92 lines
2.9 KiB
Python
92 lines
2.9 KiB
Python
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import os
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from numbers import Real
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from behaviors.behavior import Behavior
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from behaviors.custom.keyframe.keyframe import KeyframeSkill
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class Kick(Behavior):
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SHORT_MAX_DISTANCE: float = 1.8
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MID_MAX_DISTANCE: float = 4.5
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TEN_METER_MIN_DISTANCE: float = 8.0
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DEFAULT_DISTANCE: float = 3.0
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def __init__(self, agent):
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super().__init__(agent)
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base_dir = os.path.dirname(__file__)
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self.short_kick = KeyframeSkill(
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agent=agent,
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file=os.path.join(base_dir, "kick_short.yaml"),
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)
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self.mid_kick = KeyframeSkill(
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agent=agent,
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file=os.path.join(base_dir, "kick_mid.yaml"),
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)
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self.long_kick = KeyframeSkill(
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agent=agent,
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file=os.path.join(base_dir, "kick_long.yaml"),
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)
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self.ten_meter_kick = KeyframeSkill(
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agent=agent,
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file=os.path.join(base_dir, "kick_10m.yaml"),
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)
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self.current_kick: KeyframeSkill | None = None
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self.should_reset_kick: bool = True
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self.should_execute_neutral: bool = True
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def execute(self, reset: bool, *args, **kwargs) -> bool:
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if reset:
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kick_distance = self._extract_kick_distance(*args, **kwargs)
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self.current_kick = self._choose_kick_from_distance(kick_distance)
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self.should_reset_kick = True
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self.should_execute_neutral = True
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if self.current_kick is None:
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self.current_kick = self.mid_kick
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if self.should_execute_neutral:
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neutral_finished = self.agent.skills_manager.execute(
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"Neutral",
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)
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self.should_reset_kick = False
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if not neutral_finished:
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return False
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self.should_execute_neutral = False
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self.should_reset_kick = True
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has_finished = self.current_kick.execute(reset=self.should_reset_kick)
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self.should_reset_kick = False
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return has_finished
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def _extract_kick_distance(self, *args, **kwargs) -> float:
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distance_candidates = (
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kwargs.get("distance"),
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kwargs.get("kick_distance"),
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kwargs.get("target_distance"),
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kwargs.get("ball_to_target_distance"),
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args[0] if args else None,
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)
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for candidate in distance_candidates:
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if isinstance(candidate, Real):
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return float(max(0.0, candidate))
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return self.DEFAULT_DISTANCE
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def _choose_kick_from_distance(self, distance: float) -> KeyframeSkill:
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if distance <= self.SHORT_MAX_DISTANCE:
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return self.short_kick
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if distance <= self.MID_MAX_DISTANCE:
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return self.mid_kick
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if distance >= self.TEN_METER_MIN_DISTANCE:
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return self.ten_meter_kick
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return self.long_kick
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def is_ready(self, *args) -> bool:
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return True
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