-
Notifications
You must be signed in to change notification settings - Fork 27
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Defenders role #82
Open
nisarg1631
wants to merge
2
commits into
KRSSG:fsm
Choose a base branch
from
nisarg1631:fsm
base: fsm
Could not load branches
Branch not found: {{ refName }}
Loading
Could not load tags
Nothing to show
Loading
Are you sure you want to change the base?
Some commits from the old base branch may be removed from the timeline,
and old review comments may become outdated.
Open
Defenders role #82
Changes from 1 commit
Commits
Show all changes
2 commits
Select commit
Hold shift + click to select a range
File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,251 @@ | ||
| from enum import Enum | ||
| import behavior | ||
| import _GoToPoint_ , _turnAround_ , KickToPoint | ||
| import rospy | ||
| from utils.functions import * | ||
| from utils.geometry import * | ||
| from utils.config import * | ||
| from math import * | ||
| from velocity.run import * | ||
| import time | ||
| from krssg_ssl_msgs.srv import * | ||
|
|
||
| rospy.wait_for_service('bsServer',) | ||
| getState = rospy.ServiceProxy('bsServer',bsServer) | ||
| time_thresh=0 | ||
| INF=1000000000000000 | ||
|
|
||
| class defender(behavior.Behavior): | ||
|
|
||
| class State(Enum): | ||
| setup = 1 | ||
| block = 2 | ||
| intercept = 3 | ||
| kick = 4 | ||
|
|
||
| def __init__(self,id_1,id_2,def_type,course_approch_thresh = DISTANCE_THRESH/3): | ||
|
|
||
| super(defender,self).__init__() | ||
| self.name = "defender"+str(id_1) | ||
| self.team_mate_id=id_2 | ||
| self.defender_id=id_1 | ||
| self.def_type=def_type | ||
| self.intercepting_point = Vector2D() | ||
| self.behavior_failed = False | ||
| self.course_approch_thresh=course_approch_thresh | ||
| self.kicking_point=Vector2D(0,0) | ||
| self.line = Line(point1=Vector2D((-HALF_FIELD_MAXX + DBOX_HEIGHT)+5*BOT_RADIUS,0),angle=math.pi/2.0) | ||
| self.line1= Line(point1=Vector2D(0,-0.5*DBOX_WIDTH-5*BOT_RADIUS),angle=0) | ||
| self.line2= Line(point1=Vector2D(0,0.5*DBOX_WIDTH+5*BOT_RADIUS),angle=0) | ||
| self.goal_line= Line(point1=Vector2D(-HALF_FIELD_MAXX,0),angle=math.pi/2.0) | ||
|
|
||
| for state in defender.State: | ||
| self.add_state(state,behavior.Behavior.State.running) | ||
|
|
||
| self.add_transition(behavior.Behavior.State.start,defender.State.setup, | ||
| lambda:True,"immediately") | ||
|
|
||
| self.add_transition(defender.State.setup, defender.State.kick, | ||
| lambda:self.ready_to_kick(),"Direct kick") | ||
| self.add_transition(defender.State.setup,defender.State.intercept, | ||
| lambda:self.should_intercept() and not self.ready_to_kick(),"passer ready") | ||
| self.add_transition(defender.State.setup,defender.State.block, | ||
| lambda:not self.should_intercept() and not self.ready_to_kick(),"threat") | ||
|
|
||
| self.add_transition(defender.State.kick,defender.State.intercept, | ||
| lambda:self.should_intercept() and not self.ready_to_kick(),"kicking") | ||
| self.add_transition(defender.State.kick,defender.State.block, | ||
| lambda:(not self.ready_to_kick() and not self.should_intercept()) or self.bot_infrontof_ball(),"ball kicked") | ||
|
|
||
| self.add_transition(defender.State.block,defender.State.kick, | ||
| lambda:self.ready_to_kick(),"receiver found") | ||
| self.add_transition(defender.State.block,defender.State.intercept, | ||
| lambda:self.should_intercept() and not self.ready_to_kick(),"moving to receiving point") | ||
|
|
||
| self.add_transition(defender.State.intercept,defender.State.kick, | ||
| lambda:self.ready_to_kick(),"ball incoming") | ||
| self.add_transition(defender.State.intercept,defender.State.block, | ||
| lambda:not self.should_intercept() and not self.ready_to_kick(),"ball received") | ||
|
|
||
|
|
||
| for state in defender.State: | ||
| self.add_transition(state,defender.State.setup, | ||
| lambda:self.behavior_failed,"failed") | ||
|
|
||
| def add_kub(self,kub): | ||
| self.kub = kub | ||
|
|
||
| def add_theta(self,theta): | ||
| self.theta = theta | ||
|
|
||
| def ready_to_kick(self): | ||
| return vicinity_points(self.kub.state.ballPos, Vector2D(self.kub.get_pos()), thresh = 4*BOT_RADIUS) | ||
|
|
||
| def ball_moving(self): | ||
| if magnitute(self.kub.state.ballVel) <= 50: | ||
| return False | ||
| return True | ||
|
|
||
| def bot_infrontof_ball(self): | ||
| if(self.kub.get_pos().x>self.kub.state.ballPos.x): | ||
| return True | ||
| return False | ||
|
|
||
| def on_enter_setup(self): | ||
| self.behavior_failed=False | ||
| pass | ||
|
|
||
| def execute_setup(self): | ||
| pass | ||
|
|
||
| def on_exit_setup(self): | ||
| pass | ||
|
|
||
| def on_enter_block(self): | ||
| pass | ||
|
|
||
| def execute_block(self): | ||
| ball=Vector2D(self.kub.state.ballPos) | ||
| goal_line=Line(point1=Vector2D(self.kub.state.ballPos),point2=Vector2D(-HALF_FIELD_MAXX,0)) | ||
|
|
||
| target_point=self.line.intersection_with_line(goal_line) | ||
|
|
||
| if target_point.y > 0.5*DBOX_WIDTH+5*BOT_RADIUS: | ||
| target_point=self.line2.intersection_with_line(goal_line) | ||
| if self.def_type=="top": | ||
| target_point.x-=BOT_RADIUS | ||
| else: | ||
| target_point.x+=BOT_RADIUS | ||
|
|
||
| elif target_point.y < -0.5*DBOX_WIDTH-5*BOT_RADIUS: | ||
| target_point=self.line1.intersection_with_line(goal_line) | ||
| if self.def_type=="top": | ||
| target_point.x+=BOT_RADIUS | ||
| else: | ||
| target_point.x-=BOT_RADIUS | ||
|
|
||
| else: | ||
| if self.def_type=="top": | ||
| target_point.y+=BOT_RADIUS | ||
| else: | ||
| target_point.y-=BOT_RADIUS | ||
|
|
||
| if ball_moving_towards_our_goal(self.kub.state): | ||
| ball_line=Line(point1=Vector2D(self.kub.state.ballPos),angle=math.atan2(self.kub.state.ballVel.y,self.kub.state.ballVel.x)) | ||
| point=ball_line.intersection_with_line(self.goal_line) | ||
| if point.y*point.y<0.35*DBOX_WIDTH*DBOX_WIDTH : | ||
| target_point=self.line.intersection_with_line(ball_line) | ||
| if target_point.y > 0.5*DBOX_WIDTH+5*BOT_RADIUS: | ||
| target_point=self.line2.intersection_with_line(ball_line) | ||
| if self.def_type=="top": | ||
| target_point.x-=BOT_RADIUS | ||
| else: | ||
| target_point.x+=BOT_RADIUS | ||
| elif target_point.y < -0.5*DBOX_WIDTH-5*BOT_RADIUS: | ||
| target_point=self.line1.intersection_with_line(ball_line) | ||
| if self.def_type=="top": | ||
| target_point.x+=BOT_RADIUS | ||
| else: | ||
| target_point.x-=BOT_RADIUS | ||
| else: | ||
| if self.def_type=="top": | ||
| target_point.y+=BOT_RADIUS | ||
| else: | ||
| target_point.y-=BOT_RADIUS | ||
|
|
||
| _GoToPoint_.init(self.kub, target_point, 0) | ||
| start_time = rospy.Time.now() | ||
| start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9) | ||
| generatingfunction = _GoToPoint_.execute(start_time,self.course_approch_thresh,True) | ||
|
|
||
| prev_point=Vector2D(self.kub.state.ballPos) | ||
| next_point = prev_point | ||
| movement=self.kub.get_pos() | ||
| point=Vector2D() | ||
| for gf in generatingfunction: | ||
| next_point = Vector2D(self.kub.state.ballPos) | ||
| self.kub,point = gf | ||
| if dist(next_point,prev_point) > 3*BOT_RADIUS: | ||
| break | ||
| if not vicinity_points(point,target_point,thresh=BOT_RADIUS*2.0): | ||
| break | ||
| if self.should_intercept(): | ||
| break | ||
| if self.ready_to_kick(): | ||
| break | ||
| prev_point=next_point | ||
|
|
||
| def on_exit_block(self): | ||
| pass | ||
|
|
||
| def intercept_complete(self): | ||
| ball_vel = Vector2D(self.kub.state.ballVel.y,self.kub.state.ballVel.x) | ||
| ball_vel_angle = ball_vel.tan_inverse() | ||
| bot_ball_dir = Vector2D(self.kub.state.ballPos.y-self.kub.state.homePos[self.kub.kubs_id].y , self.kub.state.ballPos.x-self.kub.state.homePos[self.kub.kubs_id].x) | ||
| if ( abs(ball_vel_angle - bot_ball_dir.tan_inverse() )< 0.0523599): | ||
| return 1 | ||
| return 0 | ||
|
|
||
| def should_intercept(self): | ||
| ball=Vector2D(self.kub.state.ballPos) | ||
| if not self.ball_moving: | ||
| ball_line=Line(point1=ball,angle=math.atan2(self.kub.state.ballVel.y,self.kub.state.ballVel.x)) | ||
| ball_path_point=ball | ||
| if not self.ball_moving(): | ||
| opp_time=INF | ||
| for opp_id, awayPos in enumerate(self.kub.state.awayPos): | ||
| if dist(awayPos,getPointBehindTheBall(ball,math.pi,-1.5))/MAX_BOT_SPEED<opp_time: | ||
| opp_time=dist(awayPos,getPointBehindTheBall(ball,math.pi,-1.5))/MAX_BOT_SPEED | ||
|
|
||
| our_time=dist(self.kub.state.homePos[self.defender_id],getPointBehindTheBall(ball,0,-1.5))/MAX_BOT_SPEED | ||
| if our_time > dist(self.kub.state.homePos[self.team_mate_id],getPointBehindTheBall(ball,0,-1.5))/MAX_BOT_SPEED: | ||
| return False | ||
| if our_time < 0.8*opp_time: | ||
| self.intercepting_point=getPointBehindTheBall(ball,0,-1.5) | ||
| return True | ||
| return False | ||
|
|
||
| def on_enter_intercept(self): | ||
| angle=angle_diff(self.kub.get_pos(),self.intercepting_point) | ||
| _GoToPoint_.init(self.kub, self.intercepting_point,angle) | ||
|
|
||
| def execute_intercept(self): | ||
| start_time = rospy.Time.now() | ||
| start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9) | ||
| generatingfunction = _GoToPoint_.execute(start_time,self.course_approch_thresh,True) | ||
| point=self.intercepting_point | ||
| for gf in generatingfunction: | ||
| self.kub,point = gf | ||
| if not vicinity_points(point,self.intercepting_point,thresh=BOT_RADIUS*2.0): | ||
| break | ||
| if not self.should_intercept(): | ||
| break | ||
| if self.ready_to_kick() and not self.bot_infrontof_ball(): | ||
| break | ||
|
|
||
| def on_exit_intercept(self): | ||
| pass | ||
|
|
||
| def on_enter_kick(self): | ||
| pass | ||
|
|
||
| def execute_kick(self): | ||
| self.kick_power=2*math.sqrt(dist(Vector2D(DBOX_HEIGHT,0),self.kub.state.ballPos)/6400.0)*5 | ||
| angle=angle_diff(self.kub.get_pos(),self.kub.state.ballPos) | ||
| _GoToPoint_.init(self.kub,Vector2D(self.kub.state.ballPos),angle) | ||
| start_time = rospy.Time.now() | ||
| start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9) | ||
| generatingfunction = _GoToPoint_.execute(start_time,BOT_RADIUS) | ||
| for gf in generatingfunction: | ||
| self.kub,point = gf | ||
| self.kub.kick(self.kick_power) | ||
| if not vicinity_points(point,Vector2D(self.kub.state.ballPos),thresh=BOT_RADIUS*2.0): | ||
| break | ||
| if not vicinity_points(self.kub.state.ballPos,self.kub.get_pos(),thresh=4*BOT_RADIUS): | ||
| self.kick_power = 0 | ||
| break | ||
|
|
||
| def on_exit_kick(self): | ||
| self.kub.reset() | ||
| self.kub.execute() | ||
| pass | ||
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Avoid using random numbers.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@nisarg1631 Instead of using Angle threshold like this, make a variable in config file and use that variable here. Once you do that, I think we can merge this.