def determineChaseTime(self):
"""
Attempt to define a time in seconds to get to the ball.
Can give penalties in certain situations.
@ return: returns a time in seconds with penalties.
Note: Don't give bonuses. It can result in negative chase times
which can screw up the math later on. --Wils (06/25/11)
"""
ballLocation = Location(self.brain.ball.x, self.brain.ball.y)
headingBallToGoal = ballLocation.headingTo(OPP_GOAL)
relLocToBall = RelRobotLocation(self.brain.ball.rel_x,
self.brain.ball.rel_y,
headingBallToGoal)
time = self.determineTimeToDest(relLocToBall)
# Give a penalty for not seeing the ball if we aren't in a kickingState
if (self.brain.ball.vis.frames_off > 45 and # TODO: unify this constant with shouldFindBall
not self.brain.player.inKickingState):
time += BALL_OFF_PENALTY
if DEBUG_DETERMINE_DEST_TIME:
print "\tChase time after ball on bonus " + str(time)
return time
def pLeftDeepBack(team, workingPlay):
"""position deep right back"""
workingPlay.setSubRole(PBConstants.LEFT_DEEP_BACK)
dest = Location(PBConstants.DEEP_BACK_X, PBConstants.LEFT_DEEP_BACK_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.DEEP_BACK_X, PBConstants.LEFT_DEEP_BACK_Y, h)
workingPlay.setPosition(pos)
def pRightDeepBack(team, workingPlay):
"""position deep left back"""
workingPlay.setSubRole(PBConstants.RIGHT_DEEP_BACK)
dest = Location(PBConstants.DEEP_BACK_X,
PBConstants.RIGHT_DEEP_BACK_Y)
h = dest.headingTo(Location(team.brain.ball.x, team.brain.ball.y))
pos = (PBConstants.DEEP_BACK_X, PBConstants.RIGHT_DEEP_BACK_Y,h)
workingPlay.setPosition(pos)
def pLeftDeepBack(team, workingPlay):
"""position deep right back"""
workingPlay.setSubRole(PBConstants.LEFT_DEEP_BACK)
dest = Location(PBConstants.DEEP_BACK_X,
PBConstants.LEFT_DEEP_BACK_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.DEEP_BACK_X, PBConstants.LEFT_DEEP_BACK_Y,h)
workingPlay.setPosition(pos)
def pOffensiveMiddie(team, workingPlay):
workingPlay.setSubRole(PBConstants.OFFENSIVE_MIDDIE)
y = MyMath.clip(team.brain.ball.loc.y, PBConstants.MIN_MIDDIE_Y, PBConstants.MAX_MIDDIE_Y)
dest = Location(PBConstants.OFFENSIVE_MIDDIE_X, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.OFFENSIVE_MIDDIE_X, y, h)
workingPlay.setPosition(pos)
def pDubDMiddie(team, workingPlay):
"""middie for when in dubD"""
workingPlay.setSubRole(PBConstants.DUB_D_MIDDIE)
y = MyMath.clip(team.brain.ball.loc.y, PBConstants.MIN_MIDDIE_Y, PBConstants.MAX_MIDDIE_Y)
x = PBConstants.OFFENSIVE_MIDDIE_X
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pPicker(team, workingPlay):
"""position picker"""
workingPlay.setSubRole(PBConstants.PICKER)
x = PBConstants.PICKER_X
y = PBConstants.PICKER_Y
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x,y,h)
workingPlay.setPosition(pos)
def pOffensiveMiddie(team, workingPlay):
workingPlay.setSubRole(PBConstants.OFFENSIVE_MIDDIE)
y = MyMath.clip(team.brain.ball.loc.y,
PBConstants.MIN_MIDDIE_Y,
PBConstants.MAX_MIDDIE_Y)
dest = Location(PBConstants.OFFENSIVE_MIDDIE_X, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.OFFENSIVE_MIDDIE_X, y, h)
workingPlay.setPosition(pos)
def pStopper(team, workingPlay):
"""position stopper"""
workingPlay.setSubRole(PBConstants.STOPPER)
x = PBConstants.STOPPER_X
y = MyMath.clip(team.brain.ball.loc.y, PBConstants.MIN_STOPPER_Y, PBConstants.MAX_STOPPER_Y)
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pGoalieSave(team, workingPlay):
""" goalie saving """
workingPlay.setSubRole(PBConstants.GOALIE_SAVE)
dest = Location(PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
if PBConstants.USE_FANCY_GOALIE:
pos = team.fancyGoaliePosition()
workingPlay.setPosition(pos)
def pGoalieCenter(team, workingPlay):
"""normal goalie position in the center of the goal"""
workingPlay.setSubRole(PBConstants.GOALIE_CENTER)
dest = Location(PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
if PBConstants.USE_FANCY_GOALIE:
pos = team.fancyGoaliePosition()
workingPlay.setPosition(pos)
def pCenterBack(team, workingPlay):
"""position center back"""
workingPlay.setSubRole(PBConstants.CENTER_BACK)
x, y = team.getPointBetweenBallAndGoal(team.brain.ball, PBConstants.DEFENDER_BALL_DIST)
x = MyMath.clip(x, PBConstants.SWEEPER_X, PBConstants.STOPPER_X)
y = MyMath.clip(y, PBConstants.MIN_CENTER_BACK_Y, PBConstants.MAX_CENTER_BACK_Y)
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pSweeper(team, workingPlay):
"""position sweeper"""
workingPlay.setSubRole(PBConstants.SWEEPER)
x = PBConstants.SWEEPER_X
y = PBConstants.SWEEPER_Y
y += PBConstants.SWEEPER_Y_OFFSET * MyMath.sign(team.brain.ball.loc.y - NogginConstants.CENTER_FIELD_Y)
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def strategize(self, play):
"""
creates a play, picks the strategy to run, returns the play after
it is modified by Strategies
"""
currentGCState = self.brain.player.gameState
# We don't control anything in initial or finished
if (currentGCState == 'gameInitial' or
currentGCState == 'gameFinished'):
play.setRole(PBConstants.INIT_ROLE)
self.lastBallX = -1
self.lastBallY = -1
return
# Have a separate strategy to easily deal with being penalized
elif not self.me.active:
play.setRole(PBConstants.PENALTY_ROLE)
self.lastBallX = -1
self.lastBallY = -1
return
# Special case for the goalie
if (self.me.isDefaultGoalie()):
# Make sure the goalie's role is set
play.setRole(PBConstants.GOALIE)
dest = Location(PBConstants.GOALIE_HOME_X,
PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(Location(self.brain.ball.x, self.brain.ball.y))
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
play.setPosition(pos)
return
# Have a separate ready section to make things simpler
if (currentGCState == 'gameReady' or currentGCState =='gameSet'):
if (currentGCState == 'gameReady'):
self.lastBallX = -1
self.lastBallY = -1
self.readyPosition(play)
return
# Update the current grid square that the ball is.
self.ballUpdate()
test = False
# Check test cases
if (PBConstants.TEST_DEFENDER or PBConstants.TEST_OFFENDER
or PBConstants.TEST_MIDDIE or PBConstants.TEST_CHASER):
test = True
# Use the playbook table to determine position.
self.priorityPositions(
self.tableLookup(self.lastBallX, self.lastBallY, test) , play)
def strategize(self, play):
"""
creates a play, picks the strategy to run, returns the play after
it is modified by Strategies
"""
currentGCState = self.brain.player.gameState
# We don't control anything in initial or finished
if (currentGCState == 'gameInitial' or
currentGCState == 'gameFinished'):
play.setRole(PBConstants.INIT_ROLE)
self.lastBallX = -1
self.lastBallY = -1
return
# Have a separate strategy to easily deal with being penalized
elif not self.me.active:
play.setRole(PBConstants.PENALTY_ROLE)
self.lastBallX = -1
self.lastBallY = -1
return
# Special case for the goalie
if (self.me.isDefaultGoalie()):
# Make sure the goalie's role is set
play.setRole(PBConstants.GOALIE)
dest = Location(PBConstants.GOALIE_HOME_X,
PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(Location(self.brain.ball.x, self.brain.ball.y))
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
play.setPosition(pos)
return
# Have a separate ready section to make things simpler
if (currentGCState == 'gameReady' or currentGCState =='gameSet'):
if (currentGCState == 'gameReady'):
self.lastBallX = -1
self.lastBallY = -1
self.readyPosition(play)
return
# Update the current grid square that the ball is.
self.ballUpdate()
test = False
# Check test cases
if (PBConstants.TEST_DEFENDER or PBConstants.TEST_OFFENDER
or PBConstants.TEST_MIDDIE or PBConstants.TEST_CHASER):
test = True
# Use the playbook table to determine position.
self.priorityPositions(
self.tableLookup(self.lastBallX, self.lastBallY, test) , play)
def pRightWing(team, workingPlay):
"""position right winger"""
workingPlay.setSubRole(PBConstants.RIGHT_WING)
midpoint = (PBConstants.WING_MAX_X - PBConstants.WING_MIN_X) * 0.5
scale = (PBConstants.WING_MAX_X - midpoint) / (PBConstants.PICKER_X_THRESH - midpoint)
x = -1 * scale * (team.brain.ball.loc.x - midpoint)
y = PBConstants.RIGHT_WING_Y
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pGoalieChaser(team, workingPlay):
"""goalie is being a chaser, presumably in/near goalbox not intended for
pulling the goalie situations"""
workingPlay.setSubRole(PBConstants.GOALIE_CHASER)
dest = Location(PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
if PBConstants.USE_FANCY_GOALIE:
pos = team.fancyGoaliePosition()
workingPlay.setPosition(pos)
def pStopper(team, workingPlay):
"""position stopper"""
workingPlay.setSubRole(PBConstants.STOPPER)
x = PBConstants.STOPPER_X
y = MyMath.clip(team.brain.ball.loc.y,
PBConstants.MIN_STOPPER_Y,
PBConstants.MAX_STOPPER_Y)
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pDubDMiddie(team, workingPlay):
"""middie for when in dubD"""
workingPlay.setSubRole(PBConstants.DUB_D_MIDDIE)
y = MyMath.clip(team.brain.ball.loc.y,
PBConstants.MIN_MIDDIE_Y,
PBConstants.MAX_MIDDIE_Y)
x = PBConstants.OFFENSIVE_MIDDIE_X
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pSweeper(team, workingPlay):
"""position sweeper"""
workingPlay.setSubRole(PBConstants.SWEEPER)
x = PBConstants.SWEEPER_X
y = PBConstants.SWEEPER_Y
y += PBConstants.SWEEPER_Y_OFFSET * \
MyMath.sign(team.brain.ball.loc.y-NogginConstants.CENTER_FIELD_Y)
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pGoalieSave(team, workingPlay):
""" goalie saving """
workingPlay.setSubRole(PBConstants.GOALIE_SAVE)
dest = Location(PBConstants.GOALIE_HOME_X,
PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
if PBConstants.USE_FANCY_GOALIE:
pos = team.fancyGoaliePosition()
workingPlay.setPosition(pos)
def pGoalieCenter(team, workingPlay):
"""normal goalie position in the center of the goal"""
workingPlay.setSubRole(PBConstants.GOALIE_CENTER)
dest = Location(PBConstants.GOALIE_HOME_X,
PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
if PBConstants.USE_FANCY_GOALIE:
pos = team.fancyGoaliePosition()
workingPlay.setPosition(pos)
def pLeftWing(team, workingPlay):
"""position left winger"""
workingPlay.setSubRole(PBConstants.LEFT_WING)
midpoint = (PBConstants.WING_MAX_X - PBConstants.WING_MIN_X)*.5
scale = (PBConstants.WING_MAX_X - midpoint)/(PBConstants.PICKER_X_THRESH -
midpoint)
x = -1*scale*(team.brain.ball.x - midpoint)
y = PBConstants.LEFT_WING_Y
dest = Location(x, y)
h = dest.headingTo(Location(team.brain.ball.x, team.brain.ball.y))
pos = (x,y,h)
workingPlay.setPosition(pos)
def pGoalieChaser(team, workingPlay):
"""goalie is being a chaser, presumably in/near goalbox not intended for
pulling the goalie situations"""
workingPlay.setSubRole(PBConstants.GOALIE_CHASER)
dest = Location(PBConstants.GOALIE_HOME_X,
PBConstants.GOALIE_HOME_Y)
h = dest.headingTo(team.brain.ball.loc)
pos = (PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y, h)
if PBConstants.USE_FANCY_GOALIE:
pos = team.fancyGoaliePosition()
workingPlay.setPosition(pos)
def pForward(team, workingPlay):
"""position forward"""
workingPlay.setSubRole(PBConstants.FORWARD)
x = PBConstants.FORWARD_X
if team.brain.ball.loc.y < NogginConstants.CENTER_FIELD_Y:
y = PBConstants.LEFT_FORWARD_Y
else:
y = PBConstants.RIGHT_FORWARD_Y
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pStriker(team, workingPlay):
"""position striker"""
workingPlay.setSubRole(PBConstants.STRIKER)
x = PBConstants.STRIKER_X
if team.brain.ball.loc.y < NogginConstants.CENTER_FIELD_Y:
y = PBConstants.LEFT_STRIKER_Y
else:
y = PBConstants.RIGHT_STRIKER_Y
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pRightWing(team, workingPlay):
"""position right winger"""
workingPlay.setSubRole(PBConstants.RIGHT_WING)
midpoint = (PBConstants.WING_MAX_X - PBConstants.WING_MIN_X)*.5
scale = (PBConstants.WING_MAX_X - midpoint)/(PBConstants.PICKER_X_THRESH -
midpoint)
x = -1*scale*(team.brain.ball.loc.x - midpoint)
y = PBConstants.RIGHT_WING_Y
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pKickoffStriker(team, workingPlay):
"""position kickoff striker"""
workingPlay.setSubRole(PBConstants.KICKOFF_STRIKER)
x = PBConstants.KICKOFF_OFFENDER_X
if team.kickoffFormation == 0:
y = PBConstants.KICKOFF_OFFENDER_0_Y
else:
y = PBConstants.KICKOFF_OFFENDER_1_Y
# We want to face the center (where the ball is, from our location)
dest = Location(x,y)
h = dest.headingTo(PBConstants.CENTER_FIELD)
pos = (x,y,h)
workingPlay.setPosition(pos)
def pCenterBack(team, workingPlay):
"""position center back"""
workingPlay.setSubRole(PBConstants.CENTER_BACK)
x,y = team.getPointBetweenBallAndGoal(team.brain.ball,
PBConstants.DEFENDER_BALL_DIST)
x = MyMath.clip(x,
PBConstants.SWEEPER_X,
PBConstants.STOPPER_X)
y = MyMath.clip(y,
PBConstants.MIN_CENTER_BACK_Y,
PBConstants.MAX_CENTER_BACK_Y)
dest = Location(x, y)
h = dest.headingTo(team.brain.ball.loc)
pos = (x, y, h)
workingPlay.setPosition(pos)
def pReadyChaser(team, workingPlay):
workingPlay.setSubRole(PBConstants.READY_CHASER)
kickOff = team.brain.gameController.ownKickOff
if kickOff:
x = PBConstants.READY_KICKOFF_CHASER_X
y = PBConstants.READY_KICKOFF_CHASER_Y
else:
x = PBConstants.READY_NON_KICKOFF_CHASER_X
if team.kickoffFormation == 0:
y = PBConstants.READY_NON_KICKOFF_CHASER_0_Y
else:
y = PBConstants.READY_NON_KICKOFF_CHASER_1_Y
dest = Location(x, y)
h = dest.headingTo(PBConstants.CENTER_FIELD)
pos = (x,y,h)
workingPlay.setPosition(pos)
def determineChaseTime(self):
"""
Attempt to define a time in seconds to get to the ball.
Can give penalties in certain situations.
@ return: returns a time in seconds with penalties.
Note: Don't give bonuses. It can result in negative chase times
which can screw up the math later on. --Wils (06/25/11)
"""
ballLocation = Location(self.brain.ball.x, self.brain.ball.y)
headingBallToGoal = ballLocation.headingTo(OPP_GOAL)
relLocToBall = RelRobotLocation(self.brain.ball.rel_x,
self.brain.ball.rel_y,
headingBallToGoal)
time = self.determineTimeToDest(relLocToBall)
# Give a penalty for not seeing the ball if we aren't in a kickingState
if (self.brain.ball.vis.frames_off > 45
and # TODO: unify this constant with shouldFindBall
not self.brain.player.inKickingState):
time += BALL_OFF_PENALTY
if DEBUG_DETERMINE_DEST_TIME:
print "\tChase time after ball on bonus " + str(time)
# HACK RoboCup 2013
if PBConstants.HACK_D1 or PBConstants.HACK_D2:
if self.brain.ball.x > PBConstants.DEFENDER_BOX_LIMIT_X:
time += 15000
if PBConstants.HACK_O:
if self.brain.ball.distance > PBConstants.OFFENDER_DISTANCE_LIMIT:
time += 15000
return time
def orbitBall(player):
"""
State to orbit the ball
"""
if player.firstFrame():
if hackKick.DEBUG_KICK_DECISION:
print "Orbiting at angle: ", player.kick.h
if player.kick.h == 0:
return player.goNow("positionForKick")
elif player.kick.h < 0:
# set y vel at 50% speed
print "Turn to left, move right"
player.brain.nav.walk(0, -0.7, 0.25)
elif player.kick.h > 0:
# set y vel at 50% speed in opposite direction
print "Turn to right, move left"
player.brain.nav.walk(0, 0.7, -0.25)
elif player.brain.nav.isStopped():
player.shouldOrbit = False
player.kick.h = 0
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
return player.goNow("positionForKick")
# all of this is basically the same as in shoot() in hackKickInformation
goalCenter = Location(nogginConstants.FIELD_WHITE_RIGHT_SIDELINE_X, nogginConstants.CENTER_FIELD_Y)
ballLocation = Location(player.brain.ball.x, player.brain.ball.y)
headingBallToGoalCenter = ballLocation.headingTo(goalCenter)
bearingForKick = headingBallToGoalCenter - player.brain.loc.h
# the kick was chosen before we came into orbitBall()
if player.kick.isStraightKick():
orbitBall.desiredHeading = 0 - bearingForKick
elif player.kick == kicks.RIGHT_SIDE_KICK:
orbitBall.desiredHeading = 70 - bearingForKick
elif player.kick == kicks.LEFT_SIDE_KICK:
orbitBall.desiredHeading = -70 - bearingForKick
elif player.kick.isBackKick():
if bearingForKick < -125:
orbitBall.desiredHeading = -180 - bearingForKick
else:
orbitBall.desiredHeading = 180 - bearingForKick
# #debugging
# if player.counter%20 == 0:
# print "desiredHeading is: | ", orbitBall.desiredHeading
# print "ball to goal center:| ", headingBallToGoalCenter
# print "player heading: | ", player.brain.loc.h
# print "bearing for kick: | ", bearingForKick
# print "walk is: | (",player.brain.nav.getXSpeed(),",",player.brain.nav.getYSpeed(),",",player.brain.nav.getHSpeed(),")"
# print "=====================++++++++++"
# our in-house heading checker is of the opinion that we're pointed in the right direction
if orbitBall.desiredHeading > -10 and orbitBall.desiredHeading < 10:
player.stopWalking()
print "Done orbiting, going to positionForKick"
player.shouldOrbit = False
player.kick.h = 0
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
return player.goNow("positionForKick")
if player.stateTime > 8:
print "In state orbitBall for too long, switching to chase"
player.shouldOrbit = False
player.stopWalking()
player.inKickingState = False
return player.goLater("chase")
# These next three if statements might need some fine tuning
# ATM that doesn't appear to be the case
if constants.ORBIT_BALL_DISTANCE < player.brain.ball.distance - 7:
# We're too far away
player.brain.nav.setXSpeed(0.15)
if constants.ORBIT_BALL_DISTANCE > player.brain.ball.distance + 1:
# We're too close
player.brain.nav.setXSpeed(-0.15)
if (
constants.ORBIT_BALL_DISTANCE > player.brain.ball.distance - 1
and constants.ORBIT_BALL_DISTANCE < player.brain.ball.distance + 1
):
# print "We're at a good distance"
player.brain.nav.setXSpeed(0)
if transitions.shouldFindBallKick(player) or transitions.shouldCancelOrbit(player):
player.inKickingState = False
return player.goLater("chase")
if player.kick.h > 0: # Orbiting clockwise
if player.brain.ball.rel_y > 2:
player.brain.nav.setHSpeed(0)
# print "turn clockwise SLOWER"
elif player.brain.ball.rel_y < 2:
player.brain.nav.setHSpeed(-0.35)
# print "turn clockwise FASTER"
else:
player.brain.nav.setHSpeed(-0.25)
# print "turn clockwise NORMAL"
else: # Orbiting counter-clockwise
if player.brain.ball.rel_y > 2:
player.brain.nav.setHSpeed(0.35)
# print "turn counterclockwise FASTER"
elif player.brain.ball.rel_y < 2:
player.brain.nav.setHSpeed(0)
# print "turn counterclockwise SLOWER"
else:
player.brain.nav.setHSpeed(0.25)
# print "turn clockwise NORMAL"
return player.stay()
