def _optimal_goalie_pos(state: PlayerState):
if state.team_name in configurations.GOALIE_MODEL_TEAMS:
if state.goalie_position_strategy is not None:
optimal_coord = Coordinate(state.goalie_position_strategy.pos_x,
state.goalie_position_strategy.pos_y)
state.goalie_position_strategy = None
return optimal_coord
else:
ball: Ball = state.world_view.ball.get_value()
y_value = clamp(ball.coord.pos_y * 0.8, -5, 5)
return Coordinate(state.get_global_start_pos().pos_x, y_value)
else:
ball: Ball = state.world_view.ball.get_value()
y_value = clamp(ball.coord.pos_y * 0.8, -5, 5)
return Coordinate(state.get_global_start_pos().pos_x, y_value)
def _find_applicable_strat_player(state: PlayerState) -> _StrategyGenerator:
# Matches the current state of the game to a uppaal model, if applicable
# Check if dribble strategy model can be applied
if state.team_name in DRIBBLE_OR_PASS_TEAMS and state.needs_dribble_or_pass_strat(
):
print(state.now(), " DRIBBLE STRAT - Player : ", state.num)
possession_dir = Path(__file__).parent / "models" / "possessionmodel"
if not possession_dir.exists():
os.makedirs(possession_dir)
original_pos_model = Path(
possession_dir).parent / "PassOrDribbleModel.xml"
model_name = "possessionmodel{0}{1}.xml".format(
state.world_view.side, state.num)
new_pos_file = possession_dir / model_name
if not new_pos_file.exists():
f = open(new_pos_file, "x")
copyfile(original_pos_model, new_pos_file)
f.close()
return _StrategyGenerator(
"/possessionmodel/possessionmodel{0}{1}".format(
state.world_view.side, state.num),
_update_dribble_or_pass_model, _extract_pass_or_dribble_strategy)
# Check if stamina strategy model can be applied
if state.team_name in STAMINA_MODEL_TEAMS and (
state.now() % 121) == (state.num + 1) * 10:
print(state.num, state.team_name)
return _StrategyGenerator(
"/staminamodel/staminamodel{0}{1}".format(state.world_view.side,
state.num),
_update_stamina_model_simple, _extract_stamina_solution_simple)
# Check if the goalie defence model can be applied
if state.team_name in GOALIE_MODEL_TEAMS and state.player_type == "goalie":
ball_possessor = state.get_ball_possessor()
if ball_possessor is not None and ball_possessor.coord is not None:
side = 1 if state.world_view.side == "r" else -1
steps_per_meter = goalie_strategy.STEPS_PER_METER
# Convert coordinate to fit the squares from the strategy
possessor_new_x = math.floor(ball_possessor.coord.pos_x * side /
steps_per_meter) * steps_per_meter
possessor_new_y = math.floor(
ball_possessor.coord.pos_y / steps_per_meter) * steps_per_meter
goalie_new_x = math.floor(state.position.get_value().pos_x * side /
steps_per_meter) * steps_per_meter
goalie_new_y = math.floor(state.position.get_value().pos_y /
steps_per_meter) * steps_per_meter
if abs(state.position.get_value().pos_x) > 52.5:
goalie_new_x = 52 * side
# Example: "(36.5, -19.5),(47.5, -8.5)" -> "(goalie_x, goalie_y),(player_x, player_y)"
key = "({0}.0, {1}.0),({2}.0, {3}.0)".format(
str(goalie_new_x), str(goalie_new_y), str(possessor_new_x),
str(possessor_new_y))
if key in state.goalie_position_dict.keys():
result = state.goalie_position_dict[key]
optimal_x = int(goalie_new_x * side + result[0] * side)
optimal_y = int(goalie_new_y + result[1])
optimal_coord = Coordinate(optimal_x, optimal_y)
state.goalie_position_strategy = optimal_coord
return None
