def get_goal(self, world, robot):
'''
Selects a goal for robot
'''
if robot.penalty:
return None
elif self.current_task == 'game' and world.game_state is not None:
utils.defender_rotation_to_defend_point(robot, world.ball, world.our_goal.vector, defender.GOAL_RADIUS, world.our_side)
if robot.has_ball(world.ball):
info("Defender goal choice: Pass the ball")
return defender.Pass(world, robot)
elif utils.dist(world.our_goal, world.ball) < defender.GOAL_RADIUS:
return None
elif not utils.ball_heading_to_our_goal(world) and utils.defender_should_grab_ball(world):
info("Defender goal choice: Retrieve the ball")
return defender.GetBall(world, robot)
else:
info("Defender goal choice: Do the wiggle dance!")
return defender.Defend(world, robot)
elif self.current_task == 'oldgame' and world.game_state is not None:
if robot.has_ball(world.ball):
info("Defender goal choice: kick the ball")
return defender.Pass(world, robot)
elif utils.ball_heading_to_our_goal(world) and world.in_our_half(world.ball):
info("Defender goal choice: Intercept")
return defender.ReactiveGrabGoal(world, robot)
elif utils.ball_is_static(world) and world.in_our_half(world.ball):
ourdist = math.hypot(world.ball.x - robot.x, world.ball.y - robot.y)
oppdists = [math.hypot(world.ball.x - r.x, world.ball.y - r.y)
for r in world.their_robots if not r.is_missing()]
if (len(oppdists) == 0 or ourdist < min(oppdists)) and world.game_state == 'normal-play':
info("Defender goal choice: Retrieve ball")
return defender.GetBall(world, robot)
else:
info("Defender goal choice: Block")
return defender.Block(world, robot)
else:
info("Defender goal choice: Return to defence area")
return defender.ReturnToDefenceArea(world, robot)
elif self.current_task == 'move-grab':
return defender.GetBall(world, robot)
elif self.current_task == 'defend':
return defender.Defend(world, robot)
elif self.current_task == 'reactive-grab':
return defender.ReactiveGrabGoal(world, robot)
elif self.current_task == 'm1':
return defender.ReceivingPass(world, robot)
elif self.current_task == 'm2':
return defender.ReceiveAndPass(world, robot)
elif self.current_task == 'm31':
return defender.InterceptPass(world, robot)
elif self.current_task == 'm32':
return defender.InterceptGoal(world, robot)
class GoToDefendPoint(Action):
preconditions = [
(lambda w, r: abs(
utils.defender_rotation_to_defend_point(
r.vector, w.ball.vector, w.our_goal.vector, GOAL_RADIUS, w.
our_side)[0]) < ROTATION_DEFEND_POINT_THRESHOLD,
"Defender is facing defending point"),
(lambda w, r: abs(
utils.defender_distance_to_defend_point(
r.vector, w.ball.vector, w.our_goal.vector, GOAL_RADIUS, w.
our_side)) > DEFEND_POINT_DISTANCE_THRESHOLD,
"Defender far away from defending point"),
(lambda w, r: r.catcher == 'OPEN', "Grabbers are open.")
]
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(
self.robot.vector, self.world.ball.vector,
self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
dx = defend_point.x - self.robot.x
dy = defend_point.y - self.robot.y
distance_to_move = math.hypot(dx, dy)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
return utils.defender_move_delay(distance_to_move)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(
self.robot.vector, self.world.ball.vector,
self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
logging.info("Facing defend point: Rotating %f degrees to %f %f" %
(math.degrees(angle), defend_point.x, defend_point.y))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(self.robot.vector, self.world.ball.vector, self.world.our_goal.vector, 100)
dx = defend_point.x - self.robot.x
dy = defend_point.y - self.robot.y
distance_to_move = math.hypot(dx, dy)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(self.robot.vector, self.world.ball.vector, self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
dx = defend_point.x - self.robot.x
dy = defend_point.y - self.robot.y
wiggeled_distance_to_move = math.hypot(dx, dy) + WIGGLE_EFFECT
if side == "left":
wiggeled_distance_to_move = -wiggeled_distance_to_move
logging.info("Wants to wiggle by: " + str(wiggeled_distance_to_move))
comms.move(wiggeled_distance_to_move)
return utils.defender_move_delay(wiggeled_distance_to_move)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(
self.robot.vector, self.world.ball.vector,
self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
dx = defend_point.x - self.robot.x
dy = defend_point.y - self.robot.y
wiggeled_distance_to_move = math.hypot(dx, dy) + WIGGLE_EFFECT
if side == "left":
wiggeled_distance_to_move = -wiggeled_distance_to_move
logging.info("Wants to wiggle by: " + str(wiggeled_distance_to_move))
comms.move(wiggeled_distance_to_move)
return utils.defender_move_delay(wiggeled_distance_to_move)
class GoToDefendPoint(Action):
preconditions = [(lambda w, r: abs(utils.defender_rotation_to_defend_point(r.vector, w.ball.vector, w.our_goal.vector, 100)[0]) < ROTATION_DEFEND_POINT_THRESHOLD, "Defender is facing defending point"),
]
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(self.robot.vector, self.world.ball.vector, self.world.our_goal.vector, 100)
dx = defend_point.x - self.robot.x
dy = defend_point.y - self.robot.y
distance_to_move = math.hypot(dx, dy)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(self.robot.vector, self.world.ball.vector, self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
logging.info("Facing defend point: Rotating %f degrees to %f %f" % (math.degrees(angle), defend_point.x, defend_point.y))
comms.turn(angle)
return utils.defender_turn_delay(angle)
