def calculate_properties(self, *args):
if self.visible:
ball_position = args[0]
BaseRobot.calculate_properties(self, ball_position)
if self.desired_position is not None:
self.direction["desired_position"] = Util.get_direction(self.position, self.desired_position)
if self.enemy1.visible:
self.direction["enemy1"] = Util.get_direction(self.position, self.enemy1.position)
if self.enemy2.visible:
self.direction["enemy2"] = Util.get_direction(self.position, self.enemy2.position)
if self.enemy1.visible and self.enemy2.visible:
self.intercept_line = [self.enemy1.position, self.enemy2.position]
if self.facing_attacking_goal:
if self.enemy1.visible and self.enemy2.visible and self.ally.visible:
list_of_robots = [self.ally, self.enemy1, self.enemy2]
self.can_score = Util.can_score(self.attacking_goal, self, list_of_robots)
else:
return True
else:
self.can_score = False
self.direction['attacking goal'] = Util.get_direction(self.position,
Util.get_midpoint(self.attacking_goal_line))
def calculate_properties(self, *args):
if self.visible:
ball_position = args[0]
BaseRobot.calculate_properties(self, ball_position)
if self.desired_position is not None:
self.direction["desired_position"] = Util.get_direction(self.position, self.desired_position)
if self.enemy1.visible:
self.direction["enemy1"] = Util.get_direction(self.position, self.enemy1.position)
if self.enemy2.visible:
self.direction["enemy2"] = Util.get_direction(self.position, self.enemy2.position)
if self.enemy1.visible and self.enemy2.visible:
self.intercept_line = [self.enemy1.position, self.enemy2.position]
def has_ball_moved(self, old_ball_position):
# check to see if the current ball position is sufficiently far enough away from the old_ball_position
distance = Util.get_direction(self.ball_position, old_ball_position)['distance']
if distance >= 5:
return True
else:
return False
def set_desired_position(self, desired_position):
self.desired_position = desired_position
try:
if Util.point_in_defense_zone(self.zones, self.desired_position, self.attacking_goal) or (
Util.point_in_defense_zone(self.zones, self.desired_position, self.defending_goal)
and Util.point_in_defense_zone(self.zones, self.ally.position, self.defending_goal)
):
# print("[PLANNER GROUP 9] desired position in a naughty place, retreating to centre")
self.desired_position = self.centre
except:
pass
self.direction["desired position"] = Util.get_direction(self.position, self.desired_position)
def subtask_complete(self, subtask):
if subtask == "turn to ally":
angle_to_ally = Util.get_turn_angle(self.robot.heading, self.robot.direction["ally"]["angle"])
return self.robot.within_tolerance_angle(angle_to_ally)
elif subtask == "move to receive pass":
# if self.robot.desired_position == self.receive_point:
angle_to_ally = Util.get_turn_angle(self.robot.heading, self.robot.direction["ally"]["angle"])
distance_to_centre = Util.get_direction(self.robot.position, self.robot.centre)["distance"]
return self.robot.within_tolerance_angle(angle_to_ally) and distance_to_centre <= 200
# else:
# return False
elif subtask == "has ball":
return self.has_ball
elif subtask == "kicked":
return self.kicked
def subtask_complete(self, subtask):
"""
Returns True if subtask is completed successfully
"""
if subtask == "turn to ally":
angle_to_ally = Util.get_turn_angle(self.robot.heading, self.robot.direction["ally"]['angle'])
return self.robot.tolerance_angle("ally")
elif subtask == "move to receive pass":
# if self.robot.desired_position == self.receive_point:
angle_to_ally = Util.get_turn_angle(self.robot.heading, self.robot.direction["ally"]['angle'])
distance_to_centre = Util.get_direction(self.robot.position, self.robot.centre)['distance']
return self.robot.tolerance_angle("ally") and distance_to_centre <= self.robot.TOLERANCE_DISTANCE
elif subtask == "has ball":
return self.has_ball
elif subtask == "kicked":
return self.kicked
def set_desired_position(self, desired_position):
self.desired_position = desired_position
self.direction['desired position'] = Util.get_direction(self.position,
self.desired_position)
