def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else :
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = MyMath.dist(my.x, my.y, dest[0], dest[1]) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni:
player.changeOmniGoToCounter += 1
else :
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.destX != dest[0] or \
nav.destY != dest[1] or \
nav.destH != dest[2] or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()
def playbookPosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
position = brain.playbook.position
nav = brain.nav
my = brain.my
ball = brain.ball
if player.firstFrame():
player.changeOmniGoToCounter = 0
if brain.gameController.currentState == 'gameReady':
brain.tracker.locPans()
else :
brain.tracker.activeLoc()
# Get a bearing to the ball
if brain.gameController.currentState == 'gameReady':
destHeading = NogginConstants.OPP_GOAL_HEADING
elif ball.on:
destHeading = my.h + ball.bearing
elif ball.framesOff < 3:
destHeading = my.h + ball.locBearing
else:
destHeading = NogginConstants.OPP_GOAL_HEADING
distToPoint = MyMath.dist(my.x, my.y, position[0], position[1])
position = (position[0], position[1], destHeading)
if brain.gameController.currentState == 'gameReady':
useOmniDist = constants.OMNI_POSITION_READY_DIST
else:
useOmniDist = constants.OMNI_POSITION_DIST
useOmni = distToPoint <= useOmniDist
changedOmni = False
if useOmni != nav.movingOmni:
player.changeOmniGoToCounter += 1
else :
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > constants.CHANGE_OMNI_THRESH:
changedOmni = True
# Send a goto if we have changed destinations or are just starting
if (player.firstFrame() or
abs(nav.destX - position[0]) > constants.GOTO_DEST_EPSILON or
abs(nav.destY - position[1]) > constants.GOTO_DEST_EPSILON or
changedOmni):
if brain.my.locScore == NogginConstants.BAD_LOC:
player.shouldRelocalizeCounter += 1
else:
player.shouldRelocalizeCounter = 0
if player.shouldRelocalizeCounter > constants.SHOULD_RELOC_FRAME_THRESH:
return player.goLater('relocalize')
# Attempt to go to the point while looking at the ball
if (not useOmni or
(player.brain.playbook.role == PBConstants.DEFENDER and
player.brain.ball.x < player.brain.my.x)):
nav.goTo(position)
else:
nav.omniGoTo(position)
if transitions.shouldAvoidObstacle(player):
return player.goNow('avoidObstacle')
# we're at the point, let's switch to another state
if nav.isStopped() and player.counter > 0:
return player.goLater('atPosition')
return player.stay()
