From 4db37e9668a5923cc49632b6adc0a78f96902f10 Mon Sep 17 00:00:00 2001 From: Debajit Chakraborty Date: Sat, 30 Nov 2019 15:48:49 +0530 Subject: [PATCH] Improved Kicktopoint --- role/KIcktoPoint1.py | 231 +++++++++++++++++++++++++++++++++++++++++++ test_role.py | 32 +++--- 2 files changed, 248 insertions(+), 15 deletions(-) create mode 100644 role/KIcktoPoint1.py diff --git a/role/KIcktoPoint1.py b/role/KIcktoPoint1.py new file mode 100644 index 00000000..2a4bca73 --- /dev/null +++ b/role/KIcktoPoint1.py @@ -0,0 +1,231 @@ +from enum import Enum +import behavior +import _GoToPoint_ +import rospy +from utils.functions import * +from utils.state_functions import * +from utils.config import * +from velocity.run import * +import _turnAround_ + +start_time = None +DIST_THRESH = 75 + +class KickToPoint(behavior.Behavior): + """docstring for GoToBall""" + class State(Enum): + normal = 1 + setStance = 2 + GoAndKick = 3 + + def __init__(self,target,continuous=False): + + super(KickToPoint,self).__init__() + + self.name = "KickToPoint" + + self.power = 7.0 + + self.target_point = target + + self.go_at = None + self.goto_kick=False; + + self.setStanceThresh = 1.5*BOT_RADIUS + + self.ball_dist_thresh = BOT_BALL_THRESH + + self.behavior_failed = False + + self.add_state(KickToPoint.State.normal, + behavior.Behavior.State.running) + + self.add_state(KickToPoint.State.setStance, + behavior.Behavior.State.running) + + self.add_state(KickToPoint.State.GoAndKick, + behavior.Behavior.State.running) + + self.add_transition(behavior.Behavior.State.start, + KickToPoint.State.normal,lambda: True,'immediately') + + self.add_transition(KickToPoint.State.normal, + KickToPoint.State.setStance,lambda: self.setstance(),'far_away') + + self.add_transition(KickToPoint.State.normal, + KickToPoint.State.GoAndKick,lambda: self.GoAndKickDirect(),'very_close') + + self.add_transition(KickToPoint.State.GoAndKick, + behavior.Behavior.State.completed,lambda: self.at_ball_pos(),'kicked!!!') + + self.add_transition(KickToPoint.State.setStance, + KickToPoint.State.GoAndKick,lambda: self.goto_kick,'kicking') + + self.add_transition(KickToPoint.State.setStance, + behavior.Behavior.State.failed,lambda: self.behavior_failed,'failed') + + self.add_transition(KickToPoint.State.GoAndKick, + behavior.Behavior.State.failed,lambda: self.behavior_failed,'failed') + + def add_kub(self,kub): + self.kub = kub + + def add_theta(self,theta): + self.theta = theta + + def get_pos_as_vec2d(self, point2d): + return Vector2D(int(point2d.x), int(point2d.y)) + + def add_target_theta(self): + self.target_theta = angle_diff(self.kub.state.ballpos, self.kub.get_pos()) + + def setstance(self): + global DIST_THRESH + #print("hello") + theta = angle_diff(self.kub.state.ballPos,self.target_point) + go_at = getPointToGo(self.kub.state.ballPos, theta) + print "##########################" + return go_at.dist(self.get_pos_as_vec2d(self.kub.get_pos())) >= DIST_THRESH*1.00 + + + def GoAndKickDirect(self): + return not self.setstance() + + def goandkick(self): + print("facing_the_target : ", self.facing_the_target()) + return self.facing_the_target() + + def near_targetBall_line(self): + lin = Line(point1 = self.get_pos_as_vec2d(self.kub.state.ballPos), angle = None, point2 = self.target_point) + disst = lin.distance_from_point(self.get_pos_as_vec2d(self.kub.get_pos())) + return disst < 0.75*BOT_RADIUS + + def one_more(self): + dis1 = self.get_pos_as_vec2d(self.kub.get_pos()).dist(self.target_point) + dis2 = self.get_pos_as_vec2d(self.kub.state.ballPos).dist(self.target_point) + return dis1 > dis2 + + def bot_moving(self): + if abs(self.kub.state.homeVel[self.kub.kubs_id].x) != 0 or abs(self.kub.state.homeVel[self.kub.kubs_id].y) != 0: + return True + return False + + def ball_nearby(self, thresh = BOT_RADIUS*1.5): + if bot_in_front_of_ball(self.kub, thresh): + return True + else : + return False + + def facing_the_target(self): + print(" theta1 : ", self.theta) + print(" bot theta : ", self.kub.get_theta()) + if vicinity_theta( self.theta, self.kub.get_theta(), thresh=0.30 ): + return True + else : + return False + + def at_ball_pos(self): + error = 10 + return vicinity_points(self.kub.get_pos(),self.kub.state.ballPos,thresh=BOT_BALL_THRESH+error) + + + # def on_enter_setStance(self): + # global start_time + # start_time = rospy.Time.now() + # start_time = start_time.secs + 1.0*start_time.nsecs/pow(10,9) + + + + def reset(self): + global start_time + start_time = rospy.Time.now() + start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9) + + def on_enter_normal(self): + pass + + def execute_normal(self): + pass + + def on_exit_normal(self): + pass + def getPointToGo1(self,point, theta): + x = point.x - (1.5 * BOT_RADIUS) * (math.cos(theta)) + y = point.y - (1.5 * BOT_RADIUS) * (math.sin(theta)) + return Vector2D(int(x), int(y)) + + def on_enter_setStance(self): + print("entered setstance hello") + self.theta = normalize_angle(angle_diff( self.kub.state.ballPos,self.target_point)) + self.go_at = self.getPointToGo1(self.kub.state.ballPos, self.theta) + _GoToPoint_.init(self.kub, self.go_at, self.theta) + pass + + + def execute_setStance(self): + global DIST_THRESH + print("executing setstance fnfnfj") + start_time = rospy.Time.now() + start_time = 1.0*start_time.secs + 1.0*start_time.nsecs/pow(10,9) + print "-----------------------##########-" + generatingfunction = _GoToPoint_.execute(start_time,DIST_THRESH,True) + + for gf in generatingfunction: + self.kub,target_point = gf + # self.target_point = getPointBehindTheBall(self.kub.state.ballPos,self.theta) + theta = angle_diff(self.target_point, self.kub.state.ballPos) + #print theta,"------------------------" + self.go_at = self.getPointToGo1(self.kub.state.ballPos, theta) + # #print vicinity_points(self.go_at,target_point,thresh=BOT_BALL_THRESH) + # if(dist(self.go_at,self.kub.get_pos())