def doKickWithoutGrab():
global gIsKickTriggering
kickType, dkd, _ = gSelectedKick
r = Constant.STATE_EXECUTING
if kickType == sSelKick.KT_PAW_KICK:
r = sPawKick.perform()
elif kickType == sSelKick.KT_DRIBBLE:
r = sDribble.perform(dkd)
elif kickType == sSelKick.KT_UPENN_LEFT:
#print "non-grab upenn left"
if gIsKickTriggering\
or (hPWalk.isStepComplete() and sUpennKick.isUpennLeftOk()):
gIsKickTriggering = True
r = sUpennKick.perform(dkd, True)
else:
doTrackBall()
elif kickType == sSelKick.KT_UPENN_RIGHT:
#print "non-grab upenn right"
if gIsKickTriggering\
or (hPWalk.isStepComplete() and sUpennKick.isUpennRightOk()):
gIsKickTriggering = True
r = sUpennKick.perform(dkd, False)
else:
doTrackBall()
elif kickType == sSelKick.KT_AVOID_OWN_GOAL:
r = sAvoidOwnGoal.perform()
# else paw kick through
else:
r = sPawKick.perform()
return r
def kickOffUPenn():
global playCounter, whenGrabbed
if pReady.chosenFormation == 0:
kickLeft = False
else:
kickLeft = True
if pReady.isCentre(Global.kickOffPos):
if playCounter > 150:
return False
if whenGrabbed == 0:
print "grabbing"
if sGrab.perform() == Constant.STATE_FAILED:
return False
if sGrab.isGrabbed:
whenGrabbed = playCounter
return True
print "Grabbed!"
if sUpennKick.perform(kickLeft) == Constant.STATE_SUCCESS:
sGrab.resetPerform()
return False
sFindBall.perform(True)
return True
elif pReady.isForward(Global.kickOffPos):
if playCounter > 40:
return False
hTrack.saGoToTarget(Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y)
hFWHead.DecideNextAction()
else:
return False
return True
def doKickWithGrab():
global gSelectedKick
global gIsKickTriggering
if not sGrab.isGrabbed:
r = sGrab.perform()
if r == Constant.STATE_FAILED:
hTrack.panLow = True
return r
elif r == Constant.STATE_EXECUTING:
return r
# Grab success
else:
# override kick selection
selectedKick = sSelKick.perform()
# If the selected kick is different, then do kick reset.
if gSelectedKick != None and selectedKick[0] != gSelectedKick[0]:
doKickReset()
gSelectedKick = selectedKick
# If kick selection returns paw kick, change it to
# grab dribble.
# Because we can't paw kick or dribble from grab.
kickType = gSelectedKick[0]
if kickType == sSelKick.KT_DRIBBLE\
or kickType == sSelKick.KT_PAW_KICK:
gSelectedKick = (sSelKick.KT_GRAB_DRIBBLE, gSelectedKick[1],
gSelectedKick[2])
gIsKickTriggering = True
r = Constant.STATE_EXECUTING
if gIsKickTriggering:
kickType, dkd, direction = gSelectedKick
# Setting isClockwise
isClockwise = None
if direction == Constant.dCLOCKWISE:
isClockwise = True
elif direction == Constant.dANTICLOCKWISE:
isClockwise = False
if kickType == sSelKick.KT_GRAB_TURN_KICK:
r = sGrabTurnKick.perform(False,\
Action.DiveKickWT,\
Constant.TARGET_GOAL_X,\
Constant.FIELD_LENGTH)
elif kickType == sSelKick.KT_GRAB_TURN_SHOOT:
r = sGrabTurnKick.perform()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_GOAL:
r = sGrabDribble.performToTargetGoal()
elif kickType == sSelKick.KT_GRAB_DRIBBLE:
r = sGrabDribble.performToDKD(dkd)
elif kickType == sSelKick.KT_TURN_KICK:
r = sTurnKick.perform(dkd, isClockwise=isClockwise)
elif kickType == sSelKick.KT_UPENN_LEFT:
#print "grab upeen left"
r = sUpennKick.perform(dkd, True)
elif kickType == sSelKick.KT_UPENN_RIGHT:
#print "grab upeen right"
r = sUpennKick.perform(dkd, False)
else:
print "rAttacker.py : No appropriate kick for grab chosen???"
r = Constant.STATE_FAILED
return r
def doKickWithGrab():
global gSelectedKick
if not sGrab.isGrabbed:
# If the ball is in the edge, do more get behind.
if hWhere.ballOnEdge():
r = sGrab.perform(sFindBall.GET_BEHIND_PRIORITY)
else:
r = sGrab.perform()
if r == Constant.STATE_FAILED:
hTrack.panLow = True
return r
elif r == Constant.STATE_EXECUTING:
return r
# Grab success
else:
# override kick selection
selectedKick = sSelKick.perform()
#print "kick reselected"
# If the selected kick is different, then do kick reset.
if gSelectedKick != None and selectedKick[0] != gSelectedKick[0]:
doKickReset()
gSelectedKick = selectedKick
# If kick selection returns paw kick, change it to
# grab dribble.
# Because we can't paw kick or dribble from grab.
kickType = gSelectedKick[0]
if kickType == sSelKick.KT_DRIBBLE\
or kickType == sSelKick.KT_PAW_KICK\
or kickType == sSelKick.KT_AVOID_OWN_GOAL:
gSelectedKick = (sSelKick.KT_GRAB_DRIBBLE, gSelectedKick[1],
gSelectedKick[2])
r = Constant.STATE_EXECUTING
if sGrab.isGrabbed:
if not sGrab.isBallUnderChin():
return Constant.STATE_FAILED
kickType, dkd, direction = gSelectedKick
# Find a global co-ordinate on the dkd
tx, ty = hMath.getPointRelative(Global.ballX, Global.ballY, dkd, 200)
# Setting isClockwise
isClockwise = None
if direction == Constant.dCLOCKWISE:
isClockwise = True
elif direction == Constant.dANTICLOCKWISE:
isClockwise = False
if kickType == sSelKick.KT_GRAB_TURN_KICK:
r = sGrabTurnKick.perform(False, Action.HeadTapWT, tx, ty)
#r = sGrabDribble.performToDKD(dkd, 0)
elif kickType == sSelKick.KT_GRAB_TURN_SHOOT:
r = sGrabTurnKick.perform()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_GOAL:
r = sGrabDribble.performToTargetGoal()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_STOP:
r = sGrabDribble.performToDKD(dkd,
minTimeToDribble=2500,
dontKick=True)
elif kickType == sSelKick.KT_GRAB_DRIBBLE:
r = sGrabDribble.performToDKD(dkd)
elif kickType == sSelKick.KT_TURN_KICK:
r = sTurnKick.perform(dkd, isClockwise=isClockwise)
elif kickType == sSelKick.KT_UPENN_LEFT:
#print "grab upeen left"
r = sUpennKick.perform(dkd, True)
elif kickType == sSelKick.KT_UPENN_RIGHT:
#print "grab upeen right"
r = sUpennKick.perform(dkd, False)
else:
print "rAttacker.py : No appropriate kick for grab chosen??? ", kickType
r = Constant.STATE_FAILED
return r