def sidePass(player):
if player.firstFrame():
player.passBack = True
if roleConstants.isFirstChaser(player.role):
decider = KickDecider.KickDecider(player.brain)
passDest = Location(nogginC.MIDFIELD_X + constants.SIDE_PASS_OFFSET, 0.)
player.kick = decider.sweetMovesForKickOff(-1, passDest)
player.inKickingState = True
return player.goNow('approachBall')
elif roleConstants.isSecondChaser(player.role) or roleConstants.isCherryPicker(player.role):
pass
else:
return player.goNow('playOffBall')
return player.stay()
if constants.sidePassFinished(player):
if constants.isSeeingBall(player):
return player.goNow('passToFieldCross')
elif constants.didNotRecieveSidePass(player):
player.passBack = False
player.inKickOffPlay = False
return player.goNow('findBall')
return player.stay()
def passToCorner(player):
if player.firstFrame():
player.passBack = True
if roleConstants.isFirstChaser(player.role):
corner = Location(nogginC.FIELD_WHITE_WIDTH, 0.)
decider = KickDecider.KickDecider(player.brain)
player.kick = decider.sweetMovesForKickOff(0, corner)
player.inKickingState = True
return player.goNow('approachBall')
elif roleConstants.isSecondChaser(player.role) or roleConstants.isCherryPicker(player.role):
player.brain.tracker.repeatFastTwoIntervalPan()
passDestination = Location(nogginC.OPP_GOALBOX_LEFT_X, 60.)
player.brain.nav.goTo(passDestination, Navigator.GENERAL_AREA, speeds.SPEED_EIGHT,
True, False, True, False)
else:
return player.goNow('playOffBall')
return player.stay()
elif constants.shouldPassToFieldCross(player):
return player.goNow('passToFieldCross')
elif constants.ballNotPassedToCorner(player):
player.passBack = False
player.inKickOffPlay = False
return player.goNow('findBall')
else:
passDestination = Location(nogginC.OPP_GOALBOX_LEFT_X, 60.)
player.brain.nav.updateDest(passDestination)
return player.stay()
def passToFieldCross(player):
if player.firstFrame():
player.passBack = False
if roleConstants.isFirstChaser(player.role):
player.brain.tracker.repeatFastTwoIntervalPan()
fieldCross = Location(nogginC.LANDMARK_OPP_FIELD_CROSS[0], nogginC.LANDMARK_OPP_FIELD_CROSS[1])
player.brain.nav.goTo(fieldCross, Navigator.GENERAL_AREA, speeds.SPEED_EIGHT,
True, False, True, False)
elif roleConstants.isSecondChaser(player.role) or roleConstants.isCherryPicker(player.role):
if not constants.ballIsLost(player):
decider = KickDecider.KickDecider(player.brain)
# player.kick = decider.bigKicksOnGoal()
# player.kick = decider.sweetMovesOnGoal()
# player.kick = decider.sweetMoveCrossToCenter()
player.kick = decider.decidingStrategy()
player.finishedPlay = True
player.inKickingState = True
return player.goNow('approachBall')
else:
player.inKickOffPlay = False
return player.goNow('findBall')
else:
return player.goNow('playOffBall')
return player.stay()
if roleConstants.isFirstChaser(player.role):
fieldCross = Location(nogginC.LANDMARK_OPP_FIELD_CROSS[0], nogginC.LANDMARK_OPP_FIELD_CROSS[1])
player.brain.nav.updateDest(fieldCross)
if constants.shouldStopWalkingToCross(player):
player.inKickOffPlay = False
return player.goNow('approachBall')
return player.stay()
def gamePlaying(player):
if player.firstFrame():
player.inKickingState = False
player.inKickOffPlay = (kickOff.shouldRunKickOffPlay(player) and
(roleConstants.isChaser(player.role) or
roleConstants.isCherryPicker(player.role)))
player.passBack = False
player.brain.fallController.enabled = True
player.brain.nav.stand()
player.brain.tracker.trackBall()
# TODO without pb, is this an issue?
# if (player.lastDiffState == 'afterPenalty' and
# player.brain.play.isChaser()):
# # special behavior case
# return player.goNow('postPenaltyChaser')
# Wait until the sensors are calibrated before moving.
if player.wasPenalized:
player.wasPenalized = False
return player.goNow('afterPenalty')
if not player.brain.motion.calibrated:
return player.stay()
if player.brain.gameController.timeSincePlaying < 10:
if player.brain.gameController.ownKickOff:
if roleConstants.isChaser(player.role) or roleConstants.isCherryPicker(player.role):
player.shouldKickOff = True
return player.goNow('approachBall')
else:
return player.goNow('playOffBall')
else:
return player.goNow('waitForKickoff')
return player.goNow('playOffBall')
