def role_requirements(self):
reqs = super().role_requirements()
if 'move' in reqs:
for r in role_assignment.iterate_role_requirements_tree_leaves(reqs['move']):
r.chipper_preference_weight = role_assignment.PreferChipper
if 'kicker' in reqs:
for r in role_assignment.iterate_role_requirements_tree_leaves(reqs['kicker']):
r.previous_shell_id = self._kicker_shell_id
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
req.required_shell_id = self.shell_id
return reqs
def role_requirements(self):
reqs = super().role_requirements()
if self.shell_id != None:
for req in role_assignment.iterate_role_requirements_tree_leaves(
reqs):
req.previous_shell_id = self.shell_id
return reqs
def assign_roles(self, assignments):
oldBot = self.robot
if self.has_subbehaviors():
composite_behavior.CompositeBehavior.assign_roles(
self, assignments)
# extract robot from the one leaf in the tree
# we don't know how deep the tree is, which is why we use the tree leaf iterator
for assignment_tuple in role_assignment.iterate_role_requirements_tree_leaves(
assignments):
self.robot = assignment_tuple[1]
else:
single_robot_behavior.SingleRobotBehavior.assign_roles(
self, assignments)
# Most single robot composite behaviors assume (rightly so) that the robot they're
# dealing with won't change. PivotKick for example runs the Capture skill, then
# the Aim skill to do its stuff. It'd be pretty weird if the robot executing Aim
# was different from the one that just ran Capture. Here we just restart the behavior
# If it gets assigned a new robot.
if oldBot != None and self.robot != None and oldBot.shell_id(
) != self.robot.shell_id():
logging.info(
"SingleRobotCompositeBehavior: robot changed, restarting behavior"
)
self.restart()
def role_requirements(self):
reqs = super().role_requirements()
if self.shell_id != None:
for req in role_assignment.iterate_role_requirements_tree_leaves(
reqs):
req.previous_shell_id = self.shell_id
return reqs
def assign_roles(self, assignments):
oldBot = self.robot
if self.has_subbehaviors():
composite_behavior.CompositeBehavior.assign_roles(
self, assignments)
# extract robot from the one leaf in the tree
# we don't know how deep the tree is, which is why we use the tree leaf iterator
for assignment_tuple in role_assignment.iterate_role_requirements_tree_leaves(
assignments):
self.robot = assignment_tuple[1]
else:
single_robot_behavior.SingleRobotBehavior.assign_roles(
self, assignments)
# Sometimes the robot executing a single_robot_composite_behavior changes in the
# middle of the behavior. For some plays, this means we shouild restart the whole
# behavior for the new robot (autorestart = True). For others, it is more important to continue the new
# robot where the old robot left off (autorestart = False).
if (oldBot is not None and self.robot is not None
and oldBot.shell_id() != self.robot.shell_id()
and self.autorestart()):
logging.info("SingleRobotCompositeBehavior: robot changed (" +
str(oldBot.shell_id()) + "->" +
str(self.robot.shell_id()) + "), restarting: " +
type(self).__name__)
self.restart()
def assign_roles(self, assignments):
oldBot = self.robot
if self.has_subbehaviors():
composite_behavior.CompositeBehavior.assign_roles(self,
assignments)
# extract robot from the one leaf in the tree
# we don't know how deep the tree is, which is why we use the tree leaf iterator
for assignment_tuple in role_assignment.iterate_role_requirements_tree_leaves(
assignments):
self.robot = assignment_tuple[1]
else:
single_robot_behavior.SingleRobotBehavior.assign_roles(self,
assignments)
# Sometimes the robot executing a single_robot_composite_behavior changes in the
# middle of the behavior. For some plays, this means we shouild restart the whole
# behavior for the new robot (autorestart = True). For others, it is more important to continue the new
# robot where the old robot left off (autorestart = False).
if (oldBot is not None and self.robot is not None and
oldBot.shell_id() != self.robot.shell_id() and
self.autorestart()):
logging.info("SingleRobotCompositeBehavior: robot changed (" + str(
oldBot.shell_id()) + "->" + str(self.robot.shell_id()) +
"), restarting: " + type(self).__name__)
self.restart()
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
req.required_shell_id = self.shell_id if self.shell_id != None else -1
return reqs
def assign_roles(self, assignments):
oldBot = self.robot
if self.has_subbehaviors():
composite_behavior.CompositeBehavior.assign_roles(self,
assignments)
# extract robot from the one leaf in the tree
# we don't know how deep the tree is, which is why we use the tree leaf iterator
for assignment_tuple in role_assignment.iterate_role_requirements_tree_leaves(
assignments):
self.robot = assignment_tuple[1]
else:
single_robot_behavior.SingleRobotBehavior.assign_roles(self,
assignments)
# Most single robot composite behaviors assume (rightly so) that the robot they're
# dealing with won't change. PivotKick for example runs the Capture skill, then
# the Aim skill to do its stuff. It'd be pretty weird if the robot executing Aim
# was different from the one that just ran Capture. Here we just restart the behavior
# If it gets assigned a new robot.
if oldBot != None and self.robot != None and oldBot.shell_id(
) != self.robot.shell_id():
logging.info(
"SingleRobotCompositeBehavior: robot changed, restarting behavior")
self.restart()
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
if self.receive_point != None:
req.destination_shape = self.receive_point
elif self.receive_point != None:
req.destination_shape = self.receive_point
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
if self._target_pos != None:
req.destination_shape = self._target_pos
elif self.receive_point != None:
req.destination_shape = self.receive_point
return reqs
def role_requirements(self):
if self.has_subbehaviors():
reqs = composite_behavior.CompositeBehavior.role_requirements(self)
if self.robot != None:
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
req.previous_shell_id = self.robot.shell_id()
return reqs
else:
return single_robot_behavior.SingleRobotBehavior.role_requirements(self)
def role_requirements(self):
# forces all subbhehaviors to use the same robot
if len(self.behaviors) > 0 and self.robot is not None:
reqs = behavior_sequence.BehaviorSequence.role_requirements(self)
for req in role_assignment.iterate_role_requirements_tree_leaves(
reqs):
req.required_shell_id = self.robot.shell_id()
else:
reqs = (single_robot_composite_behavior.
SingleRobotCompositeBehavior.role_requirements(self))
return reqs
def role_requirements(self):
# forces all subbhehaviors to use the same robot
if len(self.behaviors) > 0 and self.robot is not None:
reqs = behavior_sequence.BehaviorSequence.role_requirements(self)
for req in role_assignment.iterate_role_requirements_tree_leaves(
reqs):
req.required_shell_id = self.robot.shell_id()
else:
reqs = (
single_robot_composite_behavior.SingleRobotCompositeBehavior.role_requirements(
self))
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
# Target pos is causing problems in the first few frames due to the
# ball velocity being completely wrong due to the ball filter. This
# may add some inefficiency since the closest robot to the true ball
# pass location is not being used.
#if self._target_pos != None:
# req.destination_shape = self._target_pos
if self.receive_point != None:
req.destination_shape = self.receive_point
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for r in role_assignment.iterate_role_requirements_tree_leaves(reqs):
# try to be near the ball
if main.ball().valid:
r.destination_shape = main.ball().pos
if self.use_chipper:
r.chipper_preference_weight = role_assignment.PreferChipper
r.require_kicking = True
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
# Target pos is causing problems in the first few frames due to the
# ball velocity being completely wrong due to the ball filter. This
# may add some inefficiency since the closest robot to the true ball
# pass location is not being used.
#if self._target_pos != None:
# req.destination_shape = self._target_pos
if self.receive_point != None:
req.destination_shape = self.receive_point
return reqs
def role_requirements(self):
if self.has_subbehaviors():
reqs = composite_behavior.CompositeBehavior.role_requirements(self)
if self.robot != None:
for req in role_assignment.iterate_role_requirements_tree_leaves(
reqs):
req.previous_shell_id = self.robot.shell_id()
return reqs
else:
return single_robot_behavior.SingleRobotBehavior.role_requirements(
self)
def role_requirements(self):
reqs = super().role_requirements()
# By default, single robot behaviors prefer to use the same robot.
# Because we assign defense behaviors to handle threats somewhat
# arbitrarily, we don't care about having the same robot, we just
# want the closest robot to take the role.
for subbehavior_name in ["defender1", "defender2"]:
if subbehavior_name in reqs:
subbehavior_req_tree = reqs[subbehavior_name]
for r in role_assignment.iterate_role_requirements_tree_leaves(subbehavior_req_tree):
r.previous_shell_id = None
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for r in role_assignment.iterate_role_requirements_tree_leaves(reqs):
# try to be near the ball
if main.ball().valid:
r.destination_shape = main.ball().pos
if self.use_chipper:
r.chipper_preference_weight = role_assignment.PreferChipper
r.require_kicking = True
# Increase the importance of Position to make robots closer to the ball clear it during defense
r.position_cost_multiplier = 1.5
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for r in role_assignment.iterate_role_requirements_tree_leaves(reqs):
# try to be near the ball
if main.ball().valid:
r.destination_shape = main.ball().pos
if self.use_chipper:
r.chipper_preference_weight = role_assignment.PreferChipper
r.require_kicking = True
# Increase the importance of Position to make robots closer to the ball clear it during defense
r.position_cost_multiplier = 1.5
return reqs
def role_requirements(self):
reqs = super().role_requirements()
# By default, single robot behaviors prefer to use the same robot.
# Because we assign defense behaviors to handle threats somewhat
# arbitrarily, we don't care about having the same robot, we just
# want the closest robot to take the role.
for subbehavior_name in ['defender1', 'defender2']:
if subbehavior_name in reqs:
subbehavior_req_tree = reqs[subbehavior_name]
for r in role_assignment.iterate_role_requirements_tree_leaves(
subbehavior_req_tree):
r.previous_shell_id = None
return reqs
def role_requirements(self):
reqs = super().role_requirements()
# By default, single robot behaviors prefer to use the same robot.
# Because we assign defense behaviors to handle threats somewhat
# arbitrarily, we don't care about having the same robot, we just want
# the closest robot to take the role.
# HOWEVER: Removing the bias causes flipping back and forth between
# robots on defense occasionally, so we will only decrease the
# robot_change_cost, not remove it.
for subbehavior_name in ['defender1', 'defender2']:
if subbehavior_name in reqs:
subbehavior_req_tree = reqs[subbehavior_name]
for r in role_assignment.iterate_role_requirements_tree_leaves(
subbehavior_req_tree):
r.robot_change_cost = DefenseOld.DEFENSE_ROBOT_CHANGE_COST
return reqs
def role_requirements(self):
reqs = super().role_requirements()
#reqs.require_kicking = True
# try to be near the ball
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
if main.ball().valid:
# Slow ball so we can move in from any direction
if main.ball().vel.mag(
) < Capture.INTERCEPT_VELOCITY_THRESH_TO_COLLECT:
# Get the closest robot to the ball
# Increase the cost significantly for robots far away so that it
# picks the robot already controlling the ball
req.destination_shape = main.ball().pos
req.position_cost_multiplier = Capture.POSITION_COST_MULTIPLIER
# Fast ball, want something downfield
else:
req.cost_func = Capture.role_assignment_cost
req.robot_change_cost = 10
req.destination_shape = None
return reqs
def role_requirements(self):
reqs = super().role_requirements()
for req in role_assignment.iterate_role_requirements_tree_leaves(reqs):
#There is only one coach! Not just any robot can be coach
req.robot_change_cost = 30.0
return reqs
