def approachBall(player):
"""
Once we are aligned with the ball, approach it
"""
# Switch to other states if we should
if player.penaltyKicking and \
player.brain.ball.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
elif player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
elif transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
if player.firstFrame():
player.brain.nav.chaseBall()
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
return player.stay()
def spinToBallClose(player):
"""
If the ball is really close to us, but we aren't facing it yet,
stop and spin toward it, then decide your kick.
"""
player.brain.tracker.trackBall()
ball = player.brain.ball
if (ball.relY > constants.SHOULD_STOP_Y or
ball.relY < -1*constants.SHOULD_STOP_Y):
spinDir = player.brain.my.spinDirToPoint(ball)
player.setWalk(0, 0, spinDir*constants.BALL_SPIN_SPEED)
else:
if ball.dist > constants.SHOULD_START_DIST:
player.brain.nav.chaseBall()
else:
player.stopWalking()
return player.goNow('decideKick')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
kick = player.brain.kickDecider.kickInfo.getKick()
player.brain.kickDecider.currentKick = kick
if kick is None:
player.angleToOrbit = player.brain.kickDecider.kickInfo.orbitAngle
return player.goLater('orbitBall')
player.brain.kickDecider.kickInfo = \
KickInformation.KickInformation(player)
player.brain.nav.kickPosition(kick)
player.inKickingState = True
player.ballTooFar = 0
player.brain.tracker.trackBall()
# something has gone wrong, maybe the ball was moved?
if (player.brain.ball.dist > PFK_BALL_CLOSE_ENOUGH or
player.brain.ball.framesOff > PFK_BALL_VISION_FRAMES):
player.ballTooFar += 1
if player.ballTooFar > BUFFER_FRAMES_THRESHOLD:
return player.goNow('chase')
else:
player.ballTooFar = 0
# Leave this state if necessary
if transitions.shouldKick(player):
return player.goNow('kickBallExecute')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
player.inKickingState = False
return player.goLater('scanFindBall')
else:
if transitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
if transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
return player.goLater('approachBall')
if not player.brain.play.isRole(GOALIE):
if transitions.shouldDribble(player):
return player.goNow('dribble')
return player.stay()
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if player.brain.playbook.role != pbc.GOALIE:
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.playbook.role == pbc.GOALIE and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist*constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else :
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing*constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setSpeed(sX,0,sTheta)
return player.stay()
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if not player.brain.play.isRole(GOALIE):
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist * constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else:
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing * constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setWalk(sX, 0, sTheta)
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
kick = player.brain.kickDecider.getKick()
if kick is None:
player.angleToOrbit = player.brain.kickDecider.kickInfo.orbitAngle
return player.goLater('orbitBall')
player.inKickingState = True
if transitions.shouldKickNow(player):
return player.goLater('kickBallExecute')
player.brain.nav.kickPosition(kick)
player.brain.tracker.trackBall()
# Leave this state if necessary
if transitions.shouldStopAndKick(player):
return player.goLater('preKickStop')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
player.inKickingState = False
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBallKick(player):
player.inKickingState = False
return player.goLater('scanFindBall')
elif transitions.shouldSpinToKick(player):
return player.goLater('spinToKick')
if transitions.shouldChaseFromPositionForKick(player):
player.inKickingState = False
return player.goLater('chase')
if not player.brain.play.isRole(GOALIE):
if transitions.shouldDribble(player):
return player.goLater('dribble')
if player.brain.nav.isStopped():
kick = player.brain.kickDecider.getKick()
player.brain.nav.kickPosition(kick)
return player.stay()
def spinToKick(player):
"""
If the ball is behind the tip of our foot, but outside it, spin
"""
player.brain.tracker.trackBall()
ball = player.brain.ball
if (ball.relY > constants.SHOULD_SPIN_TO_KICK_Y or
ball.relY < -1*constants.SHOULD_SPIN_TO_KICK_Y):
spinDir = player.brain.my.spinDirToPoint(ball)
player.setWalk(0,0,spinDir*constants.BALL_SPIN_SPEED)
else:
if ball.dist > constants.SHOULD_SPIN_TO_KICK_DIST:
player.brain.nav.chaseBall()
else:
player.stopWalking()
return player.goNow('decideKick')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else :
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = MyMath.dist(my.x, my.y, dest[0], dest[1]) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni:
player.changeOmniGoToCounter += 1
else :
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.destX != dest[0] or \
nav.destY != dest[1] or \
nav.destH != dest[2] or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()
def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.play.isRole(GOALIE):
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = my.dist(dest) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni():
player.changeOmniGoToCounter += 1
else:
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.dest != dest or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()
