Python motion.SweetMoves類代碼示例

def squat(player):
    if player.firstFrame():
        player.isChasing = False
        player.executeMove(SweetMoves.INITIAL_POS)
        player.squatting = True
        if DEBUG:
            player.executeMove(SweetMoves.SAVE_CENTER_DEBUG)
        else:
            player.executeMove(SweetMoves.GOALIE_SQUAT)
    if (player.stateTime >=
        SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT) +
        SweetMoves.getMoveTime(SweetMoves.INITIAL_POS)):
        return player.goLater('squatted')
    return player.stay()

def getKickInfo(player):
    """
    Decides which kick to use
    """
    player.inKickingState = True

    if player.firstFrame():
        player.brain.tracker.stopHeadMoves()
        player.kickScan()

        player.kickDecider = KickDecider(player)

    # If scanning, then collect data
    if (player.stateTime < SweetMoves.getMoveTime(HeadMoves.KICK_SCAN)):
        player.kickDecider.collectData(player.brain)
        return player.stay()

    # Done scanning time to act
    player.brain.tracker.trackBall()
    player.kickDecider.calculate()

    if not player.brain.ball.on:
        if player.brain.ball.framesOff < 100: # HACK, should be constant
            return player.stay()
        else :
            player.inKickingState = False
            return player.goLater('scanFindBall')

    return player.goNow('decideKick')

def gamePenalized(player):
    if player.firstFrame():
        player.isChasing = False
        player.inKickingState = False
        player.justKicked = False
        if player.squatting:
            player.executeMove(SweetMoves.GOALIE_SQUAT_STAND_UP)
            player.squatting = False
        else:
            player.stopWalking()
        player.penalizeHeads()

    if (player.stateTime >=
        SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT_STAND_UP)):
        player.stopWalking()

    return player.stay()

def kickBallExecute(player):
    if player.firstFrame():
        player.brain.CoA.setRobotGait(player.brain.motion)
        player.brain.tracker.trackBall()
        player.executeMove(player.chosenKick)

        if not player.penaltyMadeFirstKick:
            player.penaltyMadeFirstKick = True
        elif not player.penaltyMadeSecondKick:
            player.penaltyMadeSecondKick = True

    if not player.brain.ball.on and \
            player.brain.ball.framesOff > constants.LOOK_POST_KICK_FRAMES_OFF:
        player.lookPostKick()

    if player.stateTime >= SweetMoves.getMoveTime(player.chosenKick):
        return player.goLater('afterKick')

    return player.stay()

def chasePrepare(player):
    if player.firstFrame():
        player.brain.tracker.trackBall()
        player.isChasing = False

        if player.squatting:
            if DEBUG:
                pass
            else:
                player.executeMove(SweetMoves.GOALIE_SQUAT_STAND_UP)
        else:
            player.isChasing = True
            return player.goNow('chase')
    elif (player.stateTime >=
        SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT_STAND_UP)):
        player.isChasing = True
        player.squatting = False
        return player.goNow('chase')

    return player.stay()

def kickAtPosition(player):
    """
    Method to simply kick while standing in position
    Used for a very simple goalie behavior
    """
    if player.firstFrame():
        player.brain.tracker.trackBall()
        player.executeStiffness(StiffnessModes.LEFT_FAR_KICK_STIFFNESS)
    if player.counter == 2:
        player.executeMove(SweetMoves.LEFT_FAR_KICK)

    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.LEFT_FAR_KICK):
        player.standup()

        if player.brain.nav.isStopped():
            player.brain.CoA.setRobotGait(player.brain.motion)
            player.currentGait = ChaseBallConstants.FAST_GAIT
            return player.goLater('atPosition')

    return player.stay()

def scanFindBall(player):
    '''
    State to move the head to find the ball. If we find the ball, we
    move to align on it. If we don't find it, we spin to keep looking
    '''
    if player.firstFrame() or  player.brain.ball.framesOff > FRAMES_OFF_THRESH:
        player.printf("First frame or havent seen the ball in abit")
        player.brain.tracker.switchTo('scanBall')
        player.stopWalking()
    if player.brain.ball.on:
        player.brain.tracker.trackBall()

    player.printf("ball.frames on" +str(player.brain.ball.framesOn) +
                  " dist:" + str(player.brain.ball.dist))

    if player.brain.ball.framesOn > FRAMES_ON_THRESH:
        return player.goNow('rotAlignOnBall')

    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SCAN_BALL):
        return player.goNow('spinFindBall')
    return player.stay()

def standFromFront(guard):
    if guard.firstFrame():
        guard.brain.player.executeMove(SweetMoves.STAND_UP_FRONT)
        guard.standupMoveTime = SweetMoves.getMoveTime(SweetMoves.STAND_UP_FRONT)

    return guard.goLater('standing')

 def getTimeRemainingEst(self):
     if (self.currentState == "notFallen" or
         self.currentState == "doneStanding"):
         return 0
     else:
         return SweetMoves.getMoveTime(SweetMoves.STAND_UP_FRONT)

def saveCenter(player):
    if player.firstFrame():
        player.executeMove(SweetMoves.GOALIE_SQUAT)
    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT):
        return player.goLater("holdCenterSave")
    return player.stay()

def saveLeft(player):
    if player.firstFrame():
        player.executeMove(SweetMoves.GOALIE_DIVE_LEFT)
    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_DIVE_LEFT):
        return player.goLater("holdLeftSave")
    return player.stay()

def shouldSpinFindBall(player):
    """
    Should spin if we already tried scanning
    """
    return (player.stateTime >=
            SweetMoves.getMoveTime(HeadMoves.HIGH_SCAN_BALL))

def saveLeft(player):
    if player.firstFrame():
        player.executeMove(SweetMoves.SAVE_LEFT_DEBUG)
    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SAVE_LEFT_DEBUG):
        return player.goLater('holdLeftSave')
    return player.stay()

def saveRight(player):
    if player.firstFrame():
        player.executeMove(SweetMoves.GOALIE_DIVE_RIGHT)
    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_DIVE_RIGHT):
        return player.goLater('holdRightSave')
    return player.stay()

def saveRight(player):
    if player.firstFrame():
        player.executeMove(SweetMoves.SAVE_RIGHT_DEBUG)
    if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SAVE_RIGHT_DEBUG):
        return player.goLater("holdRightSave")
    return player.stay()