class GoToStaticBall(Action):
'''
Move defender to the ball when static
'''
preconditions = [(lambda w, r: abs(
utils.defender_get_rotation_to_catch_point(
Vector(r.x, r.y, r.angle, 0), Vector(w.ball.x, w.ball.y, 0, 0), r.
catch_distance)[0]) < ROTATION_THRESHOLD,
"Defender is facing ball"),
(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: utils.ball_is_static(w), "Ball is static.")]
def perform(self, comms):
# reset dynamic threshold
# TODO: has to be restarted everywhere!
global ROTATION_THRESHOLD
ROTATION_THRESHOLD = 0.1
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
displacement = math.hypot(dx, dy)
if displacement == 0:
alpha = 0
else:
# TODO: has to handle this edge case better
try:
alpha = math.degrees(
math.asin(self.robot.catch_distance / float(displacement)))
except ValueError as er:
print(er)
x = self.world.ball.x
y = self.world.ball.y
angle = utils.get_rotation_to_point(self.robot.vector,
Vector(x, y, 0, 0))
logging.info("Wants to close-rotate by: " + str(angle))
comms.turn(angle)
return 1 # TODO: NO FIXED DELAY
beta = 90 - alpha
if math.sin(math.radians(alpha)) == 0:
distance_to_move = 15 # something is obviously wrong so we have to move a bit
else:
distance_to_move = math.sin(
math.radians(beta)) * self.robot.catch_distance / math.sin(
math.radians(alpha))
# Find the movement side
angle, side = utils.defender_get_rotation_to_catch_point(
Vector(self.robot.x, self.robot.y, self.robot.angle, 0),
Vector(self.world.ball.x, self.world.ball.y, 0, 0),
self.robot.catch_distance)
if side == "left":
distance_to_move = -distance_to_move
logging.info("Wants to move by: " + str(distance_to_move))
comms.move(distance_to_move)
return utils.defender_move_delay(distance_to_move)
class AlignForGrab(Action):
preconditions = [(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: abs((r.angle - w.ball.angle + pi / 2) % pi - pi / 2) < 0.6, "Ball vector and robot vector within 35 degrees."),
(lambda w, r: not utils.ball_is_static(w), "The ball is moving")]
def perform(self, comms):
dist = utils.defender_get_alignment_offset(self.robot, self.world.ball, self.world.ball.angle)
logging.info("Aligning with ball. (Move %f right)", dist)
if abs(dist) > MOVEMENT_THRESHOLD:
comms.move(dist)
return utils.defender_move_delay(dist)
class GoToGrabStaticBall(Action):
preconditions = [(lambda w, r: utils.ball_is_static(w), "Ball is static"),
(lambda w, r: is_robot_facing_position(w, r, w.ball.vector), "Attacker is facing ball"),
(lambda w, r: r.catcher == 'OPEN', "Attacker's grabbers are open")]
def perform(self, comms):
d = None
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
d = math.sqrt(dx**2 + dy**2)
comms.move(d - GRAB_DISTANCE)
def get_goal(self, world, robot):
'''
Selects a goal for robot
'''
if robot.penalty:
return None
elif self.current_task == 'game' and world.game_state is not None:
utils.defender_rotation_to_defend_point(robot, world.ball, world.our_goal.vector, defender.GOAL_RADIUS, world.our_side)
if robot.has_ball(world.ball):
info("Defender goal choice: Pass the ball")
return defender.Pass(world, robot)
elif utils.dist(world.our_goal, world.ball) < defender.GOAL_RADIUS:
return None
elif not utils.ball_heading_to_our_goal(world) and utils.defender_should_grab_ball(world):
info("Defender goal choice: Retrieve the ball")
return defender.GetBall(world, robot)
else:
info("Defender goal choice: Do the wiggle dance!")
return defender.Defend(world, robot)
elif self.current_task == 'oldgame' and world.game_state is not None:
if robot.has_ball(world.ball):
info("Defender goal choice: kick the ball")
return defender.Pass(world, robot)
elif utils.ball_heading_to_our_goal(world) and world.in_our_half(world.ball):
info("Defender goal choice: Intercept")
return defender.ReactiveGrabGoal(world, robot)
elif utils.ball_is_static(world) and world.in_our_half(world.ball):
ourdist = math.hypot(world.ball.x - robot.x, world.ball.y - robot.y)
oppdists = [math.hypot(world.ball.x - r.x, world.ball.y - r.y)
for r in world.their_robots if not r.is_missing()]
if (len(oppdists) == 0 or ourdist < min(oppdists)) and world.game_state == 'normal-play':
info("Defender goal choice: Retrieve ball")
return defender.GetBall(world, robot)
else:
info("Defender goal choice: Block")
return defender.Block(world, robot)
else:
info("Defender goal choice: Return to defence area")
return defender.ReturnToDefenceArea(world, robot)
elif self.current_task == 'move-grab':
return defender.GetBall(world, robot)
elif self.current_task == 'defend':
return defender.Defend(world, robot)
elif self.current_task == 'reactive-grab':
return defender.ReactiveGrabGoal(world, robot)
elif self.current_task == 'm1':
return defender.ReceivingPass(world, robot)
elif self.current_task == 'm2':
return defender.ReceiveAndPass(world, robot)
elif self.current_task == 'm31':
return defender.InterceptPass(world, robot)
elif self.current_task == 'm32':
return defender.InterceptGoal(world, robot)
def perform(self, comms):
d = None
if utils.ball_is_static(self.world):
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
d = math.sqrt(dx**2 + dy**2)
else:
# TODO Find ball path
dx = self.world.ball.x - self.robot.x
dy = self.world.ball.y - self.robot.y
d = math.sqrt(dx**2 + dy**2)
# TODO grabbing area size
grabber_size = 50
comms.move(d - grabber_size)
class WaitForBallToCome(Action):
'''
Defender just waits for the ball to approach it
'''
# FIXME: ball_can_reach_robot doesn't do anything.
# FIXME: robot_can_reach_ball doesn't do anything.
preconditions = [(lambda w, r: abs(utils.get_rotation_to_point(r.vector, w.ball.vector)) < ROTATION_BALL_THRESHOLD, "Defender is facing ball"),
(lambda w, r: utils.ball_can_reach_robot(w.ball, r), "The ball can reach the robot"),
(lambda w, r: utils.robot_can_reach_ball(w.ball, r), "Defender can reach the ball"),
(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: not utils.ball_is_static(w), "The ball is moving.")]
def perform(self, comms):
pass
class RotateAndAlignForGrab(Action):
preconditions = [(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: abs((r.angle - w.ball.angle + pi / 2) % pi - pi / 2) >= 0.6, "Ball vector and robot vector not within 35 degrees."),
(lambda w, r: not utils.ball_is_static(w), "The ball is moving")]
def perform(self, comms):
target_rotation = (self.world.ball.angle - self.robot.angle + pi / 2) % pi - pi / 2
dist = utils.defender_get_alignment_offset(self.robot, self.world.ball, self.world.ball.angle, target_rotation)
logging.info("Aligning with ball. (Rotate %f degrees, move %f right)", math.degrees(target_rotation), dist)
if abs(dist) > MOVEMENT_THRESHOLD:
comms.turn_then_move(target_rotation, dist)
return utils.defender_turn_delay(target_rotation) + utils.defender_move_delay(dist)
else:
comms.turn(target_rotation)
return utils.defender_turn_delay(target_rotation)
class FollowBall(Action):
'''
Be in the trajectory of moving ball as long as it's predicted
that the ball reaches the robot
'''
# Different precondition: Face counter to ball trajectory instead of facing
# the ball (allows intercepting as well as possible.
preconditions = [(lambda w, r: r.catcher == 'OPEN', "Grabbers are open."),
(lambda w, r: not utils.ball_is_static(w), "The ball is moving.")]
def perform(self, comms):
turn_angle = (self.world.ball.angle - self.robot.angle) % (2 * pi) - pi
dist = math.hypot(self.robot.x - self.world.ball.x, self.robot.y - self.world.ball.y)
tri_angle = utils.get_rotation_to_point(self.world.ball.vector, self.robot)
dist *= math.cos(tri_angle)
if abs(turn_angle) < ROTATION_BALL_THRESHOLD:
logging.info("Adjusting to ball position by distance: " + str(dist))
comms.move(dist)
else:
logging.info("Adjusting angle by %f, distance by %f." % (turn_angle, dist))
comms.turn_then_move(turn_angle, dist)
return 2
