def resetLocalizationFromPenalty(self):
"""
Resets localization to both possible locations, depending on team color.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0),
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0),
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
def resetGoalieLocalization(self):
"""
Resets the goalie's localization to the manual position in the goalbox.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
self.loc.resetLocTo(Constants.FIELD_WHITE_LEFT_SIDELINE_X,
Constants.MIDFIELD_Y, Constants.HEADING_RIGHT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
self.loc.resetLocTo(Constants.FIELD_WHITE_RIGHT_SIDELINE_X,
Constants.MIDFIELD_Y, Constants.HEADING_LEFT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
def gameInitial(player):
"""
Ensure we are sitting down and head is snapped forward.
In the future, we may wish to make the head move a bit slower here
Also, in the future, gameInitial may be responsible for turning off the gains
"""
if player.firstFrame():
player.inKickingState = False
player.brain.nav.stop()
player.gainsOn()
player.zeroHeads()
player.GAME_INITIAL_satDown = False
# Reset localization to proper starting position by player number.
# Locations are defined in the wiki.
if player.brain.my.playerNumber == 1:
player.brain.loc.resetLocTo(
nogginConstants.BLUE_GOALBOX_RIGHT_X,
nogginConstants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
nogginConstants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif player.brain.my.playerNumber == 2:
player.brain.loc.resetLocTo(
nogginConstants.LANDMARK_BLUE_GOAL_CROSS_X,
nogginConstants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
nogginConstants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif player.brain.my.playerNumber == 3:
player.brain.loc.resetLocTo(
nogginConstants.LANDMARK_BLUE_GOAL_CROSS_X,
nogginConstants.FIELD_WHITE_TOP_SIDELINE_Y,
nogginConstants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif player.brain.my.playerNumber == 4:
player.brain.loc.resetLocTo(
nogginConstants.BLUE_GOALBOX_RIGHT_X,
nogginConstants.FIELD_WHITE_TOP_SIDELINE_Y,
nogginConstants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif (player.brain.nav.isStopped() and not player.GAME_INITIAL_satDown
and not player.motion.isBodyActive()):
player.GAME_INITIAL_satDown = True
player.executeMove(SweetMoves.SIT_POS)
elif (not player.motion.isBodyActive()):
player.gainsOff()
return player.stay()
def resetInitialLocalization(self):
"""
Reset loc according to team number and team color.
Note: Loc uses truly global coordinates.
"""
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
if self.my.playerNumber == 1:
self.loc.resetLocTo(
Constants.BLUE_GOALBOX_RIGHT_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 2:
self.loc.resetLocTo(
Constants.BLUE_GOALBOX_RIGHT_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 3:
self.loc.resetLocTo(
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 4:
self.loc.resetLocTo(
Constants.LANDMARK_BLUE_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
else:
if self.my.playerNumber == 1:
self.loc.resetLocTo(
Constants.YELLOW_GOALBOX_LEFT_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 2:
self.loc.resetLocTo(
Constants.YELLOW_GOALBOX_LEFT_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 3:
self.loc.resetLocTo(
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
Constants.HEADING_UP,
_localization.LocNormalParams(15.0, 15.0, 1.0))
elif self.my.playerNumber == 4:
self.loc.resetLocTo(
Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
Constants.FIELD_WHITE_TOP_SIDELINE_Y,
Constants.HEADING_DOWN,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Loc knows the side of the field now. Reset accordingly.
self.onOwnFieldSide = True
def resetSetLocalization(self):
gameSetResetUncertainties = _localization.LocNormalParams(50, 200, 1.0)
if self.my.teamColor == Constants.teamColor.TEAM_BLUE:
# # if self.my.playerNumber == 1:
# # self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
# # Constants.FIELD_WHITE_BOTTOM_SIDELINE_Y,
# # Constants.HEADING_UP)
# if self.gameController.ownKickOff:
# self.loc.resetLocTo(Constants.LANDMARK_BLUE_GOAL_CROSS_X,
# Constants.CENTER_FIELD_Y,
# 0,
# gameSetResetUncertainties)
# else:
# self.loc.resetLocTo(Constants.BLUE_GOALBOX_RIGHT_X,
# Constants.CENTER_FIELD_Y,
# 0,
# gameSetResetUncertainties)
self.loc.resetLocToSide(True)
else:
# if self.gameController.ownKickOff:
# self.loc.resetLocTo(Constants.LANDMARK_YELLOW_GOAL_CROSS_X,
# Constants.CENTER_FIELD_Y,
# 180,
# gameSetResetUncertainties)
# else:
# self.loc.resetLocTo(Constants.YELLOW_GOALBOX_LEFT_X,
# Constants.CENTER_FIELD_Y,
# 180,
# gameSetResetUncertainties)
self.loc.resetLocToSide(False)
def gameSet(player):
"""
Fixate on the ball, or scan to look for it
"""
if player.firstFrame():
player.brain.logger.startLogging()
player.inKickingState = False
player.brain.nav.stand()
player.gainsOn()
player.brain.loc.resetBall()
player.brain.tracker.trackBallFixedPitch()
if (player.brain.my.playerNumber == 4
and player.brain.gameController.ownKickOff):
print "Setting Kickoff to True"
player.shouldKickOff = True
else:
player.shouldKickOff = False
if player.lastDiffState == 'gamePenalized':
player.brain.resetSetLocalization()
# For the goalie, reset loc every frame.
# This way, garaunteed to have correctly set loc and be standing in that
# location for a frame before gamePlaying begins.
if player.brain.play.isRole(GOALIE):
player.brain.loc.resetLocTo(
nogginConstants.FIELD_WHITE_LEFT_SIDELINE_X,
nogginConstants.MIDFIELD_Y, nogginConstants.HEADING_RIGHT,
_localization.LocNormalParams(15.0, 15.0, 1.0))
# Wait until the sensors are calibrated before moving.
while (not player.brain.motion.calibrated()):
return player.stay()
return player.stay()