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 execution_step(self, subtask):
self.subtask_started = self.subtask != subtask
self.subtask = subtask
try:
self.has_ball = self.world_state.who_has_ball().role == "group09"
except AttributeError:
self.has_ball = False
timestamp = time()
heading = self.robot.heading
position = self.robot.position
defending_goal_midpoint = Util.get_midpoint(self.robot.defending_goal_line)
self.go_to_desired_position = False
if timestamp - self.timestamps["kicked"] >= 1:
self.kicked = False
if not self.grabbed and timestamp - self.timestamps["ungrabbed"] >= 5:
self.grab_force()
try:
naughty = Util.point_in_defense_zone(self.robot.zones, self.robot.position, self.robot.attacking_goal) or (
Util.point_in_defense_zone(self.robot.zones, self.robot.position, self.robot.defending_goal)
and Util.point_in_defense_zone(self.robot.zones, self.robot.ally.position, self.robot.defending_goal)
)
except:
naughty = False
if naughty:
self.robot.set_desired_position(self.robot.centre)
self.go_to_desired_position = True
# always grab the ball if possible, no matter what the subtask is
elif self.robot.ball_in_range and not self.has_ball and not self.grabbed:
self.grab()
self.halt()
# don't bash into walls
elif self.collision is not None:
if self.collision == "forward":
self.moving = True
self.com.move_backward(50) # TODO - calibrate
elif self.collision == "left":
self.moving = True
self.com.turn_clockwise(50) # TODO - calibrate
elif self.collision == "right":
self.moving = True
self.com.turn_anticlockwise(50) # TODO - calibrate
self.collision = None
# turn towards the ball, then ungrab and move towards it, grabbing and halting when it is within range
elif self.subtask == "acquire ball":
try:
naughty = Util.point_in_defense_zone(
self.robot.zones, self.world_state.ball_position, self.robot.attacking_goal
) or (
Util.point_in_defense_zone(
self.robot.zones, self.world_state.ball_position, self.robot.defending_goal
)
and Util.point_in_defense_zone(
self.robot.zones, self.robot.ally.position, self.robot.defending_goal
)
)
except:
naughty = False
if naughty:
self.robot.set_desired_position(self.robot.centre)
self.go_to_desired_position = True
# print("[PLANNER GROUP 9] ball in a naughty place, retreating to centre")
else:
angle_to_ball = Util.get_turn_angle(heading, self.robot.direction["ball"]["angle"])
if self.robot.ball_in_left or self.robot.ball_in_right:
self.grab()
self.move(-50, position) # TODO - calibrate
elif self.robot.ball_in_bottom:
self.grab()
self.move(50, position) # TODO - calibrate
elif not self.robot.within_tolerance_grab_angle(angle_to_ball):
self.grab()
self.turn(angle_to_ball, heading)
else:
distance_to_ball = self.robot.direction["ball"]["distance"]
if self.grabbed and self.robot.ball_in_range:
self.move(-50, position) # TODO - calibrate
elif not self.robot.ball_in_range:
self.ungrab()
self.move(distance_to_ball, position)
elif self.subtask == "penalty shoot":
if self.has_ball:
if self.subtask_started or self.bearing is None:
if self.robot.defending_goal == "left":
self.bearing = round(uniform(5, 15))
if choice(["left", "right"]) == "left":
self.bearing = -self.bearing
else:
self.bearing = round(uniform(175, 165))
if choice(["left", "right"]) == "left":
self.bearing = -self.bearing
angle_to_bearing = Util.get_turn_angle(heading, self.bearing)
if not self.robot.within_tolerance_angle(angle_to_bearing):
self.turn(angle_to_bearing, heading)
else:
self.kick_power(100)
elif self.subtask == "defend penalty":
# our robot cannot implement this subtask
pass
elif self.subtask == "kick off":
if self.has_ball:
if self.subtask_started or self.bearing is None:
if self.robot.defending_goal == "left":
self.bearing = round(uniform(23, 67))
if choice(["left", "right"]) == "left":
self.bearing = -self.bearing
else:
self.bearing = round(uniform(113, 157))
if choice(["left", "right"]) == "left":
self.bearing = -self.bearing
angle_to_bearing = Util.get_turn_angle(heading, self.bearing)
if not self.robot.within_tolerance_angle(angle_to_bearing):
self.turn(angle_to_bearing, heading)
else:
self.kick_power(100)
# turn our robot to face our ally
elif self.subtask == "turn to ally":
angle_to_ally = Util.get_turn_angle(heading, self.robot.direction["ally"]["angle"])
if not self.robot.within_tolerance_angle(angle_to_ally):
self.turn(angle_to_ally, heading)
elif self.subtask == "pass" and self.has_ball:
self.kick_distance(self.robot.direction["ally"]["distance"])
elif self.subtask == "panic shoot" or self.subtask == "shoot":
if self.has_ball:
if self.robot.facing_attacking_goal:
self.kick_power(100)
else:
angle_to_goal = Util.get_turn_angle(heading, self.robot.direction["attacking goal"]["angle"])
self.turn(angle_to_goal, heading)
elif (
self.subtask == "move to receive pass"
or self.subtask == "intercept shot"
or self.subtask == "intercept pass"
or self.subtask == "align with ball"
or self.subtask == "defend goal from ball"
or self.subtask == "defend enemy shot"
):
if self.subtask == "move to receive pass":
# if self.subtask_started:
# self.receive_point = Util.set_receive_point(self.robot.zones, self.robot.attacking_goal)
# desired_position = self.receive_point
desired_position = self.robot.centre
elif self.subtask == "intercept shot":
if self.world_state.who_has_ball() is None:
enemy = self.robot.enemy1
else:
enemy = self.world_state.who_has_ball()
if enemy.facing_attacking_goal:
desired_position = Util.get_intercept_point_or_midpoint(
position, [enemy.position, Util.intercept_goal(enemy)]
)
# print("ENEMY CAN SCORE {}".format(desired_position))
else:
desired_position = Util.get_intercept_point_or_midpoint(
position, [enemy.position, defending_goal_midpoint]
)
# print("ENEMY MIDPOINT {}".format(desired_position))
elif self.subtask == "intercept pass":
desired_position = Util.get_intercept_point_or_midpoint(position, self.robot.intercept_line)
else:
desired_position = None
#
# elif self.subtask == "align with ball" or self.subtask == "defend goal from ball":
# if self.world_state.ball_moving_to_defending_goal(self.robot.defending_goal):
# desired_position = self.world_state.ball_intercept_point(self.robot.defending_goal)
# if self.robot.defending_goal == "left":
# desired_position[0] += self.robot.GOAL_X_OFFSET
# else:
# desired_position[0] -= self.robot.GOAL_X_OFFSET
# else:
# ball_y = self.world_state.ball_position[1]
# if self.robot.defending_goal == "left":
# top = self.robot.defending_goal_line[0][1]
# bottom = self.robot.defending_goal_line[1][1]
# x = defending_goal_midpoint[0] + self.robot.GOAL_X_OFFSET
# else:
# top = self.robot.defending_goal_line[2][1]
# bottom = self.robot.defending_goal_line[3][1]
# x = defending_goal_midpoint[0] - self.robot.GOAL_X_OFFSET
# if ball_y <= top:
# y = top
# elif ball_y >= bottom:
# y = bottom
# else:
# y = ball_y
# desired_position = (x, y)
#
# else: # elif self.subtask == "defend enemy shot":
# enemy = self.world_state.who_has_ball()
# intercept = Util.intercept_goal(enemy)
# if intercept is not None:
# if self.robot.defending_goal == "left":
# desired_position = (intercept[0] + self.robot.GOAL_X_OFFSET, intercept[1])
# else:
# desired_position = (intercept[0] - self.robot.GOAL_X_OFFSET, intercept[1])
# else:
# desired_position = defending_goal_midpoint
#
if desired_position is not None:
self.robot.set_desired_position(desired_position)
self.go_to_desired_position = True
# ungrab and wait to receive the ball
elif self.subtask == "receive pass":
self.ungrab()
if self.go_to_desired_position:
distance_to_desired_position = self.robot.direction["desired position"]["distance"]
if not self.robot.within_tolerance_distance(distance_to_desired_position):
# get to the desired position
forward_angle_to_desired_position = Util.get_turn_angle(
heading, self.robot.direction["desired position"]["angle"]
)
if abs(forward_angle_to_desired_position) <= 90:
if not self.robot.within_tolerance_angle(forward_angle_to_desired_position):
self.turn(forward_angle_to_desired_position, heading)
else:
self.move(distance_to_desired_position, position)
else:
backward_angle_to_desired_position = Util.get_turn_angle(
Util.get_opposite_heading(heading), self.robot.direction["desired position"]["angle"]
)
if not self.robot.within_tolerance_angle(backward_angle_to_desired_position):
self.turn(backward_angle_to_desired_position, heading)
else:
self.move(-distance_to_desired_position, position)
else:
if self.subtask == "move to receive pass":
# turn to ally
angle_to_ally = Util.get_turn_angle(heading, self.robot.direction["ally"]["angle"])
if not self.robot.within_tolerance_angle(angle_to_ally):
self.turn(angle_to_ally, heading)
else:
self.ungrab()
elif (
self.subtask == "intercept shot"
or self.subtask == "intercept pass"
or self.subtask == "defend enemy shot"
):
# turn to the enemy with the ball and ungrab
if self.world_state.who_has_ball() is None:
enemy_with_ball = "enemy1"
else:
enemy_with_ball = self.world_state.who_has_ball().role
angle_to_enemy = Util.get_turn_angle(heading, self.robot.direction[enemy_with_ball]["angle"])
if not self.robot.within_tolerance_angle(angle_to_enemy):
self.turn(angle_to_enemy, heading)
else:
self.ungrab()
else: # self.subtask == "align with ball" or self.subtask == "defend goal from ball":
# turn to ball and ungrab
angle_to_ball = Util.get_turn_angle(heading, self.robot.direction["ball"]["angle"])
if not self.robot.within_tolerance_grab_angle(angle_to_ball):
self.turn(angle_to_ball, heading)
else:
self.ungrab()
