def strategy(self, data):
global trajectory
print "TEAM", data.teams
team = data.teams[self.team]
ball = data.ball
if my_side == 0:
goal = Position(-80,0)
else:
goal = Position(80,0)
Abg = ball.angle_to(goal) # angulo ball to goal
obj = RobotPosition(ball.x, ball.y, Abg)
current = team[1]
if current.distance_to(ball) <= 8:
new_obj = move_by_radius(ball.tonp(), 10, Abg)
obj = RobotPosition(new_obj[0], new_obj[1], Abg)
move = self.controller.go_with_trajectory(obj, current)
trajectory = self.traj.get_trajectory(obj, current, 10)
out_data = VsssOutData(moves=[
Move(0,0),
move,
Move(0,0),
])
return out_data
def strategy(self, data):
if time.time() - self.start_time < self.all_forwards_time:
return self.all_forwards()
for i in xrange(self.team_size - 1):
if time.time() - self.last_changes[i] > self.durations[i]:
if not self.is_lineal[i]:
self.durations[i] = uniform(0.5, 1.5)
ang = uniform(0, 0.1)
if uniform() > 0.5:
ang = -ang
# lineal
if uniform() > 0.5:
#forwards
self.the_moves[i] = Move(1, ang)
else:
#backwards
self.the_moves[i] = Move(-1, ang)
else:
self.durations[i] = uniform(0.1, 0.2)
# angular
if uniform() > 0.5:
# left
self.the_moves[i] = Move(0, 1)
else:
# right
self.the_moves[i] = Move(0, -1)
self.last_changes[i] = time.time()
self.is_lineal[i] = not self.is_lineal[i]
return VsssOutData(self.change_order(self.the_moves))
def strategy(self, data):
team = data.teams[self.team]
ball = data.ball
goal = Position(50, 50)
move = self.controller.go_to_from(goal, team[0])
print move
out_data = VsssOutData(moves=[move, Move(0, 0), Move(0, 0)])
return out_data
def set_up(self):
super(VisionTestStrategy, self).set_up()
self.last_changes = [time.time()] * 3
self.durations = [0] * 3
self.portero_move = Move(0, 1)
self.the_moves = [Move(0, 0), Move(0, 0), self.portero_move]
self.is_lineal = [0] * 3
self.start_time = time.time()
self.all_forwards_time = 2
def strategy(self, data):
send_now = False
for e in pygame.event.get():
if e.type == pygame.QUIT:
self.done = True
elif e.type == pygame.KEYDOWN or e.type == pygame.KEYUP:
send_now = True
if e.key == pygame.K_ESCAPE:
self.done = True
elif e.key >= pygame.K_0 and e.key <= pygame.K_9:
self.power = (e.key - pygame.K_0)/10.0
if self.power == 0:
self.power = 1.0
elif e.key == pygame.K_PLUS or e.key == pygame.K_KP_PLUS:
self.power += 0.01
elif e.key == pygame.K_MINUS or e.key == pygame.K_KP_MINUS:
self.power -= 0.01
if time.time() - self.prev_send > self.own_latency/1000.0:
send_now = True
if not send_now:
return VsssOutData(moves=[Move()]*self.team_size)
controls = [
[K_UP, K_DOWN, K_RIGHT, K_LEFT],
[K_w, K_s, K_d, K_a],
[K_i, K_k, K_l, K_j]
]
moves = []
for i in range(self.team_size):
move = Move(0, 0)
if pygame.key.get_pressed()[controls[i][0]]:
move.linvel = self.power
if pygame.key.get_pressed()[controls[i][1]]:
move.linvel = -self.power
if pygame.key.get_pressed()[controls[i][2]]:
move.angvel = self.power
if pygame.key.get_pressed()[controls[i][3]]:
move.angvel = -self.power
moves.append(move)
print move,
print ''
self.prev_send = time.time()
return VsssOutData(moves=moves)
def strategy(self, data):
# global vitoko_gay
# vitoko_gay = not vitoko_gay
# if vitoko_gay:
# return VsssOutData(moves=[Move()]*3)
# print data.teams, data.ball
team = data.teams[self.team]
ball = data.ball
goal = RobotPosition(ball.x, ball.y, ball.angle_to(Position(75, 0)))
out_data = VsssOutData(moves=[
self.controller.go_to_from(goal, team[0]),
Move(0, 0),
Move(0, 0),
# self.controller.go_to_from(goal, team[1]),
# self.controller.go_to_from(goal, team[2]),
])
print out_data.moves
return out_data
def strategy(self, data):
screen.fill(WHITE)
ball = data.ball
#ball.x += 75
#ball.y = -ball.y
#ball.y += 65
self.pred.update(ball, time.time())
pygame.draw.circle(screen, RED, [
int((ball.x + 75) * enlargement),
int((-ball.y + 65) * enlargement)
], int(2.2 * enlargement))
events = pygame.event.get()
for event in events:
if event.type == pygame.KEYUP:
self.do_predict = True
if event.type == pygame.KEYDOWN:
self.do_predict = False
if self.do_predict:
self.predPos = self.pred.predict(ball, 2)
self.pred_time = time.time()
if self.pred_time is None:
pass
elif time.time() - self.pred_time > 2:
self.pred_time = None
else:
for i, bPosition in enumerate(listPredPositions):
col = BLACK
if i == 0:
col = GREEN
pygame.draw.circle(screen, col, [
int((bPosition.x + 75) * enlargement),
int((-bPosition.y + 65) * enlargement)
], 3)
if len(self.predPos) != 0:
for pre in self.predPos:
pygame.draw.circle(screen, BLACK, [
int((pre.x + 75) * enlargement),
int((-pre.y + 65) * enlargement)
], 3)
pygame.display.flip()
return VsssOutData(moves=[Move(10, 10)])
def strategy(self, data):
global temp_goal
global prev_time
cur_time = time.time()
print "TIME ELAPSED:", time.time() - prev_time
prev_time = cur_time
goal = RobotPosition(data.ball.x, data.ball.y,
data.ball.angle_to(Position(75, 0)))
obstacles = data.teams[0]
obstacles.extend(data.teams[1])
obstacles.remove(data.teams[self.team][1])
temp_goal = self.controller.get_reference_position(
goal, data.teams[self.team][1], obstacles=obstacles)
my_move = self.controller.go_to_from_with_angle(
goal, data.teams[self.team][1], vel=1, obstacles=obstacles)
self.file.write(str(data.teams[self.team][1]) + "\n")
if data.teams[self.team][1].distance_to(goal) <= 9:
my_move = Move(0, 0)
# if data.teams[self.team][1].has_in_front(goal):
# my_move = self.controller.go_to_from(Position(75, 0), data.teams[self.team][1], vel=0.5)
# my_move = self.controller.go_to_from(goal, data.teams[self.team][1], vel=0.5)
return VsssOutData(moves=[Move(0, 0), my_move, Move(0, 0)])
def strategy(self, data):
send_now = False
for e in pygame.event.get():
if e.type == pygame.QUIT:
self.done = True
elif e.type == pygame.KEYDOWN or e.type == pygame.KEYUP:
send_now = True
if e.key == pygame.K_ESCAPE:
self.done = True
elif e.key >= pygame.K_0 and e.key <= pygame.K_9:
self.power = (e.key - pygame.K_0) / 10.0
if self.power == 0:
self.power = 1.0
elif e.key == pygame.K_PLUS or e.key == pygame.K_KP_PLUS:
self.power += 0.01
elif e.key == pygame.K_MINUS or e.key == pygame.K_KP_MINUS:
self.power -= 0.01
if time.time() - self.prev_send > self.own_latency / 1000.0:
send_now = True
if not send_now:
return VsssOutData(moves=[Move()] * self.team_size)
controls = [[K_UP, K_DOWN, K_RIGHT, K_LEFT], [K_w, K_s, K_d, K_a],
[K_i, K_k, K_l, K_j]]
moves = []
for i in range(self.team_size):
move = Move(0, 0)
if pygame.key.get_pressed()[controls[i][0]]:
move.linvel = self.power
if pygame.key.get_pressed()[controls[i][1]]:
move.linvel = -self.power
if pygame.key.get_pressed()[controls[i][2]]:
move.angvel = self.power
if pygame.key.get_pressed()[controls[i][3]]:
move.angvel = -self.power
moves.append(move)
print move,
print ''
self.prev_send = time.time()
return VsssOutData(moves=moves)
def all_forwards(self):
moves = [Move(1.0, 0)] * 2 + [self.portero_move]
return VsssOutData(moves=self.change_order(moves))