def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED)
else:
player.brain.nav.chaseBall()
if (transitions.shouldFindBall(player) or
transitions.shouldSpinToBall(player)):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast = True)
elif player.penaltyKicking:
return player.goNow('prepareForPenaltyKick')
else:
player.brain.nav.chaseBall(fast = True)
if transitions.shouldFindBall(player):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
if player.brain.nav.isAtPosition():
print "isAtPosition() is causing the bug!"
else:
print "shouldPrepareForKick() is causing the bug!"
print player.brain.ball.distance
print player.brain.ball.vis.distance
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def omniPositionForKick(player):
if player.firstFrame():
player.brain.tracker.trackBall()
player.inKickingState = False
# decide kick in util method
# only enque once (for obstacle avoidance)
player.brain.nav.goTo(getKickPosition(player), Navigator.CLOSE_ENOUGH,
Navigator.FULL_SPEED, Navigator.ADAPTIVE)
else:
# update kicking position
player.brain.nav.updateDest(getKickPosition(player))
# Did we lose the ball?
if transitions.shouldFindBall(player):
return player.goLater('gaurd')
# At position?
position = getKickPosition(player)
if (0 < position.relX < constants.BALL_X_OFFSET
and position.relY < constants.BALL_Y_OFFSET
and position.relH < constants.GOOD_ENOUGH_H):
print "kicking!" # KICK IT!!!$@%&!!
player.brain.nav.stop()
player.executeMove(SweetMoves.LEFT_BIG_KICK) #check this @!
else:
print "orbiting!" # ORBIT
return player.stay()
def omniPositionForKick(player):
if player.firstFrame():
player.brain.tracker.trackBall()
player.inKickingState = False
# decide kick in util method
# only enque once (for obstacle avoidance)
player.brain.nav.goTo(getKickPosition(player),
Navigator.CLOSE_ENOUGH,
Navigator.FULL_SPEED,
Navigator.ADAPTIVE)
else:
# update kicking position
player.brain.nav.updateDest(getKickPosition(player))
# Did we lose the ball?
if transitions.shouldFindBall(player):
return player.goLater('gaurd')
# At position?
position = getKickPosition(player)
if (0 < position.relX < constants.BALL_X_OFFSET and
position.relY < constants.BALL_Y_OFFSET and
position.relH < constants.GOOD_ENOUGH_H):
print "kicking!" # KICK IT!!!$@%&!!
player.brain.nav.stop()
player.executeMove(SweetMoves.LEFT_BIG_KICK) #check this @!
else:
print "orbiting!" # ORBIT
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast = True)
else:
player.brain.nav.chaseBall(fast = True)
if (transitions.shouldFindBall(player)):
print "DEBUG_SUIT: In 'approachBall', shouldFindBall is True. Switching to 'chase'."
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
print "DEBUG_SUITE: In 'approachBall', either shouldPrepareForKick or nav.isAtPosition is True. Not a kickoff: switching to 'prepareForKick'."
return player.goNow('prepareForKick')
else:
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED)
else:
player.brain.nav.chaseBall()
if (transitions.shouldFindBall(player)
or transitions.shouldSpinToBall(player)):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player)
or player.brain.nav.isAtPosition()):
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def orbitBall(player):
"""
State to orbit the ball
"""
if player.firstFrame():
if hackKick.DEBUG_KICK_DECISION:
print "Orbiting at angle: ",player.kick.h
if player.kick.h == 0:
return player.goNow('positionForKick')
# Reset from pre-kick pan to straight, then track the ball.
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.orbitAngle(player.orbitDistance, player.kick.h)
elif player.brain.nav.isStopped():
player.shouldOrbit = False
player.kick.h = 0
if player.kick == kicks.ORBIT_KICK_POSITION:
return player.goNow('prepareForKick')
else:
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
return player.goNow('positionForKick')
if (transitions.shouldFindBall(player) or
transitions.shouldCancelOrbit(player)):
player.inKickingState = False
return player.goLater('chase')
return player.stay()
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow('findBall')
else:
return player.goNow('spinToBall')
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow('findBall')
else:
return player.goNow('spinToBall')
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow("findBall")
else:
return player.goNow("approachBall")
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow('findBall')
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
else:
return player.goNow('spinToBall')
def omniApproach(player):
# If close to ball, switch to omniPosition
if player.brain.ball.vis.dist < 50:
return player.goLater('omniPositionForKick')
# If lost the ball, stop and chill.
if transitions.shouldFindBall(player):
return player.goLater('gaurd')
# Approach with all speed!
player.brain.nav.chaseBall()
return player.stay()
def omniApproach(player):
# If close to ball, switch to omniPosition
if player.brain.ball.distance < 50:
return player.goLater('omniPositionForKick')
# If lost the ball, stop and chill.
if transitions.shouldFindBall(player):
return player.goLater('gaurd')
# Approach with all speed!
player.brain.nav.chaseBall()
return player.stay()
def chase(player):
"""
Super State to determine what to do from various situations
"""
if transitions.shouldFindBall(player):
return player.goNow('findBall')
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
else:
return player.goNow('positionForKick')
def orbitBall(player):
"""
State to orbit the ball
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.nav.orbitAngle(90) # TODO HACK HACK
if transitions.shouldFindBall(player) or player.brain.nav.isStopped():
player.inKickingState = False
player.shouldOrbit = False
return player.goLater('lookAround')
return player.stay()
def approachDangerousBall(player):
"""adjusts position to be farther away from the ball
if the goalie is too close to the ball while in
the goal box"""
if player.firstFrame():
player.stopWalking()
#move away from the ball so it is no longer dangerous
if player.brain.nav.isStopped():
if player.brain.ball.loc.relY > 0:
player.brain.nav.walk(0, -15, 0)
else:
player.brain.nav.walk(0, 15, 0)
if not goalTran.dangerousBall(player) or transitions.shouldFindBall(player):
return player.goLater('chase')
return player.stay()
def approachDangerousBall(player):
"""adjusts position to be farther away from the ball
if the goalie is too close to the ball while in
the goal box"""
if player.firstFrame():
player.stopWalking()
#move away from the ball so it is no longer dangerous
if player.brain.nav.isStopped():
if player.brain.ball.loc.relY > 0:
player.brain.nav.walk(0, -15, 0)
else:
player.brain.nav.walk(0, 15, 0)
if not goalTran.dangerousBall(player) or transitions.shouldFindBall(player):
return player.goLater('chase')
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.nav.chaseBall()
# most of the time going to chase will kick back to here, lets us reset
if transitions.shouldFindBall(player):
return player.goLater('chase')
if transitions.shouldPrepareForKick(player) or player.brain.nav.isAtPosition():
if player.shouldKickOff:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def spinToBall(player):
if player.firstFrame():
player.brain.tracker.trackBallFixedPitch()
player.brain.nav.stand()
if transitions.shouldFindBall(player):
return player.goLater('chase')
if transitions.shouldStopSpinningToBall(player):
return player.goNow('approachBall')
else:
spinDir = player.brain.my.spinDirToPoint(player.brain.ball.loc)
if fabs(player.brain.ball.loc.bearing) > constants.CHANGE_SPEED_THRESH:
speed = Navigator.GRADUAL_SPEED
else:
speed = Navigator.SLOW_SPEED
player.setWalk(0,0,spinDir*speed)
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED,
True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED, True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def orbitBall(player):
"""
State to orbit the ball
"""
if player.firstFrame():
player.brain.tracker.performHeadMove(HeadMoves.KICK_SCAN)
if player.brain.tracker.isStopped():
player.brain.tracker.trackBall()
# Only orbit if we still don't have a kick
player.brain.kickDecider.decideKick()
if not transitions.shouldOrbit(player):
return player.goLater('chase')
player.brain.nav.orbitAngle(45) # TODO HACK HACK
if transitions.shouldFindBall(player) or player.brain.nav.isStopped():
player.inKickingState = False
player.shouldOrbit = False
return player.goLater('chase')
return player.stay()
def approachBall(player):
if BoxTransitions.ballNotInBox(player):
return player.goLater('positionAtHome')
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast=True)
elif player.penaltyKicking:
return player.goNow('prepareForPenaltyKick')
else:
player.brain.nav.chaseBall(fast=True)
if transitions.shouldFindBall(player):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player)
or player.brain.nav.isAtPosition()):
if player.brain.nav.isAtPosition():
print "isAtPosition() is causing the bug!"
else:
print "shouldPrepareForKick() is causing the bug!"
print player.brain.ball.distance
print player.brain.ball.vis.distance
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
