class Patrol(Action):
def init(self):
self.timer = Timer()
self.timer2 = Timer(2)
self.straight = True
def tick(self):
# if not ballValid():
# return self.failure()
print(self.timer2.elapsed())
self.lookAt(0, 0)
self.walk(3, 0, 0)
if self.straight:
self.walk(3, 0, 0)
else:
self.walk(3, 0, 3)
if self.timer2.finished():
if self.straight:
self.straight = False
self.timer2.restart()
else:
self.straight = True
self.timer2.restart()
return self.running()
class Lie(Action):
def init(self):
self.lie_timer = Timer(5)
self.inited = False
def tick(self):
if not self.inited:
self.inited = True
self.lie_timer.restart()
if self.lie_timer.finished():
print 'lie finished'
return self.success()
else:
return self.running()
class Reentry(Action):
def init(self):
self.timer = Timer(self.bb.parameters.motionInitTime)
self.timer2 = Timer(self.bb.parameters.motionInitTime)
self.initial = Initial()
self.cur_state = None
def onEnter(self):
self.timer.restart()
def tick(self):
gc_info = self.bb.GCInfo
trackBall.tick()
if not self.bb.motionConnected:
self.timer.restart()
if not self.timer.finished():
self.timer2.restart()
self.initial.tick()
self.crouch()
self.lookAt(45, 0)
return self.running()
# if penalised, wait
elif gc_info.penalised or gc_info.state is GCInfo.SET:
self.lookAt(0, 0)
self.crouch()
return self.running()
else:
if gc_info.connected and gc_info.state is GCInfo.INITIAL:
self.bb.reentry = False
return self.success()
if gc_info.connected and gc_info.state is GCInfo.PLAYING and self.bb.see_ball and self.bb.see_ball_cnt > 5:
self.bb.reentry = False
return self.success()
self.dest = self.bb.get_default_dest()
if not self.got_dest_loose(self.dest):
self.gotoGlobal(self.dest)
return self.running()
else:
self.crouch()
self.bb.reentry = False
return self.success()
class FindBall(Action):
"""
Head skill: Find ball, when robot is not turning, scan field, else look down
"""
def init(self):
self.timer = Timer(1)
self.iter = iter(GazePlats)
self.curPlat = self.iter.next()
def tick(self):
if not self.bb.visionInfo.see_ball and self.bb.ball_lost.elapsed() < 10 and get_magnitude(self.bb.last_seen_ball_field) < 50:
return self.failure()
if self.gazeBall():
self.iter = iter(GazePlats)
self.curPlat = self.iter.next()
return self.success()
else:
if self.timer.finished():
self.timer.restart()
if not self.next_plat():
return self.failure()
self.lookAt(self.curPlat.x, self.curPlat.y, 10, 10)
return self.running()
def next_plat(self):
try:
self.curPlat = self.iter.next()
# self.world.scanning = True
return True
except StopIteration:
# GazePlats.reverse()
# self.world.scanning = False
self.iter = iter(GazePlats)
self.curPlat = self.iter.next()
return False
class ScanField_fast(Action):
def init(self):
self.path = [
VecPos(15, -90),
# VecPos(20, -50),
VecPos(15, 0),
# VecPos(20, 50),
VecPos(15, 90),
# VecPos(40, 0)
]
self.keep = False
self.timer = Timer(0.75)
self.iter = iter(self.path)
self.curplat = self.iter.next()
def tick(self):
"""
Success when see both goal or see circle or time out
"""
cur = self.curplat
self.lookAt(cur.x, cur.y, 10, 10)
if self.headGotDest(cur.x, cur.y):
if not self.keep:
self.keep = True
self.timer.restart()
elif self.timer.finished():
self.keep = False
try:
self.curplat = self.iter.next()
except StopIteration:
self.path.reverse()
self.iter = iter(self.path)
self.iter.next()
self.curplat = self.iter.next()
return self.success()
class GoalieDemoF(Action):
def init(self):
self.attackRight = True
self.moveX = 0
# self.maxVelocity = 0
self.attackPointX = 0
self.robotXPre = 0
self.robotXCur = 0
self.inited = False
self.lookAt(0, -80)
self.leftScramble = False
self.rightScramble = False
self.goalie_timer = Timer(3)
pass
def tick(self):
# if self.bb.field_angle - self.keepPoint.z > 180:
# self.angleDiff = self.bb.field_angle - (self.keepPoint.z + 360)
# elif self.bb.field_angle - self.keepPoint.z < -180:
# self.angleDiff = (self.bb.field_angle + 360) - self.keepPoint.z
# else:
# self.angleDiff = self.bb.field_angle - self.keepPoint.z
if self.leftScramble and not self.goalie_timer.finished():
self.goalieLeft()
print 'scramble left'
return self.running()
elif self.leftScramble and self.goalie_timer.finished():
return self.success()
elif self.rightScramble and not self.goalie_timer.finished():
self.goalieRight()
print 'scramble right'
return self.running()
elif self.rightScramble and self.goalie_timer.finished():
return self.success()
if self.bb.visionInfo.see_ball:
self.gazeBall()
print self.bb.ball_field
print 'ballVelocity :', self.bb.ball_velocity.y
# if self.bb.ball_velocity.length() > self.maxVelocity:
# self.maxVelocity = self.bb.ball_velocity.length()
if abs(self.bb.ball_field.y) < scrambleDist:
if self.bb.ball_field.x > scramblePointX:
print 'scramble left --- scrambleDist'
self.leftScramble = True
self.goalie_timer.restart()
# time.sleep(3)
return self.running() # failure
elif self.bb.ball_field.x < -scramblePointX:
print 'scramble right --- scrambleDist'
self.rightScramble = True
self.goalie_timer.restart()
# time.sleep(3)
return self.running() # failure
else:
print 'keep mid --- scrambleDist'
self.crouch()
return self.running()
elif abs(self.bb.ball_field.y) < dangerDist:
# print 'ball velocity : ', self.bb.ball_velocity
# if abs(self.bb.ball_velocity.y) < ballMinMoveSpeed:
# print 'lineUp --- dangerDist'
# self.lineUp()
# return self.running()
if self.calcAttackPointX():
if abs(
self.bb.ball_velocity.y
) > dangerVelocity and self.attackPointX > scramblePointX and self.attackPointX < 200:
print 'scramble left --- dangerDist'
self.leftScramble = True
self.goalie_timer.restart()
# time.sleep(3)
return self.running()
elif abs(
self.bb.ball_velocity.y
) > dangerVelocity and self.attackPointX < -scramblePointX and self.attackPointX > -200:
print 'scramble right --- dangerDist'
self.rightScramble = True
self.goalie_timer.restart()
# time.sleep(3)
return self.running()
# else:
# print 'lineUp --- dangerDist'
# return self.running()c
# self.lineUp()
else:
# self.lineUp()
self.crouch()
return self.running()
elif abs(self.bb.ball_field.y) < adjustDist:
# print 'adjustDist'
# self.lineUp()
self.crouch()
return self.running()
else:
self.crouch()
# print 'ball is too far'
return self.running()
# if self.calPos():
# print(self.keepPoint)
# if self.bb.robot_pos.distance(self.keepPoint) > 10:
# self.gotoGlobalOmni(self.keepPoint)
# else:
# self.crouch
# return self.running()
# else:
# return self.running()
# if self.bb.robot_pos.y - self.keepPoint.y > 20:
# self.walk(0, -3, 0)
# elif self.bb.robot_pos.y - self.keepPoint.y < -20:
# self.walk(0, 3, 0)
# elif self.angleDiff > 5:
# self.turn(-5)
# elif self.angleDiff < -5:
# self.turn(5)
else:
self.lookAt(0, -80)
self.crouch
return self.running()
def lineUp(self):
print 'moveX: ', self.moveX
if not self.inited:
self.robotXPre = self.bb.robot_pos.x
self.robotXCur = self.robotXPre
self.inited = True
else:
self.robotXCur = self.bb.robot_pos.x
self.moveX += self.robotXCur - self.robotXPre
self.robotXPre = self.robotXCur
if self.moveX < maxMoveUp and self.bb.ball_field.x > adjustBallX:
self.walk(3, 0, 0)
elif self.moveX > maxMoveDown and self.bb.ball_field.x < -adjustBallX:
self.walk(-1, 0, 0)
else:
self.crouch()
def calcAttackPointX(self):
if abs(self.bb.visionInfo.ball_velocity.y) < 0.01:
return False
else:
self.attackPointX = -self.bb.visionInfo.ball_velocity.x / self.bb.visionInfo.ball_velocity.y * self.bb.ball_field.y + self.bb.ball_field.x
return True
class GCPlay(Action):
def init(self):
self.last_state = None
self.initial = Initial()
self.ready = Ready()
self.set = Set()
self.playing = Playing()
self.finished = Finished()
self.cur_state = None
self.freeKickTimer = Timer(10)
self.lastFreeKickBallPos = VecPos()
self.enemy_freekick = False
self.trackBall = TrackBall()
def tick(self):
#print 'GCPlay'
self.trackBall.tick()
gc_info = self.bb.GCInfo
if gc_info is None or not gc_info.connected:
self.playing.tick()
else:
if gc_info.ourIndirectFreeKick or gc_info.ourDirectFreeKick or gc_info.ourPenaltyKick:
if gc_info.state2Freeze:
self.trackBall.tick()
self.crouch()
elif gc_info.state2Ready:
self.trackBall.tick()
if self.bb.closest_to_ball():
ball = self.bb.ball_global
if attackRight():
self.gotoGlobal(VecPos(ball.x - 80, ball.y, 0))
else:
self.gotoGlobal(VecPos(ball.x + 80, ball.y, 0))
elif gc_info.enemyIndirectFreeKick or gc_info.enemyDirectFreeKick or gc_info.enemyPenaltyKick:
self.enemy_freekick = True
self.freeKickTimer.restart()
self.lastFreeKickBallPos = self.bb.ball_global
if gc_info.state2Freeze:
self.crouch()
elif gc_info.state2Ready:
if self.bb.closest_to_ball():
ball = self.bb.ball_global
if attackRight():
self.gotoGlobal(VecPos(ball.x - 50, ball.y, 0))
else:
self.gotoGlobal(VecPos(ball.x + 50, ball.y, 0))
else:
self.playing.tick()
elif self.enemy_freekick:
if self.bb.closest_to_ball():
if not self.freeKickTimer.finished():
# print self.freeKickTimer.elapsed()
ball_now = self.bb.ball_global
diff = (ball_now - self.lastFreeKickBallPos).length()
# print diff
if diff < 20:
self.crouch()
self.gazeBall()
else:
self.playing.tick()
else:
self.enemy_freekick = False
else:
self.enemy_freekick = False
else:
if gc_info.state is GCInfo.INITIAL:
self.cur_state = self.initial
elif gc_info.state is GCInfo.READY:
self.cur_state = self.ready
elif gc_info.state is GCInfo.SET:
self.cur_state = self.set
elif gc_info.state is GCInfo.PLAYING:
self.cur_state = self.playing
elif gc_info.state is GCInfo.FINISHED:
self.cur_state = self.finished
else:
self.cur_state = self.playing
if gc_info.state != self.last_state:
if self.cur_state:
self.cur_state.fresh()
if self.cur_state:
self.cur_state.tick()
self.last_state = gc_info.state
class Lineup(Action):
def init(self):
self.diff_x = 0
self.diff_y = 0
self.sum_x = 0
self.sum_y = 0
self.avg_x = 0
self.avg_y = 0
self.line_up_cycle = 0
self.stop_timer = Timer()
# FIXME(MWX): on entry
self.entry = True
self.timer = Timer(.5)
self.left_kick = False
def tick(self):
if self.entry:
self.entry = False
self.timer.restart()
self.lookAt(43, 0)
ballvision = self.bb.ball_field
if abs(ballvision.y) > 25 or abs(ballvision.x) > 25:
return self.failure()
# final_dest, dest, rub = calc_attack_point()
# if not self.got_dest_tight(final_dest):
# return self.failure()
# TODO(MWX): step may be better
if not self.timer.finished():
self.crouch()
# if ballvision.y > 0:
# self.bb.left_kick = True
# else:
# self.bb.left_kick = False
return self.running()
# if self.bb.left_kick:
# dx = ballvision.x - self.bb.parameters.left_kick_point.x
# dy = ballvision.y - self.bb.parameters.left_kick_point.y
# else:
dx = ballvision.x - self.bb.parameters.left_kick_point.x
dy = ballvision.y - self.bb.parameters.left_kick_point.y
if not abs(dx) < 3 or not abs(dy) < 3:
x, y, t = [0, 0, 0]
if dx > 3:
x = 1
elif dx < -3:
x = -1
if dy > 3:
y = 1
elif dy < -3:
y = -1
self.walk(x, y, t)
return self.running()
else:
self.crouch()
return self.success()
diff_pitch = [i for i in range(param.minPitch, param.maxPitch, 10)]
path = []
for i in range(len(diff_pitch)):
tmp = [diff_pitch[i] for j in range(len(diff_yaw))]
path += zip(diff_yaw, tmp)
diff_yaw.reverse()
# Move(1s) --> Keep(1s) --> Capture(1s) --> Move(1s)
currentPoint = (0, 0)
iteration = iter(path)
# wait
timer = Timer(5)
while not timer.finished():
timer.sleep(1)
@repeatSec(0.5)
class Move(Action):
def tick(self):
self.lookAt(pitch=currentPoint[1], yaw=currentPoint[0])
return self.running()
@repeatSec(0.5)
class Keep(Action):
def tick(self):
self.lookAt(pitch=currentPoint[1], yaw=currentPoint[0])
return self.running()
