def performAimToGoal():
global aimCounter
if Global.vTGoal.isVisible(): # if we can see the goal
# Choose the gap, locking it in if we're lining up
minH, maxH = selectGap(aimCounter > 0)
gapWidth = abs(maxH - minH)
padding = gapWidth / 5.0
#print "vGoal, bestgap", minH, maxH,
if minH < -padding and maxH > padding:
aimCounter += 1 # count frames of good aim
# DON'T reset this to zero if we're outside the gap. reset->deadlock
#print "++aimcounter to", aimCounter,
# A forceStepComplete here makes the kick more reliably aim to
# hit the goal but hinders further lining up to the centre of the
# gap and any forward walking. Trade-off.
Action.forceStepComplete()
if aimCounter >= WAIT_FOR_AIM:
# if inside the best gap, shoot
#print "lined up good,",
aimCounter = 0
headColor(Indicator.RGB_GREEN)
return Constant.STATE_SUCCESS
else:
# turn to the middle of the gap
turnAmount = (minH + maxH) / 2.0
#print "turning", turnAmount,
# TODO: use another kind fast short step walk?
#if Global.selfLoc.getY() > Constant.FIELD_LENGTH * 3 / 4:
# grabSideWalk(turnAmount)
#else:
sGrabDribble.perform(0, 0, turnAmount)
else: # if we can NOT see the goal
global turnSpeed
heading = hMath.getHeadingToFaceAt(Global.selfLoc,\
Constant.TARGET_GOAL_X,\
Constant.TARGET_GOAL_Y)
if not turnSpeed: # Choose direction to spin
if heading > 0:
turnSpeed = 80
else:
turnSpeed = -80
#else: # Check we haven't gone to far
#if turnSpeed > 0 and heading < -TURN_PAST_GOAL:
# return Constant.STATE_FAILED
#elif turnSpeed < 0 and heading > TURN_PAST_GOAL:
# return Constant.STATE_FAILED
#print "no vGoal, turning", turnSpeed,
sGrabDribble.perform(0, 0, turnSpeed)
return Constant.STATE_EXECUTING
def performNotAimToGoal():
# if we are not aiming to the goal, use GPS
heading = hMath.getHeadingToFaceAt(Global.selfLoc, \
targetX, targetY)
if canIKick(heading, gKickType):
return Constant.STATE_SUCCESS
else:
sGrabDribble.perform(0, 0, heading * HEADING_ANGLE_MULTIPLE)
return Constant.STATE_EXECUTING
def kickOffKickToGap():
global playCounter, whenGrabbed
global bestHeading, gBestHeading
(myX, myY) = Global.selfLoc.getPos()
myH = Global.selfLoc.getHeading()
if pReady.chosenFormation == 0:
print "chosenFormation =", pReady.chosenFormation, "- going right"
(kickX, kickY) = (Constant.MAX_GOALBOX_EDGE_X,
Constant.TOP_GOALBOX_EDGE_Y)
(suppX, suppY) = (kickX + 40, kickY - 40)
(lKickX, lKickY) = hMath.getLocalCoordinate(myX, myY, myH, kickX,
kickY)
else:
print "chosenFormation =", pReady.chosenFormation, "- going left"
(kickX, kickY) = (Constant.MIN_GOALBOX_EDGE_X,
Constant.TOP_GOALBOX_EDGE_Y)
(suppX, suppY) = (kickX - 40, kickY - 40)
(lKickX, lKickY) = hMath.getLocalCoordinate(myX, myY, myH, kickX,
kickY)
if pReady.isCentre(Global.kickOffPos):
if playCounter > 120: # 6 sec, just in case
return False
if whenGrabbed == 0:
#print "grabbing"
if sGrab.grabbingCount == 0:
# Find the obstacle gap just before we drop the head to grab
(gapLeft, gapRight, bestHeading, angle) = \
VisionLink.getBestGap(lKickX, lKickY,
GAP_MAX_DIST,GAP_MIN_DIST,
GAP_MIN,GAP_MIN_INTENSITY,
Constant.OBS_USE_SHARED)
gBestHeading = hMath.local2GlobalHeading(
Global.selfLoc, bestHeading)
#gBestHeading = hMath.getHeadingBetween(Constant.FIELD_WIDTH/2, Constant.FIELD_LENGTH/2, kickX, kickY)
print "local target", lKickX, lKickY
print "gap", bestHeading, gBestHeading
if sGrab.perform() == Constant.STATE_FAILED:
return False
if sGrab.isGrabbed:
print "grabbed, best gap at local", bestHeading, \
"global", gBestHeading
whenGrabbed = playCounter
return True
# Don't prevent other forward from being attacker
Global.myRole = Global.myLastRole = Constant.SUPPORTER
relH = gBestHeading - Global.selfLoc.getHeading()
if abs(relH) >= 3:
if sGrabDribble.perform(0, 0, relH) == Constant.STATE_FAILED:
return False
return True
Action.kick(Action.SoftTapWT)
if Action.shouldIContinueKick():
Action.continueKick()
return True
sGrab.resetPerform()
return False
elif pReady.isForward(Global.kickOffPos):
if playCounter < 80:
sDodgyDog.dodgyDogTo(suppX, suppY)
hTrack.stationaryLocalise(6, 30, -30)
return True
elif playCounter < 120:
if hTrack.canSeeBall and Global.ballD < 30:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
h = hMath.normalizeAngle_0_360(myH + Global.ballH)
hTrack.saGoToTargetFacingHeading(suppX, suppY, h)
hFWHead.DecideNextAction()
return True
else:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
else:
return False
return False
def kickOffKickToCorner():
global playCounter, whenGrabbed
global bestHeading, gBestHeading
# Warning: this set play freezes the attacker when it fails.
# Don't use it yet
(myX, myY) = Global.selfLoc.getPos()
myH = Global.selfLoc.getHeading()
if pReady.chosenFormation == 0:
(kickX, kickY) = (Constant.FIELD_WIDTH, Constant.FIELD_LENGTH - 80)
(suppX, suppY) = (kickX + 40, kickY - 40)
else:
(kickX, kickY) = (0, Constant.FIELD_LENGTH - 80)
(suppX, suppY) = (kickX - 40, kickY - 40)
if pReady.isCentre(Global.kickOffPos):
print "kickToCorner: whenGrabbed", whenGrabbed,
if playCounter > 120: # 6 sec, just in case
return False
if whenGrabbed == 0:
if sGrab.grabbingCount == 0:
# Find the obstacle gap just before we drop the head to grab
#(gapLeft, gapRight, bestHeading, angle) = \
# VisionLink.getBestGap(lKickX, lKickY,
# GAP_MAX_DIST,GAP_MIN_DIST,
# GAP_MIN,GAP_MIN_INTENSITY,
# Constant.OBS_USE_SHARED)
gap = getGapTo(kickX, kickY)
if gap != None:
(gapLeft, gapRight, bestHeading, angle) = gap
bestHeading += hMath.getSign(5, bestHeading)
else:
bestHeading = hMath.getHeadingToAbsolute(
Global.selfLoc, kickX, kickY)
gBestHeading = hMath.local2GlobalHeading(
Global.selfLoc, bestHeading)
print "gap", bestHeading, gBestHeading,
print "grabbing"
if sGrab.perform() == Constant.STATE_FAILED:
print "Grab failed in set play. Done."
sGrab.resetPerform()
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
if sGrab.isGrabbed:
print "grabbed, best gap at local", bestHeading, \
"global", gBestHeading
whenGrabbed = playCounter
return True
# Don't prevent other forward from being attacker
Global.myRole = Global.myLastRole = Constant.SUPPORTER
# Keep updating gap, but not with shared obs
gap = getGapTo(kickX, kickY)
if gap != None:
(gapLeft, gapRight, bestHeading, angle) = gap
bestHeading += hMath.getSign(5, bestHeading)
gBestHeading = hMath.local2GlobalHeading(Global.selfLoc,
bestHeading)
print "New gap global", gBestHeading,
else:
print "No gap left - using last global", gBestHeading,
#bestHeading = 0 # Kick now
relH = gBestHeading - Global.selfLoc.getHeading()
print "relH", relH,
if abs(relH) >= 4 and (playCounter - whenGrabbed) < 55:
print "dribbling"
if sGrabDribble.perform(0, 0, relH) == Constant.STATE_FAILED:
print "dribble failed. Done."
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
return True
print "Kicking",
Action.kick(Action.SoftTapWT)
if Action.shouldIContinueKick():
Action.continueKick()
return True
sGrab.resetPerform()
print "success. Done."
return False
elif pReady.isForward(Global.kickOffPos):
Global.myRole = Global.myLastRole = Constant.ATTACKER
if playCounter < 60:
hTrack.saGoToTarget(suppX, suppY, 25)
hFWHead.DecideNextAction()
return True
elif playCounter < 100:
if hTrack.canSeeBall and Global.ballD < 30:
return False
h = hMath.normalizeAngle_0_360(myH + Global.ballH)
hTrack.saGoToTargetFacingHeading(suppX, suppY, h)
hFWHead.DecideNextAction()
return True
else:
rAttacker.perform()
return False
else:
return False
return False
def kickOffPushToSupporter():
global playCounter, whenGrabbed
global bestHeading, gBestHeading
(myX, myY) = Global.selfLoc.getPos()
myH = Global.selfLoc.getHeading()
if pReady.chosenFormation == 0:
(suppX, suppY) = (PUSH_TO_X + 40, PUSH_TO_Y - 40)
else:
(suppX, suppY) = (PUSH_TO_X - 40, PUSH_TO_Y - 40)
if pReady.isCentre(Global.kickOffPos):
if playCounter > 180: # 6 sec, just in case
return False
if whenGrabbed == 0:
#print "grabbing"
if sGrab.grabbingCount == 0:
# Find the obstacle gap just before we drop the head to grab
#(gapLeft, gapRight, bestHeading, angle) = \
# VisionLink.getBestGap(lKickX, lKickY,
# GAP_MAX_DIST,GAP_MIN_DIST,
# GAP_MIN,GAP_MIN_INTENSITY,
# Constant.OBS_USE_SHARED)
gap = getGapTo(PUSH_TO_X, PUSH_TO_Y)
if gap != None:
(gapLeft, gapRight, bestHeading, angle) = gap
else:
bestHeading = hMath.getHeadingToAbsolute(
Global.selfLoc, PUSH_TO_X, PUSH_TO_Y)
gBestHeading = hMath.local2GlobalHeading(
Global.selfLoc, bestHeading)
print "gap ", bestHeading, gBestHeading
if sGrab.perform() == Constant.STATE_FAILED:
return False
if sGrab.isGrabbed:
#print "grabbed, best gap at local", bestHeading, \
# "global", gBestHeading
whenGrabbed = playCounter
return True
# Don't prevent other forward from being attacker
Global.myRole = Global.myLastRole = Constant.SUPPORTER
relH = gBestHeading - Global.selfLoc.getHeading()
if playCounter - whenGrabbed < 40:
if sGrabDribble.perform(Action.MAX_FORWARD, 0, relH) \
== Constant.STATE_FAILED:
return False
return True
Action.kick(Action.GTChestPushWT)
if Action.shouldIContinueKick():
Action.continueKick()
return True
sGrab.resetPerform()
return False
elif pReady.isForward(Global.kickOffPos):
if playCounter < 80:
sDodgyDog.dodgyDogTo(suppX, suppY)
hTrack.stationaryLocalise(6, 30, -30)
return True
elif playCounter < 120:
if hTrack.canSeeBall and Global.ballD < 30:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
h = hMath.normalizeAngle_0_360(myH + Global.ballH)
hTrack.saGoToTargetFacingHeading(suppX, suppY, h)
hFWHead.DecideNextAction()
return True
else:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
else:
return False
return False