def determineRole(player):
if not player.roleSwitching:
return player.goLater(player.gameState)
openSpaces = [True, True, True, True]
for mate in player.brain.teamMembers:
if mate.playerNumber == player.brain.playerNumber:
continue
if not roleConstants.isGoalie(mate.role) \
and mate.frameSinceActive < 30:
openSpaces[mate.role - 2] = False
position = 0
for i in range(4):
if openSpaces[i] and roleConstants.canRoleSwitchTo(i + 2):
roleConstants.setRoleConstants(player, i + 2)
return player.goLater(player.gameState)
elif openSpaces[i]:
position = i + 2
if position == 0:
print "Came out of penalty and found no open spaces!!!"
roleConstants.setRoleConstants(player, i + 2)
return player.goLater(player.gameState)
def determineRole(player):
if not player.roleSwitching:
return player.goLater(player.gameState)
openSpaces = [True, True, True, True]
for mate in player.brain.teamMembers:
if mate.playerNumber == player.brain.playerNumber:
continue
if not roleConstants.isGoalie(mate.role) \
and mate.frameSinceActive < 30:
openSpaces[mate.role - 2] = False
position = 0
for i in range(4):
if openSpaces[i] and roleConstants.canRoleSwitchTo(i+2):
roleConstants.setRoleConstants(player, i+2)
return player.goLater(player.gameState)
elif openSpaces[i]:
position = i+2
if position == 0:
print "Came out of penalty and found no open spaces!!!"
roleConstants.setRoleConstants(player, i+2)
return player.goLater(player.gameState)
def afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
# pan for the ball
player.brain.tracker.repeatWidePan()
# reset state specific counters
afterPenalty.goalLeft = 0
afterPenalty.reset_loc = 0
vis = player.brain.vision
# Do we see the top of the goalbox
for i in range(0, vis.line_size()):
if vis.line(i).id == LineID.TopGoalbox:
topGoalBox = vis.line(i).inner
leftAngle = fabs(topGoalBox.t - pi) < .25
# Goalbox to the left = 1 to the right = -1
toLeft = 1 if leftAngle else -1
afterPenalty.goalLeft += toLeft
# If we've seen any landmark enough, reset localization.
if fabs(afterPenalty.goalLeft) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw goalbox enough times"
afterPenalty.reset_loc = copysign(1, afterPenalty.goalLeft)
# Send the reset loc command.
if afterPenalty.reset_loc != 0:
if DEBUG_PENALTY_STATES:
print "Sufficient sightings. reset_loc value is: " + str(
afterPenalty.reset_loc)
afterPenalty.goalLeft += afterPenalty.reset_loc
afterPenalty.reset_loc = 0
if fabs(afterPenalty.goalLeft) > 5 or player.stateTime > 15:
if DEBUG_PENALTY_STATES:
print "Consensus reached! Resetting loc. Is the goal to our right? " + str(
afterPenalty.goalLeft < 0)
# Yes, when goal_right is less than 0, our goal is to our right.
# It seems counter intuitive, but that's how it works. -Josh Z
if afterPenalty.goalLeft > 0:
print "Goal is to left. Coming out of penalty"
else:
print "Goal is to right. Coming out of penalty"
player.brain.resetLocalizationFromPenalty(afterPenalty.goalLeft < 0)
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
def afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
# pan for the ball
player.brain.tracker.repeatWidePan()
# reset state specific counters
afterPenalty.goalLeft = 0
afterPenalty.reset_loc = 0
lines = player.brain.visionLines
# Do we see the top of the goalbox
for i in range(0, lines.line_size()):
if lines.line(i).id == LineID.TopGoalbox:
topGoalBox = lines.line(i).inner
leftAngle = fabs(topGoalBox.t - pi) < .25
# Goalbox to the left = 1 to the right = -1
toLeft = 1 if leftAngle else -1
afterPenalty.goalLeft += toLeft
# If we've seen any landmark enough, reset localization.
if fabs(afterPenalty.goalLeft) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw goalbox enough times"
afterPenalty.reset_loc = copysign(1, afterPenalty.goalLeft)
# Send the reset loc command.
if afterPenalty.reset_loc != 0:
if DEBUG_PENALTY_STATES:
print "Sufficient sightings. reset_loc value is: " + str(afterPenalty.reset_loc)
afterPenalty.goalLeft += afterPenalty.reset_loc
afterPenalty.reset_loc = 0
if fabs(afterPenalty.goalLeft) > 5 or player.stateTime > 15:
if DEBUG_PENALTY_STATES:
print "Consensus reached! Resetting loc. Is the goal to our right? " + str(afterPenalty.goalLeft < 0)
# Yes, when goal_right is less than 0, our goal is to our right.
# It seems counter intuitive, but that's how it works. -Josh Z
if afterPenalty.goalLeft > 0:
print "Goal is to left. Coming out of penalty"
else:
print "Goal is to right. Coming out of penalty"
player.brain.resetLocalizationFromPenalty(afterPenalty.goalLeft < 0)
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
def afterPenalty(player):
if player.brain.penalizedHack:
return player.goLater(player.gameState)
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
afterPenalty.right = True
afterPenalty.decidedSide = False
player.brain.tracker.lookToAngle(-1 * angle)
# state specific counters
afterPenalty.rightDiff = 0
afterPenalty.leftDiff = 0
afterPenalty.cornerCOn = 0
afterPenalty.cornerTOn = 0
afterPenalty.cornerFrames = 0
afterPenalty.stateCount = 0
afterPenalty.stateCount += 1
vis = player.brain.vision
# Alternate between looking right and left
if afterPenalty.stateCount % 70 == 0:
if afterPenalty.right:
afterPenalty.rightDiff += afterPenalty.cornerCOn - afterPenalty.cornerTOn
if DEBUG_PENALTY_STATES:
print "After Penalty right Diff: ", afterPenalty.rightDiff, " cOn: ", afterPenalty.cornerCOn, " tOn: ", afterPenalty.cornerTOn
player.brain.tracker.lookToAngle(angle)
else:
player.brain.tracker.lookToAngle(-1* angle)
afterPenalty.leftDiff += afterPenalty.cornerCOn - afterPenalty.cornerTOn
if DEBUG_PENALTY_STATES:
print "After Penalty left Diff: ", afterPenalty.leftDiff, " cOn: ", afterPenalty.cornerCOn, " tOn: ", afterPenalty.cornerTOn
afterPenalty.right = not afterPenalty.right
# Reset counters
afterPenalty.cornerCOn = 0
afterPenalty.cornerTOn = 0
# afterPenalty.cornerFrames = 0
foundCorner = False
# Only count if we're looking right/left. Don't want to count goalbox corners
if player.brain.tracker.isStopped():
afterPenalty.cornerFrames += 1
for i in range(0, vis.corner_size()):
corner = vis.corner(i)
if corner.id == 2:
afterPenalty.cornerTOn += 1
else:
afterPenalty.cornerCOn += 1
# China hack 2015. Please make this better
if afterPenalty.stateCount > 140:
if afterPenalty.rightDiff > 5 and afterPenalty.leftDiff <= 0:
afterPenalty.decidedSide = True
afterPenalty.right = True
elif afterPenalty.rightDiff < -5 and afterPenalty.leftDiff >= 0:
afterPenalty.decidedSide = True
afterPenalty.right = False
elif afterPenalty.leftDiff > 5 and afterPenalty.rightDiff <= 0:
afterPenalty.decidedSide = True
afterPenalty.right = False
elif afterPenalty.leftDiff < -5 and afterPenalty.rightDiff >= 0:
afterPenalty.decidedSide = True
afterPenalty.right = True
if afterPenalty.decidedSide or afterPenalty.stateCount > 300:
player.brain.resetLocalizationFromPenalty(afterPenalty.right)
if DEBUG_PENALTY_STATES:
print "We've decided! ", afterPenalty.right, " LeftDiff: ", afterPenalty.leftDiff, " Right Diff: ", afterPenalty.rightDiff, " StateCount: ", afterPenalty.stateCount
player.brain.tracker.repeatWidePan()
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
def afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
afterPenalty.right = True
afterPenalty.decidedSide = False
player.brain.tracker.lookToAngle(-1 * angle)
afterPenalty.rightRatio = 0
afterPenalty.leftRatio = 0
# reset state specific counters
afterPenalty.cornerOn = 0
afterPenalty.cornerFrames = 0
afterPenalty.stateCount = 0
afterPenalty.stateCount += 1
vis = player.brain.vision
# Alternate between looking right and left
if afterPenalty.stateCount % 70 == 0:
if afterPenalty.right:
afterPenalty.rightRatio = afterPenalty.cornerOn / float(
afterPenalty.cornerFrames)
if DEBUG_PENALTY_STATES:
print "After Penalty right ratio: ", afterPenalty.rightRatio
player.brain.tracker.lookToAngle(angle)
else:
player.brain.tracker.lookToAngle(-1 * angle)
afterPenalty.leftRatio = afterPenalty.cornerOn / float(
afterPenalty.cornerFrames)
if DEBUG_PENALTY_STATES:
print "After left right ratio: ", afterPenalty.leftRatio
afterPenalty.right = not afterPenalty.right
# Reset counters
afterPenalty.cornerOn = 0
afterPenalty.cornerFrames = 0
foundCorner = False
for i in range(0, vis.corner_size()):
corner = vis.corner(i)
# We do NOT want to use T corners
if corner.id != 2:
foundCorner = True
# Only count if we're looking right/left. Don't want to count goalbox corners
if player.brain.tracker.isStopped():
if foundCorner:
afterPenalty.cornerOn += 1
afterPenalty.cornerFrames += 1
# Only decide we're good to go if we saw corner in > 2/3 of frames
if afterPenalty.stateCount > 140:
if max(afterPenalty.rightRatio, afterPenalty.leftRatio) > .3:
afterPenalty.decidedSide = True
afterPenalty.right = afterPenalty.rightRatio > afterPenalty.leftRatio
if afterPenalty.right:
player.brain.tracker.lookToAngle(-1 * angle)
else:
player.brain.tracker.lookToAngle(angle)
if afterPenalty.decidedSide or afterPenalty.stateCount > 300:
player.brain.resetLocalizationFromPenalty(afterPenalty.right)
if DEBUG_PENALTY_STATES:
print "We've decided that the goal's to our right? " + str(
afterPenalty.right)
player.brain.tracker.repeatWidePan()
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
def afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
# Hackity Hackity Hack. Determine if we've been manually positioned or are actually coming out of penalty
if player.brain.penalizedHack:
closeRatio = player.brain.penalizedEdgeClose / float(player.brain.penalizedCount)
print "Close ratio is: ", closeRatio
if closeRatio < .5:
player.brain.resetLocToCross()
return player.goLater(player.gameState)
afterPenalty.right = True
afterPenalty.decidedSide = False
player.brain.tracker.lookToAngle(-1 * angle)
# state specific counters
afterPenalty.rightDiff = 0
afterPenalty.leftDiff = 0
afterPenalty.cornerCOn = 0
afterPenalty.cornerTOn = 0
afterPenalty.leftHorizSum = 0
afterPenalty.rightHorizSum = 0
afterPenalty.stateCount = 0
afterPenalty.stateCount += 1
vis = player.brain.vision
# Alternate between looking right and left
if afterPenalty.stateCount % 70 == 0:
if afterPenalty.right:
afterPenalty.rightDiff += afterPenalty.cornerCOn - afterPenalty.cornerTOn
if DEBUG_PENALTY_STATES:
print "After Penalty right Diff: ", afterPenalty.rightDiff, " cOn: ", afterPenalty.cornerCOn, " tOn: ", afterPenalty.cornerTOn
print "Right sum: ", afterPenalty.rightHorizSum
#print " right close: ", player.brain
player.brain.tracker.lookToAngle(angle)
else:
player.brain.tracker.lookToAngle(-1* angle)
afterPenalty.leftDiff += afterPenalty.cornerCOn - afterPenalty.cornerTOn
if DEBUG_PENALTY_STATES:
print "After Penalty left Diff: ", afterPenalty.leftDiff, " cOn: ", afterPenalty.cornerCOn, " tOn: ", afterPenalty.cornerTOn
print "Left sum: ", afterPenalty.leftHorizSum
afterPenalty.right = not afterPenalty.right
# Reset counters
afterPenalty.cornerCOn = 0
afterPenalty.cornerTOn = 0
foundCorner = False
# Only count if we're looking right/left. Don't want to count anything while panning
if player.brain.tracker.isStopped():
if afterPenalty.right:
afterPenalty.rightHorizSum += player.brain.vision.horizon_dist
else:
afterPenalty.leftHorizSum += player.brain.vision.horizon_dist
for i in range(0, vis.corner_size()):
corner = vis.corner(i)
if corner.id == 2:
afterPenalty.cornerTOn += 1
else:
afterPenalty.cornerCOn += 1
# China hack 2015. Please make this better. Fairly arbitrary thresholds.
# The idea is if we're flip-flopping between T and C classifications we
# have bigger vision problems going on.
if afterPenalty.stateCount > 140:
if afterPenalty.rightDiff > 5 and afterPenalty.leftDiff <= 0:
afterPenalty.decidedSide = True
afterPenalty.right = True
elif afterPenalty.rightDiff < -5 and afterPenalty.leftDiff >= 0:
afterPenalty.decidedSide = True
afterPenalty.right = False
elif afterPenalty.leftDiff > 5 and afterPenalty.rightDiff <= 0:
afterPenalty.decidedSide = True
afterPenalty.right = False
elif afterPenalty.leftDiff < -5 and afterPenalty.rightDiff >= 0:
afterPenalty.decidedSide = True
afterPenalty.right = True
if afterPenalty.decidedSide or afterPenalty.stateCount > 300:
if afterPenalty.decidedSide:
player.brain.resetLocalizationFromPenalty(afterPenalty.right)
else:
# This is a backup. We would prefer to use corners to determine our side as fieldedge could be noisy
print "Corners didn't work! defaulting to horizonDist"
player.brain.resetLocalizationFromPenalty(afterPenalty.rightHorizSum < afterPenalty.leftHorizSum)
if DEBUG_PENALTY_STATES:
print "We've decided! ", afterPenalty.right, " LeftDiff: ", afterPenalty.leftDiff, \
" Right Diff: ", afterPenalty.rightDiff, " StateCount: ", afterPenalty.stateCount
print "RSUM: ", afterPenalty.rightHorizSum, " LSUM: ", afterPenalty.leftHorizSum
player.brain.tracker.repeatWidePan()
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
def afterPenalty(player):
if player.firstFrame():
if DEBUG_PENALTY_STATES:
print "Entering the 'afterPenalty' state."
# pan for the ball
player.brain.tracker.repeatWidePan()
# reset state specific counters
player.corner_l_sightings = 0
player.goal_t_sightings = 0
player.center_sightings = 0
player.post_l_sightings = 0
player.post_r_sightings = 0
player.goal_right = 0
player.reset_loc = 0
vision = player.brain.interface.visionField
# Do we see a corner?
for i in range(0, vision.visual_corner_size()):
corner = vision.visual_corner(i)
for j in range(0, corner.poss_id_size()):
poss_id = corner.poss_id(j)
if (poss_id == corner.corner_id.L_INNER_CORNER or
poss_id == corner.corner_id.L_OUTER_CORNER):
# Saw an L-corner!
if DEBUG_PENALTY_STATES:
print "Saw an L-corner!"
player.corner_l_sightings += copysign(1, corner.visual_detection.bearing)
if (poss_id == corner.corner_id.BLUE_GOAL_T or
poss_id == corner.corner_id.YELLOW_GOAL_T):
# Saw a goal T-corner!
if DEBUG_PENALTY_STATES:
print "Saw a goal T-corner!"
player.goal_t_sightings += copysign(1, corner.visual_detection.bearing)
if (poss_id == corner.corner_id.CENTER_CIRCLE or
poss_id == corner.corner_id.CENTER_T):
# Saw a center corner (+ or T)
if DEBUG_PENALTY_STATES:
print "Saw a center corner!"
player.center_sightings += copysign(1, corner.visual_detection.bearing)
# Do we see a goalpost?
if vision.goal_post_l.visual_detection.on:
# Saw a goalpost! (adjust for which goalpost)
if DEBUG_PENALTY_STATES:
print "Saw an l-post!"
if not vision.goal_post_l.visual_detection.bearing == 0:
player.post_l_sightings += (copysign(1, vision.goal_post_l.visual_detection.bearing) *
copysign(1, 700 - vision.goal_post_l.visual_detection.distance))
if vision.goal_post_r.visual_detection.on:
# Saw a goalpost! (adjust for which goalpost)
if DEBUG_PENALTY_STATES:
print "Saw an r-post!"
if not vision.goal_post_r.visual_detection.bearing == 0:
player.post_r_sightings += (copysign(1, vision.goal_post_r.visual_detection.bearing) *
copysign(1, 700 - vision.goal_post_r.visual_detection.distance))
# If we've seen any landmark enough, reset localization.
if fabs(player.corner_l_sightings) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw enough l-corners!"
player.reset_loc = copysign(1, player.corner_l_sightings)
if fabs(player.goal_t_sightings) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw enough goal t-corners!"
player.reset_loc = copysign(1, player.goal_t_sightings)
if fabs(player.center_sightings) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw enough center corners!"
player.reset_loc = copysign(1, player.center_sightings) * -1
if fabs(player.post_l_sightings) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw enough l-posts!"
player.reset_loc = copysign(1, player.post_l_sightings)
if fabs(player.post_r_sightings) > OBJ_SEEN_THRESH:
if DEBUG_PENALTY_STATES:
print "Saw enough r-posts!"
player.reset_loc = copysign(1, player.post_r_sightings)
# Send the reset loc command.
if player.reset_loc != 0:
if DEBUG_PENALTY_STATES:
print "Sufficient sightings. reset_loc value is: " + str(player.reset_loc)
player.goal_right += player.reset_loc
player.corner_l_sightings = 0
player.goal_t_sightings = 0
player.center_sightings = 0
player.post_l_sightings = 0
player.post_r_sightings = 0
player.reset_loc = 0
if fabs(player.goal_right) > 5 or player.stateTime > 15:
if DEBUG_PENALTY_STATES:
print "Consensus reached! Resetting loc. Is the goal to our right? " + str(player.goal_right < 0)
# Yes, when goal_right is less than 0, our goal is to our right.
# It seems counter intuitive, but that's how it works. -Josh Z
player.brain.resetLocalizationFromPenalty(player.goal_right < 0)
if not roleConstants.isGoalie(player.role):
return player.goNow('walkOut')
return player.goLater(player.gameState)
return player.stay()
