def execute(s, drone):
if s.strategy == Strategy.KICKOFF:
if drone.controller is None:
drone.controller = GK_Control(drone, goal_pos*team_sign(s.team))
else:
if drone.controller is None:
drone.controller = GK_Control(drone, goal_pos*team_sign(s.team))
if drone.controller is not None:
drone.controller.run()
def execute(s, drone):
drone.role.timer += s.dt
if s.strategy == Strategy.KICKOFF:
distance = np.linalg.norm(drone.pos - s.ball.pos)
time_to_hit = distance / np.linalg.norm(drone.vel)
if time_to_hit <= KO_DODGE_TIME:
drone.controller = Dodge(drone, local(drone.orient_m, drone.pos, s.ball.pos))
drone.role.timer = 0
if drone.controller is None:
if drone.kickoff == 'r_back' or drone.kickoff == 'l_back':
drone.controller = AB_Control(drone, a3l([0.0, -2816.0, 70.0])*team_sign(s.team))
drone.role.timer = 0
#drone.controller = LINE_PD_Control(drone, a3l([0,-6000,0])*team_sign(s.team), s.ball.pos)
else:
drone.controller = AB_Control(drone, s.ball.pos)
elif isinstance(drone.controller,AB_Control):
if drone.role.timer >= KO_PAD_TIME:
AB_Control(drone, s.ball.pos)
else:
drone.controller = AB_Control(drone, s.ball.pos)
if drone.controller is not None:
if isinstance(drone.controller,Dodge):
drone.controller.run(drone.role.timer)
else:
drone.controller.run()
def execute(s, drone):
if s.strategy == Strategy.KICKOFF:
if drone.controller is None:
drone.controller = AB_Control(drone, best_boost[drone.kickoff]*team_sign(s.team))
if drone.controller is not None:
drone.controller.run()
def execute(self, hive, drone):
if hive.strategy == Strategy.KICKOFF:
# Find estimated time to hit the ball.
distance = np.linalg.norm(drone.pos - hive.ball.pos)
time_to_hit = distance / np.linalg.norm(
drone.vel) if np.linalg.norm(drone.vel) > 0 else 10
# If the estimated time to hit is small, dodge.
if time_to_hit <= self.KO_DODGE_TIME:
drone.controller = Dodge()
# Use AngleBased controller if none is set.
if drone.controller is None:
drone.controller = AngleBased()
# If using AngleBased controller.
elif isinstance(drone.controller, AngleBased):
# Drive towards the pad on r_left or l_left kickoffs.
if drone.kickoff in (
'r_back',
'l_back') and drone.role.timer <= self.KO_PAD_TIME:
drone.controller.run(
hive, drone,
a3l([0.0, -2816.0, 70.0]) * team_sign(hive.team))
# Drive towards the ball.
else:
drone.controller.run(hive, drone, hive.ball.pos)
# If using Dodge controller.
elif isinstance(drone.controller, Dodge):
drone.controller.run(hive, drone, hive.ball.pos)
else:
# Else
if drone.controller is None:
drone.controller = TargetShot()
elif isinstance(drone.controller, TargetShot):
drone.controller.run(hive, drone,
goal_pos * team_sign((hive.team + 1) % 2))
super().execute(hive)
def think(s):
if s.strategy == Strategy.KICKOFF:
# exit condition.
if not s.ko_pause:
print("KICKOFF END")
s.strategy = None
elif s.strategy == Strategy.DEFENCE:
# exit condition.
if s.ball.pos[1]*team_sign(s.team) > 0:
print("DEFENCE END")
s.strategy = None
elif s.strategy == Strategy.OFFENCE:
# exit condition.
if s.ball.pos[1]*team_sign(s.team) < 0:
print("OFFENCE END")
s.strategy = None
if s.strategy is None:
# Kickoff.
if s.r_active and s.ko_pause:
print("KICKOFF START")
s.strategy = Strategy.KICKOFF
for drone in s.drones:
drone.role = None
drone.controller = None
closest = 'r_corner'
for pos in kickoff_positions:
current = np.linalg.norm(kickoff_positions[closest]*team_sign(s.team) - drone.pos)
new = np.linalg.norm(kickoff_positions[pos]*team_sign(s.team) - drone.pos)
if new < current:
closest = pos
drone.kickoff = closest
for pos in kickoff_positions:
if any([isinstance(drone.role,Attacker) for drone in s.drones]):
break
for drone in s.drones:
if drone.kickoff == pos and drone.role is None:
drone.role = Attacker()
break
for pos in goalie_positions:
if any([isinstance(drone.role,Goalie) for drone in s.drones]):
break
for drone in s.drones:
if drone.kickoff == pos and drone.role is None:
drone.role = Goalie()
break
for drone in s.drones:
if drone.role is None:
drone.role = Support()
# Defence.
elif s.ball.pos[1]*team_sign(s.team) < 0:
s.strategy = Strategy.DEFENCE
print("DEFENCE START")
potential_goalie = s.drones[0]
for drone in s.drones:
drone.role = None
drone.controller = None
if np.linalg.norm(potential_goalie.pos - goal_pos*team_sign(s.team)) > np.linalg.norm(drone.pos - goal_pos*team_sign(s.team)):
potential_goalie = drone
potential_goalie.role = Goalie()
for drone in s.drones:
if drone.role is None:
drone.role = Attacker()
# Offence.
elif s.ball.pos[1]*team_sign(s.team) > 0:
s.strategy = Strategy.OFFENCE
print("OFFENCE START")
for drone in s.drones:
drone.role = None
drone.controller = None
drone.role = Attacker()
def plan(hive):
"""Decides on strategy for the hivemind and assigns drones to roles.
Arguments:
hive {BotHelperProcess (self)} -- The hivemind.
"""
if hive.strategy == Strategy.KICKOFF:
# End this strategy if ball has moved and the kickoff pause has ended.
if not hive.ko_pause and np.any(hive.ball.pos[:2] != np.array([0, 0])):
hive.logger.info("KICKOFF END")
hive.strategy = None
elif hive.strategy == Strategy.DEFENCE:
# End this strategy if ball goes on their side.
if hive.ball.pos[1] * team_sign(hive.team) > 0 or hive.ko_pause:
hive.logger.info("DEFENCE END")
hive.strategy = None
elif hive.strategy == Strategy.OFFENCE:
# End this strategy if ball goes on our side.
if hive.ball.pos[1] * team_sign(hive.team) < 0 or hive.ko_pause:
hive.logger.info("OFFENCE END")
hive.strategy = None
# Pick a strategy
else:
# KICKOFF: At start of kickoff.
if hive.r_active and hive.ko_pause:
hive.logger.info("KICKOFF START")
hive.strategy = Strategy.KICKOFF
# Finds drones' kickoff positions.
for drone in hive.drones:
# Resets roles and controllers.
drone.role = None
drone.controller = None
# Looks for closest match in kickoff positions.
drone.kickoff = 'r_corner'
for pos in kickoff_positions:
if np.linalg.norm(drone.pos - kickoff_positions[pos] *
team_sign(hive.team)) < 100:
drone.kickoff = pos
break
print("Drone index {} on kickoff {} position.".format(
drone.index, drone.kickoff))
# Assigning Attacker role, i.e. who takes the kickoff.
for pos in kickoff_positions:
if any([
isinstance(drone.role, Attacker)
for drone in hive.drones
]):
break
for drone in hive.drones:
if drone.kickoff == pos and drone.role is None:
drone.role = Attacker()
break
# Assigning Goalie role.
for pos in goalie_positions:
if any(
[isinstance(drone.role, Goalie) for drone in hive.drones]):
break
for drone in hive.drones:
if drone.kickoff == pos and drone.role is None:
drone.role = Goalie()
break
# The rest are assigned as Support.
for drone in hive.drones:
if drone.role is None:
drone.role = Support()
# TODO Find better definitions for OFFENCE and DEFENCE
# TODO Pick roles more intelligently.
# DEFENCE: When the ball is on our half.
elif hive.ball.pos[1] * team_sign(hive.team) < 0:
hive.logger.info("DEFENCE START")
hive.strategy = Strategy.DEFENCE
# Assigns Goalie role to closest drone to goal.
potential_goalie = hive.drones[0]
for drone in hive.drones:
# Resets roles and controllers.
drone.role = None
drone.controller = None
# Checks if drone is closer to goal than the previous potential goalie.
if np.linalg.norm(potential_goalie.pos - goal_pos *
team_sign(hive.team)) > np.linalg.norm(
drone.pos -
goal_pos * team_sign(hive.team)):
potential_goalie = drone
potential_goalie.role = Goalie()
# The rest are assigned as Attacker.
for drone in hive.drones:
if drone.role is None:
drone.role = Attacker()
# OFFENCE: When the ball in on their half.
elif hive.ball.pos[1] * team_sign(hive.team) > 0:
hive.logger.info("OFFENCE START")
hive.strategy = Strategy.OFFENCE
# Assigns all drones to Attackers.
for drone in hive.drones:
# Resets roles and controllers.
drone.role = None
drone.controller = None
drone.role = Attacker()