def on_enter_clear(self):
# FIXME: what we really want is a less-precise LineKick
# this will require a Capture behavior that doesn't wait for the ball to stop
kick = skills.pivot_kick.PivotKick()
# TODO: the below dribble speed is best for a 2011 bot
# kick.dribble_speed = constants.Robot.Dribbler.MaxPower / 3.5
# we use low error thresholds here
# the goalie isn't trying to make a shot, he just wants get the ball the **** out of there
kick.aim_params['error_threshold'] = 1.0
kick.aim_params['max_steady_ang_vel'] = 12
# chip
kick.chip_power = 1.0
kick.use_chipper = True
kick.target = robocup.Segment(
robocup.Point(-constants.Field.Width / 2, constants.Field.Length),
robocup.Point(constants.Field.Width / 2, constants.Field.Length))
# FIXME: if the goalie has a fault, resort to bump
self.add_subbehavior(kick, 'kick-clear', required=True)
def get_segments_from_rect(rect, threshold=0.75):
outlist = []
currentx = rect.min_x()
currenty = rect.max_y()
# Loop through from top left to bottom right
while currentx <= rect.max_x():
currenty = rect.max_y()
# Don't include goal area.
if constants.Field.TheirGoalZoneShape.contains_point(robocup.Point(
currentx, rect.min_y())):
continue
while constants.Field.TheirGoalZoneShape.contains_point(robocup.Point(
currentx, currenty)):
currenty = currenty - threshold
candiate = robocup.Segment(
robocup.Point(currentx, rect.min_y()), robocup.Point(currentx,
currenty))
outlist.extend([candiate])
currentx = currentx + threshold
currentx = rect.min_x()
return outlist
def execute_marking(self):
move = self.subbehavior_with_name('move')
move.pos = self.move_target
arc_left = robocup.Arc(
robocup.Point(-constants.Field.GoalFlat / 2, 0),
constants.Field.ArcRadius + constants.Robot.Radius * 2,
math.pi / 2, math.pi)
arc_right = robocup.Arc(
robocup.Point(constants.Field.GoalFlat / 2, 0),
constants.Field.ArcRadius + constants.Robot.Radius * 2, 0,
math.pi / 2)
seg = robocup.Segment(
robocup.Point(
-constants.Field.GoalFlat / 2,
constants.Field.ArcRadius + constants.Robot.Radius * 2),
robocup.Point(
constants.Field.GoalFlat / 2,
constants.Field.ArcRadius + constants.Robot.Radius * 2))
if move.pos is not None:
main.system_state().draw_circle(move.pos, 0.02,
constants.Colors.Green, "Mark")
main.system_state().draw_segment(seg, constants.Colors.Green,
"Mark")
main.system_state().draw_arc(arc_left, constants.Colors.Green,
"Mark")
main.system_state().draw_arc(arc_right, constants.Colors.Green,
"Mark")
# make the defender face the threat it's defending against
if (self.robot is not None and self.block_line is not None):
self.robot.face(self.block_line.get_pt(0))
if self.robot.has_ball() and not main.game_state().is_stopped():
self.robot.kick(0.75)
def eval_pass(from_point, to_point, excluded_robots=[]):
# we make a pass triangle with the far corner at the ball and the opposing side touching the receiver's mouth
# the side along the receiver's mouth is the 'receive_seg'
# we then use the window evaluator on this scenario to see if the pass is open
pass_angle = math.pi / 32.0
pass_dist = to_point.dist_to(from_point)
pass_dir = to_point - from_point
pass_perp = pass_dir.perp_ccw()
receive_seg_half_len = math.tan(pass_angle) * pass_dist
receive_seg = robocup.Segment(to_point + pass_perp * receive_seg_half_len,
to_point + pass_perp * -receive_seg_half_len)
win_eval = evaluation.window_evaluator.WindowEvaluator()
win_eval.excluded_robots = excluded_robots
windows, best = win_eval.eval_pt_to_seg(from_point, receive_seg)
# this is our estimate of the likelihood of the pass succeeding
# value can range from zero to one
# we square the ratio of best to total to make it weigh more - we could raise it to higher power if we wanted
if best != None:
return 0.8 * (best.segment.length() / receive_seg.length())**2
else:
# the pass is completely blocked
return 0
class LineUp(composite_behavior.CompositeBehavior):
DEBOUNCE_MAX = 3
y_start = 1.2 # sometimes we have issues if we're right in the corner, so we move it up a bit
DefaultLine = robocup.Segment(
robocup.Point(-constants.Field.Width / 2 + constants.Robot.Radius,
constants.Robot.Radius + y_start),
robocup.Point(-constants.Field.Width / 2 + constants.Robot.Radius,
(constants.Robot.Radius * 2 + 0.1 + y_start) * 6))
def __init__(self, line=None):
super().__init__(continuous=False)
self.line = line if line is not None else LineUp.DefaultLine
self.debounce_count = 0
self.add_transition(behavior.Behavior.State.start,
behavior.Behavior.State.running, lambda: True,
'immediately')
self.add_transition(behavior.Behavior.State.running,
behavior.Behavior.State.completed,
lambda: self.all_subbehaviors_completed(),
'all robots reach target positions')
self.add_transition(behavior.Behavior.State.completed,
behavior.Behavior.State.running,
lambda: not self.all_subbehaviors_completed(),
'robots arent lined up')
def restart(self):
super().restart()
self.debounce_count = 0
# override superclass implementation of all_subbehaviors_completed() to
# count unassigned subbehaviors as "done running"
def all_subbehaviors_completed(self):
for bhvr in self.all_subbehaviors():
if not bhvr.is_done_running() and (not isinstance(
bhvr, SingleRobotBehavior) or bhvr.robot is not None):
self.debounce_count = 0
return False
# Give us a few cycles to change our mind
if self.debounce_count < LineUp.DEBOUNCE_MAX:
self.debounce_count += 1
return False
else:
return True
def execute_running(self):
for i in range(6):
pt = self._line.get_pt(0) + (self.diff * float(i))
behavior = self.subbehavior_with_name("robot" + str(i))
behavior.pos = pt
@property
def line(self):
return self._line
@line.setter
def line(self, value):
self._line = value
self.diff = (self._line.get_pt(1) - self._line.get_pt(0)
).normalized() * (self._line.length() / 5.0)
# add subbehaviors for all robots, instructing them to line up
self.remove_all_subbehaviors()
for i in range(6):
pt = self._line.get_pt(0) + (self.diff * float(i))
self.add_subbehavior(skills.move.Move(pt),
name="robot" + str(i),
required=False,
priority=6 - i)
def execute_intercept(self):
ball_path = robocup.Segment(
main.ball().pos,
main.ball().pos + main.ball().vel.normalized() * 10.0)
dest = ball_path.nearest_point(self.robot.pos)
self.robot.move_to(dest)
class Goalie(single_robot_composite_behavior.SingleRobotCompositeBehavior):
OFFSET = 0.1
MaxX = constants.Field.GoalWidth / 2.0
RobotSegment = robocup.Segment(
robocup.Point(-MaxX, constants.Robot.Radius + OFFSET),
robocup.Point(MaxX, constants.Robot.Radius + OFFSET))
OpponentFacingThreshold = math.pi / 8.0
class State(enum.Enum):
## Normal gameplay, stay towards the side of the goal that the ball is on.
defend = 1
## Opponent has a ball and is prepping a shot we should block.
block = 2
## The ball is moving towards our goal and we should catch it.
intercept = 3
## Get the ball out of our defense area.
clear = 4
## Prepare to block the opponent's penalty shot
setup_penalty = 5
## Keep calm and wait for the ball to be valid.
chill = 6
def __init__(self):
super().__init__(continuous=True)
for substate in Goalie.State:
self.add_state(substate, behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start, Goalie.State.chill,
lambda: True, "immediately")
self.add_transition(Goalie.State.chill, Goalie.State.defend,
lambda: main.ball().valid, "ball is valid")
non_chill_states = [s for s in Goalie.State if s != Goalie.State.chill]
# if ball is invalid, chill
for state in non_chill_states:
self.add_transition(state, Goalie.State.chill,
lambda: not main.ball().valid,
"ball is invalid")
for state in non_chill_states:
self.add_transition(
state, Goalie.State.setup_penalty, lambda: main.game_state(
).is_their_penalty() and main.game_state().is_setup_state(),
"setting up for opponent penalty")
for state in [
s2 for s2 in non_chill_states if s2 != Goalie.State.intercept
]:
self.add_transition(
state, Goalie.State.intercept,
lambda: evaluation.ball.is_moving_towards_our_goal(
) and not self.robot_is_facing_our_goal(evaluation.ball.
opponent_with_ball()),
"ball coming towards our goal")
for state in [
s2 for s2 in non_chill_states if s2 != Goalie.State.clear
]:
self.add_transition(
state, Goalie.State.clear,
lambda: evaluation.ball.is_in_our_goalie_zone(
) and not main.game_state().is_their_penalty(
) and not evaluation.ball.is_moving_towards_our_goal(
) and evaluation.ball.opponent_with_ball() is None,
"ball in our goalie box, but not headed toward goal")
for state in [
s2 for s2 in non_chill_states if s2 != Goalie.State.defend
]:
self.add_transition(
state, Goalie.State.defend,
lambda: not evaluation.ball.is_in_our_goalie_zone(
) and not evaluation.ball.is_moving_towards_our_goal(
) and not main.game_state().is_their_penalty() and not self.
robot_is_facing_our_goal(evaluation.ball.opponent_with_ball()),
'not much going on')
for state in [
s2 for s2 in non_chill_states if s2 != Goalie.State.block
]:
self.add_transition(
state, Goalie.State.block,
lambda: not evaluation.ball.is_in_our_goalie_zone() and
not evaluation.ball.is_moving_towards_our_goal() and self.
robot_is_facing_our_goal(evaluation.ball.opponent_with_ball()),
"opponents have possession")
def robot_is_facing_our_goal(self, robot):
if robot is None:
return False
goal_robot = robot.pos - robocup.Point(0, 0)
angle = goal_robot.normalized().angle() - math.pi
robot_angle = robot.angle * math.pi / 180.
self.robot.add_text(str(angle - robot_angle), (255, 255, 255),
"OurRobot")
if abs(angle - robot_angle) < self.OpponentFacingThreshold:
return True
else:
return False
# note that execute_running() gets called BEFORE any of the execute_SUBSTATE methods gets called
def execute_running(self):
if self.robot != None:
self.robot.face(main.ball().pos)
self.robot.set_planning_priority(planning_priority.GOALIE)
def execute_chill(self):
if self.robot != None:
self.robot.move_to(
robocup.Point(0, constants.Robot.Radius + Goalie.OFFSET))
def execute_setup_penalty(self):
pt = robocup.Point(0, constants.Field.PenaltyDist)
penalty_kicker = min(main.their_robots(),
key=lambda r: (r.pos - pt).mag())
angle_rad = penalty_kicker.angle
shot_line = robocup.Line(
penalty_kicker.pos,
penalty_kicker.pos + robocup.Point.direction(angle_rad))
dest = Goalie.RobotSegment.line_intersection(shot_line)
if dest is None:
self.robot.move_to(
robocup.Point(0, constants.Robot.Radius + Goalie.OFFSET))
else:
dest.x = max(-Goalie.MaxX + constants.Robot.Radius, dest.x)
dest.x = min(Goalie.MaxX - constants.Robot.Radius, dest.x)
# Shots don't follow the top threat, they follow the inverse
# FIXME this is kind of a hack
dest.x = -dest.x
self.robot.move_to(dest)
def on_enter_clear(self):
# FIXME: what we really want is a less-precise LineKick
# this will require a Capture behavior that doesn't wait for the ball to stop
kick = skills.pivot_kick.PivotKick()
# TODO: the below dribble speed is best for a 2011 bot
# kick.dribble_speed = constants.Robot.Dribbler.MaxPower / 3.5
# we use low error thresholds here
# the goalie isn't trying to make a shot, he just wants get the ball the **** out of there
kick.aim_params['error_threshold'] = 1.0
kick.aim_params['max_steady_ang_vel'] = 12
# chip
kick.chip_power = 1.0
kick.use_chipper = True
kick.target = robocup.Segment(
robocup.Point(-constants.Field.Width / 2, constants.Field.Length),
robocup.Point(constants.Field.Width / 2, constants.Field.Length))
# FIXME: if the goalie has a fault, resort to bump
self.add_subbehavior(kick, 'kick-clear', required=True)
def on_exit_clear(self):
self.remove_subbehavior('kick-clear')
def on_enter_intercept(self):
i = skills.intercept.Intercept()
self.add_subbehavior(i, 'intercept', required=True)
def execute_intercept(self):
ball_path = robocup.Segment(
main.ball().pos,
main.ball().pos + main.ball().vel.normalized() * 10.0)
dest = ball_path.nearest_point(self.robot.pos)
self.robot.move_to(dest)
def on_exit_intercept(self):
self.remove_subbehavior('intercept')
def execute_block(self):
opposing_kicker = evaluation.ball.opponent_with_ball()
if opposing_kicker is not None:
winEval = robocup.WindowEvaluator(main.system_state())
winEval.excluded_robots = [self.robot]
best = winEval.eval_pt_to_our_goal(main.ball().pos)[1]
if best is not None:
shot_line = robocup.Line(opposing_kicker.pos, main.ball().pos)
block_line = robocup.Line(
robocup.Point(
best.segment.get_pt(0).x - constants.Robot.Radius,
constants.Robot.Radius),
robocup.Point(
best.segment.get_pt(1).x + constants.Robot.Radius,
constants.Robot.Radius))
main.system_state().draw_line(block_line, (255, 0, 0), "Debug")
dest = block_line.line_intersection(shot_line)
dest.x = min(Goalie.MaxX, dest.x)
dest.x = max(-Goalie.MaxX, dest.x)
self.robot.move_to(dest)
return
self.robot.move_to(
robocup.Point(0, constants.Robot.Radius + Goalie.OFFSET))
def execute_defend(self):
dest_x = main.ball().pos.x / constants.Field.Width * Goalie.MaxX
self.robot.move_to(
robocup.Point(dest_x, constants.Robot.Radius + Goalie.OFFSET))
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
req.required_shell_id = self.shell_id if self.shell_id != None else -1
return reqs
@property
def shell_id(self):
return self._shell_id
@shell_id.setter
def shell_id(self, value):
self._shell_id = value
def recalculate(self):
goalie = self.subbehavior_with_name('goalie')
defender1 = self.subbehavior_with_name('defender1')
defender2 = self.subbehavior_with_name('defender2')
behaviors = [goalie, defender1, defender2]
# if we don't have any bots to work with, don't waste time calculating
if all(bhvr.robot == None for bhvr in behaviors):
return
# A threat to our goal - something we'll actively defend against
class Threat:
def __init__(self, source=None):
self.source = source
self.ball_acquire_chance = 1.0
self.shot_chance = 1.0
self.assigned_handlers = []
self.best_shot_window = None
# an OpponentRobot or Point
@property
def source(self):
return self._source
@source.setter
def source(self, value):
self._source = value
# our source can be a Point or an OpponentRobot, this method returns the location of it
@property
def pos(self):
if self.source != None:
return self.source if isinstance(
self.source, robocup.Point) else self.source.pos
# a list of our behaviors that will be defending against this threat
# as of now only Defender and Goalie
@property
def assigned_handlers(self):
return self._assigned_handlers
@assigned_handlers.setter
def assigned_handlers(self, value):
self._assigned_handlers = value
# our estimate of the chance that this threat will acquire the ball
# 1.0 if it already has it
# otherwise, a value from 0 to 1 gauging its likelihood to receive a pass
@property
def ball_acquire_chance(self):
return self._ball_acquire_chance
@ball_acquire_chance.setter
def ball_acquire_chance(self, value):
self._ball_acquire_chance = value
# our estimate of the chance of this threat making its shot on the goal given that it gets/has the ball
# NOTE: this is calculated excluding all of our robots on the field as obstacles
@property
def shot_chance(self):
return self._shot_chance
@shot_chance.setter
def shot_chance(self, value):
self._shot_chance = value
# his best window on our goal
@property
def best_shot_window(self):
return self._best_shot_window
@best_shot_window.setter
def best_shot_window(self, value):
self._best_shot_window = value
# our assessment of the risk of this threat
# should be between 0 and 1
@property
def score(self):
return self.ball_acquire_chance * self.shot_chance
# available behaviors we have to assign to threats
# only look at ones that have robots
# as we handle threats, we remove the handlers from this list
unused_threat_handlers = list(
filter(lambda bhvr: bhvr.robot != None,
[goalie, defender1, defender2]))
def set_block_lines_for_threat_handlers(threat):
if len(threat.assigned_handlers) == 0:
return
# make sure goalie is in the middle
if len(threat.assigned_handlers) > 1:
if goalie in threat.assigned_handlers:
idx = threat.assigned_handlers.index(goalie)
if idx != 1:
del threat.assigned_handlers[idx]
threat.assigned_handlers.insert(1, goalie)
if threat.best_shot_window != None:
center_line = robocup.Line(
threat.pos, threat.best_shot_window.segment.center())
else:
center_line = robocup.Line(
threat.pos, constants.Field.OurGoalSegment.center())
# find the angular width that each defender can block. We then space these out accordingly
angle_widths = []
for handler in threat.assigned_handlers:
dist_from_threat = handler.robot.pos.dist_to(threat.pos)
w = min(
2.0 * math.atan2(constants.Robot.Radius, dist_from_threat),
0.15)
angle_widths.append(w)
# start on one edge of our available angle coverage and work counter-clockwise,
# assigning block lines to the bots as we go
spacing = 0.01 if len(
threat.assigned_handlers
) < 3 else 0.0 # spacing between each bot in radians
total_angle_coverage = sum(angle_widths) + (len(angle_widths) -
1) * spacing
start_vec = center_line.delta().normalized()
start_vec.rotate(robocup.Point(0, 0), -total_angle_coverage / 2.0)
for i in range(len(angle_widths)):
handler = threat.assigned_handlers[i]
w = angle_widths[i]
start_vec.rotate(robocup.Point(0, 0), w / 2.0)
handler.block_line = robocup.Line(threat.pos,
threat.pos + start_vec * 10)
start_vec.rotate(robocup.Point(0, 0), w / 2.0 + spacing)
def recalculate_threat_shot(threat_index):
if not isinstance(threat_index, int):
raise TypeError("threat_index should be an int")
# ignore all of our robots
excluded_robots = list(main.our_robots())
# behaviors before this threat are counted as obstacles in their TARGET position (where we've
# assigned them to go, not where they are right now)
hypothetical_obstacles = []
for t in threats[0:threat_index]:
hypothetical_obstacles.extend(
map(lambda bhvr: bhvr.move_target, t.assigned_handlers))
threat = threats[threat_index]
self.win_eval.excluded_robots.clear()
for r in excluded_robots:
self.win_eval.add_excluded_robot(r)
_, threat.best_shot_window = self.win_eval.eval_pt_to_our_goal(
threat.pos)
if threat.best_shot_window is not None:
threat.shot_chance = threat.best_shot_window.shot_success
else:
threat.shot_chance = 0.0
threats = []
# secondary threats are those that are somewhat close to our goal and open for a pass
# if they're farther than this down the field, we don't consider them threats
threat_max_y = constants.Field.Length / 2.0
potential_threats = [
opp for opp in main.their_robots() if opp.pos.y < threat_max_y
]
# find the primary threat
# if the ball is not moving OR it's moving towards our goal, it's the primary threat
# if it's moving, but not towards our goal, the primary threat is the robot on their team most likely to catch it
if main.ball().vel.mag() > 0.4:
# the line the ball's moving along
ball_travel_line = robocup.Line(main.ball().pos,
main.ball().pos + main.ball().vel)
# this is a shot on the goal!
if evaluation.ball.is_moving_towards_our_goal():
ball_threat = Threat(main.ball().pos)
ball_threat.ball_acquire_chance = 1.0
ball_threat.shot_chance = 1.0
threats.append(ball_threat)
else:
# Check for a bot that's about to capture this ball and potentially shoot on the goal
# potential_receivers is an array of (OpponentRobot, angle) tuples, where the angle
# is the angle between the ball_travel_line and the line from the ball to the opponent
# bot - this is our metric for receiver likeliness.
potential_receivers = []
for opp in potential_threats:
# see if the bot is in the direction the ball is moving
if (opp.pos - ball_travel_line.get_pt(0)).dot(
ball_travel_line.delta()) > 0:
# calculate the angle and add it to the list if it's within reason
nearest_pt = ball_travel_line.nearest_point(opp.pos)
dx = (nearest_pt - main.ball().pos).mag()
dy = (opp.pos - nearest_pt).mag()
angle = abs(math.atan2(dy, dx))
if angle < math.pi / 4.0:
potential_receivers.append((opp, 1.0))
# choose the receiver with the smallest angle from the ball travel line
if len(potential_receivers) > 0:
best_receiver_tuple = min(
potential_receivers,
key=lambda rcrv_tuple: rcrv_tuple[1])
if best_receiver_tuple != None:
receiver_threat = Threat(best_receiver_tuple[0])
receiver_threat.ball_acquire_chance = 0.9 # note: this value is arbitrary
receiver_threat.shot_chance = 0.9 # FIXME: calculate this
threats.append(receiver_threat)
else:
ball_threat = Threat(main.ball().pos)
ball_threat.ball_acquire_chance = 1.0
ball_threat.shot_chance = 0.9
threats.append(ball_threat)
else:
# primary threat is the ball or the opponent holding it
opp_with_ball = evaluation.ball.opponent_with_ball()
threat = Threat(
opp_with_ball if opp_with_ball != None else main.ball().pos)
threat.ball_acquire_chance = 1.0
threat.shot_chance = 1.0 # FIXME: calculate, don't use 1.0
threats.append(threat)
# if an opponent has the ball or is potentially about to receive the ball,
# we look at potential receivers of it as threats
if isinstance(threats[0].source, robocup.OpponentRobot):
for opp in filter(lambda t: t.visible, potential_threats):
pass_chance = evaluation.passing.eval_pass(
main.ball().pos, opp.pos, excluded_robots=[opp])
# give it a small chance because the obstacles in the way could move soon and we don't want to consider it a zero threatos, )
if pass_chance < 0.001: pass_chance = 0.4
# record the threat
threat = Threat(opp)
threat.ball_acquire_chance = pass_chance
threats.append(threat)
# Now we evaluate this opponent's shot on the goal
# exclude robots that have already been assigned to handle other threats
self.win_eval.excluded_robots.clear()
for r in map(lambda bhvr: bhvr.robot, unused_threat_handlers):
self.win_eval.add_excluded_robot(r)
_, threat.best_shot_window = self.win_eval.eval_pt_to_our_goal(
opp.pos)
if threat.best_shot_window is not None:
threat.shot_chance = threat.best_shot_window.shot_success
else:
threat.shot_chance = 0.0
if threat.shot_chance == 0:
# gve it a small chance because the shot could clear up a bit later and we don't want to consider it a zero threat
threat.shot_chance = 0.2
else:
# the ball isn't possessed by an opponent, so we just look at opponents with shots on the goal
for opp in potential_threats:
# record the threat
lurker = Threat(opp)
lurker.ball_acquire_chance = 0.5 # note: this is a bullshit value
threats.append(lurker)
recalculate_threat_shot(len(threats) - 1)
# only consider the top three threats
threats.sort(key=lambda threat: threat.score, reverse=True)
threats = threats[0:3]
# print("sorted threats:")
# for idx, t in enumerate(threats):
# print("t[" + str(idx) + "]: " + str(t.source) + "shot: " + str(t.shot_chance) + "; pass:"******"; score:" + str(t.score))
# print("sorted threat scores: " + str(list(map(lambda t: str(t.score) + " " + str(t.source), threats))))
# print("Unused handlers: " + str(unused_threat_handlers))
# print("---------------------")
smart = False
if not smart:
# only deal with top two threats
threats_to_block = threats[0:2]
# print('threats to block: ' + str(list(map(lambda t: t.source, threats_to_block))))
threat_idx = 0
while len(unused_threat_handlers) > 0:
threats_to_block[threat_idx].assigned_handlers.append(
unused_threat_handlers[0])
del unused_threat_handlers[0]
threat_idx = (threat_idx + 1) % len(threats_to_block)
for t_idx, t in enumerate(threats_to_block):
recalculate_threat_shot(t_idx)
set_block_lines_for_threat_handlers(t)
else:
# assign all of our defenders to do something
while len(unused_threat_handlers) > 0:
# prioritize by threat score, highest first
top_threat = max(threats, key=lambda threat: threat.score)
# assign the next handler to this threat
handler = unused_threat_handlers[0]
top_threat.assigned_handlers.append(handler)
del unused_threat_handlers[0]
# reassign the block line for each handler of this threat
set_block_lines_for_threat_handlers(top_threat)
# recalculate the shot now that we have
recalculate_threat_shot(0)
# tell the bots where to move / what to block and draw some debug stuff
for idx, threat in enumerate(threats):
# recalculate, including all current bots
# FIXME: do we want this?
# recalculate_threat_shot(idx)
# the line they'll be shooting down/on
if threat.best_shot_window != None:
shot_line = robocup.Segment(
threat.pos, threat.best_shot_window.segment.center())
else:
shot_line = robocup.Segment(threat.pos, robocup.Point(0, 0))
# debug output
if self.debug:
for handler in threat.assigned_handlers:
# handler.robot.add_text("Marking: " + str(threat.source), constants.Colors.White, "Defense")
main.system_state().draw_circle(handler.move_target, 0.02,
constants.Colors.Blue,
"Defense")
# draw some debug stuff
if threat.best_shot_window != None:
# draw shot triangle
pts = [
threat.pos,
threat.best_shot_window.segment.get_pt(0),
threat.best_shot_window.segment.get_pt(1)
]
shot_color = (255, 0, 0, 150) # translucent red
main.system_state().draw_polygon(pts, shot_color,
"Defense")
main.system_state().draw_segment(
threat.best_shot_window.segment, constants.Colors.Red,
"Defense")
self.win_eval.excluded_robots.clear()
_, best_window = self.win_eval.eval_pt_to_our_goal(
threat.pos)
if best_window is not None:
chance = best_window.shot_success
else:
chance = 0.0
main.system_state().draw_text(
"Shot: " + str(int(threat.shot_chance * 100.0)) +
"% / " + str(int(chance * 100)) + "%",
shot_line.center(), constants.Colors.White, "Defense")
# draw pass lines
if idx > 0:
pass_line = robocup.Segment(main.ball().pos, threat.pos)
main.system_state().draw_line(pass_line,
constants.Colors.Red,
"Defense")
main.system_state().draw_text(
"Pass: "******"%",
pass_line.center(), constants.Colors.White, "Defense")
def execute_marking(self):
#main.system_state().draw_line(robocup.Line(self._area.get_pt(0), self._area.get_pt(1)), (127,0,255), "Defender")
self.block_robot = self.find_robot_to_block()
if self.block_robot is not None:
# self.robot.add_text("Blocking Robot " + str(self.block_robot.shell_id()), (255,255,255), "RobotText")
pass
if self.robot.pos.near_point(robocup.Point(0, 0),
self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
target = None
if self.block_robot is None:
target = main.ball().pos + main.ball().vel * 0.3
else:
target = self.block_robot.pos + self.block_robot.vel * 0.3
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0),
robocup.Point(constants.Field.GoalWidth / 2.0, 0))
self._win_eval.excluded_robots = [self.robot]
# TODO defenders should register themselves with some static list on init
# TODO make this happen in python-land
# for (Defender *f : otherDefenders)
# {
# if (f->robot)
# {
# _winEval.exclude.push_back(f->robot->pos);
# }
# }
windows = self._win_eval.eval_pt_to_seg(target, goal_line)[0]
best = None
goalie = main.our_robot_with_id(main.root_play().goalie_id)
if goalie is not None and self.side is not Defender.Side.center:
for window in windows:
if best is None:
best = window
elif self.side is Defender.Side.left and window.segment.center.x < goalie.pos.x and window.segment.length > best.segment.length:
best = window
elif self.side is Defender.Side.right and window.segment.center.x > goalie.pos.x and window.segment.length > best.segment.length:
best = window
else:
best_dist = 0
for window in windows:
seg = robocup.Segment(window.segment.center(), main.ball().pos)
new_dist = seg.dist_to(self.robot.pos)
if best is None or new_dist < best_dist:
best = window
best_dist = new_dist
shoot_seg = None
if best is not None:
if self.block_robot is not None:
dirvec = robocup.Point.direction(self.block_robot.angle *
(math.pi / 180.0))
shoot_seg = robocup.Segment(
self.block_robot.pos, self.block_robot.pos + dirvec * 7.0)
else:
shoot_seg = robocup.Segment(
main.ball().pos,
main.ball().pos + main.ball().vel.normalized() * 7.0)
need_task = False
if best is not None:
winseg = best.segment
if main.ball().vel.magsq() > 0.03 and winseg.segment_intersection(
shoot_seg) != None:
self.robot.move_to(shoot_seg.nearest_point(self.robot.pos))
self.robot.face_none()
else:
winsize = winseg.length()
if winsize < constants.Ball.Radius:
need_task = True
else:
arc = robocup.Circle(robocup.Point(0, 0),
self._defend_goal_radius)
shot = robocup.Line(winseg.center(), target)
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(
dest[0] if dest[0].y > 0 else dest[1])
if self.block_robot is not None:
self.robot.face(self.block_robot.pos)
else:
self.robot.face(main.ball().pos)
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = (backVecRot.dot(shotVec) < 0)
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_area_marking(self):
if self.robot.pos.near_point(robocup.Point(0, 0),
self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
goal_target = robocup.Point(0, -constants.Field.GoalDepth / 2.0)
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0),
robocup.Point(constants.Field.GoalWidth / 2.0, 0))
if self.side is Defender.Side.left:
goal_line.get_pt(1).x = 0
goal_line.get_pt(1).y = 0
if self.side is Defender.Side.right:
goal_line.get_pt(0).x = 0
goal_line.get_pt(0).y = 0
for robot in main.system_state().their_robots:
self._win_eval.excluded_robots.append(robot)
if main.root_play().goalie_id is not None:
self._win_eval.excluded_robots.append(
main.our_robot_with_id(main.root_play().goalie_id))
# TODO (cpp line 186)
# windows = self._win_eval.
windows = []
best = None
angle = 0.0
for window in windows:
if best is None:
best = window
angle = window.a0 - window.a1
elif window.a0 - window.a1 > angle:
best = window
angle = window.a0 - window.a1
shootline = robocup.Segment(robocup.Point(0, 0), robocup.Point(0, 0))
if best is not None:
angle = (best.a0 + best.a1) / 2.0
shootline = robocup.Segment(
self._win_eval.origin(),
robocup.Point.direction(
angle * (math.pi / 180.0))) # FIXME :no origin.
main.system_state().draw_line(shootline, (255, 0, 0), "Defender")
need_task = False
if best is not None:
winseg = best.segment
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(shootline.get_pt(0), shootline.get_pt(1))
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
if main.ball().pos.y < constants.Field.Length / 2.0:
self.robot.set_dribble_speed(255)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = (backVecRot.dot(shotVec) < 0)
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
class SubmissiveGoalie(
single_robot_composite_behavior.SingleRobotCompositeBehavior):
MaxX = constants.Field.GoalWidth / 2.0
SegmentY = constants.Robot.Radius + 0.05
# The segment we stay on during the 'block' state
# It's right in front of the goal
RobotSegment = robocup.Segment(robocup.Point(-MaxX, SegmentY),
robocup.Point(MaxX, SegmentY))
class State(enum.Enum):
"Actively blocking based on a given threat"
block = 2
"The ball is moving towards our goal and we should catch it."
intercept = 3
"Get the ball out of our defense area."
clear = 4
def __init__(self):
super().__init__(continuous=True)
for substate in SubmissiveGoalie.State:
self.add_state(substate, behavior.Behavior.State.running)
self.add_transition(behavior.Behavior.State.start,
SubmissiveGoalie.State.block, lambda: True,
"immediately")
non_block_states = [
s for s in SubmissiveGoalie.State
if s != SubmissiveGoalie.State.block
]
for state in [
s2 for s2 in SubmissiveGoalie.State
if s2 != SubmissiveGoalie.State.intercept
]:
self.add_transition(
state, SubmissiveGoalie.State.intercept,
lambda: evaluation.ball.is_moving_towards_our_goal(),
"ball coming towards our goal")
for state in [
s2 for s2 in SubmissiveGoalie.State
if s2 != SubmissiveGoalie.State.clear
]:
self.add_transition(
state, SubmissiveGoalie.State.clear,
lambda: evaluation.ball.is_in_our_goalie_zone() and
not evaluation.ball.is_moving_towards_our_goal() and main.ball(
).vel.mag() < 0.4 and evaluation.ball.opponent_with_ball() is
None, "ball in our goalie box, but not headed toward goal")
for state in non_block_states:
self.add_transition(
state, SubmissiveGoalie.State.block,
lambda: not evaluation.ball.is_in_our_goalie_zone(
) and not evaluation.ball.is_moving_towards_our_goal(),
'ball not in goal or moving towards it')
self.block_line = None
self._move_target = robocup.Point(0, 0)
# the line we expect a threat to shoot from
# sits on the intersection of this line and the goalie segment
@property
def block_line(self):
return self._block_line
@block_line.setter
def block_line(self, value):
self._block_line = value
if self.block_line == None:
self._move_target = SubmissiveGoalie.RobotSegment.center()
else:
self._move_target = self.block_line.line_intersection(
SubmissiveGoalie.RobotSegment)
self._move_target.x = min(
max(self._move_target.x, -SubmissiveGoalie.MaxX),
SubmissiveGoalie.MaxX)
# The point we'll be going to in order to block the given block_line
@property
def move_target(self):
return self._move_target
# note that execute_running() gets called BEFORE any of the execute_SUBSTATE methods gets called
def execute_running(self):
self.robot.face(main.ball().pos)
def on_enter_clear(self):
# FIXME: what we really want is a less-precise LineKick
# this will require a Capture behavior that doesn't wait for the ball to stop
kick = skills.pivot_kick.PivotKick()
# TODO: the below dribble speed is best for a 2011 bot
# kick.dribble_speed = constants.Robot.Dribbler.MaxPower / 3.5
# we use low error thresholds here
# the goalie isn't trying to make a shot, he just wants get the ball the **** out of there
kick.aim_params['error_threshold'] = 1.0
kick.aim_params['max_steady_ang_vel'] = 12
# chip
kick.chip_power = constants.Robot.Chipper.MaxPower
kick.use_chipper = True
kick.target = robocup.Segment(
robocup.Point(-constants.Field.Width / 2, constants.Field.Length),
robocup.Point(constants.Field.Width / 2, constants.Field.Length))
# FIXME: if the goalie has a fault, resort to bump
self.add_subbehavior(kick, 'kick-clear', required=True)
def on_exit_clear(self):
self.remove_subbehavior('kick-clear')
def on_enter_intercept(self):
i = skills.intercept.Intercept()
i.shape_constraint = SubmissiveGoalie.RobotSegment
self.add_subbehavior(i, 'intercept', required=True)
def on_exit_intercept(self):
self.remove_subbehavior('intercept')
def on_enter_block(self):
move = skills.move.Move()
self.add_subbehavior(move, 'move', required=True)
def execute_block(self):
move = self.subbehavior_with_name('move')
move.pos = self.move_target
def on_exit_block(self):
self.remove_subbehavior('move')
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
req.required_shell_id = self.shell_id
return reqs
@property
def shell_id(self):
return self._shell_id
@shell_id.setter
def shell_id(self, value):
self._shell_id = value
class Field:
Length = 9.00
Width = 6.00
Border = 0.70
LineWidth = 0.01
GoalWidth = 1.000
GoalDepth = 0.180
GoalHeight = 0.160
# Distance of the penalty marker from the goal line
PenaltyDist = 1.0
PenaltyDiam = 0.010
# Radius of the goal arcs
ArcRadius = 1.0
# diameter of the center circle
CenterRadius = 0.5
CenterDiameter = 1.0
# flat area for defense markings
GoalFlat = 0.5
FloorLength = Length + 2.0 * Border
FloorWidth = Width + 2.0 * Border
CenterPoint = robocup.Point(0.0, Length / 2.0)
OurGoalZoneShape = robocup.CompositeShape()
OurGoalZoneShape.add_shape(
robocup.Circle(robocup.Point(-GoalFlat / 2.0, 0), ArcRadius))
OurGoalZoneShape.add_shape(
robocup.Circle(robocup.Point(GoalFlat / 2.0, 0), ArcRadius))
OurGoalZoneShape.add_shape(
robocup.Rect(robocup.Point(-GoalFlat / 2.0, ArcRadius),
robocup.Point(GoalFlat / 2.0, 0)))
TheirGoalShape = robocup.CompositeShape()
TheirGoalShape.add_shape(
robocup.Circle(robocup.Point(-GoalFlat / 2.0, Length), ArcRadius))
TheirGoalShape.add_shape(
robocup.Circle(robocup.Point(GoalFlat / 2.0, Length), ArcRadius))
TheirGoalShape.add_shape(
robocup.Rect(robocup.Point(-GoalFlat / 2.0, Length),
robocup.Point(GoalFlat / 2.0, Length - ArcRadius)))
FieldBorders = [
robocup.Line(robocup.Point(-Width / 2.0, 0),
robocup.Point(-Width / 2.0, Length)),
robocup.Line(robocup.Point(-Width / 2.0, Length),
robocup.Point(Width / 2.0, Length)),
robocup.Line(robocup.Point(Width / 2.0, Length),
robocup.Point(Width / 2.0, 0)),
robocup.Line(robocup.Point(Width / 2.0, 0),
robocup.Point(-Width / 2.0, 0))
]
FieldRect = robocup.Rect(robocup.Point(-Width / 2.0, 0),
robocup.Point(Width / 2.0, Length))
TheirGoalSegment = robocup.Segment(robocup.Point(GoalWidth / 2.0, Length),
robocup.Point(-GoalWidth / 2.0, Length))
OurGoalSegment = robocup.Segment(robocup.Point(GoalWidth / 2.0, 0),
robocup.Point(-GoalWidth / 2.0, 0))
TheirHalf = robocup.Rect(robocup.Point(-Width / 2, Length),
robocup.Point(Width / 2, Length / 2))
OurHalf = robocup.Rect(robocup.Point(-Width / 2, 0),
robocup.Point(Width / 2, Length / 2))
def setFieldConstantsFromField_Dimensions(value):
Field.Length = value.Length()
Field.Width = value.Width()
Field.Border = value.Border()
Field.LineWidth = value.LineWidth()
Field.GoalWidth = value.GoalWidth()
Field.GoalDepth = value.GoalDepth()
Field.GoalHeight = value.GoalHeight()
Field.PenaltyDist = value.PenaltyDist()
Field.PenaltyDiam = value.PenaltyDiam()
Field.ArcRadius = value.ArcRadius()
Field.CenterRadius = value.CenterRadius()
Field.CenterDiameter = value.CenterDiameter()
Field.GoalFlat = value.GoalFlat()
Field.FloorLength = value.FloorLength()
Field.FloorWidth = value.FloorWidth()
Field.CenterPoint = robocup.Point(0.0, Field.Length / 2.0)
Field.OurGoalZoneShape = robocup.CompositeShape()
Field.OurGoalZoneShape.add_shape(
robocup.Circle(robocup.Point(-Field.GoalFlat / 2.0, 0),
Field.ArcRadius))
Field.OurGoalZoneShape.add_shape(
robocup.Circle(robocup.Point(Field.GoalFlat / 2.0, 0),
Field.ArcRadius))
Field.OurGoalZoneShape.add_shape(
robocup.Rect(robocup.Point(-Field.GoalFlat / 2.0, Field.ArcRadius),
robocup.Point(Field.GoalFlat / 2.0, 0)))
Field.TheirGoalShape = robocup.CompositeShape()
Field.TheirGoalShape.add_shape(
robocup.Circle(robocup.Point(-Field.GoalFlat / 2.0, Field.Length),
Field.ArcRadius))
Field.TheirGoalShape.add_shape(
robocup.Circle(robocup.Point(Field.GoalFlat / 2.0, Field.Length),
Field.ArcRadius))
Field.TheirGoalShape.add_shape(
robocup.Rect(
robocup.Point(-Field.GoalFlat / 2.0, Field.Length),
robocup.Point(Field.GoalFlat / 2.0,
Field.Length - Field.ArcRadius)))
Field.TheirGoalSegment = robocup.Segment(
robocup.Point(Field.GoalWidth / 2.0, Field.Length),
robocup.Point(-Field.GoalWidth / 2.0, Field.Length))
Field.OurGoalSegment = robocup.Segment(
robocup.Point(Field.GoalWidth / 2.0, 0),
robocup.Point(-Field.GoalWidth / 2.0, 0))
Field.TheirHalf = robocup.Rect(
robocup.Point(-Field.Width / 2, Field.Length),
robocup.Point(Field.Width / 2, Field.Length / 2))
Field.OurHalf = robocup.Rect(
robocup.Point(-Field.Width / 2, 0),
robocup.Point(Field.Width / 2, Field.Length / 2))
Field.FieldBorders = [
robocup.Line(robocup.Point(-Width / 2.0, 0),
robocup.Point(-Width / 2.0, Length)),
robocup.Line(robocup.Point(-Width / 2.0, Length),
robocup.Point(Width / 2.0, Length)),
robocup.Line(robocup.Point(Width / 2.0, Length),
robocup.Point(Width / 2.0, 0)),
robocup.Line(robocup.Point(Width / 2.0, 0),
robocup.Point(-Width / 2.0, 0))
]
Field.FieldRect = robocup.Rect(robocup.Point(-Width / 2.0, 0),
robocup.Point(Width / 2.0, Length))
def set_defender_block_lines(self, threats_to_block, assigned_handlers):
goalie = self.subbehavior_with_name('goalie')
defender1 = self.subbehavior_with_name('defender1')
defender2 = self.subbehavior_with_name('defender2')
# Check keep defenders from occupying the same spot
# it will break if you change this
handlers = [goalie, defender1, defender2]
# For each threat
for threat_idx in range(len(threats_to_block)):
# Get the threat pos and score
threat = threats_to_block[threat_idx]
# Grab the list of handlers assigned to this threat
assigned_handler = assigned_handlers[threat_idx]
# Exclude any robots we are about to assign to find the threats best shot
self.kick_eval.excluded_robots.clear()
for handler in handlers:
self.kick_eval.add_excluded_robot(handler.robot)
# Add opp robot into exclude list, assuming it is not a ball
if (threat[2] is not None):
self.kick_eval.add_excluded_robot(threat[2])
# If nobody is assigned, move to next one
if len(assigned_handler) == 0:
continue
# Put goalie in the middle if possible
if len(assigned_handler) > 1:
if goalie in assigned_handler:
idx = assigned_handler.index(goalie)
if idx != 1:
del assigned_handler[idx]
assigned_handler.insert(1, goalie)
# Get best shot from that threat postiion
point, shot_chance = self.kick_eval.eval_pt_to_our_goal(threat[0])
shot_line = robocup.Line(threat[0], point)
# find the angular width that each defender can block. We then space these out accordingly
angle_widths = []
for handler in assigned_handler:
dist_from_threat = handler.robot.pos.dist_to(threat[0])
w = min(
2.0 * math.atan2(constants.Robot.Radius, dist_from_threat),
0.15)
angle_widths.append(w)
# start on one edge of our available angle coverage and work counter-clockwise,
# assigning block lines to the bots as we go
spacing = 0.01 if len(
assigned_handler
) < 3 else 0.0 # spacing between each bot in radians
total_angle_coverage = sum(angle_widths) + (len(angle_widths) -
1) * spacing
start_vec = shot_line.delta().normalized()
start_vec.rotate(robocup.Point(0, 0), -total_angle_coverage / 2.0)
for i in range(len(angle_widths)):
handler = assigned_handler[i]
w = angle_widths[i]
start_vec.rotate(robocup.Point(0, 0), w / 2.0)
handler.block_line = robocup.Line(threat[0],
threat[0] + start_vec * 10)
start_vec.rotate(robocup.Point(0, 0), w / 2.0 + spacing)
# Draw all the debug stuff
if self.debug:
main.debug_drawer().draw_line(shot_line, constants.Colors.Red,
"Defense-Shot Line")
main.debug_drawer().draw_text(
"Shot: " + str(int(shot_chance * 100.0)), threat[0],
constants.Colors.White, "Defense-Shot Percent")
# Other threats besides ball
if threat_idx > 0:
pass_line = robocup.Segment(main.ball().pos, threat[0])
main.debug_drawer().draw_line(pass_line,
constants.Colors.Red,
"Defense-Pass Line")
# keep defenders from occupying the same spot
# only matters if there are 2 defenders (and the goalie)
if len(handlers) == 3:
handler1 = handlers[1]
handler2 = handlers[2]
#vector between the 2 points
overlap = handler2.move_target - handler1.move_target
#if the robots overlap
if overlap.mag() < (2 * constants.Robot.Radius) + .005:
#move the robots away from each other
overlap = overlap - (overlap.normalized() * 1.8 *
constants.Robot.Radius)
handler1._move_target += overlap
handler2._move_target -= overlap
def create_lineup(self):
xsize = constants.Field.Width / 2 - .5
return robocup.Segment(robocup.Point(xsize, .25),
robocup.Point(xsize, 1.5))
