self):
self.idle = Idle(self.game_state, self.player_id)
current_pose = None
current_pose_string = AICommand(self.player_id, AICommandType.STOP)
self.assertEqual(Idle.exec(self.idle), current_pose_string)
def test_idle(self):
self.idle = Idle(self.game_state, self.player_id)
current_pose = None
current_pose_string = "AICommand(move_destination=" + str(
current_pose) + ", kick_strength=0)"
self.assertEqual(str(Idle.exec(self.idle)), current_pose_string)
def test_idle(self):
self.idle = Idle(self.game_state, self.player_id)
current_pose = None
current_pose_string = AICommand(self.player_id, AICommandType.STOP)
self.assertEqual(Idle.exec(self.idle), current_pose_string)