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players.py
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#!/usr/bin/env python3
# Author(s): Taeyoung Kim, Chansol Hong, Luiz Felipe Vecchietti
# Maintainer: Chansol Hong ([email protected])
import os
import sys
sys.path.append(os.path.dirname(os.path.realpath(__file__)) + '/../common')
try:
from participant import Game, Frame
except ImportError as err:
print('player_rulebasedB: \'participant\' module cannot be imported:', err)
raise
import math
import helper
from action import ActionControl
#reset_reason
NONE = Game.NONE
GAME_START = Game.GAME_START
SCORE_MYTEAM = Game.SCORE_MYTEAM
SCORE_OPPONENT = Game.SCORE_OPPONENT
GAME_END = Game.GAME_END
DEADLOCK = Game.DEADLOCK
GOALKICK = Game.GOALKICK
CORNERKICK = Game.CORNERKICK
PENALTYKICK = Game.PENALTYKICK
HALFTIME = Game.HALFTIME
EPISODE_END = Game.EPISODE_END
#game_state
STATE_DEFAULT = Game.STATE_DEFAULT
STATE_KICKOFF = Game.STATE_KICKOFF
STATE_GOALKICK = Game.STATE_GOALKICK
STATE_CORNERKICK = Game.STATE_CORNERKICK
STATE_PENALTYKICK = Game.STATE_PENALTYKICK
#coordinates
MY_TEAM = Frame.MY_TEAM
OP_TEAM = Frame.OP_TEAM
BALL = Frame.BALL
X = Frame.X
Y = Frame.Y
Z = Frame.Z
TH = Frame.TH
ACTIVE = Frame.ACTIVE
TOUCH = Frame.TOUCH
BALL_POSSESSION = Frame.BALL_POSSESSION
class Goalkeeper:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
self.action.update_state(cur_posture, cur_ball)
protection_radius = self.goal_area[Y]/2 - 0.1
angle = defense_angle
protection_x = math.cos(angle) * protection_radius - self.field[X]/2
protection_y = math.sin(angle) * protection_radius
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
# if ball inside goal area: DANGER
x = protection_x
y = protection_y
elif helper.ball_is_own_penalty(predicted_ball, self.field, self.penalty_area):
# if the ball is behind the goalkeeper
if (cur_ball[X] < cur_posture[robot_id][X]):
# if the ball is not blocking the goalkeeper's path
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 2 * self.robot_size):
# try to get ahead of the ball
x = cur_ball[X] - self.robot_size
y = cur_posture[robot_id][Y]
else:
# just give up and try not to make a suicidal goal
left_wheel, right_wheel = self.action.turn_to(robot_id, math.pi /2)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
# if the ball is ahead of the goalkeeper
else:
desired_th = helper.direction_angle(self, robot_id, cur_ball[X], cur_ball[Y], cur_posture)
rad_diff = helper.wrap_to_pi(desired_th - cur_posture[robot_id][TH])
# if the robot direction is too away from the ball direction
if (rad_diff > math.pi / 3):
# give up kicking the ball and block the goalpost
x = -self.field[X] / 2 + self.robot_size / 2 + 0.05
y = max(min(cur_ball[Y], (self.goal[Y] / 2 - self.robot_size / 2)), -self.goal[Y] / 2 + self.robot_size / 2)
else:
if cur_ball[Z] > 0.2:
# try to jump in the ball direction
x = cur_ball[X]
y = cur_ball[Y]
jump = True
else:
# try to kick the ball away from the goal
x = cur_ball[X]
y = cur_ball[Y]
shoot = True
else:
# if ball outside penalty area, protect against kicks
x = protection_x
y = protection_y
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Defender_1:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
self.action.update_state(cur_posture, cur_ball)
# if the robot is inside the goal, try to get out
if (cur_posture[robot_id][X] < -self.field[X] / 2):
if (cur_posture[robot_id][Y] < 0):
x = -0.7 * self.field[X] / 2
y = cur_posture[robot_id][Y] + 0.2
else:
x = -0.7 * self.field[X] / 2
y = cur_posture[robot_id][Y] - 0.2
# the defender may try to shoot if condition meets
elif (robot_id == idx and helper.shoot_chance(self, robot_id, cur_posture, cur_ball) and cur_ball[X] < 0.3 * self.field[X] / 2 and cur_posture[robot_id][BALL_POSSESSION]):
x = cur_ball[X]
y = cur_ball[Y]
shoot = True
# if this defender is the player closer to the ball
elif (robot_id == idx):
# ball is on our side
if helper.ball_is_own_field(predicted_ball):
if (cur_posture[robot_id][X] < cur_ball[X] - 0.05):
x = cur_ball[X]
y = cur_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
else:
# otherwise go behind the ball
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 0.3):
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2)
y = cur_ball[Y]
else:
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2)
y = cur_posture[robot_id][Y]
else:
x = -0.7 * self.field[X] / 2
y = cur_ball[Y]
# if this defender is not the closest to the ball
else:
# ball is on our side
if helper.ball_is_own_field(predicted_ball):
# ball is on our left
if (cur_ball[Y] > self.goal[Y] / 2 + 0.15):
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2 + 0.1)
y = self.goal[Y] / 2 + 0.15
# ball is on our right
elif (cur_ball[Y] < -self.goal[Y] / 2 - 0.15):
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2 + 0.1)
y = -self.goal[Y] / 2 - 0.15
# ball is in center
else:
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2 + 0.1)
y = cur_ball[Y]
# ball is in opponent side
else:
# position to prevent counter attack
x = -0.4 * self.field[X] / 2
y = min(cur_ball[Y] + 0.5, self.field[Y] / 2 - self.robot_size / 2)
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Defender_2:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
self.action.update_state(cur_posture, cur_ball)
# if the robot is inside the goal, try to get out
if (cur_posture[robot_id][X] < -self.field[X] / 2):
if (cur_posture[robot_id][Y] < 0):
x = -0.7 * self.field[X] / 2
y = cur_posture[robot_id][Y] + 0.2
else:
x = -0.7 * self.field[X] / 2
y = cur_posture[robot_id][Y] - 0.2
# the defender may try to shoot if condition meets
elif (robot_id == idx and helper.shoot_chance(self, robot_id, cur_posture, cur_ball) and cur_ball[X] < 0.3 * self.field[X] / 2 and cur_posture[robot_id][BALL_POSSESSION]):
x = cur_ball[X]
y = cur_ball[Y]
shoot = True
# if this defender is the player closer to the ball
elif (robot_id == idx):
# ball is on our side
if helper.ball_is_own_field(predicted_ball):
if (cur_posture[robot_id][X] < cur_ball[X] - 0.05):
x = cur_ball[X]
y = cur_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
else:
# otherwise go behind the ball
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 0.3):
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2)
y = cur_ball[Y]
else:
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2)
y = cur_posture[robot_id][Y]
else:
x = -0.7 * self.field[X] / 2
y = cur_ball[Y]
# if this defender is not the closest to the ball
else:
# ball is on our side
if helper.ball_is_own_field(predicted_ball):
# ball is on our left
if (cur_ball[Y] > self.goal[Y] / 2 + 0.15):
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2 + 0.1)
y = self.goal[Y] / 2 + 0.15
# ball is on our right
elif (cur_ball[Y] < -self.goal[Y] / 2 - 0.15):
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2 + 0.1)
y = -self.goal[Y] / 2 - 0.15
# ball is in center
else:
x = max(cur_ball[X] - 0.5, -self.field[X] / 2 + self.robot_size / 2 + 0.1)
y = cur_ball[Y]
else:
# position to prevent counter attack
x = -0.4 * self.field[X] / 2
y = max(cur_ball[Y] - 0.5, -self.field[Y] / 2 + self.robot_size / 2)
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Forward_1:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
self.action.update_state(cur_posture, cur_ball)
# if the ball is coming toward the robot, seek for shoot chance
if (robot_id == idx and helper.ball_coming_toward_robot(robot_id, cur_posture, previous_ball, cur_ball)):
dx = cur_ball[X] - previous_ball[X]
dy = cur_ball[Y] - previous_ball[Y]
pred_x = predicted_ball[X]
steps = (cur_posture[robot_id][Y] - cur_ball[Y]) / dy
# if the ball will be located in front of the robot
if (pred_x > cur_posture[robot_id][X]):
pred_dist = pred_x - cur_posture[robot_id][X]
# if the predicted ball location is close enough
if (pred_dist > 0.1 and pred_dist < 0.3 and steps < 10):
# find the direction towards the opponent goal and look toward it
goal_angle = helper.direction_angle(self, robot_id, self.field[X] / 2, 0, cur_posture)
left_wheel, right_wheel = self.action.turn_to(robot_id, goal_angle)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
# if the robot can shoot from current position
if (robot_id == idx and helper.shoot_chance(self, robot_id, cur_posture, cur_ball)):
x = predicted_ball[X]
y = predicted_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
# if this forward is closer to the ball
elif (robot_id == idx):
if (cur_ball[X] > -0.3 * self.field[X] / 2):
# if the robot can push the ball toward opponent's side, do it
if (cur_posture[robot_id][X] < cur_ball[X] - 0.05):
x = cur_ball[X]
y = cur_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
else:
# otherwise go behind the ball
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 0.3):
x = cur_ball[X] - 0.2
y = cur_ball[Y]
else:
x = cur_ball[X] - 0.2
y = cur_posture[robot_id][Y]
else:
x = -0.1 * self.field[X] / 2
y = cur_ball[Y]
# if this forward is not closer to the ball
else:
if (cur_ball[X] > -0.3 * self.field[X] / 2):
x = cur_ball[X] - 0.25
y = cur_ball[Y] + 0.5
else:
# ball is on right side
if (cur_ball[Y] < 0):
x = -0.1 * self.field[X] / 2
y = min(cur_ball[Y] + 0.5, self.field[Y] / 2 - self.robot_size / 2)
# ball is on left side
else:
x = -0.1 * self.field[X] / 2
y = max(cur_ball[Y] + 0.5, -self.field[Y] / 2 + self.robot_size / 2)
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
class Forward_2:
def __init__(self, field, goal, penalty_area, goal_area, robot_size, max_linear_velocity):
self.field = field
self.goal = goal
self.penalty_area = penalty_area
self.goal_area = goal_area
self.robot_size = robot_size
self.max_linear_velocity = max_linear_velocity
self.action = ActionControl(max_linear_velocity)
self.flag = 0
def move(self, robot_id, idx, idx_opp, defense_angle, attack_angle, cur_posture, cur_posture_opp, previous_ball, cur_ball, predicted_ball, cross=False, shoot=False, quickpass=False, jump=False, dribble=False):
self.action.update_state(cur_posture, cur_ball)
# if the ball is coming toward the robot, seek for shoot chance
if (robot_id == idx and helper.ball_coming_toward_robot(robot_id, cur_posture, previous_ball, cur_ball)):
dx = cur_ball[X] - previous_ball[X]
dy = cur_ball[Y] - previous_ball[Y]
pred_x = predicted_ball[X]
steps = (cur_posture[robot_id][Y] - cur_ball[Y]) / dy
# if the ball will be located in front of the robot
if (pred_x > cur_posture[robot_id][X]):
pred_dist = pred_x - cur_posture[robot_id][X]
# if the predicted ball location is close enough
if (pred_dist > 0.1 and pred_dist < 0.3 and steps < 10):
# find the direction towards the opponent goal and look toward it
goal_angle = helper.direction_angle(self, robot_id, self.field[X] / 2, 0, cur_posture)
left_wheel, right_wheel = self.action.turn_to(robot_id, goal_angle)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
# if the robot can shoot from current position
if (robot_id == idx and helper.shoot_chance(self, robot_id, cur_posture, cur_ball)):
x = predicted_ball[X]
y = predicted_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
# if this forward is closer to the ball
elif (robot_id == idx):
if (cur_ball[X] > -0.3 * self.field[X] / 2):
# if the robot can push the ball toward opponent's side, do it
if (cur_posture[robot_id][X] < cur_ball[X] - 0.05):
x = cur_ball[X]
y = cur_ball[Y]
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
else:
# otherwise go behind the ball
if (abs(cur_ball[Y] - cur_posture[robot_id][Y]) > 0.3):
x = cur_ball[X] - 0.2
y = cur_ball[Y]
else:
x = cur_ball[X] - 0.2
y = cur_posture[robot_id][Y]
else:
x = -0.1 * self.field[X] / 2
y = cur_ball[Y]
# if this forward is not closer to the ball
else:
if (cur_ball[X] > -0.3 * self.field[X] / 2):
x = cur_ball[X] - 0.25
y = cur_ball[Y] - 0.5
else:
# ball is on right side
if (cur_ball[Y] < 0):
x = -0.1 * self.field[X] / 2
y = min(cur_ball[Y] - 0.5, self.field[Y] / 2 - self.robot_size / 2)
# ball is on left side
else:
x = -0.1 * self.field[X] / 2
y = max(cur_ball[Y] - 0.5, -self.field[Y] / 2 + self.robot_size / 2)
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode